CN113264003B - Intelligent driving method and system for vehicle wading driving - Google Patents
Intelligent driving method and system for vehicle wading driving Download PDFInfo
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Abstract
The invention discloses an intelligent driving method and system when a vehicle wades, belonging to the field of intelligent driving, wherein the intelligent driving method and system when the vehicle wades comprises a driving computer, a signal acquisition unit and a feedback unit, wherein the signal acquisition unit is used for acquiring a real-time signal, a trigger signal and an auxiliary signal, the feedback unit is used for carrying out forward compensation aiming at unfavorable factors of the vehicle wading, the priorities of the real-time signal, the trigger signal and the auxiliary signal are sequentially from high to low, the driving computer is used for presetting a numerical threshold for each signal, the driving computer is used for judging whether the acquired signal reaches the preset numerical threshold, the classification of the unfavorable factors of the external driving with different attributes can be realized, the priority is determined simultaneously, and the priority comprises the acquisition priority, the frequency priority and the processing priority, so that the vehicle can drive in the wading process, external unfavorable factors can be effectively eliminated and solved, and a good and ordered solving framework is formed.
Description
Technical Field
The invention belongs to the field of intelligent driving, and particularly relates to an intelligent driving method and system for wading driving of a vehicle.
Background
In a driving route of an automobile, the automobile inevitably needs to pass through a wading road section, particularly in rainy days in cities in the south, the capacity of a drainage system of the cities reaches the upper limit, rainwater overflows to a road surface, a water pit is formed in a sunken part of the road surface, and the automobile can go forward only by passing through the water pit.
However, the automobile has a certain risk in wading:
1. because the driver can't judge deeply in the sump, if the driver runs the vehicle to the sump that the depth of water is higher than the blast pipe in with the trade, cause the rainwater easily to flow into in the blast pipe, the blast pipe links to each other with the engine, and the rainwater is liquid, and liquid is difficult to compress, and the theory of operation of engine is with gas compression burst energy, and the incompressible nature of rainwater is equivalent to the wearing and tearing piece of stereoplasm to the engine in service, causes serious wearing and tearing to engine inside, causes scrapping of engine very easily.
2. When a driver drives a vehicle into a water pit with the height lower than that of the exhaust pipe, if a vehicle comes from the front or the rear, water in the water pit is excited into waves with high amplitude, and when the wave peak of the waves is higher than the height of the exhaust pipe, the exhaust pipe still can intake water.
3. When a driver drives a vehicle into a water pit with the height lower than that of the exhaust pipe, if the driver cannot control the pedal well, when the accelerator pedal is lifted, the exhaust pipe generates a suction effect, and water in the water pit is very easily sucked into the exhaust pipe.
4. When a driver drives the wheels on one side of the vehicle into a water pit with the height lower than that of the exhaust pipe, the wheels on the wading side are subjected to water resistance, and the wheels on the non-wading side normally run, so that the wheels can deflect towards the direction of the wheels on the wading side, the vehicle is easy to flush into the water pit integrally, and the possibility of water entering the exhaust pipe is improved.
5. When a driver drives a vehicle into a water pit with the height lower than that of the exhaust pipe, and then the vehicle safely goes out of the water pit, the brake pad is easily stained with water, when the vehicle needs to be braked, the water can reduce the friction force between the brake pad and a brake disc, the brake performance is reduced, and the safety coefficient is reduced.
In the prior art, some vehicles have wading driving assisting functions, but the assisting driving functions do not classify captured adverse factors, so that the solving sequence of the adverse factors is disordered, the structure is disordered, the vehicles cannot safely pass through a wading area finally, meanwhile, safety suggestions cannot be made for subsequent driving, and the drivers and the driven vehicles cannot obtain good driving experience.
Disclosure of Invention
The invention aims to provide an intelligent driving method for wading driving of a vehicle, which can classify adverse driving factors with different external attributes and determine priorities, wherein the priorities comprise an acquisition priority, a frequency priority and a processing priority, so that the adverse factors of the external can be effectively eliminated and solved in the wading driving process of the vehicle, and a good and ordered solving framework is formed.
