CN112677991B - Hydrogen energy automobile lane departure prevention device - Google Patents
Hydrogen energy automobile lane departure prevention device Download PDFInfo
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- CN112677991B CN112677991B CN202011446306.1A CN202011446306A CN112677991B CN 112677991 B CN112677991 B CN 112677991B CN 202011446306 A CN202011446306 A CN 202011446306A CN 112677991 B CN112677991 B CN 112677991B
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Abstract
The invention provides a hydrogen energy automobile lane departure prevention device, which is designed with three modules, wherein a transverse departure speed module, a departure triggering logic processing module and a steering wheel expected corner calculation module are in work division cooperation to jointly complete a hydrogen energy automobile lane departure prevention LDP function, so that the complex function is simplified; the transverse deviation speed module is used for calculating a transverse deviation speed; and the expected steering angle calculation module of the steering wheel intelligently turns on or off the LDP prevention system according to the transverse deviation speed and the working condition of the automobile. The beneficial effects provided by the invention are as follows: the humanized lane departure prevention system is provided, the working condition of a vehicle can be automatically identified, the function of the lane departure prevention LDP system is actively closed under the special working condition, meanwhile, the function of the lane departure prevention LDP system can be manually closed and opened, and the autonomy is strong.
Description
Technical Field
The invention relates to the field of automobile intelligent systems, in particular to a device for preventing lane departure of a hydrogen energy automobile.
Background
Lane departure prevention is a common vehicle driving assistance function today, with the goal of keeping the vehicle driving safely in a highway lane. When the vehicle is about to deviate from the lane line, the lane departure prevention system performs corresponding operations to prevent lane departure.
At present, most lane departure prevention does not consider the actual situation and is not humanized enough.
Disclosure of Invention
In view of the above, in order to solve the defects in the prior art, the invention provides a hydrogen energy automobile lane departure prevention device, which is designed with three modules, wherein a transverse departure speed module, a departure triggering logic processing module and a steering wheel expected rotation angle calculation module cooperate with each other in a time division manner to jointly complete a hydrogen energy automobile Lane Departure Prevention (LDP) function, so that the complex function is simplified, and the realizability of a hydrogen energy automobile Lane Departure Prevention (LDP) system is improved.
The technical problems to be solved in practice by the invention are as follows: how to humanizedly coordinate all control units, consider the comprehensive driving condition, automatically identify the working condition of the vehicle, and intelligently finish the lane departure prevention.
The invention provides a device for preventing lane departure of a hydrogen energy automobile, which specifically comprises the following components:
the system comprises a vehicle control unit, a hydrogen fuel cell system, a high-voltage distribution box, a power battery system, a rear motor controller, a motor, a speed reducer, a differential, electronic power-assisted steering, a vehicle control unit and a brake pedal; the hydrogen fuel cell system and the power cell system are electrically connected with the high-voltage distribution box to provide electric energy required by running for the hydrogen energy automobile; the high-voltage distribution box is electrically connected with the rear motor controller and the motor; the rear motor controller and the motor drive the speed reducer and the differential mechanism by using electric energy, so that the hydrogen energy automobile runs normally;
the prophylactic device further comprises: the system comprises a lane departure prevention LDP system function switch, a first camera, a second camera, a sound alarm system and an ADAS controller;
the hydrogen fuel cell system, the high-voltage distribution box, the power battery system, the rear motor controller, the sound alarm system, the ADAS controller, the electronic power steering and the whole vehicle controller are subjected to information interaction through a CAN bus;
the electronic power steering system collects a steering wheel turning signal of the hydrogen energy automobile; the vehicle controller collects vehicle state signals; the steering wheel corner signal and the vehicle state signal are sent to the ADAS controller through a CAN bus;
the ADAS controller comprises a transverse deviation speed module, a deviation triggering logic processing module and a steering wheel expected corner calculating module;
the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera and the second camera;
the deviation triggering logic processing module is used for judging the time of the automobile deviating from the lane line according to the transverse deviation speed; when the time that the automobile deviates from the lane line is less than a preset time threshold, the expected turning angle calculation module of the steering wheel is automatically started, and the prevention device automatically prevents lane deviation, specifically:
the ADAS controller calculates the expected rotation angle of the steering wheel by utilizing the expected rotation angle calculation module of the steering wheel according to the lane departure prevention LDP system function switch state, the steering wheel rotation angle signal, the whole vehicle state signal and the transverse departure speed, and controls the steering wheel to rotate at the expected rotation angle to perform lane departure prevention;
and when the time of the automobile deviating from the lane line is greater than or equal to a preset time threshold, the voice alarm system plays voice information to early warn the lane departure.
