CN113212439B - New energy automobile emergency self-adjustment driving system - Google Patents

New energy automobile emergency self-adjustment driving system Download PDF

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CN113212439B
CN113212439B CN202110426552.9A CN202110426552A CN113212439B CN 113212439 B CN113212439 B CN 113212439B CN 202110426552 A CN202110426552 A CN 202110426552A CN 113212439 B CN113212439 B CN 113212439B
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new energy
energy automobile
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CN113212439A (en
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赵鹏
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Suzhou Xiquan Software Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—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 drivers or passengers
    • B60W40/09—Driving style or behaviour
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a new energy automobile emergency self-adjusting driving system, which belongs to the technical field of new energy automobiles and comprises a data acquisition module, a control module, a modeling module and an analysis module; the system comprises a data acquisition module, a control module, a modeling module, an analysis module, a behavior analysis unit and a traffic accident control module, wherein the data acquisition module is used for acquiring various data in the driving process of the new energy automobile, the control module is used for intelligently controlling the driving state of the new energy automobile, the modeling module is used for establishing a two-dimensional model and a two-dimensional coordinate system in the driving process of the automobile, the analysis module is used for analyzing and calculating the driving habits of a driver and the behaviors in the driving process of the automobile, the use is safe and convenient, the modeling module and the behavior analysis unit are used for analyzing the behaviors of the vehicles around the new energy automobile, when a traffic accident is about to happen, a self-adjusting driving system can control the new energy automobile to accelerate or decelerate to avoid the new energy automobile, the probability of the occurrence of the traffic accident can be further reduced, and the loss of an automobile owner is reduced.

Description

New energy automobile emergency self-adjustment driving system
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a new energy automobile emergency self-adjusting driving system.
Background
The new energy automobile adopts unconventional automobile fuel as a power source (or adopts conventional automobile fuel and a novel vehicle-mounted power device), integrates advanced technologies in the aspects of power control and driving of the automobile, forms an automobile with advanced technical principle, new technology and new structure, and comprises a pure electric automobile, an extended range electric automobile, a hybrid electric automobile, a fuel cell electric automobile, a hydrogen engine automobile and the like.
The existing new energy automobile has emergencies in the driving process, such as:
1. the front vehicle suddenly changes the lane to the lane;
2. driving the new energy automobile to change lanes to adjacent lanes suddenly;
the phenomenon that the automobile is scratched or even casualties occur possibly, certain economic loss is brought to an automobile owner, the traveling time is delayed, and the personal safety is damaged, so that people urgently need a new energy automobile emergency self-adjusting driving system to solve the problems.
Disclosure of Invention
The invention aims to provide an emergency self-adjusting driving system of a new energy automobile, and aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a new energy automobile emergency self-adjusting driving system comprises a data acquisition module, a control module, a modeling module, an analysis module and a reminding module;
The data acquisition module is used for acquiring various data in the driving process of the new energy automobile so that the current driving state of the new energy automobile can be known as the basis for judging emergency situations, the control module is used for intelligently controlling the driving state of the new energy automobile so as to be convenient for self-adjusting driving of the new energy automobile when a driver does not timely make correct operation in response to the emergency situations, the modeling module is used for establishing a two-dimensional model and a two-dimensional coordinate system in the driving process of the automobile so that the driving state of the new energy automobile can be judged through the data and the judgment on the emergency situations is more accurate, the analysis module is used for analyzing and calculating the driving habits of the driver and the behaviors in the driving process of the automobile so as to be convenient for self-adjusting driving according to the driving habits of the driver and the behaviors in the driving process of the automobile, the reminding module is used for reminding a driver and vehicles running on the road to avoid when self-adjusting driving is carried out, so that the probability of traffic accidents is reduced;
the output end of the data acquisition module is electrically connected with the input end of the control module, the output end of the control module is electrically connected with the input end of the modeling module, the output ends of the control module and the modeling module are electrically connected with the input end of the analysis module, and the output end of the control module is electrically connected with the input end of the reminding module.
