CN111746560B - Automobile control method based on automatic control technology - Google Patents
Automobile control method based on automatic control technology Download PDFInfo
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- CN111746560B CN111746560B CN202010657991.6A CN202010657991A CN111746560B CN 111746560 B CN111746560 B CN 111746560B CN 202010657991 A CN202010657991 A CN 202010657991A CN 111746560 B CN111746560 B CN 111746560B
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- 230000035484 reaction time Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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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
- 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
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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
- 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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
Abstract
The invention discloses an automobile control method based on an automatic control technology, which comprises the following steps: s1, judging whether the accelerator pedal is suddenly stepped; if yes, judging whether a vehicle exists in the road preset range, if yes, dividing the danger grades of the current vehicle and the previous vehicle by using a comparison method, specifically: sa, judging the overtaking state of the vehicle, if not, judging the relative distance L between the current vehicle and the previous vehiclePhase (C)Whether the vehicle speed is reduced or not is judged, if yes, the current vehicle speed V is obtained0And according to road type, V0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeDetermining LPhase (C)And LAn、LBrakeIf the relation level is level 1, judging that the vehicle is running normally; if the relation grade is 2 grade, determining the danger grade to be low grade; if the relation grade is 3 grade, determining the danger grade as a middle grade; and if the relation grade is 4 grades, determining the danger grade as high grade. The invention has the beneficial effect of effectively reducing the mistaken trampling accidents caused by the limitation of people in the driving process.
Description
Technical Field
The invention relates to the technical field of automobile control. More particularly, the present invention relates to an automobile control method based on an automatic control technology.
Background
The modern automobile industry gradually strengthens the application of modern science and technology in the development process, gradually changes towards the direction of automatic control, and continuously meets the increasing requirements of users on automobiles. The power output control of the traditional automobile is that a bronze drum driver tramples an accelerator pedal and a brake pedal to control in the driving process, when an emergency situation occurs, the driver needs to brake urgently and tramples the brake pedal urgently, and the problem of accidents caused by trample of the accelerator pedal due to the existence of some factors such as emergency situations, psychological effects and the like is solved.
The control method of the automobile based on the automatic control technology is to apply some automatic control technologies to a traffic system, the control includes longitudinal control and transverse control, the longitudinal control is control in the traveling speed direction, namely, the automatic control of the speed and the distance between the automobile and the front and rear automobiles or obstacles, and can be summarized as control of the output of an engine and braking, and the transverse control is control in the direction perpendicular to the moving direction. The improvement of mechanical properties in the past is developed into the assistance, partial replacement or full replacement of human manipulation, so that the accidents caused by the limitation of human are reduced.
Wherein, through the footboard aperture, the rate of change of footboard aperture in a certain period of time, can divide into the operation of trampling the footboard slowly and trample, generally trample, step on suddenly still include the driver with the short time overtaking when still trampling including emergency, the controllable operation in the normal driving process such as ramp start and break-through among the ramp driving process, how to assist people's operation control car to travel based on automatic control technique when the cooperation driver operates, in order to reach the mistake that reduces to cause owing to people's limitation and trample the accident, be the problem that needs to solve at present urgently.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide an automobile control method based on automatic control technology, which integrates the driving intention of a driver according to the running state of the automobile and the road type, selectively adopts reminding and intervention operations according to whether the problem is within the controllable range of the driver when the problem is found, and effectively prevents and timely corrects the wrong driving intention of the driver.