Further, the vehicle state signal includes: the automobile brake control system comprises an automobile gear signal, automobile speed information, left and right steering lamp signals, a double-flash state signal and a brake pedal state.
Further, the functional switch of the lane departure prevention LDP system is a physical switch, and comprises two states, namely a closed state and an open state;
when a function switch of the lane departure prevention LDP system is in an off state, the function switch indicates that an ADAS controller is enabled, and the ADAS controller starts a lane departure prevention function;
when the function switch of the lane departure prevention LDP system is in a closed state, the ADAS controller is indicated to turn off the lane departure prevention function.
Further, the preventive means comprises two states, an off state and an on state, respectively;
when a functional switch of the lane departure prevention LDP system is in a closed state, or a steering wheel corner signal is higher than a preset first threshold value omega 1, or a left and right steering lamp signal is effective, or a double-flashing state signal is on or a brake signal is effective, the prevention device is in an off state, namely, the prevention is not carried out;
when the functional switch of the lane departure prevention LDP system is in an off state, the steering wheel corner signal is lower than a preset second threshold value omega 1, the left and right steering lamp signals are invalid, the double-flashing state signal is off, and the braking signal is invalid, the prevention device is in an on state, namely, the prevention device carries out prevention through the intelligent judgment of the ADAS controller.
Further, the specific process of calculating the lateral deviation speed by the lateral deviation speed module is as follows: the offset distance between the automobile and the left lane line is L1 measured by the first camera, the offset distance between the automobile and the right lane line is L2 measured by the second camera, and the width of the automobile body is width, so that the lane center line is (L1+ L2+ width)/2; the lateral offset speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, and dt is a preset value.
Further, dS is calculated as the deviation between the car centerline and the lane centerline, i.e., | (L2-L1)/2| where | represents an absolute value.
Furthermore, the on state of the prevention device comprises two sub-states, namely a standby Passive state and an Active state;
when the ADAS controller judges that the current gear is a D gear, the offset distance between the left lane line and the right lane line of the automobile is smaller than a preset threshold value D, the automobile speed is in a preset range, and Tset Vvehicle is greater than doffset-dhalfwidth, the prevention device is in an Active state, otherwise, the prevention device is in a standby Passive state;
wherein Tset is a preset deviation time, Vlater is a transverse deviation speed, doffset is a transverse deviation distance of any one side of the left side and the right side of the automobile, and dhalfwidth is half of the width of the automobile body.
When the prevention device is in an Active state, the ADAS controller plays prevention information through the sound alarm system to remind a driver to correct the direction of the vehicle and drive back to the current lane.
The beneficial effects provided by the invention are as follows: the humanized lane departure prevention system is provided, the working condition of a vehicle can be automatically identified, the Lane Departure Prevention (LDP) system function can be actively closed under the special working condition, meanwhile, the Lane Departure Prevention (LDP) system function can be manually closed and opened, and the autonomy is strong.
