CN109455153B - Control method of blind spot monitoring system - Google Patents
Control method of blind spot monitoring system Download PDFInfo
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- CN109455153B CN109455153B CN201811327358.XA CN201811327358A CN109455153B CN 109455153 B CN109455153 B CN 109455153B CN 201811327358 A CN201811327358 A CN 201811327358A CN 109455153 B CN109455153 B CN 109455153B
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- 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
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Abstract
The invention discloses a control method of a blind spot monitoring system, which comprises the following steps: obtaining a wheel corner and a steering wheel corner; obtaining the radius of the road curve according to the wheel turning angle; establishing a functional relation between a steering wheel corner and a road curve radius; and judging whether to start the blind spot monitoring system or not according to the functional relation between the actual curve radius when the vehicle runs and the function. According to the control method of the blind spot monitoring system, the radius of the road curve is obtained by utilizing the wheel corner, the relation between the front wheel corner and the curve turning radius is established through an Ackerman geometric model, then a corresponding dynamic model is established through the front wheel corner model and the steering wheel corner, and finally the accuracy of the dynamic model is verified through a whole vehicle test. According to the method, the turning radius is identified without identifying the lane line through a camera, so that the research and development cost is saved, and the unstable and invalid functions caused by external factors such as light rays and the like are avoided.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a control method of a blind spot monitoring system.
Background
The blind spot monitoring system mainly uses microwaves to detect information such as distance, direction, speed and the like of target vehicles or barriers at the side rear part of the automobile, and utilizes the information to realize positioning of the targets at the side rear part, so that the influence of night or weather such as haze, rain, snow, dust, fog and the like when the visibility is poor can be effectively overcome, the potential dangerous targets in the blind area range of the automobile and adjacent lanes are detected, the driver is supplied with early warning on the premise of accident occurrence, the occurrence of potential traffic accidents is effectively prevented, and the personnel and property safety is protected to the maximum extent.
The blind spot monitoring system detects vehicle information of roads on two sides of the vehicle outside rearview mirror through two millimeter wave radars arranged behind the vehicle, and the blind spot monitoring function is achieved.
In the method for identifying the lane line in the prior art, the lane line is identified by using a camera, mathematical fitting is carried out, and then the curvature of the road can be obtained, so that a blind spot monitoring system is required to add the camera and a millimeter wave radar for fusion, the cost of parts is increased, and meanwhile, a vision system is sensitive to background light, such as a shade road with strong sunlight, the lane line is divided into fragments by the light, so that the lane line cannot be extracted, and the function is unstable and invalid.
Disclosure of Invention
The invention aims to provide a control method of a blind spot monitoring system, which aims to solve the problems in the prior art, save the cost and improve the identification function of the blind spot monitoring system.
The invention provides a control method of a blind spot monitoring system, which comprises the following steps:
obtaining a wheel corner and a steering wheel corner;
obtaining the radius of the road curve according to the wheel turning angle;
establishing a functional relation between a steering wheel corner and a road curve radius;
and judging whether to start the blind spot monitoring system or not according to the functional relation between the actual curve radius when the vehicle runs and the function.
Preferably, deriving the road curve radius from the wheel rotation angle comprises:
obtaining an outer wheel turning radius and an inner wheel turning radius;
obtaining a vehicle center turning radius according to the outer wheel turning radius and the inner wheel turning radius;
and obtaining the radius of the road curve according to the turning radius of the wheel center.
Preferably, obtaining the outer wheel turning radius comprises:
wherein L is the wheelbase, C is the offset of the main pin, alpha is the outer wheel corner, RminαThe turning radius of the outer wheel.
Preferably, obtaining the inner wheel turning radius comprises:
wherein L is wheelbase, K is wheelbase, C is kingpin offset, alpha is outer wheel corner, beta is inner wheel corner, R isminβThe turning radius of the inner wheel.
Preferably, the deriving a vehicle center turning radius from the outer wheel turning radius and the inner wheel turning radius comprises:
φ＝(Rminα+Rminβ)/2；
where φ is the vehicle center turning radius, RminαIs the outer wheel turning radius, RminβThe turning radius of the inner wheel.
Preferably, establishing a functional relationship between the steering wheel angle and the road curve radius comprises:
establishing a motion relation between a steering wheel corner and a steering gear rack;
establishing a motion relation between a gear rack of a steering gear and a front wheel steering angle;
establishing a front wheel corner and steering wheel corner dynamic model through simulation software;
and establishing a functional relation between the steering wheel corner and the road curve radius according to the dynamic model.
