CN112896154A - Active collision avoidance system for training vehicle in driving school and control method thereof - Google Patents
Active collision avoidance system for training vehicle in driving school and control method thereof Download PDFInfo
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- CN112896154A CN112896154A CN202110151089.1A CN202110151089A CN112896154A CN 112896154 A CN112896154 A CN 112896154A CN 202110151089 A CN202110151089 A CN 202110151089A CN 112896154 A CN112896154 A CN 112896154A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
Abstract
The invention relates to the technical field of control methods of automobiles, in particular to an active anti-collision and active avoidance system of a training vehicle in a driving school and a control method thereof. The system comprises a camera and a radar which are arranged on a training automobile and used for detecting pedestrians and obstacles around the automobile, an automatic braking auxiliary system AEB used for analyzing information acquired by the camera and the radar and sending braking and steering instructions to the automobile, an automobile body stability control system ESC used for receiving the braking instructions of the automatic braking auxiliary system AEB and controlling the automobile to brake actively, an electric power-assisted system EPS used for receiving the steering instructions of the automatic braking auxiliary system AEB and controlling the automobile to steer actively, and an automobile vehicle control unit VCU used for controlling an accelerator pedal and a brake pedal. According to the invention, the active anti-collision and active avoidance system is integrated on the training car in the driving school, so that the occurrence of collision accidents in the training process of trainees is avoided, and the safety of the trainees in the driving process is improved.
Description
Technical Field
The invention relates to the technical field of control methods of automobiles, in particular to an active anti-collision and active avoidance system of a training vehicle in a driving school and a control method thereof.
Background
The current pure electric driver training vehicle basically carries out driving skill learning by a driving student according to an instruction of a coach, and in a special case, emergency braking or emergency avoidance is implemented by the driving student or the coach through operating a mechanical mechanism. However, in some cases, the operation may be delayed due to insufficient skill of the driving trainee or lack of concentration of the trainer, and there is still a possibility of traffic accidents. In recent years, accidents caused by driving practice of students in driving schools often occur, so that a plurality of casualties and property losses are caused, and the development of a driving school training vehicle for avoiding the accidents is urgently needed.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provides an active anti-collision and active avoidance system for a training vehicle in a driving school and a control method thereof.
The technical scheme of the invention is as follows: the utility model provides a system is dodged with initiative to initiative anticollision of driving school's training car which characterized in that: comprises a plurality of sensors which are arranged on an automobile,
the sensing system is used for detecting data information of pedestrians and obstacles around the automobile;
the automatic brake auxiliary system AEB is used for analyzing the information acquired by the sensing system and sending braking and steering instructions to the automobile;
the vehicle body stability control system ESC is used for receiving a braking instruction of the automatic braking auxiliary system AEB to control the vehicle to brake actively;
the electric power-assisted system EPS is used for receiving a steering instruction of the automatic brake auxiliary system AEB to control the automobile to steer actively;
the vehicle control unit VCU is used for receiving a steering command of the automatic brake auxiliary system AEB to control the electric power-assisted system EPS of the vehicle for active steering, an accelerator pedal for controlling vehicle acceleration and a brake pedal for controlling vehicle braking;
the automatic braking auxiliary system AEB is in signal connection with the sensing system, the vehicle body stability control system ESC, the electric power assisting system EPS and the vehicle controller VCU through a vehicle controller area network CAN; the VCU of the vehicle controller is in signal connection with the EPS system through a CAN of the vehicle controller; the VCU of the vehicle controller is in signal connection with an accelerator pedal and a brake pedal of the vehicle through a wire harness.
The sensing system further comprises a camera which is arranged on the automobile and used for detecting data information of pedestrians and obstacles in front of the automobile.
The sensing system further comprises radars which are arranged on the two transverse sides of the automobile and used for detecting data information of the distance between pedestrians, obstacles and the automobile on the side of the automobile.
And the VCU is in signal connection with the automobile instrument and is used for controlling the automobile instrument to send prompt information when the automobile is actively prevented from collision or is actively avoided.
