CN108622089A - A kind of vehicle lane-changing anti-collision control method and device based on In-wheel motor driving - Google Patents
A kind of vehicle lane-changing anti-collision control method and device based on In-wheel motor driving Download PDFInfo
- Publication number
- CN108622089A CN108622089A CN201810506314.7A CN201810506314A CN108622089A CN 108622089 A CN108622089 A CN 108622089A CN 201810506314 A CN201810506314 A CN 201810506314A CN 108622089 A CN108622089 A CN 108622089A
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- Prior art keywords
- vehicle
- wheel
- collision
- signal
- hub motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
Abstract
The invention discloses a kind of vehicle lane-changing anti-collision control method based on In-wheel motor driving, by steering wheel angle size, this vehicle speed V1 the lateral coordinates of this vehicle component direction and face front vehicle relative to the lateral coordinates direction of this vehicle and this vehicle speed V1, face front vehicle fore-and-aft distance Y, face the speed V2 of front vehicle between relationship judge collision scene, when being judged as that collision will be sent, advance torque and braking moment are applied by both sides wheel hub motor respectively, until steering wheel return just after, advance torque is applied by both sides wheel hub motor jointly.The invention also discloses the vehicle lane-changing Anti-collision control devices based on In-wheel motor driving.The present invention accelerates the judgement of collision and is modified intervention, while ensure that correction measure is safely controllable.
Description
Technical field
The present invention relates to a kind of vehicle collision avoidance control method and device, and In-wheel motor driving is based on more particularly to one kind
Vehicle lane-changing anti-collision control method and device.
Background technology
With the development of automobile industry, vehicle drive assist system is also developed, especially unmanned technology
Rise the promotion for further promoting vehicle drive assist system.Existing vehicle drive assist system includes automatic parking, determines
Fast cruise, automatic collision-proof, lane departure warning etc..Above system often respectively relatively independent operation, needs to carry out in vehicle
When lane-change is overtaken other vehicles, driver needs observation rearview mirror to ensure not influence rear lateral vehicle pass-through.Existing vehicle drive auxiliary
System tends to prompt driver there are rear lateral vehicle, avoids that there are rear view mirror blind zones.But if driver ignores
These prompts carry out lane change by force, then vehicle can only be avoided to touch by the driver and automatic collision-proof system of front vehicle
It hits, if two following distances are too small, automatic collision-proof system is difficult to play a role.
Invention content
In view of the above-mentioned defects in the prior art, the vehicle lane-changing anti-collision based on In-wheel motor driving that the present invention provides a kind of
Control method is hit, solves the problems, such as to collide with rear car during vehicle lane-changing.The present invention also provides one kind to be based on
The vehicle lane-changing Anti-collision control device of In-wheel motor driving.
Technical solution of the present invention is as follows：A kind of vehicle lane-changing anti-collision control method based on In-wheel motor driving, including
Following steps：
S1, faced by vehicular speeds sensor and imaging sensor acquisition front vehicle relative to the lateral coordinates of this vehicle and
The fore-and-aft distance Y and speed V2 for facing front vehicle；
When S2, this vehicle steering wheel angle are more than or equal to steering angle threshold value, S3 is entered step, step S1 is otherwise returned to；
S3, this vehicle speed V1 the lateral coordinates of this vehicle component direction and face transverse direction of the front vehicle relative to this vehicle
When coordinate direction is consistent, S4 is entered step, S7 is otherwise entered step；
When S4, (V2-V1) × t≤Y, S5 is entered step, otherwise enters step S7, the t is default transcending time；
The driving wheel of S5, this vehicle speed V1 in the component direction side of the lateral coordinates of this vehicle is applied by wheel hub motor to advance
Torque；This vehicle speed V1 applies brake force in the driving wheel of the component direction opposite side of the lateral coordinates of this vehicle by wheel hub motor
Square；
When S6, this vehicle steering wheel angle are more than safe corner threshold value, step S5 is returned to, S7, the peace are otherwise entered step
Full corner threshold value is less than steering angle threshold value；
S7, two side drive wheels apply identical advance torque by wheel hub motor.
