CN112124306A - Vehicle anti-collision control system and control method for new energy automobile - Google Patents
Vehicle anti-collision control system and control method for new energy automobile Download PDFInfo
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- CN112124306A CN112124306A CN202011047754.4A CN202011047754A CN112124306A CN 112124306 A CN112124306 A CN 112124306A CN 202011047754 A CN202011047754 A CN 202011047754A CN 112124306 A CN112124306 A CN 112124306A
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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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
The invention discloses a vehicle anti-collision control system and a control method for a new energy automobile, which comprise the following steps: a plurality of acquisition modules; an information screening module; the information filling module is used for filling the missing part in each group of the acquisition fragment groups with data according to the adjacent acquisition interval and the corresponding acquisition interval in other acquisition modules, so that the corresponding information of each acquisition module is reconstructed to form the acquisition information in a complete cycle period; the comparison module is used for respectively comparing the threshold intervals of the plurality of reconstructed acquisition information, and judging that the acquired information is in the corresponding threshold interval when the information acquired by at least two acquisition modules is in the same threshold interval; and the execution module correspondingly controls the braking or steering of the automobile according to the threshold interval information compared by the comparison module. The cost is relatively controllable, adaptability adjustment can be realized, and the effect of comfort level is effectively improved.
Description
Technical Field
The invention relates to the field of control methods of air-conditioning automobiles, in particular to a vehicle anti-collision control system and a control method for a new energy automobile.
Background
With the increasing use of new energy vehicles, the new energy vehicles are increasingly widely used as a vehicle type with good power and high environmental friendliness.
However, it is also the rapid development of the automobile industry, so that the traffic situation is greatly challenged, under the increasingly severe traffic environment, the automobile may collide with the front automobile without paying attention to the automobile in the driving process, and although the prior art has an automatic braking auxiliary system for corresponding control, the cost is high, and the emergency braking problem exists, so that the automobile is not suitable for being widely applied.
Disclosure of Invention
Aiming at the prior art, the invention aims to solve the problems of high cost, poor comfort and the like of an automatic emergency braking mode of an automobile in the prior art, so that the anti-collision control system and the anti-collision control method for the new energy automobile are relatively controllable in cost, can be adaptively adjusted and effectively improve the comfort.
In order to achieve the above object, the present invention provides a vehicle collision avoidance control system for a new energy automobile, including:
the system comprises a plurality of acquisition modules, a control module and a display module, wherein the acquisition modules are used for respectively acquiring the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle in a cycle period;
the information screening module is used for dividing the information acquired by the acquisition modules into a plurality of acquisition sections according to the acquisition duration in sequence, and eliminating the acquisition sections with obvious information errors to obtain acquisition fragment groups corresponding to each acquisition module;
the information filling module is used for filling the missing part in each group of the acquisition fragment groups with data according to the adjacent acquisition interval and the corresponding acquisition interval in other acquisition modules, so that the corresponding information of each acquisition module is reconstructed to form the acquisition information in a complete cycle period;
the comparison module is used for respectively comparing the threshold intervals of the plurality of reconstructed acquisition information, and when the information acquired by at least two acquisition modules is positioned in the same threshold interval, judging that the moment is positioned in the corresponding threshold interval;
and the execution module correspondingly controls the braking or steering of the automobile according to the threshold interval information compared by the comparison module.
Preferably, the plurality of acquisition modules comprise a first acquisition module, a second acquisition module and a third acquisition module, the cycle periods of the first acquisition module, the second acquisition module and the third acquisition module are the same in length, a time difference exists between each cycle period, and the length of the time difference is not more than 1/10 of the length of the cycle period.
Preferably, the information padding module includes an interpolation extraction module and a proofreading module, the interpolation extraction module is configured to extract data of an adjacent acquisition interval of the missing part and data of a corresponding acquisition interval in the other corresponding acquisition modules, and the proofreading module is configured to proofread the extracted data and select appropriate data to be padded according to a proofreading result.
