CN110654377A - Vehicle anti-collision control method and control system - Google Patents
Vehicle anti-collision control method and control system Download PDFInfo
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- CN110654377A CN110654377A CN201810717241.6A CN201810717241A CN110654377A CN 110654377 A CN110654377 A CN 110654377A CN 201810717241 A CN201810717241 A CN 201810717241A CN 110654377 A CN110654377 A CN 110654377A
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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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The invention discloses a vehicle anti-collision control method and a control system, and the specific content of the control method comprises the following steps: obtaining the distance between the lateral direction and the oblique direction of the vehicle and the obstacle at the current moment and the relative movement speed between the vehicle and the obstacle; calculating the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controlling a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time, so that the vehicle turns to avoid collision between the vehicle and the obstacle; when the controller judges that the pre-collision time is less than the critical time, the steering system, the braking system and the power system of the vehicle can be coordinately controlled, namely, the controller selects a proper operation mode to coordinately control the assisting amount and the steering amount of the steering system of the vehicle, whether the braking system is emergently braked and the power output amount of the power system so as to avoid the lateral collision and the oblique collision of the vehicle.
Description
Technical Field
The invention belongs to the technical field of automobile control, and particularly relates to a vehicle anti-collision control method and system.
Background
The automobile anti-collision control is one of important control means of an automobile system, and mainly used for improving the driving safety.
Generally, an automobile collision avoidance system in the prior art mainly comprises an acquisition system, a control system, a voice system and a brake mechanism. The acquisition system automatically measures the distance between the vehicle and the barrier through the ultrasonic sensor, then transmits the acquisition signal to the control system, and the control system reminds the driver through the implementation of a voice system, and the driver controls the vehicle through the brake mechanism to avoid colliding with the barrier.
The prior art mainly adopts a single sensor to carry out distance acquisition, only adopts a mode of alarming or braking when reaching a critical collision distance, and mainly aims to prevent front collision or backward collision. The alarm mode is only a passive prompt type collision avoidance mode, and emergency braking is usually adopted at the critical moment when the collision is about to occur. The emergency stop mode easily causes the collision and injury of people in the vehicle, and reduces the driving experience of the people and other problems. The method cannot well perform man-machine interaction with a driver, cannot improve the operation and control of the driver on the vehicle when the driver avoids, and can reduce the collision occurrence probability to a greater extent.
Therefore, how to provide a vehicle collision avoidance control method to reduce the probability of collision to the maximum extent is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention provides a vehicle anti-collision control method, which comprises the following specific contents:
s1, acquiring the distance between the vehicle and the obstacle and the relative movement speed between the vehicle and the obstacle at the current moment;
and S2, calculating the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controlling a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time to turn the vehicle to avoid collision between the vehicle and the obstacle.
When the controller judges that the pre-collision time is less than the critical time, the controller can coordinately control a steering system, a braking system and a power system of the vehicle, for example, a steering actuator of a rotating system is controlled to turn, the braking actuator of the braking system moderately brakes the vehicle, and a motor or an engine of the power system is controlled to reduce the rotating speed and the torque or accelerate, so that the vehicle safely turns to avoid an obstacle. That is, the controller can judge whether the vehicle is in a safe distance with the obstacles (including people, vehicles, objects and the like) around the lateral direction, the oblique direction and the like through the acquired distance and the relative movement speed, and when the distance is less than the safe distance, the controller selects a proper operation mode to coordinate and control the assisting amount and the steering amount of the steering system of the vehicle, whether the braking system brakes emergently and the power output amount of the power system so as to avoid the lateral collision and the oblique collision of the vehicle.
The invention is particularly suitable for the traffic of narrow curved roads and the lateral high-speed incoming vehicles to execute variable-speed active avoidance, thereby improving the safety of the vehicles.
Optionally, in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are further obtained; in step S2, in addition to the pre-crash time condition, one or more of vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are also considered.
Optionally, the critical time includes a first critical time T1 and a second critical time T2; and in the step S2, when the pre-collision time is judged to be less than or equal to the first critical time T1 and greater than the second critical time T2, an alarm command is sent out and the driver is prompted to steer or/and brake.