Drawings
FIG. 1 is a structural view of a lane departure prevention apparatus for a hydrogen powered vehicle according to the present invention;
FIG. 2 is a diagram showing each state judgment of the preventive apparatus
Fig. 3 is a schematic diagram of calculation of a desired steering angle of the steering wheel according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, a lane departure prevention apparatus for a hydrogen powered vehicle includes the following:
a hydrogen fuel cell system 24, a high-voltage distribution box 25, a power battery system 26, a rear motor controller and motor 27, a speed reducer and differential 28, a first camera 130, a second camera 140, a 150 sound alarm system, a lane departure prevention LDP system function switch 160, an ADAS (advanced driver assistance System) controller 170, an electronic power steering 210, a vehicle control unit 220, a brake pedal 230 and a lighting system 240;
wherein each controller unit comprises: a hydrogen fuel cell system 24, a high-voltage distribution box 25, a power battery system 26, a rear motor controller 27, an acoustic alarm system 150, an ADAS controller 170, an electronic power steering 210 and a vehicle controller 220; the CAN communication signal lines are electrically connected with each other, and corresponding information interaction and control are carried out.
The hydrogen fuel cell system 24 and the power battery system 26 provide electric energy required by running for the running system, the high-voltage distribution box 25 distributes the electric energy to the motor controller and the motor 27, the motor controller and the motor 27 drive the motor by using the electric energy, the kinetic energy generated by the motor is transmitted to the speed reducer and the differential 28 through mechanical connection, and finally the power is transmitted to the rear driving shaft to realize the running function of the hydrogen energy automobile.
The electronic power steering 210 collects steering wheel angle signals and sends angle information to a communication signal line, and the vehicle controller 220 collects vehicle state information including vehicle gear information, vehicle speed information, left and right turn signal lights, a double flashing state signal and a brake pedal state, and sends the gear information, the vehicle speed information, the left and right turn signal lights (obtained from the light system 240), the double flashing state signal (obtained from the light system 240) and the brake pedal state to the communication signal line.
The ADAS controller 170 includes a lateral deviation speed module, a deviation triggering logic processing module, and a steering wheel desired rotation angle calculation module;
the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera 130 and the second camera 140;
in this embodiment, the function of the lateral deviation speed module is calculated in real time according to the left-right deviation distance of the obtained lane line, and it is necessary to ensure smooth and continuous change, so as to prevent the functional signal jump caused by sudden change or loss of the signal, specifically:
calculating the distance from the vehicle to the center line of the lane according to the obtained left-right offset distance of the lane line, and keeping the data loss condition of the lane line to a certain extent;
comparing the historical value of the vehicle center line offset distance with the current value to calculate the current offset speed;
the first camera 130 measures that the offset distance between the automobile and the left lane line is L1, the second camera 140 measures that the offset distance between the automobile and the right lane line is L2, the width of the automobile body is width, and the lane center line is (L1+ L2+ width)/2; the lateral offset speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, dt is a preset value, and according to the actual situation, dt in the embodiment linearly takes a value of 0.2-0.7S according to the automobile speed.
In other embodiments, when there is a jump in the calculated lateral deviation speed, the jump may be limited according to practical situations, which is not important and will not be explained in detail here.
The ADAS controller 170 makes a lane departure prevention according to the state of the lane departure prevention LDP system function switch 160, a steering wheel turn signal, a vehicle state signal, and a lateral departure speed by using the steering wheel expected turn angle calculation module, and plays the prevention information in a voice form through the sound alarm system 150 to remind a driver of safe driving.
The functional switch 160 of the lane departure prevention LDP system is a physical switch, and includes two states, namely, a closed state and an open state;
in this embodiment, the switch is a driver manual selection switch for determining the actual operation intention of the driver, and when the switch is closed, it indicates that the driver does not use the LDP system, and the ADAS controller 170 turns off the lane departure prevention function; when the switch is off, the switch indicates that the driver uses the LDP system, the ADAS controller 170 is enabled at the moment, and the ADAS controller 170 can play the preventive information in a voice form through the sound alarm system 150 to remind the driver of safe driving;
after the driver manually selects the lane departure prevention LDP system function switch 160 to be in the off state, the ADAS controller 170 is enabled, and at this time, the prevention device (or referred to as LDP system) can intelligently operate; the principle of a Lane Departure Prevention (LDP) device is to utilize: the front road lane line is monitored through the camera, and when the situation that the vehicle deviates from the lane line under the condition that the driver is unconscious is judged, the system sends prevention to the driver in a voice prompt mode.
