CN112977439A - Autonomous control system and vehicle control method for commercial vehicle - Google Patents
Autonomous control system and vehicle control method for commercial vehicle Download PDFInfo
- Publication number
- CN112977439A CN112977439A CN202110292398.0A CN202110292398A CN112977439A CN 112977439 A CN112977439 A CN 112977439A CN 202110292398 A CN202110292398 A CN 202110292398A CN 112977439 A CN112977439 A CN 112977439A
- Authority
- CN
- China
- Prior art keywords
- module
- unit
- voltage
- vehicle
- input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000009467 reduction Effects 0.000 claims abstract description 20
- 238000000605 extraction Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
Abstract
The invention discloses an autonomous control system and a vehicle control method of a commercial vehicle, which comprise a power supply control system and a distance control system, wherein the power supply control system comprises a main power supply unit, a central processing unit, a voltage detection unit, a standby battery unit, a voltage instantaneous judgment unit, a vehicle control unit and an autonomous control unit, and the invention relates to the technical field of autonomous control of vehicles. According to the autonomous control system and the vehicle control method for the business vehicle, by arranging the power supply control system, the voltage value input by the main power supply unit is detected by the voltage detection unit, the problem of module reduction between low-voltage sections or voltage continuous reduction is solved, the standby battery unit can be matched for timely auxiliary power supply, meanwhile, the voltage instantaneous judgment unit detects that the voltage suddenly drops to zero, the vehicle steering, the safety configuration and the like can be timely and autonomously controlled, the potential safety hazard problem caused by abnormity of the vehicle steering, the safety configuration and the like is effectively avoided, and the intelligent degree is high.
Description
Technical Field
The invention relates to the technical field of vehicle autonomous control, in particular to an autonomous control system and a vehicle control method of a commercial vehicle.
Background
Referring to the chinese patent, an autonomous control system (publication No. CN104904088B) uses regenerative energy generated when a vehicle brakes to power an auxiliary battery, which is independent from a main battery and allows continuous operation of basic services such as power steering, lighting, brake servo units, and electronic devices as a result of combined operation of the autonomous system including a capacitor bank, via which the basic services are powered, in the case of complete failure of the main battery.
In view of the above-mentioned referenced patents, the existing vehicle control method for commercial vehicles still has the following drawbacks:
1. the commercial vehicle utilizes the main battery to supply power, when the main battery is abnormal, the auxiliary power supply cannot be carried out in time, and when the voltage suddenly drops to zero, the abnormal conditions of vehicle steering, safety configuration and the like can be caused, and the safety performance is low;
2. generally, highly-matched commercial vehicles have an active braking function, but accidents caused by rear-end collisions of rear vehicles are difficult to avoid, and the safety distance of the rear vehicles can not be actively judged and the rear vehicles can not be steered autonomously by using an autonomous control system of the commercial vehicles.
Therefore, the invention provides an autonomous control system and a vehicle control method of a commercial vehicle.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an autonomous control system and a vehicle control method of a commercial vehicle, and solves the problems that the conventional vehicle control method of the commercial vehicle causes abnormity of vehicle steering, safety configuration and the like when the voltage is suddenly reduced to zero, and the safe distance of a rear vehicle cannot be actively judged and autonomous steering is realized.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the autonomous control system of the commercial vehicle comprises a power supply control system and a distance control system, wherein the power supply control system comprises a main power supply unit, a central processing unit, a voltage detection unit, a standby battery unit, a voltage instantaneous judgment unit, a vehicle control unit and an autonomous control unit, the output end of the main power supply unit is connected with the input end of the central processing unit, the output end of the central processing unit is connected with the input ends of the voltage detection unit and the vehicle control unit, the output end of the voltage detection unit is connected with the input ends of the standby battery unit and the voltage instantaneous judgment unit, the output end of the standby battery unit is connected with the input end of the central processing unit, the output end of the voltage instantaneous judgment unit is connected with the input end of the vehicle control unit, and the output end of the vehicle control unit is connected with the input, the distance control system comprises a camera shooting unit, a central processing unit, a distance calculating unit, a feedback unit, a threshold unit, a prompt steering unit, a continuous prompt unit and an autonomous steering unit, wherein the output end of the camera shooting unit is connected with the input end of the central processing unit, the output end of the central processing unit is connected with the input ends of the distance calculating unit and the threshold unit, the output end of the distance calculating unit is connected with the input end of the feedback unit, the output end of the feedback unit is connected with the input end of the central processing unit, the output end of the threshold unit is connected with the input end of the prompt steering unit, the output end of the prompt steering unit is connected with the input end of the continuous prompt unit, and the output end of the continuous prompt unit is connected with the input end of the autonomous.