To achieve these objects and other advantages in accordance with the present invention, there is provided a control method for a vehicle based on an automatic control technology, comprising the steps of:
s1, acquiring the opening degree of the accelerator pedal and the change rate of the opening degree of the accelerator pedal, and judging whether the accelerator pedal is suddenly stepped;
s2, if yes, judging the type of the road ahead, wherein the road type is a short ramp, a long ramp and a flat road, and the ramp length of the short ramp is not more than 90 m;
if the road type is a short ramp, judging whether a vehicle exists in the ramp, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a long slope, judging whether a vehicle exists in the range of 100m of the slope, if not, judging that the vehicle runs normally, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a flat road, judging whether a vehicle exists in the range of 120m in front of the current vehicle lane, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
wherein, utilize the comparison method to divide the dangerous grade of present car and preceding car, specifically do:
sa, acquiring steering information of a steering wheel, judging whether the vehicle is in a overtaking state, and if so, judging that the vehicle is in normal driving;
sb, if not, acquiring the relative distance L between the current vehicle and the front vehiclePhase (C)And determining LPhase (C)Whether the vehicle is reduced or not is judged to be in normal running if the vehicle is not reduced;
if Sc is positive, acquiring the current vehicle speed V0And according to road type, V0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeDetermining LPhase (C)And LAn、LBrakeIn the relationship level of (1), wherein LPhase (C)≥LAnIs 1 grade, 0.5 (L)An+LBrake)≤LPhase (C)＜LAnIs 2-stage, LBrake≤LPhase (C)＜0.5(LAn+LBrake) Is grade 3, if LPhase (C)＜LBrakeGrade 4;
if the relation grade is level 1, judging that the vehicle is in normal running;
if the relation grade is 2 grade, determining that the danger grade is low grade, and triggering an in-vehicle alarm unit;
if the relation grade is 3 grade, determining the danger grade as middle grade, triggering the alarm unit in the vehicle and the alarm unit outside the vehicle at LPhase (C)＝LBrakeTriggering automatic braking;
if the relation grade is 4 grade, determining that the danger grade is high grade, triggering an in-vehicle alarm unit and an out-vehicle alarm unit, determining whether an obstacle vehicle exists in the overtaking lane, if so, triggering automatic braking, and if not, triggering active steering.
Preferably, the step of determining whether the accelerator pedal is suddenly stepped is performed by using the accelerator pedal opening and the accelerator pedal opening change rate as input values and the stepping intention as an output value, and determining whether the accelerator pedal is suddenly stepped by using two-dimensional fuzzy control, wherein the output values include slow stepping, general stepping and sudden stepping.
Preferably, the road is divided into a ramp and a level road, and the ramp is divided into an uphill ramp and a non-uphill ramp according to the gradient and the length.
Preferably, an accelerator pedal sensor is installed for acquiring the opening degree of an accelerator pedal;
cameras are arranged at the front, the rear and the two sides and used for determining whether a vehicle exists in the corresponding direction, wherein the shooting visual angle of the cameras is a trumpet-shaped fan-shaped visual angle, and the maximum visual angle distance between the front camera and the rear camera and the cameras at the two sides in the corresponding passing lane is not more than the length of 2/3;
installing a front radar for obtaining L of the current vehicle and the preceding vehiclePhase (C)；
Vehicle speed V0Obtained from an ECU that performs vehicle control, or a vehicle speed sensor is installed.
Preferably, the steering information includes steering light information and steering wheel angle information, wherein a steering wheel angle sensor is installed for acquiring the steering wheel angle information of the current vehicle.
Preferably, the determining whether the vehicle belongs to the overtaking state specifically includes: judging whether the vehicle belongs to a overtaking state or not according to the steering wheel turning angle information, if so, determining that the vehicle belongs to the overtaking state, if not, determining that the steering lamp information represents that the steering lamp is on, if so, determining that the vehicle belongs to the overtaking state, and if not, determining that the vehicle does not belong to the overtaking state.
Preferably, V is determined according to the type of road0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeThe method specifically comprises the following steps:
if the road type is a short ramp, determining the gradient and the vehicle type, LAnIs the length of the ramp, LBrakeIs set to be the mostAnd calculating the moving distance of the current vehicle on the short slope under the condition of high braking force, wherein the reaction time of the person and the response time of the vehicle are considered in the moving distance calculation, and the reaction time of the person is 0.8-1 s.
If the road type is a flat road or a long slope, LAnThe setting is not lower than the setting required by the traffic laws and regulations, and specifically can be as follows: when the vehicle speed exceeds 100 kilometers per hour, LAnSet to 120m, L when the vehicle speed does not exceed 100 km per hourAnSetting to 50 meters; l isBrakeAnd setting the moving distance of the current vehicle on the corresponding ramp under the maximum braking force.
