CN112498336A - Universal vehicle driving auxiliary control system and control method - Google Patents
Universal vehicle driving auxiliary control system and control method Download PDFInfo
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- CN112498336A CN112498336A CN202011228501.7A CN202011228501A CN112498336A CN 112498336 A CN112498336 A CN 112498336A CN 202011228501 A CN202011228501 A CN 202011228501A CN 112498336 A CN112498336 A CN 112498336A
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- 238000011217 control strategy Methods 0.000 claims abstract description 62
- 230000004927 fusion Effects 0.000 claims abstract description 33
- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 230000006641 stabilisation Effects 0.000 claims description 9
- 238000011105 stabilization Methods 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims 4
- 238000007499 fusion processing Methods 0.000 abstract description 5
- 230000000295 complement effect Effects 0.000 abstract description 3
- 230000000087 stabilizing effect Effects 0.000 description 19
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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
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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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- B60W2420/408—
Abstract
The invention provides a universal vehicle driving auxiliary control system, which comprises: the front-view camera provides a visual signal; a millimeter wave radar providing a millimeter wave signal; the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, performs sensing signal fusion and decision calculation, and forms a transverse and longitudinal combined control strategy; and the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller. According to the universal vehicle driving auxiliary system, the visual signal of the front-view camera and the millimeter wave signal of the millimeter wave radar are subjected to fusion processing in the vehicle driving auxiliary controller, so that the advantages of the two sensors are complementary, and hardware resources are shared.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle driving auxiliary control system and a control method.
Background
With the development of technology, more and more vehicles are equipped with a vehicle driving assistance control system to assist the traveling of the vehicle. The existing vehicle driving auxiliary control system is limited by the existing supply chain mode, generally, a front-view camera is responsible for sensing and decision control of a transverse system, and a millimeter wave radar is responsible for sensing and decision control of a longitudinal system, so that sensing, decision and execution of the transverse system and the longitudinal system of a vehicle are in separate modes, sensor modules such as the front-view camera and the millimeter wave radar need to have larger computing capacity, but the advantages of the modules cannot be comprehensively formulated, the system performance cannot be optimized, the modes of independent work of sensing and control also cause waste of materials of the whole vehicle, and the arrangement space of the whole vehicle is wasted. Further, the longitudinal system is implemented by relying on an expensive body stabilization system (ESC system) which controls the driving and braking of the vehicle. The limitation of the vehicle body stabilization system on the longitudinal system increases the hardware requirements and cost of preparing a vehicle equipped with the vehicle driving assistance control system, and cannot cover all vehicle types.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a universal vehicle driving assistance control system and a control method with optimized performance and low cost.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a universal vehicle driving assist control system, the control system comprising:
the front-view camera provides a visual signal;
a millimeter wave radar providing a millimeter wave signal;
the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, performs sensing signal fusion and decision calculation, and forms a transverse and longitudinal combined control strategy;
and the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, wherein the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
Furthermore, the whole vehicle actuator comprises an electronic hydraulic braking module, a whole vehicle controller and an electronic power-assisted steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic braking module and the whole vehicle controller are directly connected with the vehicle driving auxiliary controller and directly receive the longitudinal control strategy, and the electronic power-assisted steering module is directly connected with the vehicle driving auxiliary controller and directly receives the transverse control strategy.
Further, the system further comprises a vehicle body stabilizing system, and the vehicle body stabilizing system is connected between the vehicle driving auxiliary controller and the electronic hydraulic brake module and the vehicle control unit.
Further, the vehicle driving auxiliary controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy forming module which are connected, the sensing signal fusion module carries out sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module carries out decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy forming module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
Further, the forward-looking camera is integrated in the vehicle driving assistance controller to form a vehicle driving assistance control field.
A universal vehicle driving assist control method, the control method comprising:
configuring a forward looking camera, the forward looking camera providing a visual signal;
configuring a millimeter wave radar, wherein the millimeter wave radar provides a millimeter wave signal;
configuring a vehicle driving auxiliary controller, wherein the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, and performs sensing signal fusion and decision calculation to form a transverse and longitudinal combined control strategy;
and configuring a whole vehicle actuator, wherein the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, and the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
Furthermore, the whole vehicle actuator comprises an electronic hydraulic braking module, a whole vehicle controller and an electronic power-assisted steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic braking module and the whole vehicle controller are directly connected with the vehicle driving auxiliary controller and directly receive the longitudinal control strategy, and the electronic power-assisted steering module is directly connected with the vehicle driving auxiliary controller and directly receives the transverse control strategy.
Further, the system also comprises a vehicle body stabilizing system, and the vehicle driving auxiliary controller is connected with the electronic hydraulic brake module and the vehicle control unit through the vehicle body stabilizing system.
