CN110293967A - A kind of automobile low speed active safety executes control method and control system - Google Patents
A kind of automobile low speed active safety executes control method and control system Download PDFInfo
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- CN110293967A CN110293967A CN201910515067.1A CN201910515067A CN110293967A CN 110293967 A CN110293967 A CN 110293967A CN 201910515067 A CN201910515067 A CN 201910515067A CN 110293967 A CN110293967 A CN 110293967A
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
The present invention proposes that a kind of automobile low speed active safety executes system control method and system, system control strategy is executed by design low speed active safety, acquisition low coverage ultrasonic radar and the data information for looking around camera acquisition, detect ambient condition information, solve the problems, such as within the scope of 4 meters of vehicle periphery with barrier risk of collision, to the data fusion of two kinds of sensors, and consider that slope change is adjusted the distance the influence of value, the initial pressure value of brake force is carried out to build pressure compensation, the movement for analyzing driver is intended to, the function of realizing that the real-time operation behavior of driver executes system control strategy with low speed emergency brake carries out coordinated control, solve the problems, such as the driving active safety of vehicle under lower-speed state, stability is increased to active safety function under vehicle lower-speed state and promotes security reliability.
Description
Technical field
The invention belongs to car electrics fields, and in particular to the active safety control policy system under vehicle lower-speed state.
Background technique
In recent years, China's automobile market grows to even greater heights to the functional requirement of active safety under low speed driving states, in city
Vehicle it is increasing, the low speed scene of vehicle occur in life it is very more, such as: in congested link, process of parking and low
By branch road etc., traffic safety demand of the vehicle under lower-speed state is also increasing speed.It is, therefore, desirable to provide it is a kind of effectively, can
By with more intelligentized control strategy.For low speed driving states it is proposed that low speed emergency brake, which executes system, controls plan
Slightly.
The scheme for being much capable of providing active safety anti-collision system in driving conditions, these sides have been proposed in the industry at present
The function of active safety may be implemented in case, reduces the generation of safety accident and ensures life property safety.But current active peace
Total system still has several drawbacks, mainly realizes active safety, data volume by the operating habit of machine learning driver
It is very big, while the characteristic range of data cannot reach greatly the accurate control to vehicle very much, under vehicle low-speed situations into
Row network analysis.Dangerous realization active safety is calculated by the motion state of vehicle and acceleration and deceleration, but driver is not grasped
Make and low speed active safety carries out unified Decision Control, will increase controlling risk and occurring traffic accident for active.
Summary of the invention
The present invention proposes that a kind of automobile low speed active safety executes system control method, mainly solves vehicle under lower-speed state
Driving active safety problem, under vehicle lower-speed state active safety function increase stability and promoted security reliability,
System control strategy is executed by design low speed active safety, acquire low coverage ultrasonic radar and looks around the data of camera acquisition
Information detects ambient condition information, solves the problems, such as to sense two kinds with barrier risk of collision within the scope of 4 meters of vehicle periphery
The data fusion of device, and consider that slope change is adjusted the distance the influence of value, carries out the initial pressure value of brake force to build pressure compensation, point
The movement for analysing driver is intended to, and realizes that the real-time operation behavior of driver executes the function of system control strategy with low speed emergency brake
It can be carried out coordinated control.
Technical scheme is as follows:
The present invention mainly passes through ultrasonic radar and looks around the obstacle information that camera detection obtains vehicle periphery, including
The speed of object, the distance relative to vehicle itself by ultrasonic radar (i.e. ultrasonic sensor) information and look around camera shooting
Head information fusion, estimates the motion profile of obstacle, and acquired disturbance object distance is fed back by vehicle body velocities, calculates to stop and stops distance, together
When in conjunction with driver real-time operation carry out be uniformly coordinated control, calculate different safe distance requirements, then logic judgment system
Dynamic state is carried out building pressure time bias by initial pressure value, determines the time of braking, is executed to stop and is stopped braking.