The invention at least comprises the following beneficial effects:
the method is characterized in that the opening degree of an accelerator pedal and the opening degree change rate of the accelerator pedal are combined, a two-position fuzzy control is adopted to effectively distinguish the sudden treading state, on the basis of judging the sudden treading, the road type is distinguished, the sudden treading in the slope rushing state is effectively distinguished by hierarchical judgment, the sudden treading in the overtaking state is further eliminated, and then the driving behavior with the maximum risk probability is judged in a multi-level quantification mode so as to solve the problem in the controllable range of a driver as much as possible;
the method and the device have the advantages that the driving intention of the driver is comprehensively held by combining the vehicle running state and the road type, and when the problem is found, the operation of reminding and intervening is selectively taken according to whether the problem is in the controllable range of the driver, so that the wrong driving intention of the driver is effectively prevented and corrected in time.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a flow chart of a vehicle control method based on automatic control technology according to one embodiment of the present invention;
fig. 2 is a flow chart of a comparison method for classifying the danger levels of the current vehicle and the preceding vehicle according to one technical scheme of the invention.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
As shown in fig. 1-2, the present invention provides an automobile control method based on an automatic control technology, comprising the following steps:
s1, obtaining the opening degree of the accelerator pedal, judging whether the opening degree of the accelerator pedal is 0, if so, determining that the accelerator pedal is not stepped, if not, judging that the accelerator pedal is stepped, obtaining the opening degree change rate of the accelerator pedal, and judging whether the accelerator pedal is suddenly stepped according to the opening degree of the accelerator pedal and the opening degree change rate of the accelerator pedal;
s2, if yes, judging the type of the road ahead, wherein the road type is a short ramp, a long ramp and a flat road, and the ramp length of the short ramp is not more than 90 m;
if the road type is a short ramp, judging whether a vehicle exists in the ramp, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a long slope, judging whether a vehicle exists in the range of 100m of the slope (if the length of the slope is not less than 100m, judging whether the vehicle exists in the range of 100m, if the length of the slope is less than 100m, judging whether the vehicle exists in the range of the slope), if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a flat road, judging whether a vehicle exists in the range of 120m in front of the current vehicle lane, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
wherein, utilize the comparison method to divide the dangerous grade of present car and preceding car, specifically do:
sa, acquiring steering information of a steering wheel, judging whether the vehicle is in a overtaking state, and if so, judging that the vehicle is in normal driving;
sb, if not, acquiring the relative distance L between the current vehicle and the front vehiclePhase (C)And determining LPhase (C)Whether the vehicle is reduced or not is judged to be in normal running if the vehicle is not reduced;
if Sc is positive, acquiring the current vehicle speed V0And according to road type, V0Determining a current vehicle and a previous vehicleIs a safe distance LAnBraking distance LBrakeDetermining LPhase (C)And LAn、LBrakeIn the relationship level of (1), wherein LPhase (C)≥LAnIs 1 grade, 0.5 (L)An+LBrake)≤LPhase (C)＜LAnIs 2-stage, LBrake≤LPhase (C)＜0.5(LAn+LBrake) Is grade 3, if LPhase (C)＜LBrakeGrade 4;
if the relation grade is level 1, judging that the vehicle is in normal running;
if the relation grade is 2 grade, determining that the danger grade is low grade, triggering an in-vehicle alarm unit, and then, depending on reminding a driver to adjust the driving state to normal driving within an effective distance and an effective time range;
if the relation grade is 3 grade, determining the danger grade as middle grade, triggering the alarm unit in the vehicle and the alarm unit outside the vehicle at LPhase (C)＝LBrakeThe automatic braking is triggered at the last moment, the distance of the automatic braking is not more than L, the alarm unit outside the automobile can be one of whistle and flashing light, when a driver in the automobile is warned, the attention of the vehicles around the automobile is prompted, particularly, the following vehicle and the front vehicle are noticed, corresponding measures are taken in advance, the monitoring is continued, the problem of the driver is solved as far as possible, the automatic braking is triggered at the last moment, and the distance of the automatic braking is not more than LBrake；
If the relation grade is 4 grade, determining that the danger grade is high grade, triggering an in-vehicle alarm unit and an out-vehicle alarm unit, determining whether an obstacle vehicle exists in the overtaking lane, if so, triggering automatic braking, if not, triggering active steering, and reducing danger and loss to the lowest through the cooperation of automatic and active steering. By adopting the technical scheme, on the basis of distinguishing the sudden treading state, the road types are distinguished, the sudden treading in the misoperation state under the slope rushing state and the overtaking state is effectively distinguished by hierarchical judgment, and then the driving behavior (the misoperation corresponding state) with the highest risk probability is judged in a multi-level quantitative manner, so that the problem is solved as far as possible within the controllable range of a driver; the method and the device have the advantages that the driving intention of the driver is comprehensively held by combining the vehicle running state and the road type, and when the problem is found, the operation of reminding and intervening is selectively taken according to whether the problem is in the controllable range of the driver, so that the wrong driving intention of the driver is effectively prevented and corrected in time.