And the VCU of the vehicle controller is in signal connection with the MCU of the motor of the vehicle and is used for sending a zero-torque instruction to the MCU when the vehicle is actively prevented from collision or is actively avoided so that the MCU controls the motor to output zero torque.
A control method of an active anti-collision and active avoidance system of a training vehicle in a driving school is characterized in that: the method comprises the steps that a sensing system on an automobile collects information of pedestrians and obstacles in front of and on the side of the automobile, the collected information is sent to an automatic braking auxiliary system AEB through an automobile controller area network CAN, the automatic braking auxiliary system AEB judges whether the automobile needs to make active collision avoidance or active avoidance according to the collected information, if yes, the automatic braking auxiliary system AEB sends a braking instruction to an automobile body stability control system ESC, sends a steering instruction to an electric power-assisted system EPS and sends an instruction to an automobile vehicle control unit VCU, the automobile body stability control system ESC responds to the instruction to implement active braking, the electric power-assisted system EPS responds to the instruction to actively steer, the automobile vehicle control unit VCU responds to the instruction to control the opening of an accelerator pedal to be invalid, controls a brake pedal to be valid, and under the synergistic effect.
Further, the collected information comprises data information of pedestrians and obstacles in front of the automobile and data information of distances between the pedestrians, the obstacles and the automobile at the side of the automobile.
Further, the electric power system EPS receives the information collected by the sensing system through the vehicle controller area network CAN, the electric power system EPS analyzes and judges the information and sends the judgment result to the vehicle control unit VCU, and the vehicle control unit VCU controls an accelerator pedal and a brake pedal according to the information transmitted by the electric power system EPS and the automatic brake auxiliary system AEB.
Further, the VCU of the vehicle controller sends a zero-torque instruction to the MCU of the vehicle motor in response to the instruction sent by the AEB, and the MCU controls the vehicle motor to output zero torque.
Further, the VCU of the vehicle controller sends an instruction of turning on the indicator lamp to the automobile instrument in response to the instruction sent by the automatic brake auxiliary system AEB, and the automobile instrument turns on the indicator lamp to prompt a driver.
The active anti-collision and active avoidance system is integrated on the training vehicle in the driving school, so that the occurrence of collision accidents in the training process of trainees is avoided, the safety of the trainees in the driving school is improved, traffic accidents in the driving school are greatly reduced, and the method has great popularization value.
Drawings
FIG. 1: the system information connection diagram of the invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, the present embodiment relates to a training car in driving schools, wherein a certain vehicle of a certain type is selected, the system integrated on the vehicle of the present embodiment includes a camera and a radar for detecting pedestrians and obstacles around the vehicle, an automatic braking assistance system AEB for analyzing information obtained by the camera and the radar and sending braking and steering commands to the vehicle, a vehicle body stability control system ESC for receiving the braking commands of the automatic braking assistance system AEB to control the vehicle to perform active braking, an electric power system EPS for receiving the steering commands of the automatic braking assistance system AEB to control the vehicle to perform active steering, and a vehicle controller VCU for controlling an accelerator pedal and a brake pedal, the automatic braking assistance system AEB of the present embodiment is provided by vaifu and is connected with the VCU and ESC of the vehicle through CAN, the device is used for collecting, calculating and sending out a braking signal;
the vehicle body stability control system ESC is provided by the continent, is connected with a braking system of the vehicle, and is used for controlling the stability of the vehicle body and providing active power assistance for the whole vehicle;
the electric power system EPS of the embodiment is provided by the West east wind, is connected with a steering system of an automobile, and provides power for the steering system of the automobile;
the VCU of the vehicle controller is provided by Shenzhen Yingweiteng, is connected with a vehicle system of the vehicle, and is used for receiving, calculating and controlling related instructions of the vehicle;
the systems are interconnected through a vehicle Controller Area Network (CAN) to achieve the purpose of information transmission, the interconnection relationship is shown in figure 1, an automatic brake auxiliary system (AEB) is in signal connection with a camera, a radar signal, a vehicle body stability control system (ESC), an electric power assisting system (EPS) and a Vehicle Control Unit (VCU) through the vehicle Controller Area Network (CAN), the Vehicle Control Unit (VCU) is in signal connection with the electric power assisting system (EPS) through the vehicle Controller Area Network (CAN), and the Vehicle Control Unit (VCU) is connected with an accelerator pedal and a brake pedal through wiring harnesses.