Specifically, control method of the invention the following steps are included:
1, data acquire: the obstacle distance S of ultrasonic sensor detection vehicle periphery1, look around camera and obtain vehicle
The obstacle distance S of surrounding2, by car body controller (BCM) by CAN bus obtain current vehicle traveling grade information, when
The state of preceding real-time speed, brake and gas pedal；
2, data fusion: the processing of low speed emergency braking system controller is from ultrasonic sensor and looks around camera detection
The obstacle distance S arrived1And S2, first merge and obtain just fusion distance S`；Then the grade information travelled according to current vehicle, meter
Calculation obtains gradient fusion distance S`Melt, finally by S` and S`MeltFusion obtains actually melting for active safety zones Nei Benche and barrier
Close distance value SMelt；
3, decision vehicle braking force and braking time:
3.1, it according to current real-time speed, tables look-up and obtains the safe distance S that vehicle can be reserved3；
3.2, according to SMeltAnd S3Brake is calculated and stops positional distance S, S=SMelt-S3；
3.3, formula is utilizedBraking time T` is calculated, formula is passed throughDeceleration correction value ɑ ` is calculated,
Wherein V is current speed, and a is desired deceleration, and obtaining V` is velocity variations value, passes through changing for braking force control speed
It arrives, Δ T is system communication cycle；
3.4, desired deceleration brake force F` is obtained after correcting desired deceleration a using deceleration correction value a`: by looking into
Table obtains coefficient, and desired deceleration brake force cuts coefficient when ɑ ` is greater than ɑ, and desired deceleration brake force, which adds, when ɑ ` is less than ɑ is
Number；
3.5, according to brake and the state of gas pedal, pass through inquiry brake pedal and throttle compensation braking force data
Table compensates desired deceleration brake force F`, obtains practical execution brake force F.
4, export brake force and braking time, and execute braking: judgement is currently slowing-down brake or emergency brake, selection
Corresponding brake force calculates the time of braking, carries out building pressure to the initial pressure value of the brake force of slowing-down brake and emergency brake
Time bias builds the time of pressure compensation by acquisition of tabling look-up, and the braking obtained to the end executes time T, when further according to T value implementation capacity
Tables of data is carved, judges that reaching braking executes output brake force F after time T, executes braking.
Further, data fusion described in step 2 of the present invention is using the azran information of obstacle as the input of system
Value, system plan the change of vehicle distances by estimating the motion profile and state (static, turn to, move forward and backward) of barrier
Change track, obtains distance SMelt, it specifically includes:
2.1, two kinds of sensors are carried out coordinate and time synchronization: the coordinate is synchronize by turning the coordinate of camera
The three-dimensional cartesian coordinate using vehicle rear axle center as origin is changed to, the coordinate of ultrasonic sensor is transformed into vehicle rear axle
Center is that the two-dimensional Cartesian of origin is fastened, by synchronous coordinate, using the point of vehicle body coordinate posture being calculated as
Basic synchronization environment coordinate points；The time synchronization realizes fusion using a controller, is to take to obtain camera image
Obstacle distance S2Time and the obstacle distance S that gets of ultrasonic wave1Time mark respectively, in calculating treatmenting time
It is synchronous that on piece carries out track.
2.2, fusion obtains S`: by S1And S2By weighting the method averaged fusion, distance value S` at the beginning of obtaining one；
2.3, gradient fusion distance S` is calculatedMelt: the grade information travelled according to current vehicle is calculated the gradient and melts
Close distance S`Melt, formulaΔ θ is the gradient of current vehicle traveling；
2.4, fusion obtains actual fused distance SMelt: S`MeltProcessing is weighted with S` again, after weighting obtain actual fused away from
From SMelt；)
In step 3, for vehicle under lower-speed state, brake control power is maintained for partial pressure to the present invention, this partial pressure
That vehicle braking process is completed as initial pressure, under different initial pressures builds pressure time difference.It builds and presses through for deceleration
Journey obtains initial pressure by calibration and builds pressure deadline relation table.For emergency brake process, obtained by calibration initial
Pressure and build pressure deadline relation table.Stop state relation by vehicle brake, believes in conjunction with the state of vehicle brake pedal, throttle
The running environment of breath and vehicle carries out Decision Control.