Preferably, the voltage detection unit comprises a voltage input module, an analysis module, a voltage interval value module, a low-voltage interval module, a voltage continuous reduction module, a power supply maintaining module and a voltage output module, wherein the output end of the voltage input module is connected with the input end of the analysis module, and the output end of the analysis module is connected with the input end of the voltage interval value module.
Preferably, the output end of the voltage interval value module is connected with the input ends of the low-voltage interval module, the voltage continuous reduction module and the power supply maintaining module, the output end of the low-voltage interval module is connected with the input end of the voltage output module, and the output end of the voltage continuous reduction module is connected with the input end of the voltage output module.
Preferably, the vehicle control unit comprises a steering module, a braking module and a safety configuration module, and the autonomous control unit comprises an ACC adaptive cruise module, a vehicle deviation correction module and an active braking module.
Preferably, the threshold unit comprises an extraction module, a control module, a safety interval module, a data comparison module, a feedback module and a presentation module, wherein the output end of the extraction module is connected with the input end of the control module, and the output end of the control module is connected with the input ends of the safety interval module and the presentation module.
Preferably, the output end of the safety interval module is connected with the input end of the data comparison module, the output end of the data comparison module is connected with the input end of the feedback module, and the output end of the feedback module is connected with the input end of the control module.
Preferably, the camera shooting unit comprises a camera shooting module, a definition processing module and a speed calculation module, the output end of the camera shooting module is connected with the input end of the definition processing module, and the output end of the definition processing module is connected with the input end of the speed calculation module.
Preferably, the suggestion steering unit includes bass prompt module, volume gradual change promotion module and treble prompt module, bass prompt module's output is connected with volume gradual change promotion module's input, volume gradual change promotion module's output is connected with treble prompt module's input.
The invention also discloses a vehicle control method of the commercial vehicle, which specifically comprises the following steps:
s1, one type of power supply control: the method comprises the steps that power is input by a main power supply unit, after analysis processing is carried out by a central processing unit, the main power supply unit supplies power to a vehicle control unit at the moment, meanwhile, a voltage detection unit detects a voltage value input by the main power supply unit, the voltage value is input by a voltage input module, then analysis processing is carried out by an analysis module, the voltage interval value module judges the input voltage as a low-voltage interval module or a voltage continuous reduction module at the moment, when the voltage value is normal, a power supply maintaining module maintains the continuous power supply process of the main power supply unit, the low-voltage interval module or the voltage continuous reduction module outputs the voltage by a voltage output module after detection, and at the moment, a standby battery unit supplies power to the;
s2, controlling a second type of power supply: when the voltage detection unit detects that the voltage value input by the main power supply unit is not a low-voltage interval module or a voltage continuous reduction module in S1, the instantaneous voltage judgment unit detects that the quotient of the secondary voltage input value and the primary voltage input value is equal to zero and the time interval is 0.1ms, the voltage value input by the main power supply unit suddenly drops to zero, the vehicle control unit is directly controlled by the autonomous control unit, and the ACC self-adaptive cruise module, the vehicle deviation correction module and the active brake module are only required to be involved;
s3, safe distance control: the camera unit is used for shooting the back of the vehicle, the central processing unit is used for analyzing and processing, the distance calculating unit is used for calculating the distance between the back vehicle and the self vehicle and feeding back the distance to the central processing unit through the feedback unit, the threshold unit is involved at the moment, the distance value between the back vehicle and the self vehicle is extracted through the extracting module and analyzed and processed through the control module, the safety interval module is used for judging whether the distance is the safety distance or not and is compared through the data comparison module, the prompting steering unit is used for prompting steering, the continuous prompting unit is used for continuously prompting, and when the vehicle exists on the lateral side which is not detected, the automatic steering unit can automatically steer.
Preferably, when the distance calculation unit calculates the distance value between the rear vehicle and the own vehicle, the value of the speed calculation module in the camera unit is extracted at the same time, and the calculation is performed comprehensively.