According to the technical scheme, the data acquisition module comprises a radar sensor, a pressure sensor, an angle sensor and a positioning tag;
the radar sensor is used for acquiring data of the conditions around the new energy automobile in the driving process, so that whether vehicles approach to the periphery of the new energy automobile in the driving process can be known as the basis for analyzing emergency situations, the number of the radar sensors is several, the pressure sensors are arranged in the steering wheel, the angle sensor is used for monitoring the rotating angle of the steering wheel and is matched with the pressure sensor, by analyzing the driving habits of the driver, the driving behavior of the driver can be predicted according to the sensing pressure of the pressure sensor, the positioning tag is used for positioning each pressure sensor, so that the position of a driver holding the steering wheel can be judged according to pressure values sensed by different pressure sensors;
the output ends of the radar sensor, the pressure sensor and the angle sensor are electrically connected with the input end of the control module, and the output end of the positioning label is electrically connected with the input end of the pressure sensor.
According to the technical scheme, the control module comprises a central control unit, a database, an acceleration controller and a deceleration controller;
the central control unit is used for controlling the whole self-adjusting driving system, the database is used for storing and recording data collected by the data collection module and data analyzed by the analysis module, the acceleration controller is used for controlling the new energy automobile to automatically accelerate, and the deceleration controller is used for controlling the new energy automobile to automatically decelerate;
the central control unit is electrically connected with the database, and the output end of the central control unit is electrically connected with the input ends of the acceleration controller and the deceleration controller.
According to the technical scheme, the modeling module comprises a coordinate system establishing unit and a coordinate positioning unit;
the coordinate system establishing unit is used for establishing a plane rectangular coordinate system with the radar sensor as a circle center, so that automobiles around the new energy automobile can be marked on the two-dimensional coordinate system in a two-dimensional coordinate mode, the positioning of the position relation of the surrounding automobiles is more accurate, the coordinate positioning unit is used for positioning the automobile position detected by the radar sensor on the two-dimensional coordinate system, the automobiles around the new energy automobile are endowed with the coordinate system, and the accurate position relation between the automobiles around the new energy automobile and the new energy automobile can be calculated and analyzed more accurately;
The coordinate system establishing unit outputs a two-dimensional coordinate system, the output end of the central control unit is connected with the input end of the coordinate positioning unit, and the output end of the coordinate positioning unit is connected with the input end of the two-dimensional coordinate system.
According to the technical scheme, the analysis module comprises a habit analysis unit and a behavior analysis unit;
the habit analyzing unit is used for analyzing the behavior of a new energy automobile driver, the habit analyzing unit is used for analyzing the habit according to the pressure value detected by the pressure sensor corresponding to the label and the angle value detected by the angle sensor when the driver turns at each time, so that the next operation of the driver can be analyzed according to the pressure value detected by the pressure sensor in the driving process of the new energy automobile, and the behavior analyzing unit is used for analyzing the behavior of surrounding vehicles in the driving process of the new energy automobile, so that the dangerous behaviors of the surrounding vehicles can be avoided in time, and traffic accidents are avoided;
the habit analyzing unit is electrically connected with the central control unit, and the output end of the behavior analyzing unit is connected with the input end of the central control unit.
According to the technical scheme, the reminding module comprises a warning lamp and a loudspeaker controller;
The horn controller is used for controlling the horn of the new energy automobile to sound when dangerous driving behaviors occur to vehicles around the new energy automobile, so that the vehicles around the new energy automobile can be reminded of paying attention to the danger and driving attentively;
the output end of the central control unit is electrically connected with the input end of the reminding module.