Optionally, when it is determined in step S2 that the pre-collision time is equal to or less than the second threshold time T2, the amount of assist in steering the steering wheel of the steering system is increased or decreased.
Optionally, in step S1, a driving state parameter of the driver is further obtained; step S2 is further to determine whether the driver intends to drive the vehicle according to the driving state parameters, and when it is determined that the driver intends to drive the vehicle, change the assisting power of the steering wheel of the steering system according to the driving speed of the vehicle, the steering angle and torque applied to the steering wheel by the driver, the driving habit of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle, or control the braking system while changing the assisting power of the steering wheel, so as to improve the maneuverability of the vehicle.
Optionally, when it is determined in step S2 that the driver is not intended or unable to drive the vehicle, the driving path is re-planned according to the vehicle operating condition parameters, the external environment parameters, and the pre-collision time, and the steering system, the braking system, and the power system of the vehicle are controlled comprehensively to control the steering motion of the vehicle according to the re-planned driving path.
Alternatively, the braking system is controlled to brake the vehicle while the steering movement is being performed.
Alternatively, when it is judged in step S2 that the driver is not intended or unable to drive the vehicle and a collision with an obstacle cannot be achieved by steering, an emergency braking strategy is implemented.
In addition, the invention also provides a vehicle anti-collision control system, which comprises the following components:
an acquisition means for acquiring a distance between the vehicle and the obstacle and a relative movement speed between the vehicle and the obstacle;
and the controller calculates the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controls a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time, so that the vehicle turns and avoids colliding with the obstacle.
Optionally, the obtaining component further includes:
the working condition sensor is used for acquiring vehicle working condition parameters;
a driving habit acquisition component for acquiring driving parameters of a driver to form a driving habit database;
the state sensor is used for acquiring the state of the driver at the current moment;
the environment sensor is used for acquiring external environment parameters;
the controller also considers one or more of vehicle working condition parameters, driver driving habits, driver states and external environment parameters to control the turning of the vehicle.
Drawings
FIG. 1 is a flow chart of a vehicle collision avoidance control method in an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle collision avoidance control method in accordance with another embodiment of the present invention;
fig. 3 is a block diagram of a vehicle collision avoidance control system in an exemplary embodiment of the present invention.
Detailed Description
A new vehicle collision avoidance control method is presented herein, and is described in detail below.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following, control methods, control systems, drawings, and specific embodiments.
Referring to fig. 1 and 3, fig. 1 is a flow chart illustrating a vehicle collision avoidance control method according to an embodiment of the present invention; fig. 3 is a block diagram of a vehicle collision avoidance control system in an exemplary embodiment of the present invention.
The invention provides a vehicle anti-collision control method, which comprises the following specific contents:
s1, acquiring the distance between the vehicle and the obstacle and the relative movement speed between the vehicle and the obstacle at the current moment;
the parameters of the distance and the relative movement speed can be obtained by an obtaining component, the obtaining component can be a sensor installed in front of, on the side of or at another position of the vehicle, for example, the distance between the vehicle and the obstacle and the relative movement speed can be obtained by measuring the distance through a camera or a radar and then calculating through a controller, for example, a millimeter wave radar, an ultrasonic radar, a laser radar, etc.; millimeter wave radar, ultrasonic radar can install in locomotive front end, vehicle side, and laser radar can install on the roof.
The number and the installation position of the sensors are not exclusive, and the number may be one, two or more, one, or more.
And S2, calculating the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controlling a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time, so that the vehicle turns and avoids collision with the obstacle.
Correspondingly vehicle anticollision control system includes the controller, and the controller is inside can to include storage module and judgement module, and the controller can receive and judge rather than the critical time of inside storage according to the signal that the acquisition part gathered, and then carries out integrated control to steering system, braking system and driving system three through the control mode of inside storage for the vehicle turns must in order to avoid colliding with the barrier.
Particularly, the distance between the vehicle and the lateral or oblique obstacle at the current moment is acquired, and the vehicle is prevented from being collided with the lateral or oblique obstacle when turning.
