CN109455153A - The control method of blind monitoring system - Google Patents
The control method of blind monitoring system Download PDFInfo
- Publication number
- CN109455153A CN109455153A CN201811327358.XA CN201811327358A CN109455153A CN 109455153 A CN109455153 A CN 109455153A CN 201811327358 A CN201811327358 A CN 201811327358A CN 109455153 A CN109455153 A CN 109455153A
- Authority
- CN
- China
- Prior art keywords
- turning radius
- angle
- steering
- monitoring system
- radius
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of control methods of blind monitoring system, comprising: obtains wheel steering angle and steering wheel angle；Road curve radius is obtained according to the wheel steering angle；Establish the functional relation between steering wheel angle and road curve radius；Practical turning radius and the functional relation when being run according to vehicle judge whether to start blind monitoring system.The control method of blind monitoring system provided by the invention, road curve radius is obtained using wheel steering angle, front wheel angle and bend turning radius relationship are established by Ackermam geometrical model, then corresponding kinetic model is established with steering wheel angle by front wheel angle model, verifies kinetic model accuracy finally by complete vehicle test.It is not necessarily to identify that lane line come identification turn radius, that is, has saved research and development cost by camera by the method, and avoids because the extraneous factors such as light lead to functional lability and failure.
Description
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of control methods of blind monitoring system.
Background technique
Distance, the azimuth and speed imdicator console of blind monitoring system main applied microwave probe vehicle side rear area target vehicle or barrier
The information such as degree, and using the positioning of these information realization opposite side rear area targets, (yin when can effectively overcome night or poor visibility
The weather such as haze, rain, snow, dirt, mist) influence, the potential danger target of this vehicle blind area range and adjacent lane is detected,
Accident is supplied to driver's early warning before occurring, and effectively prevents potential traffic accident, utmostly protection staff and property
Safety.
Blind monitoring system detects two side line of outside rear-view mirror for vehicle by being arranged in two millimetre-wave radars of rear of vehicle
The information of vehicles on road realizes blind monitoring function.
The method for identifying lane line in the prior art is to identify lane line with camera, then carries out Mathematical Fitting, so that it may
To obtain road curvature, needs blind monitoring system to increase camera and millimetre-wave radar progress integration program in this way, increase
Components cost, meanwhile, vision system is very sensitive to background light, the boulevard of such as strong sunlight, and lane line is by light point
It is cut into fragment, causes that lane line can not be extracted, so as to cause functional lability and failure.
Summary of the invention
The object of the present invention is to provide a kind of control methods of blind monitoring system, to solve the problems of the prior art,
Save the cost improves the identification function of blind monitoring system.
The present invention provides a kind of control methods of blind monitoring system, wherein includes:
Obtain wheel steering angle and steering wheel angle；
Road curve radius is obtained according to the wheel steering angle；
Establish the functional relation between steering wheel angle and road curve radius；
Practical turning radius and the functional relation when being run according to vehicle judge whether to start blind monitoring system.
Preferably, road curve radius is obtained according to the wheel steering angle, comprising:
Obtain foreign steamer turning radius and lubrication groove turning radius；
Vehicle center turning radius is obtained according to the foreign steamer turning radius and lubrication groove turning radius；
Road curve radius is obtained according to the wheel center turning radius.
Preferably, obtaining foreign steamer turning radius includes:
Wherein, L is wheelbase, and C is kingpin offset, and α is foreign steamer corner, RminαFor foreign steamer turning radius.
Preferably, obtaining lubrication groove turning radius includes:
Wherein, L is wheelbase, and K is wheelspan, and C is kingpin offset, and α is foreign steamer corner, and β is lubrication groove corner, RminβFor lubrication groove
Turning radius.
Preferably, obtaining vehicle center turning radius according to the foreign steamer turning radius and lubrication groove turning radius includes:
φ=(Rminα+Rminβ)/2；
Wherein, φ is vehicle center turning radius, RminαFor foreign steamer turning radius, RminβFor lubrication groove turning radius.
Preferably, the functional relation established between steering wheel angle and road curve radius includes:
Establish the movement relation of steering wheel angle and rack of steering；
Establish the movement relation of rack of steering and front wheel angle；
Front wheel angle and steering wheel angle kinetic model are established by simulation software；
The functional relation between steering wheel angle and road curve radius is established according to the kinetic model.
Preferably, obtaining wheel steering angle includes:
Wheel steering angle is obtained using four-wheel position finder.
Preferably, obtaining steering wheel angle includes:
Steering wheel angle is obtained by rotary angle transmitter.