Further, in order to reduce the fully automated uncontrollable factor for intervening formation, artificial correction is promoted to be corrected with automatic
Collective effect, including step S4a, collision alarm signal is sent out to driver, subsequently into step S5, the step S4, (V2-
V1) × t≤Y when, enter step S4a, otherwise enter step S7, the t is default transcending time；The step S7 includes revocation
Collide alarm signal.
Preferably, the collision alarm signal is vibration signal, and the vibration signal is sent out by steering wheel internal vibration motor.
Preferably, advance torque applied by wheel hub motor in the step S5 and when braking moment, the advance torque and
The numerical value same direction of braking moment is opposite.
Preferably, the steering angle threshold value is not less than 10 °, and safe corner threshold value is not more than 3 °.
A kind of vehicle lane-changing Anti-collision control device based on In-wheel motor driving, including：
Vehicular speeds sensor and imaging sensor, for obtain face front vehicle relative to this vehicle lateral coordinates and
The fore-and-aft distance Y and speed V2 for facing front vehicle, this vehicle speed V1；
Collision judgment module, collides scene for identification, and collision letter is sent to control module when being judged as colliding scene
Number, the collision scene is the component direction of lateral coordinates of this vehicle speed V1 in this vehicle and faces front vehicle relative to this vehicle
Lateral coordinates direction it is consistent, and (V2-V1) × t≤Y, the t are default transcending time；
Judgment module is turned to, for judging steering wheel angle and sending signal to control module, the steering wheel angle is big
When equal to steering angle threshold value, the first signal is sent；When the steering wheel angle is less than or equal to safe corner threshold value, the is sent
Binary signal；
Control module, for Receiving collision signal, the first signal and the second signal and the wheel hub motor for controlling driving wheel；
Wheel hub motor, for receiving control module control and applying advance torque or braking moment to driving wheel；
The control module when receiving collision alarm and receiving the first signal, control this vehicle speed V1 this vehicle transverse direction
The wheel hub motor of the driving wheel of the component direction side of coordinate applies advance torque, lateral coordinates of this vehicle speed V1 in this vehicle
The wheel hub motor of the driving wheel of component direction opposite side applies braking moment；The control module is in control both sides wheel hub motor
When applying advance torque and braking moment respectively and receiving second signal, control both sides wheel hub motor applies advance torque simultaneously；
Control module control both sides wheel hub motor applies advance torque simultaneously under remaining state.
Further, including vibrating motor, for receiving control module control and sending collision alarm signal to driver.
The advantages of technical solution provided by the present invention, is：It is overtaken other vehicles field to lane-change by velocity component and steering wheel angle
Scape carries out judging to accelerate to judge speed, avoids the vehicle body action that the lag of intervening measure causes vehicle excessive that safety is caused to be asked
Topic；It forms vehicle body by advance torque and braking moment and turns to and inhibit, remind driver to carry out in combination with collision alarm signal
Manual intervention keeps correction measure safely controllable.
Description of the drawings
Fig. 1 is that the present invention is based on the flow diagrams of the vehicle lane-changing anti-collision control method of In-wheel motor driving.
Fig. 2 is that the present invention is based on the structural schematic diagrams of the vehicle lane-changing Anti-collision control device of In-wheel motor driving.
Fig. 3 is that this vehicle is intended to carry out left side and overtakes other vehicles schematic diagram in embodiment.
Specific implementation mode
With reference to embodiment, the invention will be further described, it should be understood that these embodiments be merely to illustrate the present invention and
It is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art wait similar shapes to the various of the present invention
The modification of formula is fallen in the application range as defined in the appended claims.