Further, the vehicle driving auxiliary controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy forming module which are connected, the sensing signal fusion module carries out sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module carries out decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy forming module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
Further, the forward-looking camera is integrated in the vehicle driving assistance controller to form a vehicle driving assistance control field.
According to the universal vehicle driving auxiliary system, the visual signal of the front-view camera and the millimeter wave signal of the millimeter wave radar are subjected to fusion processing in the vehicle driving auxiliary controller, so that the advantages of the two sensors are complementary, and hardware resources are shared. Decision-making function that the front vision camera and millimeter wave radar were peeled off is handed over by vehicle driving auxiliary control ware unified processing, and according to the chassis dynamics of vehicle and the experience of theory of car in vehicle driving auxiliary control ware decision-making process, let horizontal system and vertical system pool take into account, cooperate mutually to obtain better driving experience. The invention reduces the computational force requirement of the sensor and saves the arrangement space of the whole vehicle. In addition, the vehicle body stabilizing system does not need to be relied on, and the vehicle with the vehicle body stabilizing system can be compatible, so that the adaptation range is expanded, and the price of the whole vehicle is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a universal vehicle driving assistance system according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a universal vehicle driving assistance system according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a universal vehicle driving assistance system according to a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a universal vehicle driving assistance system according to a first embodiment of the present invention. The universal vehicle driving auxiliary control system comprises: the front-view camera provides a visual signal; a millimeter wave radar providing a millimeter wave signal; the vehicle driving auxiliary controller (ADAS controller) is connected with the forward-looking camera and the millimeter wave radar at the same time, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, performs sensing signal fusion and decision calculation, and forms a transverse and longitudinal combined control strategy; and the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, wherein the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
The invention carries out fusion processing on the visual signal of the front-view camera and the millimeter wave signal of the millimeter wave radar in the vehicle driving auxiliary controller, thereby complementing the advantages of the two sensors and sharing hardware resources. Decision-making function that the front vision camera and millimeter wave radar were peeled off is handed over by vehicle driving auxiliary control ware unified processing, and according to the chassis dynamics of vehicle and the experience of theory of car in vehicle driving auxiliary control ware decision-making process, let horizontal system and vertical system pool take into account, cooperate mutually to obtain better driving experience.
Specifically, the vehicle driving auxiliary controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy forming module which are connected, the sensing signal fusion module performs sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module performs decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy forming module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
Furthermore, the vehicle driving auxiliary controller directly interacts with an electronic hydraulic brake module (EHB), a Vehicle Control Unit (VCU) and an electronic power steering module (EPS) of a vehicle actuator without a vehicle body stabilizing system, obtains corresponding vehicle signals from the vehicle actuator, and sends torque, corner and vehicle speed signals to the vehicle actuator, thereby realizing the transverse and longitudinal control of the vehicle.
Specifically, the whole vehicle actuator comprises an electronic hydraulic braking module, a whole vehicle controller and an electronic power steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic braking module and the whole vehicle controller are directly connected with the vehicle driving auxiliary controller and directly receive the longitudinal control strategy, and the electronic power steering module is directly connected with the vehicle driving auxiliary controller and directly receives the transverse control strategy.
Of course, the present invention is also well compatible with body stabilization systems. For a vehicle with a vehicle body stabilizing system, after the vehicle driving auxiliary controller finishes decision making, a longitudinal control signal is sent to the vehicle body stabilizing system, and the vehicle body stabilizing system further controls an electronic hydraulic brake module and a vehicle control unit to realize longitudinal control; and the transverse control signal is sent to the electronic power steering module to realize transverse control.
Specifically, the system further comprises a vehicle body stabilizing system (ESP/ESC), and the ESP/ESC is connected between the vehicle driving auxiliary controller and the electronic hydraulic brake module and the vehicle control unit. As can be seen in particular in fig. 2.
In addition, the invention can also combine the vehicle driving auxiliary controller and the front-view camera to form a vehicle driving auxiliary control domain, and the control domain simplifies the quantity of system hardware on the aspect of hardware and simplifies the information interaction inside the system.
Specifically, the forward-looking camera is integrated in the vehicle driving assistance controller to form a vehicle driving assistance control field. In particular, reference is made to fig. 3. Of course, for a vehicle with a body stabilization system, a forward-looking camera may be integrated into the vehicle driving assistance controller to form a vehicle driving assistance control field.