The steering system of a vehicle mainly includes components such as a steering actuator, a torque/rotation angle sensor, and a steering controller. Among them, the torque/rotation angle sensor has a main function of detecting a steering torque and a rotation angle of a steering wheel. The above functions can be completed by one sensor, and can also be completed by a torque sensor and a rotation angle sensor respectively. Specifically, the controller may send a steering control command to the steering controller, and the steering controller controls the steering actuator to act.
The braking system mainly comprises a wheel speed sensor, an acceleration sensor, a yaw acceleration sensor, a braking pressure/displacement sensor, a braking actuator (the braking actuator can comprise a vehicle body Electronic stability system (ESP), an electric braking system (E-Booster), an Electronic parking system (EPB), and the like (or similar braking actuators using other names but with functions)).
It should be noted that the ESP, E-Booster, and EPB have their own controllers, that is, the controller herein includes a main controller and a plurality of sub-controllers, and may also be made into an integrated controller. Each sub-controller controls the corresponding system action respectively. Each sub-controller receives a deceleration signal analyzed by the main controller according to the sensor. But here the possibility also arises that the partial controller resolves the deceleration signal to the other controllers. For example, the deceleration signal is interpreted in the ESP and passed to the E-boost for use.
The brake pressure/displacement sensor is mainly used for measuring the pressure of the brake fluid main cylinder and the displacement distance of the brake pedal. After the main controller sends a required vehicle deceleration signal to the brake controller, the brake controller calculates the required braking torque, braking pressure or brake pedal displacement and the like according to the command deceleration and the acquired wheel speed signal and acceleration signal, so that the vehicle speed is reduced to the target vehicle speed. Specifically, the controller may send a brake control command to the brake controller, which controls the brake actuator to act. The power system mainly comprises a motor/engine, a power sensor and a power controller. The power sensor mainly comprises various oxygen sensors, temperature sensors, position sensors (such as an accelerator pedal position sensor, a throttle position sensor and the like), pressure sensors and the like, is used for controlling the state of the engine to have stable power output, and receives signals of the brake sensor, a power steering pressure switch, a clutch and the like to control the power output.
Specifically, the power sensor collects the torque of the motor/engine and related state signals, the main controller or the brake system controller sends vehicle deceleration signals to the power controller, the power controller calculates the required power output torque according to the command deceleration and the motor/engine state obtained by the power sensor, and controls the power actuator to act, so that the motor/engine can increase power/decrease power, or the accelerator can be released.
When the controller judges that the pre-collision time is less than the critical time, the controller can coordinate and control a steering system, a braking system and a power system of the vehicle, for example, a steering actuator of a rotating system is controlled to turn, the braking actuator of the braking system moderately brakes the vehicle, and a motor or an engine of the power system is controlled to be reduced or accelerated, so that the vehicle safely turns to avoid an obstacle. That is, the controller can judge whether the vehicle is in a safe distance with the obstacles (including people, vehicles, objects and the like) around the lateral direction, the oblique direction and the like through the acquired distance and the relative movement speed, and when the distance is less than the safe distance, the controller selects a proper operation mode to coordinate and control the assisting amount and the steering amount of the steering system of the vehicle, whether the braking system brakes emergently and the power output amount of the power system so as to avoid the lateral collision and the oblique collision of the vehicle.
The invention is particularly suitable for the traffic of narrow curved roads and the lateral high-speed incoming vehicles to execute variable-speed active avoidance, thereby improving the safety of the vehicles.
The above control method may be further optimized, and the details are described below.
In the above embodiment, in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters may be further obtained; in step S2, in addition to the pre-crash time condition, one or more of the vehicle operating condition parameters, the driver state, and the external environment parameters are also considered.
Correspondingly, the acquisition component further comprises a working condition sensor for acquiring the working condition parameters of the vehicle; a driving habit acquisition component for acquiring driving parameters of a driver to form a driving habit database; wherein the collection signal of driving habit collection part can convey to the controller, forms driving habit database after controller data processing, when vehicle collision avoidance control system during operation, directly reads the driving habit from controller inside.
The acquisition component also comprises a state sensor which is used for acquiring the state of the driver at the current moment; and the environment sensor is used for acquiring external environment parameters.
The types of the acquisition components and the sensors can be reasonably selected according to specific installation environments, so long as the functions can be realized.