In another technical scheme, the step of judging whether the accelerator pedal is suddenly stepped specifically comprises the following steps:
and judging whether the accelerator pedal belongs to the step on by using two-dimensional fuzzy control by taking the accelerator pedal opening and the accelerator pedal opening change rate as input quantities and the stepping intention as output quantities, wherein the output quantities comprise slow stepping, general stepping and step on. The method comprises the following steps of blurring the accelerator pedal opening into { PS, PM and PB }3 fuzzy linguistic variables, blurring a domain of ambiguity to [0,100], blurring the accelerator pedal opening change rate into { N, PS, PM and PB }4 fuzzy linguistic variables, and blurring the domain of ambiguity to [ -100,100], and constructing a rule base, wherein the rule base is specifically shown in the following table 1:
TABLE 1 fuzzy rule base for tread intention recognition
The driver reflects the control intention of the driver on the accelerator pedal through the opening degree of the accelerator pedal and the speed of stepping on the accelerator pedal (the opening degree change rate of the accelerator pedal), and the actions of controlling the accelerator pedal comprise slow stepping, general stepping and rapid stepping, wherein the control intention of rapid stepping in the normal driving process comprises overtaking and rushing to a slope, and the rapid stepping caused by mistaken stepping exists in the abnormal driving process. By adopting the scheme, whether the accelerator pedal belongs to the step on with urgency is judged by utilizing two-dimensional fuzzy control, so that the step on with urgency can be effectively distinguished, an effective premise is provided for reducing the step on with urgency accidents caused by the limitation of people, and unnecessary participation of automatic control is avoided.
In another technical scheme, the road is divided into a ramp and a flat road according to the gradient size, and the ramp is divided into a short ramp and a long ramp according to the length size. By adopting the scheme, the concrete dividing mode can be that the level road in the road is a road with the gradient less than 2.5%, the rest is the ramp, the division of the short ramp and the long ramp in the ramp takes 90m as a dividing point, and in the short ramp, if the gradient is not more than 6%, the slope is taken as a slope ramp, and the rest is a non-slope ramp. The slope rushing lane is a short slope with a certain gradient, and a driver can increase the accelerator to increase the speed of the vehicle before entering the slope and rushes the slope when accumulating certain kinetic energy when approaching the uphill.
In another technical scheme, an accelerator pedal sensor is installed and used for acquiring the opening degree of an accelerator pedal;
cameras are arranged at the front and the rear and at two sides of the vehicle and are used for determining whether a vehicle exists in the corresponding direction; specifically, the method comprises the following steps: the shooting visual angle of the cameras is a horn-shaped fan-shaped visual angle, the cameras arranged in the front and the rear are used for acquiring whether a vehicle exists in the front and rear visual angle ranges, the cameras arranged in the two sides are used for judging whether a vehicle exists in the two side visual angle ranges, the maximum visual angle distance between the front and the rear cameras and the cameras on the two sides in the corresponding passing lane is not more than 2/3 length, the optimal visual angle ranges are overlapped, and whether the passing lane has an obstacle vehicle or not is conveniently and accurately determined;
installing a front radar for obtaining L of the current vehicle and the preceding vehiclePhase (C)Synchronously determining the relative speed of two vehicles (the current vehicle is relative to the front vehicle), if the relative speed is positive, the speed of the front vehicle is greater than the speed of the rear vehicle (the current vehicle), if the relative speed is 0, the speed of the front vehicle is equal to the speed of the rear vehicle, if the relative speed is negative, the speed of the front vehicle is less than the speed of the rear vehicle, and if the relative speed is negative, LPhase (C)Reduce
Vehicle speed V0Obtained from an ECU that performs vehicle control, or a vehicle speed sensor is installed.