The invention discloses a universal vehicle driving auxiliary control method, which comprises the following steps: configuring a forward looking camera, the forward looking camera providing a visual signal; configuring a millimeter wave radar, wherein the millimeter wave radar provides a millimeter wave signal; configuring a vehicle driving auxiliary controller, wherein the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, and performs sensing signal fusion and decision calculation to form a transverse and longitudinal combined control strategy; and configuring a whole vehicle actuator, wherein the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, and the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
The invention carries out fusion processing on the visual signal of the front-view camera and the millimeter wave signal of the millimeter wave radar in the vehicle driving auxiliary controller, thereby complementing the advantages of the two sensors and sharing hardware resources. Decision-making function that the front vision camera and millimeter wave radar were peeled off is handed over by vehicle driving auxiliary control ware unified processing, and according to the chassis dynamics of vehicle and the experience of theory of car in vehicle driving auxiliary control ware decision-making process, let horizontal system and vertical system pool take into account, cooperate mutually to obtain better driving experience.
Specifically, the vehicle driving auxiliary controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy forming module which are connected, the sensing signal fusion module performs sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module performs decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy forming module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
Furthermore, the vehicle driving auxiliary controller directly interacts with the electronic hydraulic brake module, the vehicle controller and the electronic power steering module of the vehicle actuator without a vehicle body stabilizing system, obtains a corresponding vehicle signal from the vehicle actuator, and sends the torque, the corner and the vehicle speed signal to the vehicle actuator, so that the transverse and longitudinal control of the vehicle is realized.
Specifically, the whole vehicle actuator comprises an electronic hydraulic braking module, a whole vehicle controller and an electronic power steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic braking module and the whole vehicle controller are directly connected with the vehicle driving auxiliary controller and directly receive the longitudinal control strategy, and the electronic power steering module is directly connected with the vehicle driving auxiliary controller and directly receives the transverse control strategy.
Of course, the present invention is also well compatible with body stabilization systems. For a vehicle with a vehicle body stabilizing system, after the vehicle driving auxiliary controller finishes decision making, a longitudinal control signal is sent to the vehicle body stabilizing system, and the vehicle body stabilizing system further controls an electronic hydraulic brake module and a vehicle control unit to realize longitudinal control; and the transverse control signal is sent to the electronic power steering module to realize transverse control.
Specifically, the system further comprises a vehicle body stabilizing system, and the vehicle driving auxiliary controller is connected with the electronic hydraulic brake module and the vehicle control unit through the vehicle body stabilizing system.
In addition, the invention can also combine the vehicle driving auxiliary controller and the front-view camera to form a vehicle driving auxiliary control domain, and the control domain simplifies the quantity of system hardware on the aspect of hardware and simplifies the information interaction inside the system.
Specifically, the forward-looking camera is integrated in the vehicle driving assistance controller to form a vehicle driving assistance control field. Of course, for a vehicle with a body stabilization system, a forward-looking camera may be integrated into the vehicle driving assistance controller to form a vehicle driving assistance control field.
The following is an application example of a universal vehicle driving assistance control system according to the present invention. The millimeter wave radar provides a front vehicle speed and distance signal, and the front-view camera provides the curvature of a lane line, the size of an obstacle and a related signal capable of representing the relative lane position of the vehicle; the vehicle driving auxiliary controller carries out deep fusion on signals of the millimeter wave radar and the forward-looking camera; the vehicle driving auxiliary controller receives a finished vehicle signal sent by the finished vehicle actuator, and performs decision calculation by using the depth fusion result and the finished vehicle signal to generate control signals such as a corner signal, a speed request signal, a braking force signal and the like; the vehicle driving auxiliary controller externally sends a corner signal to the electronic power steering module to control the steering of the vehicle, so that the vehicle can run along a curve; the vehicle driving auxiliary controller sends a speed request signal to the vehicle control unit to realize vehicle speed control within the range of 0-180 km/h; the vehicle driving auxiliary controller externally sends a braking force signal to the electronic hydraulic braking module to realize vehicle braking; after the vehicle is braked to stop, the vehicle driving auxiliary system sends a pressure maintaining request to the electronic hydraulic brake module, and pressure maintaining within 3min at most is realized. In the process, the associated controller can respond and feed back the execution condition, and the vehicle driving auxiliary controller and the associated controller are well reserved with interfaces to realize signal interaction.