Preferably, the obtaining of the wheel rotation angle includes:
and obtaining the wheel rotation angle by using a four-wheel positioning instrument.
Preferably, the acquiring of the steering wheel angle includes:
and acquiring the steering wheel angle through an angle sensor.
Preferably, the determining whether to activate the blind spot monitoring system comprises:
if the actual radius of the curve is larger than a set threshold value, starting a blind spot monitoring system; and if the actual curve radius is less than or equal to the set threshold value, closing the blind spot monitoring system.
Preferably, the method further comprises the following steps:
after the blind spot monitoring system is started, the detection of the blind spot monitoring system is carried out after the vehicle speed, gear information, the steering wheel turning angle, the relative vehicle speed of the target vehicle and the main vehicle, the relative angle of the target vehicle and the main vehicle and the distance between the target vehicle and the main vehicle are input.
According to the control method of the blind spot monitoring system, the radius of the road curve is obtained by utilizing the wheel corner, the relation between the front wheel corner and the curve turning radius is established through an Ackerman geometric model, then a corresponding dynamic model is established through the front wheel corner model and the steering wheel corner, and finally the accuracy of the dynamic model is verified through a whole vehicle test. According to the method, the turning radius is identified without identifying the lane line through a camera, so that the research and development cost is saved, and the unstable and invalid functions caused by external factors such as light rays and the like are avoided.
Drawings
Fig. 1 is a flowchart of a control method of a blind spot monitoring system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As shown in fig. 1, an embodiment of the present invention provides a control method for a blind spot monitoring system, including:
and S100, obtaining a wheel turning angle and a steering wheel turning angle.
Preferably, the wheel rotation angle may be obtained by using a four-wheel aligner, and the steering wheel rotation angle may be obtained by using a rotation angle sensor.
And S200, obtaining the radius of the road curve according to the wheel turning angle.
When a vehicle enters a section of continuous curve, the vehicle can do circular motion along the curve when moving to enter a stable state, at the moment, the instantaneous circle center of the vehicle is overlapped with the circle center of the curve, and at the moment, the turning radius of the vehicle can replace the curve radius of a road.
When the automobile turns, in order to avoid additional resistance generated by a road surface to the running of the automobile and the over-fast abrasion of tires, all wheels of the automobile need to roll purely, namely when the automobile turns, the motion tracks of an inner wheel and an outer wheel of the automobile are concentric circles, namely the Ackerman steering principle of the automobile. According to the vehicle designed according to the Ackerman steering geometry, when the vehicle turns along a curve, the steering angle of the inner side wheel is 2-4 degrees larger than that of the outer side wheel by utilizing the equal crank of the four connecting rods, so that the circle centers of the paths of the four wheels approximately meet with the instantaneous steering center of the extension line of the rear shaft, and the vehicle can smoothly turn. At the moment, the relationship between the turning radius and the corner of the front wheel and the parameters of the whole vehicle can be established through Ackerman steering geometry.
Specifically, the relationship between the front wheel turning angle and the front wheel turning radius can be established through an Ackerman geometric model by approximately simulating the road turning radius through the wheel turning angle.
The step S200 may include:
and S210, obtaining an outer wheel turning radius and an inner wheel turning radius.
Obtaining the outer wheel turning radius comprises:
wherein L is the wheelbase, C is the offset of the main pin, alpha is the outer wheel corner, RminαThe turning radius of the outer wheel.
Obtaining the inside wheel turning radius includes:
wherein L is wheelbase, K is wheelbase, C is kingpin offset, alpha is outer wheel corner, beta is inner wheel corner, R isminβThe turning radius of the inner wheel.
And S220, obtaining the central turning radius of the vehicle according to the outer wheel turning radius and the inner wheel turning radius.
Obtaining a vehicle center turning radius from the outer wheel turning radius and the inner wheel turning radius comprises:
φ＝(Rminα+Rminβ)/2；
where φ is the vehicle center turning radius, RminαIs the outer wheel turning radius, RminβThe turning radius of the inner wheel.
And S230, obtaining the radius of the road curve according to the turning radius of the wheel center.
The wheel center turning radius obtained above can be used as an approximate road curve radius.
And S300, establishing a functional relation between the steering wheel angle and the road curve radius.