The invention also provides a vehicle anti-collision control method based on the vehicle anti-collision control system, which comprises the following steps:
1) the method comprises the steps that the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle are obtained periodically through a plurality of acquisition modules;
2) dividing the data acquired by each acquisition module into a plurality of acquisition intervals, respectively screening the data in each acquisition interval, and removing the acquisition intervals with obvious wrong information, wherein each acquisition module acquires a corresponding acquisition fragment group;
3) constructing a plurality of acquisition fragment groups into concentric radial extension sections, and enabling the corresponding acquisition fragments in each acquisition fragment group to fall into the same concentric ring;
4) preferentially filling missing acquisition segments by using acquisition segments on the same concentric ring, and correspondingly filling the missing acquisition segments by using the mean value of two adjacent acquisition segments when the difference of a plurality of acquisition segments on the same concentric ring is greater than the difference of adjacent acquisition segments of the missing acquisition segments;
5) after the filling is finished, comparing the plurality of acquisition fragment groups with a threshold interval, and judging the corresponding threshold interval according to the comparison result;
6) and executing operation according to the obtained threshold interval correspondence.
Preferably, in step 1), the periodic time periods of the plurality of acquisition modules are the same, the plurality of acquisition modules acquire in sequence, a time difference with a difference value not greater than 1/10 of the periodic time period is formed between two adjacent acquisition modules, the time difference before and after the acquisition is eliminated in the acquisition process, and the overlapped parts of the plurality of acquisition modules are obtained as acquisition data.
Preferably, in step 4), the difference values between the plurality of collected segments are calculated by selecting a plurality of values at equal intervals on the corresponding collected segments, weighting and averaging the distance between the vehicle and the leading vehicle in the obtained values and the vehicle speed of the vehicle, obtaining a weighted average value, and comparing the difference values between the plurality of values in the radial direction and the circumferential direction, respectively.
Preferably, the threshold intervals include a first threshold interval for controlling the vehicle to keep in a moving state, a second threshold interval for controlling the vehicle to brake, and a third threshold interval for controlling the vehicle to steer, and each threshold interval is calculated according to the distance between the vehicle and the preceding vehicle, the vehicle speed of the vehicle, and the vehicle speed of the preceding vehicle.
Preferably, the second threshold interval includes a plurality of threshold control sections, and the deceleration of the corresponding vehicle brake in each threshold control section is different.
According to the technical scheme, the data are collected in multiple paths, and the new data are formed after targeted screening and filling, so that the validity of the whole data is ensured, on the basis, the comparison module is used for performing targeted comparison and then performing operation, so that the whole execution process is ensured to be practical and effective, and the segmented control can be realized by setting different threshold intervals, so that the comfort problem caused by emergency braking is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a vehicle anti-collision control method provided by the present invention;
fig. 2 is a signal transfer diagram provided by the present invention.
Detailed Description
The following describes in detail specific embodiments of the present invention. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1 and 2, the present invention provides a vehicle collision avoidance control system for a new energy vehicle, including:
the system comprises a plurality of acquisition modules, a control module and a display module, wherein the acquisition modules are used for respectively acquiring the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle in a cycle period;
the information screening module is used for dividing the information acquired by the acquisition modules into a plurality of acquisition sections according to the acquisition duration in sequence, and eliminating the acquisition sections with obvious information errors to obtain acquisition fragment groups corresponding to each acquisition module;
the information filling module is used for filling the missing part in each group of the acquisition fragment groups with data according to the adjacent acquisition interval and the corresponding acquisition interval in other acquisition modules, so that the corresponding information of each acquisition module is reconstructed to form the acquisition information in a complete cycle period;
the comparison module is used for respectively comparing the threshold intervals of the plurality of reconstructed acquisition information, and when the information acquired by at least two acquisition modules is positioned in the same threshold interval, judging that the moment is positioned in the corresponding threshold interval;
and the execution module correspondingly controls the braking or steering of the automobile according to the threshold interval information compared by the comparison module.
Specifically, in a preferred embodiment of the present invention, in order to effectively improve the accuracy of acquiring information and further improve the comparable contrast between adjacent acquisition modules, the plurality of acquisition modules include a first acquisition module, a second acquisition module and a third acquisition module, and cycle periods of the first acquisition module, the second acquisition module and the third acquisition module are the same in length, and a time difference exists between each cycle period, and the length of the time difference is not greater than 1/10 of the cycle period length.
In a more preferred embodiment, the information padding module includes an interpolation extraction module and a proofreading module, the interpolation extraction module is configured to extract data of a missing part of adjacent acquisition intervals and data of corresponding acquisition intervals in other corresponding acquisition modules, and the proofreading module is configured to perform proofreading on the extracted data and select appropriate data to pad according to a proofreading result.
The invention also provides a vehicle anti-collision control method based on the vehicle anti-collision control system, which comprises the following steps:
1) the method comprises the steps that the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle are obtained periodically through a plurality of acquisition modules;
2) dividing the data acquired by each acquisition module into a plurality of acquisition intervals, respectively screening the data in each acquisition interval, and removing the acquisition intervals with obvious wrong information, wherein each acquisition module acquires a corresponding acquisition fragment group;
3) constructing a plurality of acquisition fragment groups into concentric radial extension sections, and enabling the corresponding acquisition fragments in each acquisition fragment group to fall into the same concentric ring;
4) preferentially filling missing acquisition segments by using acquisition segments on the same concentric ring, and correspondingly filling the missing acquisition segments by using the mean value of two adjacent acquisition segments when the difference of a plurality of acquisition segments on the same concentric ring is greater than the difference of adjacent acquisition segments of the missing acquisition segments;
5) after the filling is finished, comparing the plurality of acquisition fragment groups with a threshold interval, and judging the corresponding threshold interval according to the comparison result;
6) and executing operation according to the obtained threshold interval correspondence.
Of course, it should be further noted that, in step 1), the periodic time periods of the plurality of acquisition modules are the same, the plurality of acquisition modules acquire sequentially, a time difference having a difference not greater than 1/10 of the periodic time period is formed between two adjacent acquisition modules, the time difference before and after the acquisition is eliminated, and the overlapped parts of the plurality of acquisition modules are obtained as acquisition data. The numerical values of the extra-position time difference parts in each acquisition module can be removed in a targeted manner, so that error numerical values existing in earlier-stage acquisition of the equipment can be better avoided.
In a further preferred embodiment, in step 4), the difference values between the plurality of collected segments are calculated by selecting a plurality of values at equal intervals on the corresponding collected segments, weighting and averaging the distances between the vehicle and the front vehicle and the vehicle speed of the vehicle in the obtained values, obtaining a weighted average value, and comparing the difference values between the plurality of values in the radial direction and the circumferential direction, respectively. Namely, the comparison can be performed along the circumferential direction, or along the radial direction, according to the difference of the weighted average values of the two acquisition segments along the circumferential direction or the radial direction, a group with small difference is selected as a reference value, and the reference value is filled in pertinently.
Of course, in order to better improve the accuracy of the control process, the threshold intervals include a first threshold interval for controlling the vehicle to keep in a motion state, a second threshold interval for controlling the braking of the vehicle and a third threshold interval for controlling the steering of the vehicle, and each threshold interval is calculated according to the distance between the vehicle and the preceding vehicle, the vehicle speed of the vehicle and the vehicle speed of the preceding vehicle.
Further, with the above-mentioned multiple numerical support, in order to better improve the comfort of the control process, the second threshold interval includes multiple threshold control sections, and the deceleration of the corresponding vehicle brake in each threshold control section is different.
The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. A vehicle anti-collision control system for a new energy automobile, characterized by comprising:
the system comprises a plurality of acquisition modules, a control module and a display module, wherein the acquisition modules are used for respectively acquiring the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle in a cycle period;
the information screening module is used for dividing the information acquired by the acquisition modules into a plurality of acquisition sections according to the acquisition duration in sequence, and eliminating the acquisition sections with obvious information errors to obtain acquisition fragment groups corresponding to each acquisition module;
the information filling module is used for filling the missing part in each group of the acquisition fragment groups with data according to the adjacent acquisition interval and the corresponding acquisition interval in other acquisition modules, so that the corresponding information of each acquisition module is reconstructed to form the acquisition information in a complete cycle period;
the comparison module is used for respectively comparing the threshold intervals of the plurality of reconstructed acquisition information, and when the information acquired by at least two acquisition modules is positioned in the same threshold interval, judging that the moment is positioned in the corresponding threshold interval;
and the execution module correspondingly controls the braking or steering of the automobile according to the threshold interval information compared by the comparison module.
2. The vehicle collision avoidance control system of claim 1, wherein the plurality of acquisition modules comprises a first acquisition module, a second acquisition module and a third acquisition module, and the cycle periods of the first acquisition module, the second acquisition module and the third acquisition module are the same in length, and each cycle period has a time difference therebetween, and the time difference is not greater than 1/10 of the cycle period length.
3. The vehicle anti-collision control system according to claim 1 or 2, wherein the information padding module includes an interpolation extraction module and a proofreading module, the interpolation extraction module is configured to extract data of an adjacent acquisition interval of the missing part and data of a corresponding acquisition interval in the other corresponding acquisition modules, and the proofreading module is configured to perform proofreading on the extracted data and select appropriate data for padding according to a proofreading result.
4. A vehicle collision avoidance control method based on the vehicle collision avoidance control system according to any one of claims 1 to 3, characterized by comprising:
1) the method comprises the steps that the distance between a vehicle and a front vehicle, the vehicle speed of the vehicle and the vehicle speed of the front vehicle are obtained periodically through a plurality of acquisition modules;
2) dividing the data acquired by each acquisition module into a plurality of acquisition intervals, respectively screening the data in each acquisition interval, and removing the acquisition intervals with obvious wrong information, wherein each acquisition module acquires a corresponding acquisition fragment group;
3) constructing a plurality of acquisition fragment groups into concentric radial extension sections, and enabling the corresponding acquisition fragments in each acquisition fragment group to fall into the same concentric ring;
4) preferentially filling missing acquisition segments by using acquisition segments on the same concentric ring, and correspondingly filling the missing acquisition segments by using the mean value of two adjacent acquisition segments when the difference of a plurality of acquisition segments on the same concentric ring is greater than the difference of adjacent acquisition segments of the missing acquisition segments;
5) after the filling is finished, comparing the plurality of acquisition fragment groups with a threshold interval, and judging the corresponding threshold interval according to the comparison result;
6) and executing operation according to the obtained threshold interval correspondence.
5. The vehicle anti-collision control method according to claim 4, wherein in step 1), the periodic time periods of the plurality of acquisition modules are the same, the plurality of acquisition modules acquire sequentially, a time difference with a difference value not greater than 1/10 of the periodic time period is formed between two adjacent acquisition modules, the time difference before and after the acquisition is eliminated, and a part where the plurality of acquisition modules overlap is obtained as the acquired data.
6. The vehicle anti-collision control method according to claim 4 or 5, wherein in step 4), the difference values between the plurality of collected segments are calculated by selecting a plurality of values at equal intervals on the corresponding collected segments, and obtaining a weighted average value after weighted averaging according to the distance between the vehicle and the front vehicle and the vehicle speed of the vehicle in the obtained values, and comparing the difference values between the plurality of values in the radial direction and the circumferential direction, respectively.
7. The vehicle collision avoidance control method according to claim 4 or 5, wherein the threshold intervals include a first threshold interval for controlling the vehicle to keep in a moving state, a second threshold interval for controlling braking of the vehicle, and a third threshold interval for controlling steering of the vehicle, and each of the threshold intervals is calculated based on a distance between the vehicle and a preceding vehicle, a vehicle speed of the vehicle, and a vehicle speed of the preceding vehicle.
8. The vehicle collision avoidance control method according to claim 7, wherein the second threshold interval includes a plurality of threshold control sections, and a deceleration of a corresponding vehicle brake in each of the threshold control sections is different.
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| CN202011047754.4A CN112124306B (en) | 2020-09-29 | 2020-09-29 | Vehicle anti-collision control system and control method for new energy automobile |
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