The invention discloses an intelligent driving method for a vehicle during wading driving, which comprises the following steps:
s1, judging whether an unavoidable wading road section exists in front of the driving route;
s2, dividing signals acquired by each detector into a real-time type, a trigger type and an auxiliary type according to signal attributes, wherein the priorities of the real-time type, the trigger type and the auxiliary type are sequentially from high to low;
s3, setting the frequency of signal acquisition according to the signal priority of the signals acquired by each detector, wherein the higher the priority of the signals is, the higher the frequency of acquisition in unit time is;
s4, electrically connecting the signals with different attributes with corresponding feedback units respectively;
s5, presetting a numerical threshold for each signal according to the acquired signal attribute;
s6, detecting whether the acquired signal value reaches a preset value threshold value;
s7, if the acquired signal reaches the preset value threshold, the corresponding feedback unit is started;
s8, the feedback unit carries out forward compensation according to the unfavorable factors of the wading running of the vehicle;
s9, judging whether the compensation result is effective according to the signal obtained again after compensation and the signal value;
and S10, if the compensation result is valid, judging that the vehicle is safely driven away from the wading road section, and if the compensation result is invalid, returning to the step S7.
As a further improvement of the present invention, the preset value threshold of the real-time signal is 0; when the real-time signal is acquired, the real-time signal immediately reaches a preset value threshold, and the corresponding feedback unit needs to immediately make forward compensation; real-time signals need to be acquired in real time; the feedback unit corresponding to the real-time type signal needs to compensate in real time; the real-time signals comprise the depth of an accelerator pedal, the depth of a brake pedal, the water inflow of an exhaust pipe and the like.
As a further improvement of the invention, the feedback unit corresponding to the depth of the accelerator pedal is a throttle flow regulator, and when the accelerator pedal is stepped too deep or too shallow or too fast, the throttle flow regulator can immediately regulate the air inflow of the engine, so that the air inflow and the air inflow speed of the engine are stable, the exhaust of the exhaust pipe tends to be balanced all the time, and the problem that the air flow of the exhaust pipe changes to cause suck-back and water is sucked into the exhaust pipe is effectively avoided.
As a further improvement of the invention, the feedback unit corresponding to the depth of the brake pedal is a brake pump flow regulator, when the brake pedal is stepped too deep or too shallow, the brake pump flow regulator can immediately regulate the oil flow of the brake system, drive the brake piston, and maintain the brake pad and the brake disc at the just-fitting degree all the time, so that no water residue exists between the brake pad and the brake disc, and the vehicle still has a good brake function after running out of a wading area.
As a further improvement of the invention, a feedback unit corresponding to the water inflow of the exhaust pipe is an automobile switch, and when water enters the exhaust pipe, the automobile switch is immediately switched off to shut down the vehicle so as to prevent the engine from still working after water enters the engine and causing the abrasion of the engine.
As a further improvement of the present invention, the preset value threshold of the trigger-type signal is not 0; acquiring a trigger type signal according to a preset frequency; compensating the trigger type signal by a feedback unit corresponding to the trigger type signal after the trigger type signal reaches a preset value threshold; the trigger type signal comprises wading water level height, distance to the opposite coming vehicle, speed of the opposite coming vehicle, distance to the rear vehicle, speed of the rear vehicle and the like.
As a further improvement of the invention, the feedback unit corresponding to the height of the wading water level is a brake pump flow regulator, when the height of the wading water level reaches a preset value threshold value, namely the height of the wading water level reaches a warning value, namely the wading water level is about to submerge into a drain pipe, the brake pump flow regulator immediately regulates the oil flow of a brake system, drives a brake piston to brake a running vehicle, and effectively avoids the problem that the running vehicle enters a water area with deeper water depth and is damaged due to water entering of an engine after the running vehicle continues to run.
As a further improvement of the invention, the feedback unit corresponding to the wading water level height is an automobile switch, and when the wading water level height exceeds a preset numerical threshold value, namely the wading water level height exceeds a warning value, and the wading water level height does not pass through the drain pipe, the automobile switch is immediately turned off, so that the automobile is flamed out to prevent the engine from being still operated after water enters the engine and causing the abrasion of the engine.