Several specific control modes are given below, and of course, the collision avoidance control mode of the vehicle is not limited to the following description. The control mode is pre-stored in the controller, and can be optimized through artificial intelligence deep learning.
In one embodiment, when the pre-collision time is judged to be less than or equal to the first critical time T1 and greater than the second critical time T2 in the step S2, a warning command is issued to prompt the driver to perform steering or/and braking.
From the above description, T1 is greater than T2. In the embodiment, the vehicle is far away from the obstacle, the controller sends out the alarm instruction to remind the driver and prompt the driver to steer or/and brake, and the driver has enough time to control the vehicle according to the indication of the controller so as to avoid the obstacle, so that the driving safety of the vehicle is greatly improved.
The warning command is typically a sound signal, and as the time to collision decreases, the interval between sounds of the sound signal will decrease.
In each of the above embodiments, when it is determined in step S2 that the pre-collision time is equal to or less than the second threshold time T2, the amount of assist in steering the steering wheel of the steering system is increased or decreased. Increasing or decreasing the amount of assist of the steering wheel may assist the driver in avoiding. Further, in step S1, the driving state parameter of the driver is further acquired; step S2 is further to determine whether the driver intends to drive the vehicle according to the driving state parameters, and when it is determined that the driver intends to drive the vehicle, change the assisting power of the steering wheel of the steering system according to the driving speed of the vehicle, the steering angle and torque applied to the steering wheel by the driver, the driving habit of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle, so as to improve the maneuverability of the vehicle.
The driving state parameters are mainly used for judging the state of the driver at the moment and judging whether the driver can normally drive the vehicle.
When the vehicle rapidly dodges at a high speed, according to the information such as the distance between the vehicle and front, rear and side obstacles, the vehicle speed, the steering wheel torque and the like, appropriate assistance (the current assistance is changed) is provided, so that the vehicle is prevented from being out of control due to an excessively large corner or colliding due to an excessively small corner.
For another example, when the vehicle is reversed, the steering system controls the motor to reduce the assist force or provide a small amount of reverse assist force before a pre-crash occurs, thereby avoiding a crash.
In the above embodiments, when it is determined in step S2 that the driver is not intended or unable to drive the vehicle, the driving path is re-planned according to the vehicle operating condition parameters, the external environment parameters, and the pre-collision time, and the steering system, the braking system, and the power system of the vehicle are controlled comprehensively to control the steering motion of the vehicle with the re-planned driving path.
When the driver drives the vehicle unintentionally or incapacitatively, the control of the vehicle is switched to automatic control, the vehicle moves according to the driving path planned by the controller, the vehicle is safely steered to avoid collision between the vehicle and the obstacle, and the driving safety is greatly improved.
Of course, on the basis of the above-described embodiment, the controller also controls the brake system to brake the vehicle at the same time as the self-steering control of the vehicle.
In the above embodiment, when it is determined in step S2 that the driver is not intended or unable to drive the vehicle, and a collision with an obstacle cannot be achieved by steering, the emergency braking strategy is implemented. The emergency braking strategy is the same as that in the prior art, and is stored in the controller in advance, which is not described herein.
The driving habits of the driver in the embodiments can be collected by the collecting component and transmitted to the controller for data processing to form the driving habit database.
Based on the above description, a specific control method is provided, please refer to fig. 2, and fig. 2 is a flowchart of a vehicle collision avoidance control method according to another specific embodiment of the present invention.
S2 specifically includes the following steps:
s21, judging the relation between the pre-collision time and T1 and T2; executing S25 when the pre-collision time is judged to be less than or equal to a first critical time T1 and greater than a second critical time T2; executing S22 when the pre-collision time is judged to be less than or equal to a second critical time T2;
s22, judging whether the driver intends to drive the vehicle, if yes, executing the step S23; otherwise, executing step S24;
s23, changing the assisting power of the steering wheel of the steering system or controlling the braking system while changing the assisting power of the steering wheel according to the driving speed of the vehicle, the steering angle and the moment applied to the steering wheel by the driver, the driving habit of the driver, the distance between the vehicle and the obstacle and the relative movement speed between the obstacle and the vehicle so as to improve the controllability of the vehicle;
s24, re-planning a driving path according to the working condition parameters of the vehicle, the external environment parameters and the pre-collision time, and comprehensively controlling a steering system, a braking system and a power system of the vehicle to control the steering motion and the speed of the vehicle through the re-planned driving path;
and S25, giving an alarm instruction and prompting the driver to steer or/and brake.