According to the technical scheme, the number of the pressure sensors is a plurality, and the pressure values detected by the pressure sensors are respectively
Figure BDA0003029806250000031
Wherein n represents n pressure sensors, which are pressure sensorsThe positioning label of the machine, i represents the ith detection of each pressure sensor;
the angle set detected by the angle sensor is P ═ { P ═ P 1 ，P 2 ，P 3 ，...，P m In which P is 1 ，P 2 ，P 3 ，...，P m Respectively representing the angle value detected by the angle sensor every time in the process of starting the vehicle to run;
when the angle sensor detects the angle change, the pressure sensor forms a set
Figure BDA0003029806250000032
The pressure sensors are provided with pressure value combination sets for detecting numerical values when the angle sensor detects that the steering wheel rotates;
The detection data of the pressure sensor and the angle sensor are transmitted to the central control unit, and the central control unit transmits the data to the habit analyzing unit to analyze the driving habits of the driver;
the habit analyzing unit classifies the angle values detected by the angle sensors to be consistent, the detection values of the angle sensors are larger than zero leftwards and smaller than zero rightwards, the pressure values and the labels of the pressure sensors corresponding to the angle values detected by the angle sensors to be consistent are extracted, the extracted labels are analyzed, and the occupation ratios of the labels are analyzed according to the following formulas:
Figure BDA0003029806250000041
wherein Q is i Denotes the proportion of the ith pressure sensor among all the tags of the extracted pressure sensors, F i Number of occurrences of pressure sensor labeled i, F General assembly Representing the number of times the extracted total pressure sensor appears;
labeling the highest-proportion pressure sensor asComposing a set of pressure values of the pressure sensor labeled i for the steering signal of the corresponding angle sensor
Figure BDA0003029806250000042
Wherein,
Figure BDA0003029806250000043
respectively representing the numerical values of the pressure sensors when the angle values detected by the angle sensors are consistent;
the average value of the pressure sensors corresponding to the steering angle value is calculated according to the following formula:
Figure BDA0003029806250000044
When the ith pressure sensor detects a pressure value
Figure BDA0003029806250000045
When this indicates that the driver is about to steer for the corresponding angle value.
x represents the number of pressure values of the pressure sensor labeled i, and z represents the fluctuation range threshold of the set pressure value.
According to the technical scheme, the number of the radar sensors is four, the four radar sensors are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the new energy automobile, and the coordinates on a two-dimensional coordinate system are (0,0) during detection of the radar sensors;
when vehicles around the new energy automobile are located behind the new energy automobile, the distance detected by the radar sensor is L 1 And the coordinate value of the vehicle behind the new energy automobile on the two-dimensional coordinate system is (X) 1 ,Y 1 ) An included angle between a connecting line between the radar sensor and a rear vehicle and the Y axis is theta;
when vehicles around the new energy automobile are positioned in front of the new energy automobile, the distance detected by the radar sensor is L 2 The coordinate value of the vehicle in front of the new energy automobile on the two-dimensional coordinate system is (X) 2 ,Y 2 ) The radar sensor and the preceding vehicleThe included angle between the connecting line and the Y axis is alpha.
According to the technical scheme, when the vehicles around the new energy automobile are positioned behind the new energy automobile:
According to the following formula for Y 1 The value of (c) is calculated:
Y 1 ＝L 1 *cosθ；
when Y is 1 Pressure value less than or equal to Y and detected by each pressure sensor of ith
Figure BDA0003029806250000046
When the angle sensor detects that the angle of the steering wheel changes after the warning lamp is turned on, the acceleration controller controls the vehicle to accelerate, and scraping and rubbing between the vehicle and a rear vehicle are avoided.
z represents a fluctuation range threshold value of the set pressure value, and Y represents a set front-rear distance threshold value from the rear vehicle.
According to the technical scheme, when the vehicles around the new energy automobile are positioned in front of the new energy automobile:
according to the following formula for Y 2 The value of (c) is calculated:
Y 2 ＝L 2 *cosα；
the value of X2 is calculated according to the following formula:
X 2 ＝L 2 *sinα；
when Y is 2 Less than or equal to Y and X 2 When X is less than or equal to, it is changing the lane to show the place ahead vehicle, the on-vehicle loudspeaker of loudspeaker controller control sounds, reminds the place ahead vehicle to notice, the operation of slowing down is carried out to the speed reduction controller control new energy automobile, avoids and takes place the traffic accident between the place ahead vehicle.
X represents a set left-right distance threshold from the preceding vehicle, and Y represents a set front-rear distance threshold from the preceding vehicle.
Compared with the prior art, the invention has the beneficial effects that:
1. Utilize pressure sensor, location label, angle sensor and habit analysis unit, can drive the habit of new energy automobile in-process to the driver and carry out the analysis for self-interacting system can learn driver's next step operation according to the detection data analysis in the past, reduces the probability because of the driver is careless drives and leads to the traffic accident through the mode of reminding with self-interacting vehicle speed, makes the speed of advance that can be through self-interacting system automatically regulated vehicle, reduces the probability of traffic accident.
2. The behavior of vehicles around the new energy automobile is analyzed by utilizing the modeling module and the behavior analysis unit, so that when a traffic accident is about to occur, the new energy automobile is controlled by the self-adjusting driving system to accelerate or decelerate to avoid the new energy automobile, the probability of the traffic accident can be further reduced, and the loss of an automobile owner is reduced.