Preferably, judge whether that starting blind monitoring system includes:
If practical turning radius is greater than given threshold, start blind monitoring system；If practical turning radius is less than
Equal to given threshold, then blind monitoring system is closed.
Preferably, further includes:
Start blind monitoring system after, input speed, gear information, steering wheel angle, target carriage speed opposite with main vehicle,
After target carriage and main vehicle relative angle, target carriage and main vehicle distance, the detection of blind monitoring system is carried out.
The control method of blind monitoring system provided by the invention obtains road curve radius using wheel steering angle, passes through
Ackermam geometrical model establishes front wheel angle and bend turning radius relationship, then passes through front wheel angle model and steering wheel angle
Corresponding kinetic model is established, verifies kinetic model accuracy finally by complete vehicle test.By the method without passing through
Camera identification lane line carrys out identification turn radius, that is, has saved research and development cost, and avoids because the extraneous factors such as light cause
Functional lability and failure.
Detailed description of the invention
Fig. 1 is the flow chart of the control method of blind monitoring system provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
As shown in Figure 1, the embodiment of the invention provides a kind of control methods of blind monitoring system, comprising:
S100, wheel steering angle and steering wheel angle are obtained.
Preferably, it can use four-wheel position finder and obtain wheel steering angle, steering wheel angle is obtained by rotary angle transmitter.
S200, road curve radius is obtained according to the wheel steering angle.
When vehicle enters one section of continued curve, when vehicle movement enters lower state, it can move in a circle along bend, this
When vehicle the instantaneous center of circle of movement be overlapped with the bend center of circle, at this time vehicle turn radius can replace road turning radius.
When motor turning, to avoid road surface from generating the quick-wearing excessively of additional drag and tire, automobile institute to vehicle driving
There is wheel that should make pure rolling, i.e. Ackermann steer angle, the motion profile of foreign steamer is concentric circles in vehicle, and here it is automobile Ackermams to turn
To principle.The vehicle of design according to Ackermann steering geometry when turning along bend, is made interior using the equal crank of double leval jib
The steering angle of side wheel 2 to 4 degree bigger than outboard wheels, so that the path center of circle of four wheels can substantially intersect the extended line with rear axle
Vehicle can smoothly be turned for instantaneous center of turn.At this moment turning radius and front-wheel can be established by Ackermann steering geometry
Relationship between corner and whole-car parameters.
It specifically, can be by being established by Ackermam geometrical model with wheel steering angle approximate simulation road curve radius
Front wheel angle and nose-wheel turn radius relationship.
Step S200 may include:
S210, foreign steamer turning radius and lubrication groove turning radius are obtained.
Obtaining foreign steamer turning radius includes:
Wherein, L is wheelbase, and C is kingpin offset, and α is foreign steamer corner, RminαFor foreign steamer turning radius.
Obtaining lubrication groove turning radius includes:
Wherein, L is wheelbase, and K is wheelspan, and C is kingpin offset, and α is foreign steamer corner, and β is lubrication groove corner, RminβFor lubrication groove
Turning radius.
S220, vehicle center turning radius is obtained according to the foreign steamer turning radius and lubrication groove turning radius.
Obtaining vehicle center turning radius according to the foreign steamer turning radius and lubrication groove turning radius includes:
φ=(Rminα+Rminβ)/2；
Wherein, φ is vehicle center turning radius, RminαFor foreign steamer turning radius, RminβFor lubrication groove turning radius.
S230, road curve radius is obtained according to the wheel center turning radius.
It can be using wheel center turning radius obtained above as approximate road curve radius.
S300, functional relation between steering wheel angle and road curve radius is established.
Specifically, which includes:
S310, the movement relation for establishing steering wheel angle and rack of steering.
S320, the movement relation for establishing rack of steering and front wheel angle.
S330, front wheel angle and steering wheel angle kinetic model are established by simulation software.
S340, the functional relation between steering wheel angle and road curve radius is established according to the kinetic model.
S400, practical turning radius when being run according to vehicle and the functional relation judge whether to start blind monitoring
System.
If judging whether that starting blind monitoring system may include: that practical turning radius is greater than given threshold, start
Blind monitoring system；If practical turning radius is less than or equal to given threshold, blind monitoring system is closed.
On the basis of the above embodiments, this method further include:
Start blind monitoring system after, input speed, gear information, steering wheel angle, target carriage speed opposite with main vehicle,
After target carriage and main vehicle relative angle, target carriage and main vehicle distance, the detection of blind monitoring system is carried out.
