CN110103817B - Intelligent control method for stable running of vehicle in emergency state - Google Patents

Intelligent control method for stable running of vehicle in emergency state Download PDF

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CN110103817B
CN110103817B CN201910281045.3A CN201910281045A CN110103817B CN 110103817 B CN110103817 B CN 110103817B CN 201910281045 A CN201910281045 A CN 201910281045A CN 110103817 B CN110103817 B CN 110103817B
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steering wheel
vehicle
voltage value
emergency
state
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CN110103817A (en
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薛红涛
周嘉文
江洪
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Jiangsu Weihang Automobile Communication Technology Co ltd
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Controls (AREA)

Abstract

The invention discloses an intelligent control method for the stable running of a vehicle in an emergency state, which belongs to the field of passive safety control of vehicles, and is characterized in that an on-board sensor is adopted to sense the contact area between the hands of a driver and a steering wheel of the vehicle and the time for the hands to control the steering wheel, a steering wheel contact information processing module is used for judging the category range of data, a vehicle running emergency state dividing module is used for dividing different categories of the emergency state according to the category range of the data, a control mode output module is used for outputting different control methods according to different categories of the emergency state, the vehicle is controlled in a targeted manner in the stable running process, and the emergency situation possibly met by the driver in the running process of the vehicle can be monitored intelligently, so that the safety of the vehicle in the running process is improved, and the safety of the.