As a further improvement of the invention, the feedback unit corresponding to the distance between the oncoming vehicles is a throttle valve flow regulator, when the distance between the oncoming vehicles reaches a preset numerical threshold value, namely the distance between the oncoming vehicles is too short, the throttle valve flow regulator controls the air inflow of the engine, so that the air inflow of the engine is increased, the vehicle is stabilized at a certain vehicle speed, the vehicle can exit from a wading area as soon as possible and safely, and the problem that the engine is damaged due to fluctuation of water waves and water waves entering a drain pipe caused by the fact that the target vehicle simultaneously enters the wading area is avoided.
As a further improvement of the invention, a feedback unit corresponding to the speed of the oncoming vehicle is a vehicle-mounted horn, when the speed of the oncoming vehicle reaches a preset numerical threshold, namely the speed of the oncoming vehicle is too high, the vehicle of one party cannot drive away from a wading area by means of speed increase under the condition of safety, and under the condition that the oncoming vehicle and the vehicle of one party can certainly meet in the wading area, the vehicle-mounted horn is started to whistle to indicate that the oncoming vehicle decelerates, so that the problems that water waves in the wading area fluctuate and enter a drainage pipe to cause damage to an engine are avoided.
As a further improvement of the invention, a feedback unit corresponding to the speed of the oncoming vehicle is a vehicle-mounted headlamp, when the speed of the oncoming vehicle reaches a preset numerical threshold, namely the speed of the oncoming vehicle is too high, the vehicle of one party cannot drive away from a wading area by means of speed increase under the condition of safety, and under the condition that the oncoming vehicle and the vehicle of one party can be intersected in the wading area certainly, the vehicle-mounted headlamp is started, and the speed of the oncoming vehicle is reduced by means of light flicker, so that the problems that water waves in the wading area fluctuate, and the water waves enter a drain pipe to cause damage to an engine are avoided.
As a further improvement of the invention, the feedback unit corresponding to the distance between the rear vehicles is a throttle flow regulator, when the distance between the rear vehicles reaches a preset numerical threshold value, namely when the distance between the rear vehicles is too close to the vehicle of the own, the throttle flow regulator controls the air inflow of the engine, so that the air inflow of the engine is improved, the vehicle is stabilized at a certain speed, the vehicle can safely exit a wading area as soon as possible, and meanwhile, the problem that the engine is damaged due to the fact that water waves fluctuate and enter a drain pipe because of too close distance between the rear vehicles is avoided.
As a further improvement of the invention, the feedback unit corresponding to the rear vehicle distance is a vehicle-mounted headlight, and when the rear vehicle distance reaches a preset numerical threshold value, namely the rear vehicle distance is too close to the vehicle of the same party, the vehicle-mounted headlight is started, and the vehicle is decelerated by light flicker, so that the problem that the engine is damaged due to the fact that water waves in a wading area fluctuate and enter a water drainage pipe due to too close rear vehicle distance is avoided.
As a further improvement of the invention, a feedback unit corresponding to the speed of the rear vehicle is a throttle flow regulator, when the speed of the rear vehicle reaches a preset numerical threshold value, namely the speed of the rear vehicle is too high, the excited water wave is too large, and the water wave propagation speed is too high, and the water wave can flow into an exhaust pipe of the vehicle, the throttle flow regulator controls the air inflow of the engine, so that the air inflow of the engine is improved, the vehicle is stabilized at a certain speed, the vehicle is pulled away from the rear vehicle as soon as possible and safely, and the problem that the engine is damaged because the water wave excited by the rear vehicle flows into the exhaust pipe is avoided.
As a further improvement of the invention, a feedback unit corresponding to the speed of the rear vehicle is a vehicle-mounted headlamp, when the speed of the rear vehicle reaches a preset numerical threshold value, namely the speed of the rear vehicle is too high, the excited water wave is too large, and the water wave propagation speed is too high and can flow into an exhaust pipe of the vehicle, the vehicle-mounted headlamp is started, and the vehicle behind is indicated to decelerate by means of light flicker, so that the problem that the engine is damaged because the water wave excited by the rear vehicle flows into the exhaust pipe is avoided.
As a further improvement of the present invention, the preset value threshold of the auxiliary type signal is not 0; acquiring the auxiliary signal according to a preset frequency; compensating the auxiliary signal by a feedback unit corresponding to the auxiliary signal after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the positions of wading wheels, the water accumulation condition in front of the driving route, the future rainfall and the like.