The control method of blind monitoring system provided in an embodiment of the present invention obtains road curve half using wheel steering angle
Diameter establishes front wheel angle and bend turning radius relationship by Ackermam geometrical model, then passes through front wheel angle model and side
Corresponding kinetic model is established to disk corner, verifies kinetic model accuracy finally by complete vehicle test.Pass through the method
Without identifying that lane line come identification turn radius, that is, has saved research and development cost by camera, and avoid because of the external worlds such as light
Factor leads to functional lability and failure.
Feature and function and effect of the invention are described in detail based on the embodiments shown in the drawings, the foregoing is merely
Presently preferred embodiments of the present invention, but the present invention does not limit the scope of implementation as shown in the drawings, it is all to be made according to conception of the invention
Change or equivalent example modified to equivalent change should all be when not going beyond the spirit of the description and the drawings
In protection scope of the present invention.
Claims (10)
1. a kind of control method of blind monitoring system characterized by comprising
Obtain wheel steering angle and steering wheel angle；
Road curve radius is obtained according to the wheel steering angle；
Establish the functional relation between steering wheel angle and road curve radius；
Practical turning radius and the functional relation when being run according to vehicle judge whether to start blind monitoring system.
2. being wrapped the method according to claim 1, wherein obtaining road curve radius according to the wheel steering angle
It includes:
Obtain foreign steamer turning radius and lubrication groove turning radius；
Vehicle center turning radius is obtained according to the foreign steamer turning radius and lubrication groove turning radius；
Road curve radius is obtained according to the wheel center turning radius.
3. according to the method described in claim 2, it is characterized in that, acquisition foreign steamer turning radius includes:
Wherein, L is wheelbase, and C is kingpin offset, and α is foreign steamer corner, RminαFor foreign steamer turning radius.
4. according to the method described in claim 2, it is characterized in that, acquisition lubrication groove turning radius includes:
Wherein, L is wheelbase, and K is wheelspan, and C is kingpin offset, and α is foreign steamer corner, and β is lubrication groove corner, RminβFor lubrication groove turning
Radius.
5. according to the method described in claim 2, it is characterized in that, being obtained according to the foreign steamer turning radius and lubrication groove turning radius
Include: to vehicle center turning radius
φ=(Rminα+Rminβ)/2；
Wherein, φ is vehicle center turning radius, RminαFor foreign steamer turning radius, RminβFor lubrication groove turning radius.
6. the method according to claim 1, wherein establishing the letter between steering wheel angle and road curve radius
Number relationships include:
Establish the movement relation of steering wheel angle and rack of steering；
Establish the movement relation of rack of steering and front wheel angle；
Front wheel angle and steering wheel angle kinetic model are established by simulation software；
The functional relation between steering wheel angle and road curve radius is established according to the kinetic model.
7. the method according to claim 1, wherein acquisition wheel steering angle includes:
Wheel steering angle is obtained using four-wheel position finder.
8. the method according to claim 1, wherein acquisition steering wheel angle includes:
Steering wheel angle is obtained by rotary angle transmitter.
9. the method according to claim 1, wherein judging whether that starting blind monitoring system includes:
If practical turning radius is greater than given threshold, start blind monitoring system；If practical turning radius is less than or equal to
Given threshold then closes blind monitoring system.
10. the method according to claim 1, wherein further include:
After starting blind monitoring system, speed, gear information, steering wheel angle, target carriage speed opposite with main vehicle, target are inputted
After Che Yuzhu vehicle relative angle, target carriage and main vehicle distance, the detection of blind monitoring system is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811327358.XA CN109455153B (en) | 2018-11-08 | 2018-11-08 | Control method of blind spot monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811327358.XA CN109455153B (en) | 2018-11-08 | 2018-11-08 | Control method of blind spot monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109455153A true CN109455153A (en) | 2019-03-12 |
| CN109455153B CN109455153B (en) | 2020-12-22 |
Family