The camera of this embodiment is installed additional in the place ahead of car (the inboard upper portion intermediate position of windshield glass before the car) for gather the data information of pedestrian and barrier in car the place ahead, and the lateral part of each side of the horizontal both sides of car is provided with at least a set of radar (car front bumper both sides), is used for gathering the data information of barrier and car distance of car side. And the acquired data information is transmitted to an automatic brake auxiliary system AEB for judgment and identification, and whether active collision avoidance or active avoidance is required is carried out.
The specific working process is as follows: the camera and radar on the automobile collect the information of pedestrians and obstacles in front of and at the side of the automobile, as shown in fig. 1, the collected information is (i) and (ii) the signal, the collected information (such as (i) and (ii) the signal in fig. 1) is sent to the automatic braking auxiliary system AEB through the automobile controller area network CAN, and the automatic braking auxiliary system AEB enters into the system according to the collected informationJudging whether the automobile needs to make active collision avoidance or active avoidance, if so, sending a braking instruction (a signal (c) in a figure 1) to an automobile body stability control system ESC, sending a steering instruction (a signal (c) in a figure 1) to an electric power assisting system EPS, and sending an instruction (a signal (c) in a figure 1) to an automobile controller VCU by an automatic brake assisting system AEB
) The body stability control system ESC implements active braking in response to the command (signal in FIG. 1)
) Electric power system EPS responds to commands for active steering (signals in FIG. 1)
) Vehicle controller VCU responds to command to control accelerator pedal opening to be invalid (signal R in FIG. 1) and brake pedal to be valid (signal R in FIG. 1)
) The VCU of the vehicle controller sends a zero torque instruction (a signal (R) in fig. 1) to the MCU of the vehicle motor in response to the instruction sent by the AEB, and the MCU controls the vehicle motor to output a zero torque (a signal ((R) in fig. 1))
) The VCU of the vehicle controller responds to the instruction (signal ninu in FIG. 1) sent by the AEB to send an instruction for turning on the indicator lamp to the vehicle instrument, and the indicator lamp is turned on by the vehicle instrument (signal ninu in FIG. 1)
) And prompting a driver to complete the active collision avoidance or active avoidance of the automobile under the synergistic action.
In addition, in the practical application process, the electric power system EPS receives the data information (signal (c) in fig. 1) transmitted by the radar, and the electric power system EPS transmits the information to the data informationAfter processing, the judgment result (signal in fig. 1) is obtained
) And the information is sent to a vehicle control unit VCU, and the vehicle control unit VCU synthesizes the information sent by the automatic brake auxiliary system AEB and the electric power-assisted system EPS to carry out final control.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a system is dodged with initiative to initiative anticollision of driving school's training car which characterized in that: comprises a plurality of sensors which are arranged on an automobile,
the sensing system is used for acquiring data information of pedestrians and obstacles around the automobile;
the automatic brake auxiliary system AEB is used for analyzing the information acquired by the sensing system and sending braking and steering instructions to the automobile;
the vehicle body stability control system ESC is used for receiving a braking instruction of the automatic braking auxiliary system AEB to control the vehicle to brake actively;
the electric power-assisted system EPS is used for receiving a steering instruction of the automatic brake auxiliary system AEB to control the automobile to steer actively;
the vehicle control unit VCU is used for receiving a steering instruction of the automatic brake auxiliary system AEB to control the electric power-assisted system EPS of the vehicle for active steering, an accelerator pedal for controlling the acceleration of the vehicle and a brake pedal for controlling the braking of the vehicle;
the automatic braking auxiliary system AEB is in signal connection with the sensing system, the vehicle body stability control system ESC, the electric power assisting system EPS and the vehicle controller VCU through a vehicle controller area network CAN; the VCU of the vehicle controller is in signal connection with the EPS system through a CAN of the vehicle controller, and is in signal connection with an accelerator pedal and a brake pedal of the vehicle through a wire harness.