Applicable scenarios are: the illumination condition is good, the lane line is clear and visible, and the curvature radius is larger than 200 m; the vehicle speed range is 20 km/h-70 km/h;
the Lane Departure Prevention (LDP) system can identify lane lines, can give lanes corresponding to the positions of the vehicles according to the current lane lines under the conditions of good light and clear and visible lane lines, and judges whether the lane departure tendency exists or not; when the vehicle runs in the lane, if the vehicle has a tendency of deviating from the lane and deviates from a part of the lane, the LDP system can send out a prevention signal to remind a driver to correct the direction of the vehicle and drive back to the lane.
Referring to fig. 2, fig. 2 is a diagram illustrating various state determinations of the preventive device.
In this embodiment, the working states of the prevention device include two, which are respectively an off state and an on state; Off-On state judgment conditions:
off state conditions, i.e., condition 2:
the Lane Departure Prevention (LDP) system function switch 160 is closed, or the steering wheel angle signal is higher than the threshold value Ω 1, or when the left and right turn signals are valid, or when the double-flashing state signal is on or the brake signal is valid;
on-state conditions, i.e., condition 1:
when the Lane Departure Prevention (LDP) system function switch 150 is off and the steering wheel angle signal is below the threshold Ω 2 and the left and right turn signal is invalid and when the double flash status signal is off and the brake signal is invalid;
wherein Ω 1 > Ω 2.
The off and on states complement each other, ensuring uniqueness of the Lane Departure Prevention (LDP) system state.
The on state of the prevention device comprises two sub-states, namely a standby Passive state and an Active state;
active state, i.e., condition 3:
1. the current gear is a D gear;
2. the offset distance d of the vehicle from the left lane line and the right lane line is less than 2 m;
3. the vehicle speed is between 20Km/h and 70 Km/h;
4. the vehicle will reach the edge of the lane line (the line press) in a set time: the algorithm is as follows: tset Vlaterl > doffset-dhalfwidth;
and when the conditions are simultaneously met, entering an Active state.
Passive state, i.e., condition 4:
1. the current gear is in a non-D gear state;
2. the offset distance d between the vehicle and the left and right lane lines is more than 2.5 m;
3. the vehicle speed is less than 18Km/h or more than 72 Km/h;
4.Tset*Vlateral＜doffset-dhalfwidth；
and when any one of the conditions is met, entering a Passive state.
The prevention device enters a triggering mode of two sub-states in an on state and is completed by the expected steering wheel rotation angle calculation module, and the method comprises the following specific steps:
active state, condition 3:
1. the current gear is a D gear;
2. the offset distance d of the vehicle from the left lane line and the right lane line is less than 2 m;
3. the vehicle speed is between 20Km/h and 70 Km/h;
4. the vehicle will reach the edge of the lane line (the line) within a set time: the algorithm is as follows: tset × vlarater > -doffset-dhalfwidth; (accomplished by deviating from the trigger logic processing Module)
And when the conditions are simultaneously met, entering an Active state.
Passive state, i.e., condition 4:
1. the current gear is in a non-D gear state;
2. the offset distance d between the vehicle and the left and right lane lines is more than 2.5 m;
3. the vehicle speed is less than 18Km/h or more than 72 Km/h;
4.Tset*Vlateral＜doffset-dhalfwidth；
and when any one of the conditions is met, entering a Passive state.
Wherein Tset is a preset deviation time (the time standard is set according to the sum of the system delay, the brain response and the time for making a corrective action, and the parameter is adjusted according to the actual response), Vlaterl is a transverse deviation speed, doffset is a transverse deviation distance of any left side and right side of the automobile, and dhalfwidth is half of the width of the automobile body.