Drawings
FIG. 1 is a schematic diagram of the module composition of an emergency self-adjusting driving system of a new energy automobile according to the invention;
FIG. 2 is a schematic diagram of module connection of an emergency self-adjusting driving system of a new energy automobile according to the invention;
FIG. 3 is a schematic diagram of analysis of a vehicle behind a new energy vehicle, wherein the vehicle is located in the new energy vehicle emergency self-adjusting driving system according to the invention;
Fig. 4 is a schematic diagram of vehicle analysis of a new energy vehicle in front of the new energy vehicle in an emergency self-adjusting driving system of the new energy vehicle.
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.
As shown in fig. 1 to 4, the self-adjusting driving system for the new energy automobile in the emergency comprises a data acquisition module, a control module, a modeling module, an analysis module and a reminding module;
the data acquisition module is used for acquiring various data in the driving process of the new energy automobile so that the current driving state of the new energy automobile can be known as the basis for judging emergency situations, the control module is used for intelligently controlling the driving state of the new energy automobile so as to be convenient for self-adjusting driving of the new energy automobile when a driver does not timely make correct operation in response to the emergency situations, the modeling module is used for establishing a two-dimensional model and a two-dimensional coordinate system in the driving process of the automobile so that the driving state of the new energy automobile can be judged through the data and the judgment on the emergency situations is more accurate, the analysis module is used for analyzing and calculating the driving habits of the driver and the behaviors in the driving process of the automobile so as to be convenient for self-adjusting driving according to the driving habits of the driver and the behaviors in the driving process of the automobile, the reminding module is used for reminding a driver and vehicles running on the road to avoid when self-adjusting driving is carried out, so that the probability of traffic accidents is reduced;
The output end of the data acquisition module is electrically connected with the input end of the control module, the output end of the control module is electrically connected with the input end of the modeling module, the output ends of the control module and the modeling module are electrically connected with the input end of the analysis module, and the output end of the control module is electrically connected with the input end of the reminding module.
The data acquisition module comprises a radar sensor, a pressure sensor, an angle sensor and a positioning tag;
the radar sensor is used for acquiring data of the conditions around the new energy automobile in the driving process, so that whether vehicles approach to the periphery of the new energy automobile in the driving process can be known as the basis for analyzing emergency situations, the number of the radar sensors is several, the pressure sensors are arranged in the steering wheel, the angle sensor is used for monitoring the rotating angle of the steering wheel and is matched with the pressure sensor, by analyzing the driving habits of the driver, the driving behavior of the driver can be predicted according to the sensing pressure of the pressure sensor, the positioning tag is used for positioning each pressure sensor, so that the position of a driver holding the steering wheel can be judged according to pressure values sensed by different pressure sensors;
The output ends of the radar sensor, the pressure sensor and the angle sensor are electrically connected with the input end of the control module, and the output end of the positioning label is electrically connected with the input end of the pressure sensor.
The control module comprises a central control unit, a database, an acceleration controller and a deceleration controller;
the central control unit is used for controlling the whole self-adjusting driving system, the database is used for storing and recording data collected by the data collection module and data analyzed by the analysis module, the acceleration controller is used for controlling the new energy automobile to automatically accelerate, and the deceleration controller is used for controlling the new energy automobile to automatically decelerate;
the central control unit is electrically connected with the database, and the output end of the central control unit is electrically connected with the input ends of the acceleration controller and the deceleration controller.
The modeling module comprises a coordinate system establishing unit and a coordinate positioning unit;
the coordinate system establishing unit is used for establishing a plane rectangular coordinate system with the radar sensor as a circle center, so that automobiles around the new energy automobile can be marked on the two-dimensional coordinate system in a two-dimensional coordinate mode, the positioning of the position relation of the surrounding automobiles is more accurate, the coordinate positioning unit is used for positioning the automobile position detected by the radar sensor on the two-dimensional coordinate system, the automobiles around the new energy automobile are endowed with the coordinate system, and the accurate position relation between the automobiles around the new energy automobile and the new energy automobile can be calculated and analyzed more accurately;
The coordinate system establishing unit outputs a two-dimensional coordinate system, the output end of the central control unit is connected with the input end of the coordinate positioning unit, and the output end of the coordinate positioning unit is connected with the input end of the two-dimensional coordinate system.