In another technical scheme, the steering information of the steering wheel comprises steering lamp information and steering wheel corner information, wherein a steering wheel corner sensor is installed and used for acquiring the steering wheel corner information of the current vehicle. By adopting the scheme, if the collected steering lamp information shows that the steering lamp is on, the fact that the current vehicle is about to or performs steering operation is determined, or the fact that the current vehicle is determined through the forwarding information of the steering wheel is determined, and the fact that the current vehicle is about to or performs steering operation can be determined through 1 of the steering lamp information and the forwarding information of the steering wheel, and the determination can also be synchronously matched.
In another technical scheme, the specific step of judging whether the vehicle belongs to the overtaking state is as follows: judging whether the vehicle belongs to a overtaking state or not according to the steering wheel turning angle information, if so, determining that the vehicle belongs to the overtaking state, if not, determining that the steering lamp information represents that the steering lamp is on, if so, determining that the vehicle belongs to the overtaking state, and if not, determining that the vehicle does not belong to the overtaking state. By adopting the scheme, the accuracy of judging the overtaking intention of the driver is improved.
In another technical scheme, V is determined according to the type of the road0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeThe method specifically comprises the following steps:
if the road type is a short ramp, determining the gradient and the vehicle type, LAnIs the length of the ramp, LBrakeAnd setting the moving distance of the current vehicle on the short slope under the maximum braking force, and calculating the moving distance by taking the reaction time of the person and the response time of the vehicle into consideration, wherein the reaction time of the person is 0.8-1 s.
If the road type is a flat road or a long slope, LAnThe setting is not lower than the setting required by the traffic laws and regulations, and specifically can be as follows: when the vehicle speed exceeds 100 kilometers per hour, LAnSet to 120m, L when the vehicle speed does not exceed 100 km per hourAnSetting to 50 meters; l isBrakeSetting the moving distance of the current vehicle on the corresponding ramp under the maximum braking force, and considering the external factors to be certainBrakeCan be obtained by testing, calculating and reasonably calculating. By adopting the scheme, the ramp types are effectively distinguished, and the safety distance L is set by fully utilizing the difference of the braking distance and the track length between the flat track and the rampAnBraking distance LBrakeThe classification accuracy is improved, an effective premise is provided for reducing the sudden treading accident caused by the limitation of people, unnecessary automatic control participation is avoided, and the use sensitivity of the product is improved.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. The automobile control method based on the automatic control technology is characterized by comprising the following steps of:
s1, acquiring the opening degree of the accelerator pedal and the change rate of the opening degree of the accelerator pedal, and judging whether the accelerator pedal is suddenly stepped;
s2, if yes, judging the type of the road ahead, wherein the road type is a short ramp, a long ramp and a flat road, and the ramp length of the short ramp is not more than 90 m;
if the road type is a short ramp, judging whether a vehicle exists in the ramp, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a long slope, judging whether a vehicle exists in the range of 100m of the slope, if not, judging that the vehicle runs normally, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
if the road type is a flat road, judging whether a vehicle exists in the range of 120m in front of the current vehicle lane, if not, judging that the vehicle normally runs, and if so, dividing the danger levels of the current vehicle and the previous vehicle by using a comparison method;
wherein, utilize the comparison method to divide the dangerous grade of present car and preceding car, specifically do:
sa, acquiring steering information of a steering wheel, judging whether the vehicle is in a overtaking state, and if so, judging that the vehicle is in normal driving;
sb, if not, acquiring the relative distance L between the current vehicle and the front vehiclePhase (C)And determining LPhase (C)Whether the vehicle is reduced or not is judged to be in normal running if the vehicle is not reduced;
if Sc is positive, acquiring the current vehicle speed V0And according to road type, V0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeDetermining LPhase (C)And LAn、LBrakeIn the relationship level of (1), wherein LPhase (C)≥LAnIs 1 grade，0.5(LAn+L Brake)≤LPhase (C)＜LAnIs 2-stage, LBrake≤LPhase (C)＜0.5(LAn+LBrake) Is grade 3, if LPhase (C)＜LBrakeGrade 4;
if the relation grade is level 1, judging that the vehicle is in normal running;
if the relation grade is 2 grade, determining that the danger grade is low grade, and triggering an in-vehicle alarm unit;
if the relation grade is 3 grade, determining the danger grade as middle grade, triggering the alarm unit in the vehicle and the alarm unit outside the vehicle at LPhase (C)＝LBrakeTriggering automatic braking;
if the relation grade is 4 grade, determining that the danger grade is high grade, triggering an in-vehicle alarm unit and an out-vehicle alarm unit, determining whether an obstacle vehicle exists in the overtaking lane, if so, triggering automatic braking, and if not, triggering active steering.