The vehicle anti-collision control system herein can implement the control method described above, so the vehicle anti-collision control system also has the above-described technical effects of the control method described above.
The vehicle anti-collision control method and the vehicle anti-collision control system provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A vehicle anti-collision control method is characterized by comprising the following specific contents:
s1, acquiring the distance between the vehicle and the obstacle and the relative movement speed between the vehicle and the obstacle at the current moment;
and S2, calculating the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controlling a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time to turn the vehicle to avoid collision between the vehicle and the obstacle.
2. The vehicle anti-collision control method according to claim 1, wherein in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are further obtained; in step S2, in addition to the pre-crash time condition, one or more of vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are also considered.
3. The vehicle collision avoidance control method of claim 1, wherein the critical time includes a first critical time T1 and a second critical time T2; and in the step S2, when the pre-collision time is judged to be less than or equal to the first critical time T1 and greater than the second critical time T2, an alarm command is sent out and the driver is prompted to steer or/and brake.
4. A vehicle collision avoidance control method according to claim 1 or 3, characterized in that when it is judged in step S2 that the pre-collision time is equal to or less than a second threshold time T2, the amount of assist in steering the steering wheel of the steering system is increased or decreased.
5. The vehicle collision avoidance control method according to claim 4, wherein the driving state parameter of the driver is further acquired in step S1; step S2 is further performed to determine whether the driver intends to drive the vehicle according to the driving state parameters, and when it is determined that the driver intends to drive the vehicle, the amount of steering wheel assist of the steering system is changed or the braking system is controlled while the amount of steering wheel assist is changed according to the driving speed of the vehicle, the steering angle and torque applied to the steering wheel by the driver, the driving habit of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle, so as to improve the maneuverability of the vehicle.
6. The vehicle collision avoidance control method according to claim 5, wherein when it is determined in step S2 that the driver is not intending to drive or is unable to drive the vehicle, the driving path is re-planned according to the vehicle operating condition parameters, the external environment parameters, and the pre-collision time, and the steering system, the braking system, and the power system of the vehicle are comprehensively controlled to control the steering motion and the vehicle speed of the vehicle with the re-planned driving path.
7. A vehicle collision avoidance control method in accordance with claim 6 wherein the braking system is controlled to brake the vehicle while steering movement is being performed.
8. The vehicle collision avoidance control method according to claim 5, wherein the emergency braking strategy is implemented when it is determined in step S2 that the driver is not intending to or unable to drive the vehicle and a collision with an obstacle cannot be achieved by steering.
9. A vehicle collision avoidance control system comprising the following components:
an acquisition means for acquiring a distance between the vehicle and the obstacle and a relative movement speed between the vehicle and the obstacle;
and the controller calculates the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controls a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time, so that the vehicle turns and avoids colliding with the obstacle.
10. The vehicle collision avoidance control system of claim 9, wherein the acquisition component further comprises:
the working condition sensor is used for acquiring vehicle working condition parameters;
a driving habit acquisition component for acquiring driving parameters of a driver to form a driving habit database;
the state sensor is used for acquiring the state of the driver at the current moment;
the environment sensor is used for acquiring external environment parameters;
the controller also considers one or more of vehicle working condition parameters, driver driving habits, driver states and external environment parameters to control the turning of the vehicle.
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| CN111572541A (en) * | 2020-04-14 | 2020-08-25 | 吉利汽车研究院（宁波）有限公司 | Vehicle obstacle avoidance method and system |
| CN111605607A (en) * | 2020-04-16 | 2020-09-01 | 浙江飞碟汽车制造有限公司 | Steering power-assisted control and priority distribution method during vehicle running |
| CN111622296A (en) * | 2020-04-22 | 2020-09-04 | 浙江大学 | Excavator safety obstacle avoidance system and method |
| CN111923884A (en) * | 2020-09-11 | 2020-11-13 | 深圳小木科技有限公司 | New energy automobile and braking system and method thereof |
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