The analysis module comprises a habit analysis unit and a behavior analysis unit;
the habit analyzing unit is used for analyzing the behavior of a new energy automobile driver, the habit analyzing unit is used for analyzing the habit according to the pressure value detected by the pressure sensor corresponding to the label and the angle value detected by the angle sensor when the driver turns at each time, so that the next operation of the driver can be analyzed according to the pressure value detected by the pressure sensor in the driving process of the new energy automobile, and the behavior analyzing unit is used for analyzing the behavior of surrounding vehicles in the driving process of the new energy automobile, so that the dangerous behaviors of the surrounding vehicles can be avoided in time, and traffic accidents are avoided;
the habit analyzing unit is electrically connected with the central control unit, and the output end of the behavior analyzing unit is connected with the input end of the central control unit.
The reminding module comprises a warning lamp and a loudspeaker controller;
the horn controller is used for controlling the horn of the new energy automobile to sound when dangerous driving behaviors occur to vehicles around the new energy automobile, so that the vehicles around the new energy automobile can be reminded of paying attention to the danger and driving attentively;
The output end of the central control unit is electrically connected with the input end of the reminding module.
The pressure sensors are a plurality of pressure sensors, and the pressure values detected by the pressure sensors are respectively
Figure BDA0003029806250000071
Figure BDA0003029806250000072
Wherein n represents n pressure sensors, which are positioning labels of the pressure sensors, and i represents the ith detection of each pressure sensor;
the angle set detected by the angle sensor is P ═ { P ═ P 1 ，P 2 ，P 3 ，...，P m In which P is 1 ，P 2 ，P 3 ，...，P m Respectively representing the angle value detected by the angle sensor every time in the process of starting the vehicle to run;
when the angle sensor detects the angle change, the pressure sensor forms a set
Figure BDA0003029806250000081
The pressure sensors are provided with pressure value combination sets for detecting numerical values when the angle sensor detects that the steering wheel rotates;
the detection data of the pressure sensor and the angle sensor are transmitted to the central control unit, and the central control unit transmits the data to the habit analyzing unit to analyze the driving habits of the driver;
the habit analyzing unit classifies the angle values detected by the angle sensors to be consistent, the detection values of the angle sensors are larger than zero leftwards and smaller than zero rightwards, the pressure values and the labels of the pressure sensors corresponding to the angle values detected by the angle sensors to be consistent are extracted, the extracted labels are analyzed, and the occupation ratios of the labels are analyzed according to the following formulas:
Figure BDA0003029806250000082
Wherein Q is i Denotes the proportion of the ith pressure sensor among all the tags of the extracted pressure sensors, F i Number of occurrences of pressure sensor labeled i, F General assembly Representing the number of times the extracted total pressure sensor appears;
using the label of the pressure sensor with the highest proportion as the steering signal of the corresponding angle sensor to form a set of pressure values of the pressure sensor with the label i
Figure BDA0003029806250000083
Wherein,
Figure BDA0003029806250000084
respectively representing the numerical values of the pressure sensors when the angle values detected by the angle sensors are consistent;
the average value of the pressure sensors corresponding to the steering angle value is calculated according to the following formula:
Figure BDA0003029806250000085
when the ith pressure sensor detects the pressure value
Figure BDA0003029806250000086
It indicates that the driver is about to steer for the corresponding angle value.
The number of the radar sensors is four, the four radar sensors are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the new energy automobile, and the coordinates on a two-dimensional coordinate system during detection of the radar sensors are (0, 0);
when vehicles around the new energy automobile are located behind the new energy automobile, the distance detected by the radar sensor is L 1 And the coordinate value of the vehicle behind the new energy automobile on the two-dimensional coordinate system is (X) 1 ,Y 1 ) An included angle between a connecting line between the radar sensor and a rear vehicle and the Y axis is theta;
When vehicles around the new energy automobile are positioned in front of the new energy automobile, the distance detected by the radar sensor is L 2 And the coordinate value of the vehicle in front of the new energy automobile on the two-dimensional coordinate system is (X) 2 ,Y 2 ) And an included angle between a connecting line between the radar sensor and the front vehicle and the Y axis is alpha.