As a further improvement of the invention, a feedback unit corresponding to the wading wheel position is an electric control steering mechanism, when the wading wheel position reaches a preset value threshold value, namely the wading wheel is only two wheels on the same side, because the wading side wheel is subjected to water resistance and the non-wading side wheel normally runs, the wheel can deflect towards the wading side wheel direction, the vehicle is easy to integrally rush into a water pit, the possibility of water entering the exhaust pipe is improved, at the moment, the electric control steering mechanism immediately deflects the vehicle to the non-wading side, and the problem that the water entering probability of the exhaust pipe is increased after the vehicle integrally enters the water is effectively avoided.
As a further improvement of the invention, a feedback unit corresponding to the water accumulation condition in front of the driving route is a vehicle-mounted display screen, and when the water accumulation condition in front of the driving route reaches a preset numerical threshold value, namely the number of lanes without water accumulation in front of the driving route is detected to be more than or equal to 1, the vehicle-mounted display screen immediately displays the latest driving route and gives a visual, correct and safe driving suggestion to a driver.
As a further improvement of the invention, a feedback unit corresponding to the future rainfall is a vehicle-mounted display screen, and when the future rainfall reaches a preset numerical threshold value, namely when the situation that the number of accumulated water sections on a future driving route is increased due to overlarge rainfall is detected, the vehicle-mounted display screen immediately reminds a driver to avoid rain so as to avoid too many driving involved areas, and the possibility of engine water inflow is improved.
As a further improvement of the invention, the response sequence of the feedback unit corresponding to the real-time signal is prior to the response sequence of the feedback unit corresponding to the trigger signal; the response sequence of the feedback units corresponding to the trigger type signal is prior to the response sequence of the feedback units corresponding to the auxiliary type signal.
As a further improvement of the invention, the vehicle speed is preferentially kept stable, the brake system is stable, and no water enters the exhaust pipe; the influence of water wave fluctuation caused by external factors on the water inflow of the vehicle when the vehicle runs in a wading area is firstly weakened; and the rear priority assists the driving comfort of the vehicle in the wading area and pre-judges the future driving safety.
Another objective of the present invention is to provide an intelligent driving system for wading vehicles, which includes a driving computer, a signal acquisition unit and a feedback unit;
the signal acquisition unit is used for acquiring a real-time signal, a trigger signal and an auxiliary signal;
the feedback unit is used for carrying out forward compensation on adverse factors of wading running of the vehicle;
the driving computer is used for classifying the acquired signals according to signal attributes and determining priorities;
the real-time type, the trigger type and the auxiliary type signal priority are sequentially from high to low;
the priority comprises an acquisition priority, a frequency priority and a processing priority;
the driving computer is used for presetting a numerical threshold for each signal according to the acquired signal attribute;
the driving computer is used for judging whether the acquired signal reaches a preset numerical value threshold value;
the traveling crane computer is used for driving the feedback unit to work;
the traveling crane computer is used for judging the effectiveness of the compensation result of the feedback unit.
The intelligent driving system uses an intelligent driving method when the vehicle wades for driving.
As a further improvement of the invention, the signal acquisition unit comprises a visual signal acquisition module, a water level signal acquisition module, a pedal position sensing module, a speed judgment module and a network information module.
As a further improvement of the invention, the visual signal acquisition module comprises image information collectors which are positioned at the front side and the rear side of the vehicle and electrically connected with a driving computer, the images at the front side and the rear side of the vehicle are transmitted to the driving computer by the image information collectors, and the driving computer extracts characteristic signals at the front side and the rear side of the vehicle, namely the driving computer extracts information such as the area of an opposite vehicle, a rear vehicle, a wading area, a front road condition and the like from the images.
As a further improvement of the invention, the water level signal acquisition module comprises a wheel water level signal collector and an exhaust pipe water level signal collector; the wheel water level signal collector is positioned on a wheel hub and used for collecting wheel wading information; the exhaust pipe water level signal collector is positioned at the opening of the exhaust pipe and used for collecting the wading information of the exhaust pipe.