(III) advantageous effects
The invention provides an autonomous control system of a commercial vehicle and a vehicle control method. Compared with the prior art, the method has the following beneficial effects:
(1) the autonomous control system of the commercial vehicle and the vehicle control method are characterized in that a power supply control system is arranged, a voltage value input by a main power supply unit is detected by a voltage detection unit, the problem of modules or voltage among low-voltage sections is continuously reduced, the standby battery unit can be matched for timely auxiliary power supply, the voltage is instantly judged to be suddenly reduced to zero, autonomous control can be performed in time when the vehicle turns to, safety configuration and the like are met, the potential safety hazard problem caused by abnormity of the vehicle turning, the safety configuration and the like is effectively avoided, and the intelligent degree is high.
(2) The autonomous control system of the business vehicle and the vehicle control method are characterized in that a distance control system is arranged, a camera unit is used for shooting the rear part of the vehicle, the camera unit is used for analyzing and processing the rear part of the vehicle through a central processing unit, a distance calculation unit calculates the distance between the rear vehicle and the vehicle, a threshold value unit is matched for intervention, whether the safety distance is judged by a safety interval module, the autonomous control system of the business vehicle is used for actively judging the safety distance of the rear vehicle and autonomously steering, the problem that rear vehicle rear-end collision accidents are difficult to avoid is effectively avoided, the safety control system can be safely processed, and the safety is remarkably improved.
Drawings
FIG. 1 is a functional block diagram of a power control system of the present invention;
FIG. 2 is a schematic block diagram of the distance control system of the present invention;
FIG. 3 is a schematic block diagram of a voltage detection unit according to the present invention;
FIG. 4 is a logic diagram of the voltage transient determination unit according to the present invention;
FIG. 5 is a functional block diagram of a vehicle control unit of the present invention;
FIG. 6 is a functional block diagram of the autonomous control unit of the present invention;
FIG. 7 is a functional block diagram of a threshold unit of the present invention;
FIG. 8 is a functional block diagram of the camera unit of the present invention;
FIG. 9 is a functional block diagram of a cue steering unit of the present invention;
fig. 10 is a flowchart of a vehicle control method of the invention.
In the figure, 1-a main power supply unit, 2-a central processing unit, 3-a voltage detection unit, 31-a voltage input module, 32-an analysis module, 33-a voltage interval value module, 34-a low voltage interval module, 35-a voltage continuous reduction module, 36-a power supply maintaining module, 37-a voltage output module, 4-a standby battery unit, 5-a voltage instantaneous judgment unit, 6-a vehicle control unit, 61-a steering module, 62-a brake module, 63-a safety configuration module, 7-an autonomous control unit, 71-an ACC self-adaptive cruise module, 72-a vehicle deviation correction module, 73-an active brake module, 8-a camera unit, 81-a camera module, 82-a definition processing module, 83-a speed calculation module, a speed calculation module, 9-a central processing unit, 10-a distance calculation unit, 11-a feedback unit, 12-a threshold unit, 121-an extraction module, 122-a control module, 123-a safety interval module, 124-a data comparison module, 125-a feedback module, 126-a proposing module, 13-a cue steering unit, 131-a bass cue module, 132-a volume gradient boosting module, 133-a treble cue steering module, 14-a continuous cue steering unit and 15-an autonomous steering unit.
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.