Description

Intelligent control method for stable running of vehicle in emergency state
Technical Field
The invention relates to the field of vehicle passive safety control, in particular to an intelligent control method for realizing stable running of a vehicle in an emergency state.
Background
In the process of driving, due to various factors, a driver can have a plurality of uncontrollable emergency situations, if the emergency situations are not processed and controlled in time, serious traffic accidents can be caused, and therefore the vehicle can be controlled in time in a stable driving mode in an emergency state.
The existing control method for the stable running of the vehicle is a steering system for intelligently adjusting a steering wheel, so that a driver can operate the steering system more comfortably and conveniently. For example, the control system and the control method disclosed in chinese patent publication No. CN104627240B are capable of adapting to different driving habits, have an intelligent feature, and simultaneously perform optimal management on a driver model through a background network, and although the system is capable of intelligently adjusting a steering system of a steering wheel, the system is incapable of controlling the steering wheel in an emergency situation, so that the application range is small, and the system is incapable of adapting to special conditions that are changeable during vehicle driving.
Disclosure of Invention
The invention aims to solve the problems, and provides an intelligent control method for the stable running of a vehicle in an emergency state, which can control a steering wheel of the vehicle in a special emergency state and can control the stable running of the vehicle through an alarm device and an intelligent hand brake control system, so that the running stability of the vehicle and the safety of a driver are guaranteed.
The invention relates to an intelligent control method for vehicle stable running in an emergency state, which adopts the technical scheme that the intelligent control method comprises the following steps:
A. sensing the contact area between the driver's hand and the steering wheel of the vehicle by using a vehicle-mounted sensorSAnd the time when the driver's hand controls the steering wheeltAnd will contact the areaSTo the steering wheel contact information processing module for a predetermined timetTransmitting the data to a vehicle running emergency state dividing module;
B. the steering wheel contacts the information processing module to control the contact areaSComparing with the preset contact area interval to judge the contact areaSThe corresponding interval voltage value is output to the vehicle running emergency state division module;
C. the vehicle running emergency state dividing module divides corresponding emergency state types according to the interval voltage value and outputs corresponding state type voltage values to the control mode output module;
D. and the control mode output module outputs a corresponding control method to control the vehicle-mounted alarm device, the steering wheel self-locking device and the intelligent hand brake control system according to the different state class voltage values.
Further, in the step B, the predetermined contact area zone is [ alpha ]S 0, S 1)、[S 1, S 2)、[S 2, S 3]、(S 3, S 4]，S 0=0，S 0<S 1< S 2< S 3< S 4，S 4Is the total surface area of the steering wheel;
if the contact areaS∈[S 2, S 3]When the steering wheel contacts the information partThe reason module judges that the driver holds the steering wheel by two hands and outputs interval voltage valuesV 1；
If it isS∈[S 1, S 2) If so, it is determined that the driver has operated the steering wheel with one hand and outputs the interval voltage valueV 2；
If it isS∈[S 0, S 1) Then, it is determined that the driver has both hands separated from the steering wheel, and the interval voltage value is outputtedV 3；
If it isS∈(S 3, S 4]If so, judging that an emergency occurs in the driving process, and outputting the interval voltage valueV 4。
Further, in step C, the section voltage value is received by the vehicle driving emergency state division moduleV 1Time of day, classification into status categories of safety steering wheelE 0Output the state class voltage valueV 5；
When receiving interval voltage valueV 2Time of day, into emergency categoriesE 1The time is measuredtWith a predetermined safety time thresholdT 1Making a comparison over timet<T 1Time of day, into emergency categoriesE 11And outputs the state class voltage valueV 6(ii) a When in uset≥T 1Time of day, into emergency categoriesE 12And outputs the state class voltage valueV 7；
When receiving interval voltage valueV 3Time of day, into emergency categoriesE 2The time is measuredtWith a preset alert time thresholdT 2Making a comparison whent<T 2Time of day, into emergency categoriesE 21And outputs the state class voltage valueV 8(ii) a When in uset≥T 2Time of day, into emergency categoriesE 22And outputs the state class voltage valueV 9；
When receiving interval voltage valueV 4Time of day, into emergency categoriesE 3And outputs the state class voltage valueV 10。
Further, in step D, when the control mode output module receives the state class voltage valueV 5When the driver operates the steering wheel autonomously;
when the control mode output module receives the state class voltage valueV 6When the vehicle-mounted alarming device is used, the vehicle-mounted alarming device is controlled to give an alarm to a driver;
when the control mode output module receives the state class voltage valueV 7OrV 8When the steering wheel is in use, the steering wheel self-locking device and the vehicle-mounted alarm device are controlled to work simultaneously;
when the control mode output module receives the state class voltage valueV 9OrV 10And when the intelligent hand brake is used, the steering wheel self-locking device and the intelligent hand brake control system are controlled to work simultaneously.