The present invention further also protects the automobile low speed active safety executive control system for realizing the above method comprising super
Sonic sensor looks around camera, low speed emergency braking system controller, car body controller BCM；The ultrasonic sensor is logical
It crosses Lin bus to connect with low speed emergency braking system controller, it is urgent by coaxial digital signal line and low speed to look around camera
The connection of brake system controller, low speed emergency braking system controller are connected by CAN bus with car body controller BCM；
Implement system of the present invention, it usually needs the high definition of 12 ultrasonic radars of arrangement and 4 1,000,000 pixels is taken the photograph
As head.By 12 vehicle-mounted ultrasonic sensors, detect the environmental information of vehicle periphery, the distance of detection be 30cm extremely
450cm cooks up 20 regions around vehicle body, is distributed in around vehicle body.
The ultrasonic sensor used in the present invention can constantly feed back the range information of the barrier of surrounding, wound
Distance S can be obtained by building two-dimensional cloud map1, the information of camera detection front obstacle, acquired disturbance object are obtained in real time
Real-time location coordinates, the type and velocity calculated distance value S of barrier2。
Executing system control strategy using low speed emergency brake of the present invention can subtract in low speed driving conditions
The generation of few safety accident reduces economic asset loss, avoids low speed emergency braking system and driver prominent when manipulating, improves
The reliability of active safety optimizes the brake process of active brake, promotes the handling of vehicle.
Detailed description of the invention
The barrier chart of Fig. 1 ultrasonic listening
Fig. 2 looks around the barrier chart of camera detection
The architecture diagram of Fig. 3 low speed emergency brake execution system control strategy system；
Fig. 4 low speed active safety executes system control method flow chart.
Specific embodiment
The present invention is further described with reference to the accompanying drawings of the specification, technical solution in the embodiment of the present invention
It being clearly and completely described, it is clear that described embodiment is only a part of the embodiments of the present invention, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art institute without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1:
Implement the present invention, be onboard provided with 12 ultrasonic sensors (ultrasonic radar), the distance of detection is 30cm
To 450cm, 20 regions around vehicle body are cooked up, are distributed in around vehicle body.Pass through 12 vehicle-mounted ultrasonic sensors, detection
The environmental information of vehicle periphery.
As shown in Figure 1, the barrier chart of ultrasonic sensor detection, black colored car is main vehicle, and grey vehicle is detected
Target carriage, in vehicle of driving a vehicle, with moving ahead for vehicle, ultrasonic sensor constantly detects surrounding enviroment, when detecting obstacle
After object, ultrasonic wave passes through the echo time received, utilizes formula SAway from=(TFlight×VSound)/2 calculate with a distance from barrier, TFlight
The time for receiving whole process, V are issued to for ultrasonic waveSoundFor the aerial spread speed of sound wave, SAway fromFor current ultrasonic biography
The direct range of sensor distance measurement to the barrier for reflecting acoustic echo obtains a series of range points cloud increase with time,
Stain in figure is the 2D point cloud detected, and point cloud detects the region contour of target carriage, obtain profile it is nearest from main vehicle away from
From value, the as obstacle distance S that gets of ultrasonic wave1, black arrow direction is the direction of motion of target carriage.
Embodiment 2:
Implement the present invention, the high-definition camera of 4 1,000,000 pixels is provided on vehicle, front camera and rear camera is located at vehicle
Front/rear collision bumper, left and right camera are located at below vehicle backing backsight.
As shown in Fig. 2, looking around the barrier chart of camera detection, black colored car is main vehicle, and grey vehicle is detected mesh
Vehicle is marked, vehicle in the process of moving, looks around the information data that camera constantly captures ambient enviroment.To obtaining, image information is every
The second speed of 15 frames is handled, and carries out Moving object extraction to image using optical flow method.Using SFM technology, to consecutive image
In object carry out feature extraction, bundle adjustment, form sparse 3D point cloud, when the image of processing reaches certain amount, formed
Dense 3D point cloud, black line indicate the profile information of barrier, parse target vehicle speed, and the type and profile of barrier are nearest from main vehicle
Distance value, i.e., camera image obtain obstacle distance S2, black arrow direction is the direction of motion of target carriage.