Referring to fig. 1 to 10, an embodiment of the present invention provides a technical solution: the autonomous control system of the commercial vehicle comprises a power supply control system and a distance control system, wherein the power supply control system comprises a main power supply unit 1, a central processing unit 2, a voltage detection unit 3, a standby battery unit 4, a voltage instantaneous judgment unit 5, a vehicle control unit 6 and an autonomous control unit 7, the output end of the main power supply unit 1 is connected with the input end of the central processing unit 2, the output end of the central processing unit 2 is connected with the input ends of the voltage detection unit 3 and the vehicle control unit 6, the output end of the voltage detection unit 3 is connected with the input ends of the standby battery unit 4 and the voltage instantaneous judgment unit 5, the output end of the standby battery unit 4 is connected with the input end of the central processing unit 2, the output end of the voltage instantaneous judgment unit 5 is connected with the input end of the vehicle control unit 6, the output end of the vehicle control unit 6, the distance control system comprises a camera unit 8, a central processing unit 9, a distance calculation unit 10, a feedback unit 11, a threshold unit 12, a prompt steering unit 13, a continuous prompt unit 14 and an autonomous steering unit 15, wherein the output end of the camera unit 8 is connected with the input end of the central processing unit 9, the output ends of the central processing unit 9 are connected with the input ends of the distance calculation unit 10 and the threshold unit 12, the output end of the distance calculation unit 10 is connected with the input end of the feedback unit 11, the output end of the feedback unit 11 is connected with the input end of the central processing unit 9, the output end of the threshold unit 12 is connected with the input end of the prompt steering unit 13, the output end of the prompt steering unit 13 is connected with the input end of the continuous prompt unit 14, and the output end of the continuous prompt unit 14 is connected with the.
In the embodiment of the present invention, the voltage detection unit 3 includes a voltage input module 31, an analysis module 32, a voltage interval value module 33, a low voltage interval module 34, a voltage continuous reduction module 35, a power supply holding module 36, and a voltage output module 37, an output end of the voltage input module 31 is connected to an input end of the analysis module 32, and an output end of the analysis module 32 is connected to an input end of the voltage interval value module 33.
In the embodiment of the present invention, the output end of the voltage interval value module 33 is connected to the input ends of the low voltage interval module 34, the voltage continuous reduction module 35, and the power supply maintaining module 36, the output end of the low voltage interval module 34 is connected to the input end of the voltage output module 37, and the output end of the voltage continuous reduction module 35 is connected to the input end of the voltage output module 37.
In an embodiment of the invention, the vehicle control unit 6 comprises a steering module 61, a braking module 62 and a safety configuration module 63, and the autonomous control unit 7 comprises an ACC adaptive cruise module 71, a vehicle offset correction module 72 and an active braking module 73.
In the embodiment of the present invention, the threshold unit 12 includes an extraction module 121, a control module 122, a safety interval module 123, a data comparison module 124, a feedback module 125, and a proposing module 126, an output end of the extraction module 121 is connected to an input end of the control module 122, and output ends of the control module 122 are both connected to input ends of the safety interval module 123 and the proposing module 126.
In the embodiment of the present invention, the output end of the safety interval module 123 is connected to the input end of the data comparison module 124, the output end of the data comparison module 124 is connected to the input end of the feedback module 125, and the output end of the feedback module 125 is connected to the input end of the control module 122.
In the embodiment of the present invention, the image capturing unit 8 includes an image capturing module 81, a sharpness processing module 82, and a speed calculating module 83, an output end of the image capturing module 81 is connected to an input end of the sharpness processing module 82, and an output end of the sharpness processing module 82 is connected to an input end of the speed calculating module 83.
In the embodiment of the present invention, the alert turning unit 13 includes a bass alert module 131, a volume gradient boost module 132, and a treble alert module 133, an output end of the bass alert module 131 is connected to an input end of the volume gradient boost module 132, and an output end of the volume gradient boost module 132 is connected to an input end of the treble alert module 133.
The invention also discloses a vehicle control method of the commercial vehicle, which specifically comprises the following steps:
s1, one type of power supply control: the method comprises the steps that power is input by a main power supply unit 1, after analysis processing is carried out by a central processing unit 2, the main power supply unit 1 supplies power to a vehicle control unit 6, meanwhile, a voltage detection unit 3 detects a voltage value input by the main power supply unit 1, the voltage value is input by a voltage input module 31, then analysis processing is carried out by an analysis module 32, at the moment, a voltage interval value module 33 judges the input voltage to be a low-voltage interval module 34 or a voltage continuous reduction module 35, when the voltage value is normal, a power supply keeping module 36 keeps a continuous power supply process of the main power supply unit 1, the low-voltage interval module 34 or the voltage continuous reduction module 35 outputs the input voltage by a voltage output module 37 after detection, and at the moment, a standby battery unit 4 supplies power to the vehicle control;
s2, controlling a second type of power supply: when the voltage detection unit 3 detects that the voltage value input by the main power supply unit 1 is not the low-voltage interval module 34 or the voltage continuous reduction module 35 in S1, and the voltage instantaneous judgment unit 5 detects that the quotient of the secondary voltage input value and the primary voltage input value is equal to zero and the time interval is 0.1ms, the voltage value input by the main power supply unit 1 suddenly drops to zero, and the vehicle control unit 6 is directly controlled by the autonomous control unit 7, and the ACC adaptive cruise module 71, the vehicle deviation correction module 72 and the active brake module 73 are involved;
s3, safe distance control: the camera unit 8 is used for shooting the rear of the vehicle, the central processing unit 9 is used for analyzing, the distance calculating unit 10 is used for calculating the distance between the rear vehicle and the self vehicle at the moment, the distance is fed back to the central processing unit 9 through the feedback unit 11, the threshold value unit 12 is involved at the moment, the distance value between the rear vehicle and the self vehicle is extracted through the extracting module 121 and analyzed and processed through the control module 122, the safety interval module 123 is used for judging whether the distance is the safety distance or not, the data comparison module 124 is used for comparing the distance value, the steering prompting unit 13 is used for prompting steering, the continuous prompting unit 14 is used for continuously prompting, and when the vehicle exists on the lateral side which is not detected, the automatic steering.