When the vehicles around the new energy automobile are located behind the new energy automobile:
according to the following formula for Y 1 The value of (c) is calculated:
Y 1 ＝L 1 *cosθ；
when Y is 1 Pressure value less than or equal to Y and detected by each pressure sensor of ith
Figure BDA0003029806250000091
When the angle sensor detects that the angle of the steering wheel changes after the warning lamp is turned on, the acceleration controller controls the vehicle to accelerate, and scraping and rubbing between the vehicle and a rear vehicle are avoided.
When the vehicles around the new energy automobile are positioned in front of the new energy automobile:
according to the following formula for Y 2 The value of (c) is calculated:
Y 2 ＝L 2 *cosα；
the value of X2 is calculated according to the following formula:
X 2 ＝L 2 *sinα；
when Y is 2 Less than or equal to Y and X 2 When X is less than or equal to, it is changing the lane to show the place ahead vehicle, the on-vehicle loudspeaker of loudspeaker controller control sounds, reminds the place ahead vehicle to notice, the operation of slowing down is carried out to the speed reduction controller control new energy automobile, avoids and takes place the traffic accident between the place ahead vehicle.
The embodiment is as follows: the number of the pressure sensors is 16, and the pressure values detected by the pressure sensors are 16
Figure BDA0003029806250000092
Wherein, 1-16 are positioning labels of the pressure sensors, and i represents the ith detection of each pressure sensor;
the set of angles detected by the angle sensor is P ═ {10 °, -10 °, 2 °, -2 °, 3 °, -3 °, -10 °, 10 °, 2 °, -2 ° };
when the angle sensor detects an angle change, the pressure sensor is grouped into a set of F ═ {10, 8, 3, 5.., 2 };
the detection data of the pressure sensor and the angle sensor are transmitted to the central control unit, and the central control unit transmits the data to the habit analyzing unit to analyze the driving habits of the driver;
the habit analyzing unit classifies the angle values detected by the angle sensors to be consistent, the detection values of the angle sensors are larger than zero leftwards and smaller than zero rightwards, the pressure values and the labels of the pressure sensors corresponding to the angle values detected by the angle sensors to be consistent are extracted, the extracted labels are analyzed, and the occupation ratios of the labels are analyzed according to the following formulas:
Figure BDA0003029806250000101
wherein Q is i Denotes the proportion of the ith pressure sensor among all the tags of the extracted pressure sensors, F i Number of occurrences of pressure sensor labeled i, F General assembly Representing the number of times the extracted total pressure sensor appears;
the labels of the pressure sensors with the highest ratio are used as steering signals of the corresponding angle sensors to form a set of pressure values of the pressure sensors with labels 5 and 12
Figure BDA0003029806250000102
Figure BDA0003029806250000103
And
Figure BDA0003029806250000104
Figure BDA0003029806250000105
the average value of the pressure sensors corresponding to the steering angle value is calculated according to the following formula:
Figure BDA0003029806250000106
Figure BDA0003029806250000107
when the 5 th pressure sensor detects the pressure value
Figure BDA0003029806250000108
And the pressure value detected by the 12 th pressure sensor
Figure BDA0003029806250000109
It indicates that the driver is about to steer for the corresponding angle value.
The number of the radar sensors is four, the four radar sensors are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the new energy automobile, and the coordinates on a two-dimensional coordinate system during detection of the radar sensors are (0, 0);
when vehicles around the new energy automobile are located behind the new energy automobile, the distance detected by the radar sensor is L 1 The coordinate value of a vehicle behind the new energy automobile on the two-dimensional coordinate system is (X) 3m 1 ,Y 1 ) An included angle theta between a connecting line between the radar sensor and a rear vehicle and the Y axis is 30 degrees;
when vehicles around the new energy automobile are positioned in front of the new energy automobile, the distance detected by the radar sensor is L 2 The coordinate value of the vehicle positioned in front of the new energy automobile on the two-dimensional coordinate system is (X) 2 ,Y 2 ) And an included angle alpha between a connecting line between the radar sensor and the front vehicle and the Y axis is 30 degrees.