Embodiment 3:
It is as shown in Figure 3 to realize that the low speed emergency brake of the method for the present invention executes system control strategy system architecture: 12 super
Sound wave input module is connect by Lin bus with low speed emergency braking system controller, is looked around camera and is passed through coaxial number letter
Number line is connect with low speed emergency braking system controller, and low speed emergency braking system controller passes through CAN bus and Body Control
Device BCM is connected.Low speed emergency braking system controller select chip can be TI:TDA2X series, mainly can be used TDA2S,
TDA2P, TDA2E etc..
Embodiment 4:
Control flow of the invention is as shown in figure 4, mainly include data input and strategy output two parts.
One, it is as follows to specifically include process for data input unit:
1, data acquire: by the environmental information of ultrasonic sensor acquisition vehicle periphery, the obstacle distance S got1,
The obstacle information that camera obtains vehicle periphery is looked around, the speed including object, the distance relative to vehicle itself image
The obstacle distance S that head image obtains2.Believed by car body controller (BCM) by the gradient that CAN bus obtains current vehicle traveling
Breath.The status information of current vehicle speed, current hill grade, vehicle brake and gas pedal is also acquired simultaneously.
2, data fusion: the processing of low speed emergency brake controller is from ultrasonic sensor and looks around what camera detected
The grade information of obstacle distance information and current vehicle traveling, fusion obtain main vehicle and barrier in active safety zones
Distance value S melt.
Data fusion specifically includes:
Two kinds of sensors are carried out coordinate and time synchronization by 2.1:
Coordinate is synchronous: being sat by being transformed into the coordinate of camera by the three-dimensional cartesian of origin of vehicle rear axle center
Mark, the coordinate of ultrasonic sensor is transformed into and is fastened by the two-dimensional Cartesian of origin of vehicle rear axle center, by coordinate
System synchronizes, using the point of vehicle body coordinate posture being calculated as basic synchronous environment coordinate points.
Time synchronization: fusion is realized using a controller, takes the obstacle distance S for obtaining camera image2's
The obstacle distance S that time and ultrasonic wave are got1Time mark respectively, calculating treatmenting time on piece carry out track it is same
Step.
2.2, fusion obtains just fusion distance S`: by S1And S2By weight average method fusion, obtain one away from
From value S`.Such as in no rainy day gas, the distance value S of ultrasonic sensor detection1Weighted number use 48%.Illumination condition is good
It is good, look around the distance value S that camera detects2Weighted number use 52%, pass through calculate obtain S`.
2.3, gradient fusion distance S` is calculatedMelt: S` is calculated in the grade information travelled according to current vehicleMelt。
Grade information is indicated with elevation value Δ θ, such as Δ θ value is greater than restriction threshold value,
2.4, fusion obtains actual fused distance SMelt: it is by S`MeltProcessing, such as S` are weighted with S` againMeltWeighting
Number is 3%；
S`=48%*S1+52*S2
SMelt=97%*S`+3%*S`Melt。
Two, tactful output par, c includes:
3, decision vehicle braking force and braking time:
S1And S2By weighting the method averaged fusion, camera sensing device data are looked around according to light environment calibration
Weighted number, strong and weak to different illumination, weighted number is divided into large, medium and small three values.Ultrasonic wave is demarcated according to rainy day and fine day state
Sensor obtains the weighted number of data, is divided into greatly, in, small three values.The data fusion of two kinds of sensors obtains a distance value S
`.When Δ θ value, which is greater than, limits threshold value, the influence adjusted the distance in ramp is considered, the influence of angle is relatively small, weighted number very little.