In the embodiment of the present invention, when the distance calculation unit 10 calculates the distance value between the rear vehicle and the own vehicle, the value of the speed calculation module 83 in the camera unit 8 is extracted at the same time, and the calculation is performed comprehensively.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The autonomous control system of the commercial vehicle comprises a power supply control system and a distance control system, and is characterized in that: the power supply control system comprises a main power supply unit (1), a central processing unit (2), a voltage detection unit (3), a standby battery unit (4), a voltage instantaneous judgment unit (5), a vehicle control unit (6) and an autonomous control unit (7), wherein the output end of the main power supply unit (1) is connected with the input end of the central processing unit (2), the output end of the central processing unit (2) is connected with the input ends of the voltage detection unit (3) and the vehicle control unit (6), the output end of the voltage detection unit (3) is connected with the input ends of the standby battery unit (4) and the voltage instantaneous judgment unit (5), the output end of the standby battery unit (4) is connected with the input end of the central processing unit (2), and the output end of the voltage instantaneous judgment unit (5) is connected with the input end of the vehicle control unit (6), the output end of the vehicle control unit (6) is connected with the input end of the autonomous control unit (7), the distance control system comprises a camera shooting unit (8), a central processing unit (9), a distance calculation unit (10), a feedback unit (11), a threshold value unit (12), a prompt steering unit (13), a continuous prompt unit (14) and an autonomous steering unit (15), the output end of the camera shooting unit (8) is connected with the input end of the central processing unit (9), the output end of the central processing unit (9) is connected with the input ends of the distance calculation unit (10) and the threshold value unit (12), the output end of the distance calculation unit (10) is connected with the input end of the feedback unit (11), the output end of the feedback unit (11) is connected with the input end of the central processing unit (9), and the output end of the threshold value unit (12) is connected with the input end of the prompt steering unit (13), the output end of the prompt steering unit (13) is connected with the input end of the continuous prompt unit (14), and the output end of the continuous prompt unit (14) is connected with the input end of the autonomous steering unit (15).
2. The autonomous control system of a commercial vehicle of claim 1, wherein: the voltage detection unit (3) comprises a voltage input module (31), an analysis module (32), a voltage interval value module (33), a low-voltage interval module (34), a voltage continuous reduction module (35), a power supply maintaining module (36) and a voltage output module (37), wherein the output end of the voltage input module (31) is connected with the input end of the analysis module (32), and the output end of the analysis module (32) is connected with the input end of the voltage interval value module (33).
3. The autonomous control system of a commercial vehicle of claim 2, wherein: the output of voltage interval value module (33) all with low voltage interval module (34), voltage last reduction module (35) and power supply keep module (36) the input be connected, the output of low voltage interval module (34) is connected with the input of voltage output module (37), the output that the voltage last reduced module (35) is connected with the input of voltage output module (37).
4. The autonomous control system of a commercial vehicle of claim 1, wherein: the vehicle control unit (6) comprises a steering module (61), a brake module (62) and a safety configuration module (63), and the autonomous control unit (7) comprises an ACC adaptive cruise module (71), a vehicle offset correction module (72) and an active braking module (73).
5. The autonomous control system of a commercial vehicle of claim 1, wherein: the threshold unit (12) comprises an extraction module (121), a control module (122), a safety interval module (123), a data comparison module (124), a feedback module (125) and a proposing module (126), wherein the output end of the extraction module (121) is connected with the input end of the control module (122), and the output end of the control module (122) is connected with the input ends of the safety interval module (123) and the proposing module (126).
6. The autonomous control system of a commercial vehicle of claim 5, wherein: the output end of the safety interval module (123) is connected with the input end of the data comparison module (124), the output end of the data comparison module (124) is connected with the input end of the feedback module (125), and the output end of the feedback module (125) is connected with the input end of the control module (122).
7. The autonomous control system of a commercial vehicle of claim 1, wherein: the camera shooting unit (8) comprises a camera shooting module (81), a definition processing module (82) and a speed calculating module (83), the output end of the camera shooting module (81) is connected with the input end of the definition processing module (82), and the output end of the definition processing module (82) is connected with the input end of the speed calculating module (83).
8. The autonomous control system of a commercial vehicle of claim 1, wherein: the suggestion turns to unit (13) and includes bass prompt module (131), volume gradual change promotion module (132) and treble prompt module (133), the output of bass prompt module (131) is connected with the input of volume gradual change promotion module (132), the output of volume gradual change promotion module (132) is connected with the input of treble prompt module (133).
9. The vehicle control method of the commercial vehicle is characterized in that: the method specifically comprises the following steps:
s1, one type of power supply control: the power is input by the main power supply unit (1), and after being analyzed and processed by the central processing unit (2), at this time, the main power supply unit (1) supplies power to the vehicle control unit (6), meanwhile, the voltage detection unit (3) detects the voltage value input by the main power supply unit (1), the voltage value is input through the voltage input module (31), then the analysis module (32) carries out analysis processing, at the moment, the voltage interval value module (33) judges the input voltage as a low-voltage interval module (34) or a voltage continuous reduction module (35), when the voltage value is normal, the power supply maintaining module (36) maintains the continuous power supply process of the main power supply unit (1), the low-voltage interval module (34) or the voltage continuous reduction module (35) detects the power output by the voltage output module (37), and the standby battery unit (4) supplies power to the vehicle control unit (6) after being processed by the central processing unit (2);
s2, controlling a second type of power supply: when the voltage detection unit (3) detects that the voltage value input by the main power supply unit (1) is not the low-voltage interval module (34) or the voltage continuous reduction module (35) in S1, and the voltage instantaneous judgment unit (5) detects that the quotient of the secondary voltage input value and the primary voltage input value is equal to zero and the time interval is 0.1ms, the voltage value input by the main power supply unit (1) suddenly drops to zero, the vehicle control unit (6) is directly controlled by the autonomous control unit (7), and the ACC adaptive cruise module (71), the vehicle deviation correction module (72) and the active brake module (73) are involved;
s3, safe distance control: the camera shooting unit (8) shoots the rear of the vehicle, the central processing unit (9) is used for analyzing, the distance calculating unit (10) calculates the distance between the rear vehicle and the vehicle, the distance is fed back to the central processing unit (9) by the feedback unit (11), the threshold unit (12) is involved at the moment, the distance value between the rear vehicle and the vehicle is extracted by the extracting module (121), the safety interval module (123) judges whether the distance is the safety distance or not through the analyzing and processing of the control module (122), the safety interval module (123) is compared by the data comparison module (124), the steering prompting unit (13) prompts steering, the continuous prompting unit (14) continuously prompts, and when the vehicle is not detected to exist on the side, the automatic steering unit (15) automatically steers.