When the vehicles around the new energy automobile are located behind the new energy automobile:
according to the following formula for Y 1 The value of (c) is calculated:
Figure BDA0003029806250000111
Y 1 y is not more than 3 and the pressure value detected by the ith pressure sensor
Figure BDA0003029806250000112
When the driver turns, the traffic accident is caused by the turning of the driverTherefore, the central control unit controls the warning lamp to be on, and when the angle sensor detects that the angle of the steering wheel changes after the warning lamp is on, the acceleration controller controls the vehicle to accelerate, and scraping between the vehicle and a rear vehicle is avoided.
When the vehicles around the new energy automobile are positioned in front of the new energy automobile:
according to the following formula for Y 2 The value of (c) is calculated:
Figure BDA0003029806250000114
the value of X2 is calculated according to the following formula:
Figure BDA0003029806250000113
Y 2 y is not more than 3 and X 2 And X is 0.5, which indicates that the front vehicle runs normally, and the self-adjusting driving system does not control the front vehicle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (3)

1. The utility model provides a new energy automobile emergency self-interacting driving system which characterized in that: the self-adjusting driving system comprises a data acquisition module, a control module, a modeling module, an analysis module and a reminding module;
the system comprises a data acquisition module, a control module, a modeling module, an analysis module and a reminding module, wherein the data acquisition module is used for acquiring various data in the driving process of the new energy automobile, the control module is used for intelligently controlling the driving state of the new energy automobile, the modeling module is used for establishing a two-dimensional model and a two-dimensional coordinate system in the driving process of the automobile, the analysis module is used for analyzing and calculating the driving habits of a driver and the behaviors of the automobile in the driving process, and the reminding module is used for reminding the driver and the road-driving vehicle to pay attention to avoidance during self-adjusting driving;
the output end of the data acquisition module is electrically connected with the input end of the control module, the output end of the control module is electrically connected with the input end of the modeling module, the output ends of the control module and the modeling module are electrically connected with the input end of the analysis module, and the output end of the control module is electrically connected with the input end of the reminding module;
the control module comprises a central control unit, a database, an acceleration controller and a deceleration controller;
The central control unit is used for controlling the whole self-adjusting driving system, the database is used for storing and recording data collected by the data collection module and data analyzed by the analysis module, the acceleration controller is used for controlling the new energy automobile to automatically accelerate, and the deceleration controller is used for controlling the new energy automobile to automatically decelerate;
the central control unit is electrically connected with the database, and the output end of the central control unit is electrically connected with the input ends of the acceleration controller and the deceleration controller;
the reminding module comprises a warning lamp and a horn controller;
the warning lamp is used for reminding a driver of paying attention to danger through the warning lamp when the driver is predicted to carry out dangerous operation, and the horn controller is used for controlling the horn of the new energy automobile to sound when dangerous driving behaviors of vehicles around the new energy automobile occur;
the output end of the central control unit is electrically connected with the input end of the reminding module;
the data acquisition module comprises a radar sensor, a pressure sensor, an angle sensor and a positioning tag;
the system comprises a radar sensor, a plurality of pressure sensors, an angle sensor and a positioning tag, wherein the radar sensor is used for collecting data of the conditions around a new energy automobile in the driving process, the pressure sensors are arranged in a steering wheel and used for sensing the force of a driver holding the steering wheel and used as a basis for analyzing the behavior of the driver, the angle sensor is used for monitoring the rotating angle of the steering wheel, and the positioning tag is used for positioning each pressure sensor; the output ends of the radar sensor, the pressure sensor and the angle sensor are electrically connected with the input end of the control module, and the output end of the positioning tag is electrically connected with the input end of the pressure sensor;
The analysis module comprises a habit analysis unit and a behavior analysis unit; the habit analyzing unit is used for analyzing the behavior of a new energy automobile driver, the habit analyzing unit is used for analyzing the habits according to the pressure value detected by the pressure sensor corresponding to the label and the angle value detected by the angle sensor when the driver turns at each time, and the behavior analyzing unit is used for analyzing the behavior of surrounding vehicles in the driving process of the new energy automobile; the habit analysis unit is electrically connected with the central control unit, and the output end of the behavior analysis unit is connected with the input end of the central control unit;