ID=65609780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811327358.XA Active CN109455153B (en) | 2018-11-08 | 2018-11-08 | Control method of blind spot monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455153B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092818A (en) * | 2020-08-24 | 2020-12-18 | 奇瑞新能源汽车股份有限公司 | Road curvature radius calculation method and device of blind area monitoring system and vehicle |
| CN113587940A (en) * | 2021-07-30 | 2021-11-02 | 重庆长安汽车股份有限公司 | Lane line checking method and system based on vehicle turning radius and vehicle |
| CN115489603A (en) * | 2022-09-14 | 2022-12-20 | 上海琪埔维半导体有限公司 | Steering precision compensation method of vehicle steering system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100872326B1 (en) * | 2007-11-29 | 2008-12-05 | 현대자동차주식회사 | Bsd system using smart-key ecu and method thereof |
| CN103661599A (en) * | 2013-12-04 | 2014-03-26 | 奇瑞汽车股份有限公司 | System and method for predicting turning path of vehicle |
| CN107161081A (en) * | 2017-05-11 | 2017-09-15 | 重庆长安汽车股份有限公司 | A kind of right side fade chart picture automatically opens up system and method |
| CN107702929A (en) * | 2017-08-14 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Detection method, device and the vehicle of vehicle minimum turning diameter |
| CN108646720A (en) * | 2018-07-11 | 2018-10-12 | 安徽江淮汽车集团股份有限公司 | BSD controllers are in ring test device and method |
-
2018
- 2018-11-08 CN CN201811327358.XA patent/CN109455153B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100872326B1 (en) * | 2007-11-29 | 2008-12-05 | 현대자동차주식회사 | Bsd system using smart-key ecu and method thereof |
| CN103661599A (en) * | 2013-12-04 | 2014-03-26 | 奇瑞汽车股份有限公司 | System and method for predicting turning path of vehicle |
| CN107161081A (en) * | 2017-05-11 | 2017-09-15 | 重庆长安汽车股份有限公司 | A kind of right side fade chart picture automatically opens up system and method |
| CN107702929A (en) * | 2017-08-14 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Detection method, device and the vehicle of vehicle minimum turning diameter |
| CN108646720A (en) * | 2018-07-11 | 2018-10-12 | 安徽江淮汽车集团股份有限公司 | BSD controllers are in ring test device and method |
Non-Patent Citations (2)
| Title |
|---|
| 日本自动车技术会: "《汽车工程手册5 底盘设计篇》", 31 December 2010, 北京理工大学出版社 * |
| 王崇阳: "一种侧后雷达系统控制逻辑的设计研究", 《汽车实用技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092818A (en) * | 2020-08-24 | 2020-12-18 | 奇瑞新能源汽车股份有限公司 | Road curvature radius calculation method and device of blind area monitoring system and vehicle |
| CN113587940A (en) * | 2021-07-30 | 2021-11-02 | 重庆长安汽车股份有限公司 | Lane line checking method and system based on vehicle turning radius and vehicle |
| CN115489603A (en) * | 2022-09-14 | 2022-12-20 | 上海琪埔维半导体有限公司 | Steering precision compensation method of vehicle steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109455153B (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110239535B (en) | Curve active collision avoidance control method based on multi-sensor fusion | |
| CN109720342B (en) | Path planning design method for vertical parking | |
| CN211765500U (en) | Intelligent driving environment sensing system used in closed scene and automobile | |
| CN108032859B (en) | Automatic lane change control method and device and automobile | |
| CN103661599B (en) | A kind of turn inside diameter trajectory predictions system and method | |
| CN106965751B (en) | Method and system for capturing rear view of vehicle | |
| US8120476B2 (en) | Digital camera rear-view system | |
| US8180525B2 (en) | Method and system for assisting a driver when parking or maneuvering a motor vehicle | |
| CN110073429B (en) | Method for monitoring the surroundings of a vehicle combination and monitoring system | |
| CN103909930B (en) | Follow the auxiliary control method that front truck travels | |
| CN106945660A (en) | A kind of automated parking system | |
| US20090063053A1 (en) | Method and system for blind spot identification and warning utilizing visual indicators | |
| CN109455153A (en) | The control method of blind monitoring system | |
| EP3456596A1 (en) | Method and device of predicting a possible collision | |
| CN112109707B (en) | Emergency lane keeping auxiliary method for VRU | |
| CN105022064A (en) | Anti-collision method adopting automotive posterior lateral anti-collision radar system | |
| US10676131B2 (en) | Method for at least semi-autonomously manoeuvring a motor vehicle with position correction, driver assistance system and motor vehicle | |
| CN104554008A (en) | Vehicle safety auxiliary system for lane changing | |
| CN111016886B (en) | Automatic parking path planning method based on B spline theory | |
| WO2019037870A1 (en) | A method for steering an articulated vehicle | |
| CN108528337A (en) | A kind of lubrication groove difference intelligent early-warning system and method for early warning based on video projection | |
| GB2556427A (en) | Vehicle with environmental context analysis | |
| CN111114547B (en) | Distributed driving electric motor coach adaptive cruise curve control method | |
| DE102006060456B4 (en) | Method and system for steering a vehicle into a parking space | |
| CN114466776A (en) | Vehicle control method, vehicle control device, and vehicle control system including the vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |