CN109177972A - A kind of vehicle flexible anti-collision system and its control method - Google Patents
A kind of vehicle flexible anti-collision system and its control method Download PDFInfo
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- CN109177972A CN109177972A CN201810841833.9A CN201810841833A CN109177972A CN 109177972 A CN109177972 A CN 109177972A CN 201810841833 A CN201810841833 A CN 201810841833A CN 109177972 A CN109177972 A CN 109177972A
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Abstract
The invention proposes a kind of vehicle flexible anti-collision system and its control methods, for avoiding vehicle collision to the maximum extent or mitigating the damage of vehicle collision bring, and improve the comfort of brake process.Pass through the laser radar being arranged on vehicle, the sensors such as millimetre-wave radar measure the distance between Ben Che and front truck and speed difference, and the information measured is indicated on speed difference-spacing figure, speed difference-spacing image is divided into Linear control range and nonlinear Control area simultaneously, judge the spacing of this vehicle and front truck and the region where the position of differential speed information on the image under current state, corresponding flexible braking control signal is generated by flexible collision avoidance module and is transferred to speed control module, corresponding brake force is applied to vehicle by speed control module again, make vehicle deceleration to avoid collision as far as possible.The present invention can be realized vehicle actively in a longitudinal direction according to travel situation active brake, avoids or reducing collisions bring endangers.
Description
Technical field
The present invention relates to technical field of vehicle safety, especially a kind of vehicle flexible anti-collision system and its control method.
Background technique
Currently, researcher has been devoted to promote the automatic Pilot technology and safety of vehicle, and the master that dispatches a car is not turned off
Dynamic anti-collision system avoids collision or the injury of reducing collisions, and helps to drive using modern computer and sensor technology
Member completes driving task.And vehicle it is longitudinally controlled can apply various collision avoidance scenes to avoid collision or reducing collisions band
The application program of the harm come, many advanced vehicle controls and security system has been fused to the Active collision avoidance system of vehicle
In.
At present the case where common longitudinal collision avoidance method dangerous mainly for vehicle front vehicle, system is generallyd use
Radar, machine vision means monitor the relative distance of Ben Che and front vehicles, relative velocity in real time.However, existing vehicle
Longitudinal anti-collision system only considered the safety of collision avoidance, the comfort and stability of driving procedure not accounted for, so that existing
Some collision avoidance methods are difficult to be applied in reality in longitudinal collision avoidance scene of vehicle.
Summary of the invention
Goal of the invention: to avoid the comfort and driving stability of driver and passenger during vehicle active collision avoidance by tight
Ghost image is rung, and longitudinal direction of car is avoided to collide or mitigate longitudinal direction of car collision bring damage to the maximum extent, and the present invention proposes
A kind of vehicle flexible anti-collision system and its control method.
Technical solution: in order to realize the above technical effect, the present invention the following technical schemes are provided:
A kind of vehicle flexible anti-collision system, including induction module, master controller and speed control module；Induction module is used for
To this vehicle speed, with this vehicle traveling on same lane front truck speed and Ben Che and front truck between at a distance from information adopt
Collection, and acquisition information is sent to master controller；The acquisition information that master controller is used to be provided according to induction module is to vehicle
State is judged, and the control signal of car speed and acceleration is generated according to pre-loaded flexible collision avoidance algorithm routine,
And send control signals to speed control module；Speed control module includes braking system and power assembly, braking system root
The increase or reduction of speed are realized according to the control signal control power assembly received.
Further, the induction module includes: laser radar sensor, millimetre-wave radar sensor, vehicle speed sensor；
This vehicle speed, with this vehicle traveling on same lane front truck speed and Ben Che and front truck between at a distance from information accurately adopt
Collection.Laser radar sensor acquires the spacing of front truck speed and Ben Che and front truck, millimetre-wave radar sensor acquire this vehicle with
The spacing of front truck, vehicle speed sensor acquire this vehicle speed.
Further, the braking system in the speed control module is line traffic control brake fluid system, line traffic control hydraulic braking
System has the interface for communicating with master controller, passes through the calculated control signal of the interface master controller, line traffic control
Size and conduction time of the ECU according to control signal automatic adjusting brake solenoid valves electric current in brake fluid system,
To control the hydraulic pressure in brake fluid cylinder pressure, realize that speed adjustment is adjusted with braking deceleration.
The present invention also proposes a kind of vehicle flexible collision avoidance control method realized by the vehicle flexible anti-collision system,
Comprising steps of
(1) in vehicle travel process, this vehicle speed is acquired by induction module, is travelled on same lane with this vehicle
Front truck speed and the distance between Ben Che and front truck；
(2) master controller executes flexible collision avoidance algorithm according to acquisition data, comprising steps of
(2-1) constructs impedance model:
F=k (x-xH)+bv
Wherein, F be spring damping model virtual power, k be spring coefficient of elasticity, spacing of the x between Ben Che and front truck,
xHFor preset expectation spacing, b is damped coefficient, and v is Ben Che and the speed of front truck is poor；
(2-2) draws speed difference-spacing figure；F=0 is calculated, positive force region is obtained in speed difference-spacing figure and does not apply
The line of demarcation equation in power region are as follows:
Wherein, THFor preset time headway, xH=TH×v2, v2For front truck speed；In speed difference-spacing figure, line of demarcationLeft side is positive force region, and right side is the region that do not exert a force；
(2-3) in linear force and non-linear force boundary vehicle with constant deceleration a1Decelerate to minimum safe spacing xsFor
Target problem determines the absorbing boundary equation in linear force region and non-linear force region in positive force region are as follows:
Wherein, xs=Ts×v2, TsFor minimum time headway；In speed difference-spacing figure positive force region, boundary
LineLeft area is non-linear force area, remaining region in positive force region is linear force region；
(2-4) determines this vehicle area locating in speed difference-spacing figure in vehicle travel process according to the collected data
Domain, and calculate the control signal when vehicle is in different zones:
In the region that do not exert a force, control is not applied；
In linear force region, signal is controlled are as follows:Wherein, p1For the dominant pole of impedance model；
In non-linear force region, signal is controlled are as follows:Wherein, fnFor current time application
To the brake force of this vehicle, M is this vehicle quality, v1_inWhen this vehicle enters nonlinear area and the speed difference of front truck, x1_inFor this vehicle into
When entering nonlinear area and the spacing of front truck, x 'HFor xHInstitute's scale value, an-1It is upper one
The vehicle deceleration at moment.
Further, the calculation method of the dominant pole of the impedance model are as follows:
The impedance model is expressed as second order complex domain equation:
Ms2+ bs+k=0
In formula, ζ indicates damping ratio, ωnIndicate natural frequency,
If two negative real poles of second order complex domain equation are p1、p2, and set p1For dominant pole, calculate:
(s+p1)(s+p2)=0
It obtains:
Further, the value range of the ξ is ξ >=1.
The utility model has the advantages that compared with prior art, present invention has the advantage that
The present invention avoid to greatest extent longitudinal direction of car collide or mitigate longitudinal direction of car collision bring damage under the premise of,
The carrying out practically state for considering Ben Che and front truck, brakes vehicle in braking process with deceleration small as far as possible,
It ensure that the comfort and driving stability of driver and passenger while guaranteeing safe.
Detailed description of the invention
Fig. 1 is longitudinal direction of car collision prevention control system structure chart；
Fig. 2 is the control method flow chart of the vehicle flexible anti-collision system；
Fig. 3 is the division figure in positive force region and not positive force region in speed difference-spacing figure；
Fig. 4 is the division in speed difference-spacing figure in positive force region；
Fig. 5 is the impedance model figure that linear force area generates that speed controls signal；
Fig. 6 is response of the control signal of linear force area generation in speed difference-spacing figure；
Fig. 7 is a kind of virtual controlling scene figure of vehicle flexible anti-collision system control method；
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Fig. 1 is the structure chart of longitudinal direction of car collision prevention control system, and the vehicle flexible anti-collision system includes induction module, master
Controller and speed control module；Induction module is used to travel the front truck speed on same lane to this vehicle speed, with this vehicle
And the distance between Ben Che and front truck information are acquired, and acquisition information is sent to master controller；Master controller is used for
The state of vehicle is judged according to the acquisition information that induction module provides, and according to pre-loaded flexible collision avoidance algorithm journey
Sequence generates the control signal of car speed and acceleration, and sends control signals to speed control module；Speed control module
Including braking system and power assembly, braking system realizes the increase of speed according to the control signal control power assembly received
Or reduce.
When acquiring this vehicle speed, front truck speed and the distance between Ben Che and front truck, before laser radar sensor acquisition
The spacing of vehicle speed and Ben Che and front truck, millimetre-wave radar sensor acquire the spacing of this vehicle and front truck, and vehicle speed sensor is adopted
Collect this vehicle speed.It from the purpose of millimetre-wave radar sensor is met under different driving conditions with laser radar sensor simultaneously
The accuracy of each information collection, for example under sleet greasy weather gas, the performance of millimetre-wave radar sensor can make up laser radar
The deficiency of sensor；Laser radar sensor has investigative range wider again, the higher advantage of detection accuracy.
Braking system in the speed control module is line traffic control brake fluid system, and line traffic control brake fluid system, which has, to be used
In the interface communicated with master controller, pass through the calculated control signal of the interface master controller, line traffic control Hydraulic braking system
Size and conduction time of the ECU according to control signal automatic adjusting brake solenoid valves electric current in system, to control braking
Hydraulic pressure in hydraulic cylinder realizes that speed adjustment is adjusted with braking deceleration.
Line traffic control brake fluid system is a kind of ideal chose of braking system in speed control module, because it has reaction
Time shorter advantage, while being conducive to the Brake energy recovery of electric car, but it can be by traditional brake system
System is substituted.
The control flow of the longitudinal direction of car collision prevention control system is as shown in Fig. 2, mainly include four parts:
(1) in vehicle travel process, acquire this vehicle speed, with this vehicle front truck speed of the traveling on same lane with
And the distance between Ben Che and front truck；
(2) construct speed difference-spacing figure, according to acquisition data by speed difference-spacing figure be divided into positive force region with
Do not exert a force region, and positive force region is divided into linear force control area non-linear force control zone again；
(3) by between Ben Che and front truck speed difference and spacing indicated on speed difference-spacing figure, and determine vehicle at
In which region；
(4) brake force that corresponding control area generates is applied in corresponding control area to vehicle, linear force area generate by
The speed that impedance model generates controls signal regulation speed, generates the signal regulation speed of constant deceleration in non-linear force area,
Make vehicle braking to avoid collision or reducing collisions.
Each step is illustrated respectively below.
In step (2), the specific step in this vehicle positive force region and the region that do not exert a force in speed difference-spacing figure is determined
Suddenly are as follows:
Impedance model as shown in Figure 5 is constructed, defining this vehicle speed is v1, front truck speed is v2If the coefficient of elasticity of spring
For k, the damped coefficient of damping is b, while time headway T it is expected in artificial settingH, then have:
V=v1-v2
xH=TH×v2
In formula, v is the speed difference of Ben Che and front truck, xHFor preset expectation spacing；
The expression formula of spring damping model virtual power can then be obtained are as follows:
F=k (x-xH)+bv
Enable above formula F=0, then just like lower boundary in speed difference-spacing figure:
Above formula is the boundary in this vehicle positive force region with the region that do not exert a force, and positive force region is drawn with the region that do not exert a force
Component is as shown in Figure 3.In positive force region, Controlling model makes speed control module apply brake force to vehicle, allows vehicle
Generate slowing effect；It is not exerting a force in region, Controlling model will not generate the braking force signal applied to this vehicle.
In step (2), the division figure such as Fig. 4 in linear force region and non-linear force region in positive force region is determined
It is shown, specific steps are as follows:
In the positive force region of this vehicle, the partitioning standards of linear force and non-linear force are according to brake force to vehicle
The effect that operation conditions generates in speed difference-spacing figure.When the power that vehicle is applied is linear force, vehicle will be become with one
The deceleration of change is slowed down, and the motion conditions of vehicle are straight lines in speed difference-spacing figure；When the power that vehicle is applied is non-
When linear force, it is believed that vehicle will be moved with a constant deceleration, and the motion conditions of vehicle are in speed difference-spacing image
One parabola.For regulation in linear force and non-linear force boundary, vehicle will be with constant deceleration a1Decelerate to minimum safe spacing
xs, xsBy minimum time headway TsIt determines:
xs=Ts×v2
The zone boundary of linear force and non-linear force then can be obtained are as follows:
Linear force is set in this way and the purpose on non-linear force boundary is: allowing vehicle that can make the fortune of vehicle during deceleration
Emotionally condition enters linear force control area in speed difference-spacing figure, so that vehicle be made to can be realized one during deceleration
The process that a deceleration is gradually reduced, to improve ride comfort；a1Setting should be as small as possible, it is therefore an objective to make vehicle online
The acceleration that property region is gradually reduced with one reaches desired spacing.