According to the universal vehicle driving auxiliary system, the visual signal of the front-view camera and the millimeter wave signal of the millimeter wave radar are subjected to fusion processing in the vehicle driving auxiliary controller, so that the advantages of the two sensors are complementary, and hardware resources are shared. Decision-making function that the front vision camera and millimeter wave radar were peeled off is handed over by vehicle driving auxiliary control ware unified processing, and according to the chassis dynamics of vehicle and the experience of theory of car in vehicle driving auxiliary control ware decision-making process, let horizontal system and vertical system pool take into account, cooperate mutually to obtain better driving experience. The invention reduces the computational force requirement of the sensor and saves the arrangement space of the whole vehicle. In addition, the vehicle body stabilizing system does not need to be relied on, and the vehicle with the vehicle body stabilizing system can be compatible, so that the adaptation range is expanded, and the price of the whole vehicle is reduced.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A universal vehicle driving assist control system, characterized in that the control system comprises:
the front-view camera provides a visual signal;
a millimeter wave radar providing a millimeter wave signal;
the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, performs sensing signal fusion and decision calculation, and forms a transverse and longitudinal combined control strategy;
and the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, wherein the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
2. The control system of claim 1, wherein the vehicle actuator comprises an electronic hydraulic brake module, a vehicle control unit and an electronic power steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic brake module and the vehicle control unit are directly connected with the vehicle driving auxiliary controller to directly receive the longitudinal control strategy, and the electronic power steering module is directly connected with the vehicle driving auxiliary controller to directly receive the transverse control strategy.
3. The control system of claim 2, further comprising a body stabilization system connected between the vehicle drive assist controller and the electro-hydraulic brake module, vehicle control unit.
4. The control system according to claim 1, wherein the vehicle driving assistance controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy formation module which are connected, the sensing signal fusion module performs sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module performs decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy formation module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
5. The control system according to any one of claims 1 to 4, wherein the forward-looking camera is integrated into the vehicle driving assistance controller, forming a vehicle driving assistance control field.
6. A universal vehicle driving assist control method, characterized by comprising:
configuring a forward looking camera, the forward looking camera providing a visual signal;
configuring a millimeter wave radar, wherein the millimeter wave radar provides a millimeter wave signal;
configuring a vehicle driving auxiliary controller, wherein the vehicle driving auxiliary controller is simultaneously connected with the forward-looking camera and the millimeter wave radar, receives a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, and performs sensing signal fusion and decision calculation to form a transverse and longitudinal combined control strategy;
and configuring a whole vehicle actuator, wherein the whole vehicle actuator is connected with the vehicle driving auxiliary controller, receives and executes the transverse and longitudinal combined control strategy sent by the vehicle driving auxiliary controller, and provides a whole vehicle signal for the vehicle driving auxiliary controller, and the whole vehicle signal is used for decision calculation of the vehicle driving auxiliary controller.
7. The control method according to claim 6, wherein the vehicle actuator comprises an electronic hydraulic brake module, a vehicle control unit and an electronic power steering module, the transverse and longitudinal combined control strategy comprises a transverse control strategy and a longitudinal control strategy, the electronic hydraulic brake module and the vehicle control unit are directly connected with the vehicle driving auxiliary controller and directly receive the longitudinal control strategy, and the electronic power steering module is directly connected with the vehicle driving auxiliary controller and directly receives the transverse control strategy.
8. The control method according to claim 7, characterized in that the system further comprises a vehicle body stabilization system, and the vehicle driving assistance controller is connected with the electronic hydraulic brake module and the vehicle control unit through the vehicle body stabilization system.
9. The control method according to claim 6, wherein the vehicle driving assistance controller comprises a sensing signal fusion module, a decision calculation module and a transverse and longitudinal combined control strategy formation module which are connected, the sensing signal fusion module performs sensing signal fusion on a visual signal provided by the forward-looking camera and a millimeter wave signal provided by the millimeter wave radar, the decision calculation module performs decision calculation according to a sensing signal fusion result, and the transverse and longitudinal combined control strategy formation module forms a transverse and longitudinal combined control strategy according to a decision calculation result.
10. The control method according to any one of claims 6 to 9, wherein the forward-looking camera is integrated into the vehicle driving assistance controller, forming a vehicle driving assistance control field.
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| CN105751999A (en) * | 2016-03-31 | 2016-07-13 | 汪家琳 | Fully intelligent and fully automatic (unmanned) automobile |
| CN109062209A (en) * | 2018-08-07 | 2018-12-21 | 安徽工程大学 | A kind of intelligently auxiliary Ride Control System and its control method |
| CN110606082A (en) * | 2019-09-25 | 2019-12-24 | 中国第一汽车股份有限公司 | Braking system, method and device based on automatic driving and vehicle |
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2020
- 2020-11-06 CN CN202011228501.7A patent/CN112498336A/en active Pending
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|---|---|---|---|---|
| US20120119894A1 (en) * | 2010-11-15 | 2012-05-17 | Bendix Commercial Vehicle Systems, Llc | Acb following distance alert and warning adjustment as a function of forward vehicle size and host vehicle mass |
| CN105751999A (en) * | 2016-03-31 | 2016-07-13 | 汪家琳 | Fully intelligent and fully automatic (unmanned) automobile |
| CN109062209A (en) * | 2018-08-07 | 2018-12-21 | 安徽工程大学 | A kind of intelligently auxiliary Ride Control System and its control method |
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