10. The vehicle control method of a commercial vehicle according to claim 9, wherein: when the distance calculation unit (10) calculates the distance value between the rear vehicle and the vehicle, the value of a speed calculation module (83) in the camera unit (8) is extracted at the same time, and the calculation is carried out comprehensively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110292398.0A CN112977439A (en) | 2021-03-18 | 2021-03-18 | Autonomous control system and vehicle control method for commercial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110292398.0A CN112977439A (en) | 2021-03-18 | 2021-03-18 | Autonomous control system and vehicle control method for commercial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112977439A true CN112977439A (en) | 2021-06-18 |
Family
ID=76333139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110292398.0A Pending CN112977439A (en) | 2021-03-18 | 2021-03-18 | Autonomous control system and vehicle control method for commercial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112977439A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6294843B1 (en) * | 1999-02-03 | 2001-09-25 | Honda Giken Kogyo Kabushiki Kaisha | Control system for a hybrid vehicle |
| CN102673561A (en) * | 2011-12-20 | 2012-09-19 | 河南科技大学 | Tailgating prevention system and method for automobile |
| CN104904088A (en) * | 2013-01-29 | 2015-09-09 | 微型电子设备发射器公司 | Autonomous control system |
| CN106553646A (en) * | 2016-11-28 | 2017-04-05 | 山东久久星新能源车辆科技有限公司 | Vehicle anti-collision system and electric automobile |
| CN107031553A (en) * | 2017-03-27 | 2017-08-11 | 宁波吉利汽车研究开发有限公司 | A kind of tailgating-proof system and method for vehicle |
| CN111823951A (en) * | 2020-06-29 | 2020-10-27 | 永安行科技股份有限公司 | Power battery system of moped and continuous energy supply control method |
-
2021
- 2021-03-18 CN CN202110292398.0A patent/CN112977439A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6294843B1 (en) * | 1999-02-03 | 2001-09-25 | Honda Giken Kogyo Kabushiki Kaisha | Control system for a hybrid vehicle |
| CN102673561A (en) * | 2011-12-20 | 2012-09-19 | 河南科技大学 | Tailgating prevention system and method for automobile |
| CN104904088A (en) * | 2013-01-29 | 2015-09-09 | 微型电子设备发射器公司 | Autonomous control system |
| CN106553646A (en) * | 2016-11-28 | 2017-04-05 | 山东久久星新能源车辆科技有限公司 | Vehicle anti-collision system and electric automobile |
| CN107031553A (en) * | 2017-03-27 | 2017-08-11 | 宁波吉利汽车研究开发有限公司 | A kind of tailgating-proof system and method for vehicle |
| CN111823951A (en) * | 2020-06-29 | 2020-10-27 | 永安行科技股份有限公司 | Power battery system of moped and continuous energy supply control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3562719B1 (en) | Controller for parking brake of a vehicle | |
| US8287055B2 (en) | Brake control of a vehicle based on driver behavior | |
| US7062382B2 (en) | Video enhanced stability control in road vehicles | |
| CN110304058B (en) | Vehicle control system | |
| EP2998175B1 (en) | Supplemental steering control system | |
| CN107487323B (en) | Control method of electric vehicle cruise system | |
| CN107933536B (en) | Braking force control device | |
| KR20190072205A (en) | Method for Chassis Integration Control Based on Stability after Evasion and Vehicle thereof | |
| US11059464B2 (en) | Method for controlling a hydraulic braking system in a vehicle | |
| EP3858657A1 (en) | Power supply control for vehicule capable of autonoumous driving | |
| CN110654360B (en) | Electronic vacuum pump control method, device, system and machine readable storage medium | |
| CN103204159A (en) | Electric vehicle turning auxiliary system and control method | |
| CN109720336B (en) | Tire burst active braking and adjusting method and system | |
| US20110066325A1 (en) | Curve-related accident mitigation | |
| US20200086856A1 (en) | Method for escape steering control using system cooperation and vehicle thereof | |
| US20200102008A1 (en) | Modification of the trajectory of a vehicle wheel in the event of steering system failure | |
| CN112977439A (en) | Autonomous control system and vehicle control method for commercial vehicle | |
| US8046146B2 (en) | Adaptive ABS control | |
| US10696296B2 (en) | Vehicle control apparatus and method for controlling vehicle | |
| US20220144230A1 (en) | Method for controlling a vehicle during a braking with braking forces that act differently on respective sides of a steerable vehicle axle, control system and vehicle | |
| EP0941185A1 (en) | Process and device to improve the regulating action of an anti-lock braking system | |
| CN113415339A (en) | Electric power steering control method and device and electronic equipment | |
| CN113400997A (en) | Battery replacement control method, control system of battery replacement station and battery replacement control device | |
| JP2017149395A (en) | Vehicular control device | |
| CN106608279A (en) | Visual electric power-assisted steering safety system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |
|
| RJ01 | Rejection of invention patent application after publication |