Formula S`MeltProcessing is weighted with S` again, fusion and data S are obtained after weightingMelt。
It feeds back to obtain by vehicle body state, state of rolling backward and forward traveling and running speed data feedback are tabled look-up and obtained, vehicle
The safe distance S that can be reserved3, pass through formula S=SMelt-S3, formula useS is the distance stopped of stopping, and V is current vehicle
Speed, resolving obtain desired deceleration a.Utilize formulaCalculate braking time T`.Pass through the change of braking force control speed
Change, obtain the changing value V` of speed, Δ T is system communication cycle, obtains deceleration correction valueIt is corrected using deceleration
Value a` obtains brake force F` after correcting desired deceleration a.Stop state relation by vehicle brake, in conjunction with vehicle brake pedal, oil
The status information of door and the running environment of vehicle, carry out compensation of tabling look-up to brake force, obtain brake force F, big due to brake force
Small difference obtains obtaining slowing-down brake and emergency brake.
Specific step is as follows:
3.1, according to current real-time speed, in the safe distance tables of data that can be reserved (by development company in development process
The empirical data of middle acquisition is calculated or is summarized obtained tables of data) in look into take and obtain the safe distance that can reserve of vehicle
S3；
3.2, according to SMeltAnd S3Brake is calculated and stops positional distance S, S=SMelt-S3；
3.3, formula is utilizedBraking time T` is calculated, formula is passed throughDeceleration correction value ɑ ` is calculated,
Wherein V is current speed, and a is desired deceleration, and obtaining V` is velocity variations value, passes through changing for braking force control speed
It arrives, Δ T is system communication cycle；
3.4, desired deceleration brake force F` is obtained after correcting desired deceleration a using deceleration correction value a`: by looking into
Table (and being calculated by the empirical data that development company obtains in the process of development or summarized obtained table) obtains coefficient,
Desired deceleration brake force cuts coefficient when ɑ ` is greater than ɑ, and desired deceleration brake force adds coefficient when ɑ ` is less than ɑ；
3.5, according to brake and the state of gas pedal, pass through inquiry brake pedal and throttle compensation braking force data
Table compensates desired deceleration brake force F`, obtains practical execution brake force F.
4, brake force and braking time are exported, and executes braking:
Judgement is currently slowing-down brake or emergency brake, selects corresponding brake force, calculates the time of braking.Specifically
It is:
4.1, judge whether it is slowing-down brake, if so, selecting corresponding brake force, build pressure compensation by inquiring slowing-down brake
Time tables of data obtains the time T` for building pressure compensation, carries out building pressure time benefit to the initial pressure value of the brake force of slowing-down brake
It repays, obtains braking and execute time T；
4.2, if it is not, being then emergency brake, corresponding brake force is selected, builds pressure compensation time number by inquiring emergency brake
According to table, the time T` for building pressure compensation is obtained, the initial pressure value of the brake force of emergency brake is carried out building pressure time bias, is obtained
Braking executes time T.
4.3, further according to T value implementation capacity time data table, judge that reaching braking executes output brake force F after time T, executes
Braking.
Finally, it should be noted that the foregoing description of the disclosed embodiments enables professional and technical personnel in the field
It realizes or uses the present invention.Various modifications to these embodiments will be apparent for those skilled in the art
, the general principles defined herein can without departing from the spirit or scope of the present invention, in other embodiments
Middle realization.Therefore, the present invention will not be limited to the embodiments shown herein, and be to fit to it is disclosed herein
Principle and the consistent widest scope of features of novelty.