Referring to fig. 3, fig. 3 is a schematic diagram of calculation of a desired rotation angle of a steering wheel;
assuming that the circular arc turning motion at the fixed turning angle theta will just reach that target point, the front wheel turning angle theta is the desired turning angle that should be sent out at the present moment, and is updated in the same way at the next taking time. The method for determining the arc radius R comprises the following steps:
if the vehicle body is oriented directly opposite the preview point, then R is infinity and the desired front wheel steering angle is 0;
if the vehicle body is not directly opposite to the sighting point, the coordinate of the middle point of the second shaft of the vehicle is defined as (x _0, y _0), the coordinate of the sighting point is defined as (x _ t, y _ t), the coordinate values of the two pairs are known, and the coordinate (x _ c, y _ c) of the arc center is determined to be on the extension line of the connecting line of the two wheels of the second shaft, the coordinate of the circle center is satisfied:
(x_c-x_0)2+(y_c-y_0)2＝(x_c-x_t)2+(y_c-y_t)2
y_c＝k*x_c+b
in the above equation, k and b are determined by the coordinates of the second two wheels.
After the center coordinates are obtained, the radius of the arc is as follows:
R＝sqrt((x_c-x_0)2+(y_c-y_0)2)
the desired turning angle of the midpoint of the front wheel at this time is:
θ＝arctan(L/R)
based on the above, the actual working process of the hydrogen energy automobile lane departure prevention device in the invention is as follows:
1. judging the state of the function switch 160 of the lane departure prevention LDP system, if the switch is closed, the prevention device is not started, and if the switch is open, the prevention device is started;
2. under the condition that the preventive device is started, the state of the preventive device is continuously judged to be off or on according to the actual working condition of the vehicle, if the state of the preventive device is off, the state of the preventive device is invalid, and if the state of the preventive device is on, the step 3 is carried out;
3. combining the actual working condition of the vehicle, the sub-state of the on state is completed by the transverse deviation speed module, the deviation triggering logic processing module and the expected steering angle calculating module of the steering wheel together: if the Passive state and the Active state are judged to be the Active state, the preventive device performs the preventive function.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof.
The beneficial effects provided by the invention are as follows: the humanized lane departure prevention system is provided, the working condition of a vehicle can be automatically identified, the function of the lane departure prevention LDP system is actively closed under the special working condition, meanwhile, the function of the lane departure prevention LDP system can be manually closed and opened, and the autonomy is strong.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A hydrogen-powered automobile lane departure prevention apparatus comprising: the system comprises a vehicle control unit (220), a hydrogen fuel cell system (24), a high-voltage distribution box (25), a power battery system (26), a rear motor controller, a rear motor (27), a speed reducer, a differential (28), an electronic power steering (210), the vehicle control unit (220) and a brake pedal (230); a hydrogen fuel cell system (24) and a power battery system (26) are electrically connected with the high-voltage distribution box (25) to provide electric energy required by running for a hydrogen energy automobile; the high-voltage distribution box (25) is electrically connected with the rear motor controller and the motor (27); the rear motor controller and the motor (27) drive the speed reducer and the differential (28) by using electric energy, so that the hydrogen energy automobile can normally run, and the hydrogen energy automobile is characterized in that:
the prophylactic device further comprises: the system comprises a lane departure prevention LDP system function switch (160), a first camera (130), a second camera (140), an audible alarm system (150) and an ADAS controller (170);
the hydrogen fuel cell system (24), the high-voltage distribution box (25), the power battery system (26), the rear motor controller (27), the sound alarm system (150), the ADAS controller (170), the electronic power steering (210) and the vehicle control unit (220) are in information interaction through a CAN bus;
the electronic power steering (210) collects a steering wheel turning signal of the hydrogen energy automobile; the vehicle control unit (220) collects vehicle state signals; the steering wheel corner signal and the vehicle state signal are sent to the ADAS controller (170) through a CAN bus;
the ADAS controller (170) comprises a transverse deviation speed module, a deviation triggering logic processing module and a steering wheel expected rotation angle calculating module;
the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera (130) and the second camera (140);
the deviation triggering logic processing module is used for judging the time of the automobile deviating from the lane line according to the transverse deviation speed; when the time that the automobile deviates from the lane line is less than a preset time threshold, the expected turning angle calculation module of the steering wheel is automatically started, and lane deviation prevention is automatically performed by the prevention device, which specifically comprises the following steps:
the ADAS controller (170) utilizes the expected steering wheel rotation angle calculation module to calculate the expected rotation angle of the steering wheel according to the state of a lane departure prevention LDP system function switch (160), a steering wheel rotation angle signal, a whole vehicle state signal and the transverse departure speed, and controls the steering wheel to rotate at the expected rotation angle to perform lane departure prevention;
when the time of the automobile deviating from the lane line is greater than or equal to a preset time threshold, the voice alarm system (150) plays voice information to early warn the lane departure.
2. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 1, wherein: the vehicle state signal comprises: the automobile brake control system comprises an automobile gear signal, vehicle speed information, left and right steering lamp signals, a double-flashing state signal and a brake pedal (230) state.
3. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 1, wherein: the lane departure prevention LDP system function switch (160) is a physical switch and comprises two states, namely a closed state and an open state;
when a lane departure prevention LDP system function switch (160) is in an off state, indicating that an ADAS controller (170) is enabled, the ADAS controller (170) starts a lane departure prevention function;
when the function switch (160) of the lane departure prevention LDP system is in a closed state, the ADAS controller (170) is indicated to turn off the lane departure prevention function.
4. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 3, wherein: the prevention device comprises two states, namely an off state and an on state;
when a lane departure prevention LDP system function switch (160) is in a closed state, or a steering wheel corner signal is higher than a preset first threshold value omega 1, or a left and right steering lamp signal is effective, or a double-flashing state signal is on or a brake signal is effective, the prevention device is in an off state, namely, the prevention is not carried out;
when the lane departure prevention LDP system function switch (160) is in an off state, the steering wheel angle signal is lower than a preset second threshold value omega 2, the left and right steering lamp signals are invalid, the double-flashing state signal is off, and the brake signal is invalid, the prevention device is in an on state, namely, the prevention is carried out through intelligent judgment of the ADAS controller (170).
5. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 4, wherein: the specific process of the transverse deviation speed module for calculating the transverse deviation speed is as follows: the first camera (130) measures that the offset distance between the automobile and the left lane line is L1, the second camera (140) measures that the offset distance between the automobile and the right lane line is L2, the width of the automobile body is width, and the lane center line is (L1+ L2+ width)/2; the lateral deviation speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, and dt is a preset value.
6. The apparatus for preventing lane departure of a hydrogen powered vehicle as set forth in claim 5, wherein: dS is calculated as the deviation between the vehicle centerline and the lane centerline, i.e., | (L2-L1)/2| where | represents the absolute value.
7. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 5, wherein: the on state of the prevention device comprises two sub-states, namely a standby Passive state and an Active state;
when the ADAS controller (170) judges that the current gear is the D gear, the offset distance between the left lane line and the right lane line of the automobile is smaller than a preset threshold value D, the speed of the automobile is in a preset range, and
when Tset Vlater > doffset-dhalfwidth, the prevention device is in an Active state, otherwise, the prevention device is in a standby Passive state;
wherein Tset is preset deviation time, Vlaterals is transverse deviation speed, doffset is transverse deviation distance of any left side and right side of the automobile, and dhalfwidth is half of the width of the automobile body.
8. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 7, wherein: when the preventive device is in an Active state, the steering wheel is controlled to rotate at the expected rotation angle to automatically perform lane departure prevention.
9. The hydrogen-powered vehicle lane departure prevention apparatus according to claim 1, wherein: the steering wheel expected rotation angle calculation module calculates the formula of the steering wheel expected rotation angle theta as follows:
θ＝arctan(L/R)，
in the above formula, L is the length of the vehicle body; r is the radius of the circular arc.
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