Shown in Fig. 1 and Fig. 2, the vehicle lane-changing anticollision control based on In-wheel motor driving involved by the present embodiment
Device processed includes vehicular speeds sensor and imaging sensor 1, for obtaining the transverse direction seat for facing front vehicle relative to this vehicle
Mark and fore-and-aft distance Y and the speed V2, this vehicle speed V1 for facing front vehicle；
Collision judgment module 2, collides scene for identification, sends and collides to control module 4 when being judged as colliding scene
Signal, collision scene are this vehicle speed V1 in the component direction of the lateral coordinates of this vehicle and face front vehicle relative to this vehicle
Lateral coordinates direction is consistent, and (V2-V1) × t≤Y, t are default transcending time；
Judgment module 3 is turned to, for judging steering wheel angle and sending signal to control module 4, steering wheel angle is more than
When equal to steering angle threshold value, the first signal is sent；When steering wheel angle is less than or equal to safe corner threshold value, the second letter is sent
Number；
Control module 4, for Receiving collision signal, the first signal and the second signal and the wheel hub motor for controlling driving wheel；
Wheel hub motor 5 receives the control of control module 4 for applying advance torque or braking moment to driving wheel
Vibrating motor 6 receives the control of control module 4 for sending collision alarm signal to driver.
Shown in Fig. 3, the specific vehicle lane-changing anti-collision control method based on In-wheel motor driving, including it is following
Step：
S1, faced by vehicular speeds sensor and imaging sensor acquisition front vehicle relative to the lateral coordinates of this vehicle and
The fore-and-aft distance Y and speed V2 for facing front vehicle；
When S2, this vehicle steering wheel angle are more than or equal to steering angle threshold value, steering angle threshold value selects in the present embodiment
10 °, S3 is entered step, otherwise returns to step S1；
S3, this vehicle speed V1 the lateral coordinates of this vehicle component direction and face transverse direction of the front vehicle relative to this vehicle
When coordinate direction is consistent, such as this vehicle carries out left side and overtakes other vehicles, and enters left-hand lane by former track, and left-hand lane rear has other
S4 is entered step when vehicle, otherwise enters step S7；
When S4, (V2-V1) × t≤Y, S4a is entered step, otherwise enters step S7, t is default transcending time, this implementation
Transcending time is preset in example and selects 2s, thinks that the vehicle of Ben Che and left-hand lane will collide by this step；
S4a, collision alarm signal is sent out to driver, collision alarm signal is vibration signal, by steering wheel internal vibration horse
Up to sending out, subsequently into step S5；
The driving wheel of S5, this vehicle speed V1 in the component direction side of the lateral coordinates of this vehicle is applied by wheel hub motor to advance
Torque, i.e. left side drive wheel apply advance torque by wheel hub motor, and the present embodiment advance torque is 20Nm；This vehicle speed V1 exists
The driving wheel of the component direction opposite side of the lateral coordinates of this vehicle applies braking moment by wheel hub motor, i.e., left side drive wheel by
Wheel hub motor applies braking moment, and the present embodiment braking moment is -20Nm；
When S6, this vehicle steering wheel angle are more than safe corner threshold value, step S5 is returned to, S7, this implementation are otherwise entered step
Safe corner threshold value selects 3 ° in example；
S7, two side drive wheels apply identical advance torque by wheel hub motor, such as are all 20Nm, revocation collision warning letter
Number.
Claims (7)
1. a kind of vehicle lane-changing anti-collision control method based on In-wheel motor driving, includes the following steps：
S1, lateral coordinates and longitudinal direction of the front vehicle relative to this vehicle are faced by vehicular speeds sensor and imaging sensor acquisition
The distance Y and speed V2 for facing front vehicle；
When S2, this vehicle steering wheel angle are more than or equal to steering angle threshold value, S3 is entered step, step S1 is otherwise returned to；
S3, this vehicle speed V1 the lateral coordinates of this vehicle component direction and face lateral coordinates of the front vehicle relative to this vehicle
When direction is consistent, S4 is entered step, S7 is otherwise entered step；
When S4, (V2-V1) × t≤Y, S5 is entered step, otherwise enters step S7, the t is default transcending time；
The driving wheel of S5, this vehicle speed V1 in the component direction side of the lateral coordinates of this vehicle applies forward force by wheel hub motor
Square；This vehicle speed V1 applies brake force in the driving wheel of the component direction opposite side of the lateral coordinates of this vehicle by wheel hub motor
Square；
When S6, this vehicle steering wheel angle are more than safe corner threshold value, step S5 is returned to, otherwise enters step S7, the safety turns
Angle threshold value is less than steering angle threshold value；
S7, two side drive wheels apply identical advance torque by wheel hub motor.