In step (3), the specific steps of corresponding brake force are applied in corresponding control area to vehicle are as follows:
(1) control of the impedance model to vehicle when the motion state of vehicle is in linear force area:
When vehicle is in linear force region, the control process of the motion state of vehicle should meet: the control of 1. speeds is without super
Adjust and without swing, to meet the requirement of vehicle ride comfort；2. in the braking process of collision avoidance, before meeting safety
It puts, to make deceleration small as far as possible, allow vehicle that can reach desired spacing with minimal brake level.This two
A requirement can be by selecting suitable the elastic coefficient k to meet with damped coefficient b in impedance model.
Impedance model can be indicated with second order complex domain equation are as follows:
Ms2+ bs+k=0
In formula, M indicates the quality of this vehicle.It can be obtained by analysis, system should be second order overdamp system, therefore should select suitably
System closed loop gain is met the requirements；
Have again:
In formula,ζ indicates damping ratio, ωnIndicate natural frequency；
Though system is second-order system, should select suitable k and b make system approximately first-order system and make system without super
Tune and non-jitter.By overdamp system, there are two negative real pole p again1、p2, and set p1For dominant pole, therefore have:
(s+p1)(s+p2)=0
Thus, it may be determined that the position of dominant pole determines the second pole p by selection ξ >=12Position；
Therefore it is as shown in Figure 6 in the response of speed difference-spacing figure to obtain the control signal generated in linear force area.
(2) when the motion state of vehicle is in non-linear force area, control of the impedance model to vehicle:
In inelastic region, vehicle will be braked with a constant deceleration value, the most ideal situation is that vehicle will be with
One lasting deceleration is slowed down, and until reaching desired spacing, and does not have overshoot.In inelastic region, have:
v1(t)=v1_in+at
In formula, x1_inWhen entering nonlinear area for this vehicle and the spacing of front truck, v1_inWhen entering nonlinear area for this vehicle
With the speed difference of front truck；Then have,
It can obtain
As shown by the equation, work as x1_inClose to xHWhen, a levels off to infinity, and it is such to avoid the occurrence of, by xHContracting
It puts:
In formula, an-1Indicate that the last vehicle deceleration calculated is horizontal；
It is again horizontal no more than the maximum deceleration of speed controller by the deceleration size of vehicle, then it can obtain in non-linear force
The size of area's vehicle deceleration are as follows:
Therefore, the size of brake force are as follows:
Wherein, fnThe brake force of this vehicle is applied to for current time.
Implementation process of the invention is as shown in Figure 7, it is assumed that this vehicle is with cracking speed close to front truck, then vehicle enters actively
The non-linear force area in force area, vehicle will be slowed down with a biggish constant deceleration；This vehicle of continuous collecting is with before later
The motion information of vehicle, until this vehicle slows down until entering linear force region, in linear force region, vehicle will be with one in speed
It is approximately the track progress retarded motion of straight line in difference-spacing figure, and acceleration will constantly reduce, until reaching target carriage away from attached
Closely.
The line traffic control brake fluid system in the description, mainly by ECU, solenoid valve, master cylinder, wheel cylinder etc.
Key component composition, is widely used to the braking system of intelligent vehicle at present.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of vehicle flexible anti-collision system, which is characterized in that including induction module, master controller and speed control module；Sense
Answer module for this vehicle speed, with this vehicle travel on same lane front truck speed and Ben Che and front truck between at a distance from
Information is acquired, and acquisition information is sent to master controller；The acquisition that master controller is used to be provided according to induction module is believed
It ceases and the state of vehicle is judged, and according to pre-loaded flexible collision avoidance algorithm routine generation car speed and acceleration
Signal is controlled, and sends control signals to speed control module；Speed control module includes braking system and power assembly, system
Dynamic system realizes the increase or reduction of speed according to the control signal control power assembly received.