Claims (5)
1. a kind of automobile low speed active safety executes system control method, comprising the following steps:
(1) data acquire: the obstacle distance S of ultrasonic sensor detection vehicle periphery1, look around camera and obtain vehicle periphery
Obstacle distance S2, grade information, the real-time vehicle of current vehicle traveling are obtained by CAN bus by car body controller (BCM)
The state of speed, brake and gas pedal；
(2) data fusion: the processing of low speed emergency braking system controller comes from ultrasonic sensor and looks around camera and detects
Obstacle distance S1And S2, first merge and obtain just fusion distance S`；Then the grade information travelled according to current vehicle calculates
Gradient fusion distance S`Melt, finally by S` and S`MeltFusion obtains the actual fused distance of active safety zones Nei Benche and barrier
Value SMelt；
(3) decision vehicle braking force and braking time:
(3.1) according to current real-time speed, tabling look-up obtains vehicle and can reserve safe distance S3；
(3.2) according to SMeltAnd S3Brake is calculated and stops positional distance S；
(3.3) formula is utilizedBraking time T` is calculated, formula is passed throughDeceleration correction value ɑ ` is calculated,
Middle v is current speed, and a is desired deceleration, and obtaining v` is velocity variations value, passes through changing for braking force control speed
It arrives, Δ T is system communication cycle；
(3.4) it utilizes acquisition desired deceleration brake force F` after deceleration correction value a` amendment desired deceleration a: being obtained by tabling look-up
Coefficient is obtained, desired deceleration brake force cuts coefficient when ɑ ` is greater than ɑ, and desired deceleration brake force adds coefficient when ɑ ` is less than ɑ；
(3.5) according to brake and the state of gas pedal, brake force tables of data is compensated by inquiry brake pedal and throttle,
Desired deceleration brake force F` is compensated, practical execution brake force F is obtained；
(4) export brake force and braking time, and execute braking: judgement is currently slowing-down brake or emergency brake, selects phase
The brake force answered calculates the time of braking, when carrying out building pressure to the initial pressure value of the brake force of slowing-down brake and emergency brake
Between compensate, build the time of pressure compensation by tabling look-up acquisitions, braking execution time T to the end obtained, further according to the T value implementation capacity moment
Tables of data judges that reaching braking executes output brake force F after time T, executes braking.
2. automobile low speed active safety according to claim 1 executes system control method, which is characterized in that the data
Fusion specifically includes:
(2.1) two kinds of sensors are carried out coordinate and time synchronization: the coordinate is synchronize by converting the coordinate of camera
To using vehicle rear axle center as the three-dimensional cartesian coordinate of origin, the coordinate of ultrasonic sensor is transformed into vehicle rear axle
The heart is that the two-dimensional Cartesian of origin is fastened, by synchronous coordinate, using the point of vehicle body coordinate posture being calculated as base
Plinth synchronous environment coordinate points；The time synchronization is to take that the obstacle distance S of camera acquisition will be looked around2Time and ultrasound
The obstacle distance S that wave sensor is got1Time mark respectively, it is synchronous to carry out track in calculating treatmenting time on piece；
(2.2) fusion obtains just fusion distance S`: by S1And S2By weighting the method averaged fusion, a distance is obtained
Value S`；
(2.3) gradient fusion distance S` is calculatedMelt: gradient fusion is calculated in the grade information travelled according to current vehicle
Distance S`Melt, formulaΔ θ is the elevation value of the gradient of current vehicle traveling；
(2.4) fusion obtains actual fused distance SMelt: S`MeltProcessing is weighted with S` again, obtains actual fused distance SMelt。
3. automobile low speed active safety according to claim 1 executes system control method, which is characterized in that the step
(4) emergency brake described in and slowing-down brake are two kinds of different braking states, build pressure selection for judging, are corresponding ginsengs
Number T` and T, specifically:
When judgement is currently slowing-down brake, corresponding brake force is selected, builds pressure compensation time data by inquiring slowing-down brake
Table carries out T` to slowing-down brake and builds pressure compensation, obtains braking and execute time T；
When judgement is emergency brake, corresponding brake force is selected, builds pressure compensation time tables of data by inquiring emergency brake, it is right
Emergency brake carries out T` and builds pressure compensation, obtains braking and executes time T.
4. automobile low speed active safety according to claim 1 executes system control method, which is characterized in that
The ultrasonic sensor arranges at least 12, detects the environmental information of vehicle periphery, the distance of detection be 30cm extremely
450cm cooks up 20 regions around vehicle body, is distributed in around vehicle body；Ultrasonic wave input module is tight by Lin bus and low speed
The connection of emergency stopping system controller；The camera of looking around passes through coaxial digital signal line and low speed emergency braking system controller
Connection.