2. the vehicle lane-changing anti-collision control method according to claim 1 based on In-wheel motor driving, which is characterized in that
Collision alarm signal is sent out including step S4a, to driver, subsequently into step S5；The step S4, (V2-V1) × t≤Y
When, S4a is entered step, S7 is otherwise entered step, the t is default transcending time；The step S7 includes revocation collision warning
Signal.
3. the vehicle lane-changing anti-collision control method according to claim 2 based on In-wheel motor driving, which is characterized in that
The collision alarm signal is vibration signal, and the vibration signal is sent out by steering wheel internal vibration motor.
4. the vehicle lane-changing anti-collision control method according to claim 1 based on In-wheel motor driving, which is characterized in that
When applying advance torque and braking moment by wheel hub motor in the step S5, the numerical value phase of the advance torque and braking moment
It is equidirectional opposite.
5. the vehicle lane-changing anti-collision control method according to claim 1 based on In-wheel motor driving, which is characterized in that
The steering angle threshold value is not less than 10 °, and safe corner threshold value is not more than 3 °.
6. a kind of vehicle lane-changing Anti-collision control device based on In-wheel motor driving, which is characterized in that including：
Vehicular speeds sensor and imaging sensor, for obtaining the lateral coordinates and longitudinal direction of facing front vehicle relative to this vehicle
The distance Y and speed V2 for facing front vehicle, this vehicle speed V1；
Collision judgment module, collides scene for identification, and collision alarm, institute are sent to control module when being judged as colliding scene
It is component directions and the cross that faces front vehicle relative to this vehicle of this vehicle speed V1 in the lateral coordinates of this vehicle to state collision scene
It is consistent to coordinate direction, and (V2-V1) × t≤Y, the t are default transcending time；
Judgment module is turned to, for judging steering wheel angle and to control module transmission signal, the steering wheel angle is more than etc.
When steering angle threshold value, the first signal is sent；When the steering wheel angle is less than or equal to safe corner threshold value, the second letter is sent
Number；
Control module, for Receiving collision signal, the first signal and the second signal and the wheel hub motor for controlling driving wheel；
Wheel hub motor, for receiving control module control and applying advance torque or braking moment to driving wheel；
The control module when receiving collision alarm and receiving the first signal, control this vehicle speed V1 this vehicle lateral coordinates
Component direction side driving wheel wheel hub motor apply advance torque, components of this vehicle speed V1 in the lateral coordinates of this vehicle
The wheel hub motor of the driving wheel of direction opposite side applies braking moment；The control module is in control both sides wheel hub motor difference
When applying advance torque and braking moment and receiving second signal, control both sides wheel hub motor applies advance torque simultaneously；Remaining
Control module control both sides wheel hub motor applies advance torque simultaneously under state.
7. the vehicle lane-changing Anti-collision control device according to claim 6 based on In-wheel motor driving, which is characterized in that
Including vibrating motor, for receiving control module control and sending collision alarm signal to driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810506314.7A CN108622089A (en) | 2018-08-02 | 2018-08-02 | A kind of vehicle lane-changing anti-collision control method and device based on In-wheel motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810506314.7A CN108622089A (en) | 2018-08-02 | 2018-08-02 | A kind of vehicle lane-changing anti-collision control method and device based on In-wheel motor driving |
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| CN108622089A true CN108622089A (en) | 2018-10-09 |
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| CN108137044A (en) * | 2015-09-30 | 2018-06-08 | 日立汽车系统株式会社 | Track altering system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108137044A (en) * | 2015-09-30 | 2018-06-08 | 日立汽车系统株式会社 | Track altering system |
| CN105620474A (en) * | 2016-01-26 | 2016-06-01 | 吉林大学 | Active obstacle avoiding method for four-wheel hub drive electric automobile with multiple modes |
| CN106114501A (en) * | 2016-06-23 | 2016-11-16 | 吉林大学 | A kind of have multimodal lane-change collision avoidance control method based on steering-by-wire |
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Application publication date: 20181009 |
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