2. a kind of vehicle flexible anti-collision system according to claim 1, which is characterized in that the induction module includes: sharp
Optical radar sensor, millimetre-wave radar sensor, vehicle speed sensor；Wherein, laser radar sensor acquisition front truck speed and
The spacing of this vehicle and front truck, millimetre-wave radar sensor acquire the spacing of this vehicle and front truck, and vehicle speed sensor acquires this vehicle speed.
3. a kind of vehicle flexible anti-collision system according to claim 2, which is characterized in that in the speed control module
Braking system is line traffic control brake fluid system, and line traffic control brake fluid system has the interface for communicating with master controller, passes through
The calculated control signal of the interface master controller, the ECU in line traffic control brake fluid system are adjusted automatically according to control signal
Size and the conduction time of brake solenoid valves electric current are saved, to control the hydraulic pressure in brake fluid cylinder pressure, realizes speed
Adjustment is adjusted with braking deceleration.
4. a kind of vehicle flexible collision avoidance control method, which is characterized in that comprising steps of
(1) in vehicle travel process, this vehicle speed is acquired by induction module, travels the front truck on same lane with this vehicle
Speed and the distance between Ben Che and front truck；
(2) master controller executes flexible collision avoidance algorithm according to acquisition data, comprising steps of
(2-1) constructs impedance model:
F=k (x-xH)+bv
Wherein, F is spring damping model virtual power, and k is the coefficient of elasticity of spring, spacing of the x between Ben Che and front truck, xHFor
Preset expectation spacing, b are damped coefficient, and v is Ben Che and the speed of front truck is poor；
(2-2) draws speed difference-spacing figure；F=0 is calculated, positive force region and the area that do not exert a force in speed difference-spacing figure are obtained
The line of demarcation equation in domain are as follows:
Wherein, THFor preset time headway, xH=TH×v2, v2For front truck speed；In speed difference-spacing figure, line of demarcationLeft side is positive force region, and right side is the region that do not exert a force；
(2-3) in linear force and non-linear force boundary vehicle with constant deceleration a1Decelerate to minimum safe spacing xsFor target
Problem determines the absorbing boundary equation in linear force region and non-linear force region in positive force region are as follows:
Wherein, xs=Ts×v2, TsFor minimum time headway；In speed difference-spacing figure positive force region, line of demarcationLeft area is non-linear force area, remaining region in positive force region is linear force region；
(2-4) determines this vehicle region locating in speed difference-spacing figure in vehicle travel process according to the collected data,
And calculate the control signal when vehicle is in different zones:
In the region that do not exert a force, control is not applied；
In linear force region, signal is controlled are as follows:Wherein, p1For the dominant pole of impedance model；
In non-linear force region, signal is controlled are as follows:Wherein, fnThis vehicle is applied to for current time
Brake force, M be this vehicle quality, v1_inWhen this vehicle enters nonlinear area and the speed difference of front truck, x1_inEnter for this vehicle non-thread
When property region and the spacing of front truck, x 'HFor xHInstitute's scale value,an-1For the vehicle of last moment
Deceleration.
5. a kind of vehicle flexible collision avoidance control method according to claim 4, which is characterized in that described
The calculation method of the dominant pole of impedance model are as follows:
The impedance model is expressed as second order complex domain equation:
Ms2+ bs+k=0
In formula, ζ indicates damping ratio, ωnIndicate natural frequency,
If two negative real poles of second order complex domain equation are p1、p2, and set p1For dominant pole, calculate:
(s+p1)(s+p2)=0
It obtains:
6. a kind of vehicle flexible collision avoidance control method according to claim 5, which is characterized in that the value range of the ξ
For ξ >=1.
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| CN113459754A (en) * | 2020-03-31 | 2021-10-01 | 北京新能源汽车股份有限公司 | Active suspension control method, control device and system for pre-judging avoidance and vehicle |
| CN113459754B (en) * | 2020-03-31 | 2023-08-15 | 北京新能源汽车股份有限公司 | Active suspension control method, control device and system for prejudging avoidance and vehicle |
| CN112124306A (en) * | 2020-09-29 | 2020-12-25 | 马鞍山市凯通新能源科技有限公司 | Vehicle anti-collision control system and control method for new energy automobile |
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