2. The active collision avoidance and active collision avoidance system for the training vehicle of the driving school according to claim 1, wherein: the sensing system comprises a camera which is arranged on the automobile and used for detecting data information of pedestrians and obstacles in front of the automobile.
3. The active collision avoidance and active collision avoidance system for the training vehicle of the driving school according to claim 1, wherein: the sensing system comprises radars which are arranged on the two transverse sides of the automobile and used for detecting data information of the distance between pedestrians, obstacles and the automobile on the side of the automobile.
4. The active collision avoidance and active collision avoidance system for the training vehicle of the driving school according to claim 1, wherein: the VCU is in signal connection with the automobile instrument and is used for controlling the automobile instrument to send prompt information when the automobile is actively prevented from collision or is actively avoided.
5. The active collision avoidance and active collision avoidance system for the training vehicle of the driving school according to claim 1, wherein: the VCU of the vehicle controller is in signal connection with the MCU of the motor of the vehicle and is used for sending a zero-torque instruction to the MCU when the vehicle is actively prevented from collision or is actively avoided so that the MCU controls the motor to output zero torque.
6. A control method of an active collision avoidance system of a training vehicle in a driving school according to any one of claims 1 to 5, wherein: the method comprises the steps that a sensing system on an automobile collects information of pedestrians and obstacles in front of and on the side of the automobile, the collected information is sent to an automatic braking auxiliary system AEB through an automobile controller area network CAN, the automatic braking auxiliary system AEB judges whether the automobile needs to make active collision avoidance or active avoidance according to the collected information, if yes, the automatic braking auxiliary system AEB sends a braking instruction to an automobile body stability control system ESC, sends a steering instruction to an electric power-assisted system EPS and sends an instruction to an automobile vehicle control unit VCU, the automobile body stability control system ESC responds to the instruction to implement active braking, the electric power-assisted system EPS responds to the instruction to actively steer, the automobile vehicle control unit VCU responds to the instruction to control the opening of an accelerator pedal to be invalid, controls a brake pedal to be valid, and under the synergistic effect.
7. The active anti-collision and active avoidance control method for the training vehicle in the driving school according to claim 6, wherein: the acquisition information comprises data information of pedestrians and obstacles in front of the automobile and data information of distances between the pedestrians, the obstacles and the automobile on the side of the automobile.
8. The active anti-collision and active avoidance control method for the training vehicle in the driving school according to claim 6, wherein: the electric power-assisted system EPS receives the acquired information of the sensing system through the CAN of the vehicle controller, the electric power-assisted system EPS analyzes and judges the information and sends the judgment result to the VCU of the vehicle controller, and the VCU of the vehicle controller controls an accelerator pedal and a brake pedal according to the information transmitted by the electric power-assisted system EPS and the AEB of the automatic brake auxiliary system.
9. The active anti-collision and active avoidance control method for the training vehicle in the driving school according to claim 6, wherein: the VCU of the vehicle controller responds to a command sent by the automatic brake auxiliary system AEB to send a zero-torque command to the MCU of the vehicle motor, and the MCU controls the vehicle motor to output zero torque.
10. The active anti-collision and active avoidance control method for the training vehicle in the driving school according to claim 6, wherein: and the VCU of the vehicle controller responds to the instruction sent by the automatic brake auxiliary system AEB to send an instruction for lighting the indicator lamp to the automobile instrument, and the automobile instrument lights the indicator lamp to prompt a driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110151089.1A CN112896154A (en) | 2021-02-03 | 2021-02-03 | Active collision avoidance system for training vehicle in driving school and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110151089.1A CN112896154A (en) | 2021-02-03 | 2021-02-03 | Active collision avoidance system for training vehicle in driving school and control method thereof |
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| CN112896154A true CN112896154A (en) | 2021-06-04 |
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| CN202110151089.1A Pending CN112896154A (en) | 2021-02-03 | 2021-02-03 | Active collision avoidance system for training vehicle in driving school and control method thereof |
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| CN105083266A (en) * | 2015-08-19 | 2015-11-25 | 郑州宇通客车股份有限公司 | Automatic automobile control method and man-machine driving systems for automobile |
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Application publication date: 20210604 |