2. The method as claimed in claim 1, wherein the step of determining whether the accelerator pedal is suddenly pressed is performed by using an accelerator pedal opening degree and a change rate of the accelerator pedal opening degree as input values and a pressing intention as an output value, and the step of determining whether the accelerator pedal is suddenly pressed is performed by using two-dimensional fuzzy control, wherein the output values include slow pressing, normal pressing and sudden pressing.
3. The vehicle control method based on the automatic control technology according to claim 1, wherein the road is divided into a slope and a flat road, and the slope is divided into an uphill slope and a non-uphill slope according to the size of the slope and the size of the length.
4. The automatic control technology-based automobile control method according to claim 1, wherein an accelerator pedal sensor is installed for acquiring an accelerator pedal opening degree;
cameras are arranged at the front, the rear and the two sides and used for determining whether a vehicle exists in the corresponding direction, wherein the shooting visual angle of the cameras is a trumpet-shaped fan-shaped visual angle, and the maximum visual angle distance between the front camera and the rear camera and the cameras at the two sides in the corresponding passing lane is not more than the length of 2/3;
installing a front radar for obtaining L of the current vehicle and the preceding vehiclePhase (C)；
Vehicle speed V0Obtained from an ECU that performs vehicle control, or a vehicle speed sensor is installed.
5. The automatic control technology-based vehicle control method according to claim 1, wherein the steering wheel information includes turn signal information, steering wheel angle information, and wherein a steering wheel angle sensor is installed for acquiring the steering wheel angle information of the current vehicle.
6. The method for controlling an automobile according to claim 5, wherein the step of determining whether the automobile is in the overtaking state includes: judging whether the vehicle belongs to a overtaking state or not according to the steering wheel turning angle information, if so, determining that the vehicle belongs to the overtaking state, if not, determining that the steering lamp information represents that the steering lamp is on, if so, determining that the vehicle belongs to the overtaking state, and if not, determining that the vehicle does not belong to the overtaking state.
7. The automatic control technology-based vehicle control method according to claim 1, wherein V is based on a road type0Determining the safe distance L between the current vehicle and the previous vehicleAnBraking distance LBrakeThe method specifically comprises the following steps:
if the road type is a short ramp, determining the gradient and the vehicle type, LAnIs the length of the ramp, LBrakeSetting the moving distance of the current vehicle on the short ramp under the maximum braking force, and calculating the moving distance by taking the reaction time of the person and the response time of the vehicle into consideration, wherein the reaction time of the person is 0.8-1 s;
if the road type is a flat road or a long slope, LAnThe setting is not lower than the setting required by the traffic laws and regulations, and specifically can be as follows: when the vehicle speed exceeds 100 kilometers per hour, LAnSet to 120m, L when the vehicle speed does not exceed 100 km per hourAnSetting to 50 meters; l isBrakeAnd setting the moving distance of the current vehicle on the corresponding ramp under the maximum braking force.
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