Specifically, the steps include:
and S310, establishing a motion relation between the steering wheel angle and the steering gear rack.
And S320, establishing a motion relation between the gear rack of the steering gear and the front wheel steering angle.
S330, establishing a front wheel corner and steering wheel corner dynamic model through simulation software.
And S340, establishing a functional relation between the steering wheel corner and the road curve radius according to the dynamic model.
S400, judging whether to start a blind spot monitoring system according to the functional relation between the actual curve radius when the vehicle runs and the function.
Determining whether to activate the blind spot monitoring system may include: if the actual radius of the curve is larger than a set threshold value, starting a blind spot monitoring system; and if the actual curve radius is less than or equal to the set threshold value, closing the blind spot monitoring system.
On the basis of the above embodiment, the method further includes:
after the blind spot monitoring system is started, the detection of the blind spot monitoring system is carried out after the vehicle speed, gear information, the steering wheel turning angle, the relative vehicle speed of the target vehicle and the main vehicle, the relative angle of the target vehicle and the main vehicle and the distance between the target vehicle and the main vehicle are input.
According to the control method of the blind spot monitoring system provided by the embodiment of the invention, the radius of the road curve is obtained by utilizing the wheel corner, the relation between the front wheel corner and the curve turning radius is established through an Ackerman geometric model, then a corresponding dynamic model is established through the front wheel corner model and the steering wheel corner, and finally the accuracy of the dynamic model is verified through a whole vehicle test. According to the method, the turning radius is identified without identifying the lane line through a camera, so that the research and development cost is saved, and the unstable and invalid functions caused by external factors such as light rays and the like are avoided.
The features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified according to the idea of the present invention should be within the scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.
Claims (5)
1. A method of controlling a blind spot monitoring system, comprising:
obtaining a wheel corner and a steering wheel corner;
obtaining a road curve radius from the wheel angle, comprising: obtaining an outer wheel turning radius and an inner wheel turning radius, the obtaining the outer wheel turning radius comprising:
wherein L is the wheelbase, C is the offset of the main pin, alpha is the outer wheel corner, RminαThe turning radius of the outer wheel;
obtaining the inside wheel turning radius includes:
wherein L is wheelbase, K is wheelbase, C is kingpin offset, alpha is outer wheel corner, beta is inner wheel corner, R isminβThe turning radius of the inner wheel;
obtaining a vehicle center turning radius from the outer wheel turning radius and the inner wheel turning radius, comprising:
where φ is the vehicle center turning radius, RminαIs the outer wheel turning radius, RminβThe turning radius of the inner wheel;
obtaining the radius of the road curve according to the turning radius of the vehicle center;
establishing a functional relationship between a steering wheel angle and a road curve radius, comprising:
establishing a motion relation between a steering wheel corner and a steering gear rack;
establishing a motion relation between a gear rack of a steering gear and a front wheel steering angle;
establishing a front wheel corner and steering wheel corner dynamic model through simulation software;
establishing a functional relation between a steering wheel corner and a road curve radius according to the dynamic model;
and judging whether to start the blind spot monitoring system or not according to the functional relation between the actual curve radius when the vehicle runs and the function.
2. The method of claim 1, wherein obtaining a wheel angle comprises: and obtaining the wheel rotation angle by using a four-wheel positioning instrument.
3. The method of claim 1, wherein obtaining a steering wheel angle comprises:
and acquiring the steering wheel angle through an angle sensor.
4. The method of claim 1, wherein determining whether to activate the blind spot monitoring system comprises:
if the actual radius of the curve is larger than a set threshold value, starting a blind spot monitoring system; and if the actual curve radius is less than or equal to the set threshold value, closing the blind spot monitoring system.
5. The method of claim 1, further comprising:
after the blind spot monitoring system is started, the detection of the blind spot monitoring system is carried out after the vehicle speed, gear information, the steering wheel turning angle, the relative vehicle speed of the target vehicle and the main vehicle, the relative angle of the target vehicle and the main vehicle and the distance between the target vehicle and the main vehicle are input.
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| 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 |
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| CN103661599B (en) * | 2013-12-04 | 2016-01-06 | 奇瑞汽车股份有限公司 | A kind of turn inside diameter trajectory predictions system and method |
| CN107161081B (en) * | 2017-05-11 | 2019-06-04 | 重庆长安汽车股份有限公司 | A kind of right side blind area image automatically opens 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 |
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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 |
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