the pressure sensors are a plurality of pressure sensors, and the pressure values detected by the pressure sensors are respectively
Figure FDA0003556484300000021
Figure FDA0003556484300000022
Wherein n represents n pressure sensors, which are positioning labels of the pressure sensors, and i represents the ith detection of each pressure sensor;
the angle set detected by the angle sensor is P ═ { P ═ P 1 ，P 2 ，P 3 ，...，P m In which P is 1 ，P 2 ，P 3 ，...，P m Respectively representing the angle value detected by the angle sensor every time in the process of starting the vehicle to run;
when the angle sensor detects the change of the angle, the pressure sensor sensesThe set of devices is
Figure FDA0003556484300000023
The pressure sensors are provided with pressure value combination sets for detecting numerical values when the angle sensor detects that the steering wheel rotates;
The detection data of the pressure sensor and the angle sensor are transmitted to the central control unit, and the central control unit transmits the data to the habit analyzing unit to analyze the driving habits of the driver;
the habit analyzing unit classifies the angle values detected by the angle sensors to be consistent, the detection values of the angle sensors are larger than zero leftwards and smaller than zero rightwards, the pressure values and the labels of the pressure sensors corresponding to the angle values detected by the angle sensors to be consistent are extracted, the extracted labels are analyzed, and the occupation ratios of the labels are analyzed according to the following formulas:
Figure FDA0003556484300000024
wherein Q is i Denotes the proportion of the ith pressure sensor among all the tags of the extracted pressure sensors, F i Number of occurrences of pressure sensor labeled i, F General assembly Representing the number of times the extracted total pressure sensor appears;
using the label of the pressure sensor with the highest proportion as the steering signal of the corresponding angle sensor to form a set F of pressure values of the pressure sensor with the label i i ＝{F i 1 ，F i 2 ，F i 3 ，...，F i x In which F i 1 ，F i 2 ，F i 3 ，...，F i x Respectively representing the numerical values of the pressure sensors when the angle values detected by the angle sensors are consistent;
the average value of the pressure sensors corresponding to the steering angle value is calculated according to the following formula:
Figure FDA0003556484300000025
When the ith pressure sensor detects the pressure value
Figure FDA0003556484300000031
When the angle value is larger than the preset angle value, the steering angle value is displayed;
x represents the number of pressure values of the pressure sensor labeled i, and z represents a fluctuation range threshold of the set pressure value;
the number of the radar sensors is four, the four radar sensors are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the new energy automobile, and the coordinates on a two-dimensional coordinate system during detection of the radar sensors are (0, 0);
when vehicles around the new energy automobile are located behind the new energy automobile, the distance detected by the radar sensor is L 1 And the coordinate value of the vehicle behind the new energy automobile on the two-dimensional coordinate system is (X) 1 ,Y 1 ) An included angle between a connecting line between the radar sensor and a rear vehicle and the Y axis is theta;
when vehicles around the new energy automobile are positioned in front of the new energy automobile, the distance detected by the radar sensor is L 2 The coordinate value of the vehicle in front of the new energy automobile on the two-dimensional coordinate system is (X) 2 ,Y 2 ) And an included angle between a connecting line between the radar sensor and the front vehicle and the Y axis is alpha.
2. The new energy automobile emergency self-adjusting driving system according to claim 1, characterized in that: when the vehicles around the new energy automobile are located behind the new energy automobile:
According to the following formula for Y 1 The value of (c) is calculated:
Y 1 ＝L 1 *cosθ；
when Y is 1 Pressure value less than or equal to Y and detected by each pressure sensor of ith
Figure FDA0003556484300000032
When the vehicle is in a driving state, the central control unit controls the warning lamp to be turned on, and when the angle sensor detects that the angle of the steering wheel is changed after the warning lamp is turned on, the acceleration controller controls the vehicle to accelerate;
z represents a fluctuation range threshold value of the set pressure value, and Y represents a set front-rear distance threshold value from the rear vehicle.
3. The new energy automobile emergency self-adjusting driving system according to claim 2, characterized in that: when the vehicles around the new energy automobile are positioned in front of the new energy automobile:
according to the following formula for Y 2 The value of (c) is calculated:
Y 2 ＝L 2 *cosα；
the value of X2 is calculated according to the following formula:
X 2 ＝L 2 *sinα；
when Y is 2 Less than or equal to Y and X 2 When the speed is less than or equal to X, the vehicle ahead is changing lanes, the horn controller controls the vehicle-mounted horn to sound, and the deceleration controller controls the new energy automobile to decelerate; x represents a set left-right distance threshold from the preceding vehicle, and Y represents a set front-rear distance threshold from the preceding vehicle.
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