The invention has the beneficial effects that:
according to the invention, the contact area between the hands of the driver and the steering wheel of the vehicle and the time for controlling the steering wheel by the hands are sensed by using the vehicle-mounted sensor, the type range of the data is judged by the steering wheel contact information processing module, different types of emergency states are divided by the vehicle driving emergency state dividing module according to the type range of the data, different control methods are output by the control mode output module according to different types of emergency states, the vehicle is controlled in a targeted manner in a stable driving process, the emergency situations possibly encountered by the driver in the vehicle driving process can be intelligently monitored, the safety of the vehicle driving process is improved, and the safety of the driver is guaranteed.
Drawings
FIG. 1 is a hardware configuration diagram of a control method according to the present invention;
fig. 2 is a flow chart of the control method according to the present invention.
Detailed Description
Referring to fig. 1 and 2, the present invention senses a contact area of a driver's hand with a steering wheel of a vehicle using an on-vehicle sensor mounted on the steering wheel of the vehicleSAnd the driverHand-controlled steering wheel timingt. The output end of the vehicle-mounted sensor is respectively connected with the input ends of the steering wheel contact information processing module and the vehicle running emergency state dividing module, and the contact area of the vehicle steering wheel is dividedSTransmitting to the steering wheel contact information processing module to control the steering wheel timetAnd transmitting the data to a vehicle running emergency state division module. The output end of the steering wheel contact information processing module is connected with the input end of the vehicle running emergency state dividing module, the output end of the vehicle running emergency state dividing module is connected with the control mode output module, and the output end of the control mode output module is respectively connected with the vehicle-mounted alarm device, the steering wheel self-locking device and the intelligent hand brake control system. The vehicle-mounted alarm device, the steering wheel self-locking device and the intelligent hand brake control system are arranged on the vehicle and are carried by the vehicle.
The contact area received by the steering wheel contact information processing moduleSAfter the data, it is processed. To contact the areaSComparing with the preset area interval to judge the contact areaSAnd outputting corresponding voltage signals within the interval range. The preset area interval is characterized in that the contact area between the driver and the steering wheel is preset according to the characteristic that the hand size of different drivers is different by combining the body state characteristic information of the driver in advanceSThe method is divided into the following intervals:
(1) zone of contact area [ 2 ]S 2, S 3]，S 2<S 3Belonging to the interval that the driver holds the steering wheel by two hands;
(2) zone of contact area [ 2 ]S 1, S 2)：S 1<S 2Belonging to the interval of the steering wheel operated by the single hand of the driver;
(3) no contact area [ alpha ]S 0, S 1): the device belongs to an interval in which the contact area between the hands of a driver and a steering wheel is extremely small and the driver can be determined that the hands are separated from the steering wheel; wherein,S 0=0，S 0<S 1；
(4) interval of contact area (S 3, S 4]：S 3<S 4，S 4The total surface area of the steering wheel is an interval indicating a special emergency, and if a third person except the driver touches the steering wheel illegally or the driver suddenly gets a disease and completely falls on the steering wheel, the emergency situation is detected.
Steering wheel contact information processing module pair contact areaSWhen the area interval is compared with the preset area interval, the comparison result is as follows:
(1) if the contact areaS∈[S 2, S 3]When the steering wheel contact information processing module judges that the driver holds the steering wheel by both hands, the steering wheel contact information processing module outputs the interval voltage value ofV 1To the vehicle driving emergency division module.
(2) If the contact areaS∈[S 1, S 2) The steering wheel contact information processing module judges that the driver operates the steering wheel by one hand, and the output interval voltage value isV 2To the vehicle driving emergency division module.
(3) If the contact areaS∈[S 0, S 1) The steering wheel contact information processing module judges that the two hands of the driver are separated from the steering wheel, and the output interval voltage value isV 3To the vehicle driving emergency division module.
(4) If the contact areaS∈(S 3, S 4]The steering wheel contact information processing module judges that special emergency occurs in the driving process of the driver, if a third person except the driver illegally touches the steering wheel or the driver breaks down a sudden disease and completely falls down on the steering wheel, the voltage value of an output interval at the moment isV 4To the vehicle driving emergency division module.
And after the steering wheel contact information processing module transmits the judged result to the vehicle running emergency state dividing module in the form of corresponding voltage signals with different voltage values, the vehicle running emergency state dividing module divides corresponding emergency state types according to the voltage values and outputs corresponding voltage signals. The method comprises the following steps:
(1) the division module receives the interval voltage value when the vehicle runs in an emergency stateV 1Voltage signal of, i.e. contact areaS∈[S 2, S 3]: this is the standard way of safely operating the steering wheel, the vehicle is running normally and not in an emergency, and this status category is defined asE 0And outputs a state class voltage value ofV 5To the control mode output module.
(2) When the vehicle runs in an emergency state, the division module receives the interval voltage value ofV 2Voltage signal of, i.e. contact areaS∈[S 1, S 2): defining the emergency state category as when the driver manipulates the steering wheel with one handE 1. At this time, the vehicle driving emergency state division module divides the time for controlling the steering wheel by handtWith a predetermined safety time thresholdT 1A comparison is made. When the driver operates the steering wheel with one handt<T 1The emergency state category is defined asE 11And outputs a state class voltage value ofV 6The voltage signal is sent to a control mode output module; when the time for the driver to operate the steering wheel by one hand exceeds a safe time threshold valueT 1I.e. byt≥T 1The emergency state category is defined asE 12And outputs a state class voltage value ofV 7To the control mode output module.
(3) When the vehicle runs in an emergency state, the division module receives the interval voltage value ofV 3Voltage signal of (2), i.e. contact areaS 0, S 1) Defining the status category of the driver with both hands off the steering wheel as an emergency statusE 2. At this time, the vehicle driving emergency state division module divides the time for controlling the steering wheel by handtWith a preset alert time thresholdT 2A comparison is made. When in uset<T 2When the emergency state is defined asE 21And output a voltage value ofV 8The voltage signal is sent to a control mode output module; inverse directionWhen it is used ast≥T 2The emergency state category is defined asE 22The output state class voltage value isV 9To the control mode output module.
(4) When the vehicle runs in an emergency state, the division module receives the interval voltage value ofV 4Voltage signal of, i.e. contact areaS∈(S 3, S 4]: a state indicating that a special emergency (the steering wheel is illegally touched by a third person except the driver or the driver completely dumps sudden illness on the steering wheel) is an emergency state categoryE 3And outputs a state class voltage value ofV 10To the control mode output module.
In particular, in the voltage signal outputted as described above,V 1≠V 2≠V 3≠V 4≠V 5≠V 6≠V 7≠V 8≠V 9≠V 10。
the vehicle running emergency state dividing module transmits the divided emergency state types to the control mode output module through corresponding electric signals, the control mode output module outputs corresponding control modes according to different emergency state type voltage value signals to carry out targeted control on the stable running of the vehicle, and the control modes comprise a mode of outputting control signals to control the vehicle-mounted alarm device to remind a driverW 1Steering wheel self-locking device for keeping steering wheel rotating direction modeW 2And intelligent hand brake control system automatic starting electronic hand brake modeW 3。
The control mode output module receives the division result of the vehicle driving emergency state division module and outputs a corresponding control mode, specifically:
(1) when the control mode output module receives the state class voltage value ofV 5I.e. when the vehicle is in a driving state of classE 0The steering wheel is autonomously operated by the driver without providing a control method.
(2) When the control mode output module receives the state class voltage value ofV 6Voltage signal of, i.e. when emergency state is of the typeE 11Indicating a low level of urgency, so the control mode is usedW 1And the vehicle-mounted alarm device gives an alarm to the driver to prompt the driver to correctly operate the steering wheel.
(3) When the control mode output module receives the state class voltage value ofV 7、V 8Voltage signal of, i.e. when emergency state is of the typeE 12、E 21When the emergency level is increased, the control mode is used, which indicates that the steering wheel of the vehicle may be out of controlW 2The steering wheel self-locking device works to ensure that the current steering wheel does not rotate violently, and simultaneously, the control mode is used togetherW 1And the vehicle-mounted alarm device works simultaneously to prompt a driver to correctly operate the steering wheel. Particularly, after a driver starts to operate the steering wheel when receiving the warning prompt of the vehicle-mounted warning device, the steering wheel self-locking device stops working.
(4) When the control mode output module receives the state class voltage value ofV 9、V 10Voltage signal of, i.e. when emergency state is of the typeE 22、E 3Indicating a very critical hazard state, so that the control modes are simultaneously enabledW 2AndW 3the control mode output module outputs control signals to control the steering wheel self-locking device and the intelligent hand brake control system to start working at the same time, so that the current steering wheel is ensured not to rotate violently, and meanwhile, the intelligent hand brake control system is automatically started, so that the vehicle is decelerated and braked, and accidents caused by out-of-control steering wheel are avoided. Particularly, the intelligent hand brake control system provided by the invention is an intelligent hand brake control system which is provided by the Chinese patent publication No. CN108146412A and named as the intelligent hand brake control system and the method thereof and can automatically start the electronic hand brake.