5. realizing the automobile low speed active safety executive control system of claim 1 the method comprising ultrasonic sensor,
Look around camera, low speed emergency braking system controller, car body controller BCM；It is characterized in that, the ultrasonic sensor is logical
It crosses Lin bus to connect with low speed emergency braking system controller, it is urgent by coaxial digital signal line and low speed to look around camera
The connection of brake system controller, low speed emergency braking system controller are connected by CAN bus with car body controller BCM；
The ultrasonic sensor surpasses the obstacle distance S for detecting vehicle periphery1, camera is looked around for obtaining vehicle week
The obstacle distance S enclosed2；
The low speed emergency braking system controller includes data input module and tactful output module；The data of input module by
External sensor generates, and is sent to low speed emergency braking system controller by bus；
The data input module includes data capture unit and data integrated unit；
The data capture unit is used to obtain from ultrasonic sensor and looks around the obstacle distance S that camera detects1With
S2, and obtain the state of the grade information of current vehicle traveling, current speed, brake and gas pedal in real time；
The data fusion unit is used to handle from ultrasonic sensor and looks around the obstacle distance S that camera detects1With
S2, first merge and obtain just fusion distance S`；Then the grade information travelled according to current vehicle, is calculated S`Melt, finally by S`
And S`MeltFusion obtains the actual distance value S of active safety zones Nei Benche and barrierMelt；
The strategy output module includes decision package and output unit；
The decision package is used for decision vehicle braking force and braking time, comprising:
According to current real-time speed, tables look-up and obtain the safe distance S that vehicle can be reserved3；
According to SMeltAnd S3Brake is calculated and stops positional distance S；
Utilize formulaBraking time T` is calculated, formula is passed throughDeceleration correction value ɑ ` is calculated, wherein V is
Current speed, a are desired deceleration, and obtaining V` is velocity variations value, are obtained by the variation of braking force control speed, Δ T
For system communication cycle；
Desired deceleration brake force F` is obtained after correcting desired deceleration a using deceleration correction value a`: being by tabling look-up
Number, desired deceleration brake force cuts coefficient when ɑ ` is greater than ɑ, and desired deceleration brake force adds coefficient when ɑ ` is less than ɑ；
According to brake and the state of gas pedal, brake force tables of data is compensated by inquiry brake pedal and throttle, to mesh
Mark deceleration brake force F` is compensated, and obtains practical execution brake force F；
The output unit executes braking for exporting brake force and braking time: judgement is currently slowing-down brake or tightly
It brings to a halt, selects corresponding brake force, calculate the time of braking, to the initial pressure of the brake force of slowing-down brake and emergency brake
Value carries out building pressure time bias, builds the time of pressure compensation by acquisition of tabling look-up, the braking obtained to the end executes time T, further according to T
It is worth implementation capacity time data table, judges that reaching braking executes output brake force F after time T, executes braking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2019104253558 | 2019-05-21 | ||
| CN201910425355 | 2019-05-21 |
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| CN110293967A true CN110293967A (en) | 2019-10-01 |
| CN110293967B CN110293967B (en) | 2020-08-07 |
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| CN111469761B (en) * | 2020-04-29 | 2023-08-18 | 青岛海尔科技有限公司 | Method and device for brake early warning and automobile |
| CN112455443A (en) * | 2020-11-12 | 2021-03-09 | 复旦大学 | Vehicle active braking system based on multi-sensor fusion |
| CN114537315A (en) * | 2020-11-26 | 2022-05-27 | 原相科技股份有限公司 | Multiple detection system |
| CN112606850A (en) * | 2020-12-25 | 2021-04-06 | 天津市天波科达科技有限公司 | Simple automatic driving device and method |
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| CN114071013A (en) * | 2021-10-13 | 2022-02-18 | 浙江大华技术股份有限公司 | Target capturing and tracking method and device for vehicle-mounted camera |
| CN113844441A (en) * | 2021-10-14 | 2021-12-28 | 安徽江淮汽车集团股份有限公司 | Machine learning method of front collision early warning braking system |
| CN114604239A (en) * | 2022-03-15 | 2022-06-10 | 安徽科技学院 | Vehicle backing anti-collision system based on Internet of things |
| CN116176529A (en) * | 2022-09-06 | 2023-05-30 | 重庆长安汽车股份有限公司 | Electromechanical braking system and vehicle |
| CN116176529B (en) * | 2022-09-06 | 2024-04-30 | 重庆长安汽车股份有限公司 | Electromechanical braking system and vehicle |
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