Claims (5)

1. An intelligent control method for vehicle stable running in an emergency state is characterized by comprising the following steps:
A. sensing the contact area between the driver's hand and the steering wheel of the vehicle by using a vehicle-mounted sensorSAnd the time when the driver's hand controls the steering wheeltAnd will contact the areaSTo the steering wheel contact information processing module for a predetermined timetTransmitting the data to a vehicle running emergency state dividing module;
B. the steering wheel contacts the information processing module to control the contact areaSComparing with the preset contact area interval to judge the contact areaSThe corresponding interval voltage value is output to the vehicle running emergency state division module;
the preset contact area interval is [ 2 ]S 0, S 1)、[S 1, S 2)、[S 2, S 3]、(S 3, S 4]，S 0=0，S 0<S 1< S 2< S 3<S 4，S 4Is the total surface area of the steering wheel;
if the contact areaS∈[S 2, S 3]If the steering wheel touch information processing module judges that the driver holds the steering wheel by both hands, the interval voltage value is outputV 1；
If it isS∈[S 1, S 2) If so, it is determined that the driver has operated the steering wheel with one hand and outputs the interval voltage valueV 2；
If it isS∈[S 0, S 1) Then, it is determined that the driver has both hands separated from the steering wheel, and the interval voltage value is outputtedV 3；
If it isS∈(S 3, S 4]If so, judging that an emergency occurs in the driving process, and outputting the interval voltage valueV 4；
C. The vehicle running emergency state dividing module divides corresponding emergency state types according to the interval voltage value and outputs corresponding state type voltage values to the control mode output module;
D. and the control mode output module outputs a corresponding control method to control the vehicle-mounted alarm device, the steering wheel self-locking device and the intelligent hand brake control system according to the different state class voltage values.
2. The intelligent control method for the stable running of the vehicle in the emergency state according to claim 1, wherein: in step C, when the vehicle running emergency state division module receives the interval voltage valueV 1Time of day, classification into status categories of safety steering wheelE 0Output the state class voltage valueV 5；
When receiving interval voltage valueV 2Time of day, into emergency categoriesE 1The time is measuredtWith a predetermined safety time thresholdT 1Making a comparison over timet<T 1Time of day, into emergency categoriesE 11And outputs the state class voltage valueV 6(ii) a When in uset≥T 1Time of day, into emergency categoriesE 12And outputs the state class voltage valueV 7；
When receiving interval voltage valueV 3Time of day, into emergency categoriesE 2The time is measuredtWith a preset alert time thresholdT 2Making a comparison whent<T 2Time of day, into emergency categoriesE 21And outputs the state class voltage valueV 8(ii) a When in uset≥T 2Time of day, into emergency categoriesE 22And outputs the state class voltage valueV 9；
When receiving interval voltage valueV 4Time of day, into emergency categoriesE 3And outputs the state class voltage valueV 10。
3. The intelligent control method for the stable running of the vehicle in the emergency state as claimed in claim 2, whereinCharacterized in that: in step D, when the control mode output module receives the state class voltage valueV 5When the driver operates the steering wheel autonomously;
when the control mode output module receives the state class voltage valueV 6When the vehicle-mounted alarming device is used, the vehicle-mounted alarming device is controlled to give an alarm to a driver;
when the control mode output module receives the state class voltage valueV 7OrV 8When the steering wheel is in use, the steering wheel self-locking device and the vehicle-mounted alarm device are controlled to work simultaneously;
when the control mode output module receives the state class voltage valueV 9OrV 10And when the intelligent hand brake is used, the steering wheel self-locking device and the intelligent hand brake control system are controlled to work simultaneously.
4. The intelligent control method for the stable running of the vehicle in the emergency state according to claim 3, wherein: when the steering wheel self-locking device and the vehicle-mounted alarm device work simultaneously, the steering wheel self-locking device stops working after a driver starts to operate the steering wheel when receiving the warning prompt of the vehicle-mounted alarm device.
5. The intelligent control method for the stable running of the vehicle in the emergency state according to claim 3, wherein: when the steering wheel self-locking device and the intelligent hand brake control system are controlled to work simultaneously, the steering wheel is controlled not to rotate, and meanwhile, the electric intelligent hand brake control system is started to decelerate and brake the vehicle.
CN201910281045.3A 2019-04-09 2019-04-09 Intelligent control method for stable running of vehicle in emergency state Active CN110103817B (en)

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CN111208821B (en) * 2020-02-17 2020-11-03 润通智能科技(郑州)有限公司 Automobile automatic driving control method and device, automatic driving device and system

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JPH06156114A (en) * 1992-11-16 1994-06-03 Makoto Ueda Dozing driving prevention apparatus
EP1829728A1 (en) * 2004-12-16 2007-09-05 Martin Alvarez, Juan Carlos Device for preventing accidents in the event of drowsiness or inattention on the part of the driver of a vehicle
CN203126659U (en) * 2013-01-07 2013-08-14 浙江吉利汽车研究院有限公司杭州分公司 Device for reminding driver that double hands break away from steering wheel
CN104276080A (en) * 2014-10-16 2015-01-14 北京航空航天大学 Bus driver hand-off-steering-wheel detection warning system and warning method
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CN207257751U (en) * 2017-05-08 2018-04-20 上汽通用汽车有限公司 There is the steering wheel that grip position is corrected
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