As a further improvement of the invention, the pedal position sensing module comprises an accelerator pedal position sensing module and a brake pedal position sensing module; the accelerator pedal position sensing module is connected with an accelerator pedal and used for collecting stepping depth information of the accelerator pedal; the brake pedal position sensing module is connected with the brake pedal and used for collecting the tread depth information of the brake pedal.
As a further improvement of the invention, the speed judgment module comprises a vehicle speed judgment module of one party and a vehicle speed judgment module of the other party; the vehicle speed judging module of the owner is positioned at any wheel and is used for acquiring the driving speed information of the vehicle of the owner; the other party's speed of a motor vehicle judging module is located the wheel front and back both sides for gather the speed information of subtending vehicle and rear vehicle.
As a further improvement of the invention, the network information module comprises a weather signal acquisition module and a navigation signal acquisition module; the weather signal acquisition module is used for acquiring future weather information; the navigation signal acquisition module is used for acquiring road condition information of a future driving route.
As a further improvement of the present invention, the feedback unit includes a speed regulation feedback device, a warning feedback device, an auxiliary feedback device, and the like.
As a further improvement of the invention, the speed regulation feedback comprises at least one of a throttle flow regulator, a brake pump flow regulator and an automobile switch.
As a further development of the invention, the warning feedback comprises at least one of a vehicle horn and a vehicle headlight.
As a further refinement of the invention, the auxiliary feedback comprises at least one of an electronically controlled steering mechanism and an on-board display screen.
As a further improvement of the present invention, the preset value threshold of the real-time signal is 0; when the real-time signal is acquired, the real-time signal immediately reaches a preset value threshold, and a corresponding feedback device needs to immediately make forward compensation; real-time signals need to be acquired in real time; the feedback unit needs to compensate in real time for adverse factors of the real-time type signal; the real-time signals comprise the depth of an accelerator pedal, the depth of a brake pedal, the water inflow of an exhaust pipe and the like.
As a further improvement of the present invention, the preset value threshold of the trigger-type signal is not 0; acquiring a trigger type signal according to a preset frequency; after the trigger type signal reaches a preset value threshold, the feedback unit can compensate for the unfavorable factor of the trigger type signal; the trigger type signal comprises wading water level height, distance to the opposite coming vehicle, speed of the opposite coming vehicle, distance to the rear vehicle, speed of the rear vehicle and the like.
As a further improvement of the present invention, the preset value threshold of the auxiliary type signal is not 0; acquiring the auxiliary signal according to a preset frequency; the feedback unit can compensate for the unfavorable factors of the auxiliary signal only after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the number of wading wheels, the positions of the wading wheels, the water accumulation condition in front of a driving route, the future rainfall and the like.
As a further improvement of the invention, the order of the compensation response of the feedback unit for the real-time type signal penalty takes precedence over the order of the compensation response for the trigger type signal penalty; the order of the compensation response of the feedback unit for the trigger type signal penalty is prioritized over the order of the compensation response for the auxiliary type signal penalty.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can classify and plan all adverse factors when the vehicle wades and runs, and set the adverse factors into a real-time signal, a trigger signal and an auxiliary signal according to the safety influence degree on the wading and running of the vehicle, wherein the priorities of the real-time signal, the trigger signal and the auxiliary signal are sequentially from high to low; the priority comprises an acquisition priority, a frequency priority and a processing priority; adverse factors which have great influence on the safety of vehicle wading running are increased in signal acquisition frequency and accelerated in forward compensation speed, and the adverse factors are gradually compensated and eliminated. The safety of the vehicle during wading running is improved.
2. Compared with the wading safety framework in the prior art, the wading safety framework is more orderly and definite, the working efficiency of each feedback device is improved, the huge burden on equipment caused by the simultaneous working of a plurality of feedback devices is effectively avoided, the working pressure of the equipment is reduced, and the service life of the equipment is prolonged.
3. Compared with the prior art, the method has more comprehensive analysis of adverse factors, can give driving opinions beneficial to vehicle running, and has good protection effect on a driver and a driven vehicle.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of the present invention;
fig. 2 is a schematic diagram of a signal acquisition unit according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a feedback unit according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a compensation process corresponding to a priority signal according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a compensation process for a trigger-type signal according to a sixteenth embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a compensation process corresponding to an auxiliary signal according to a first embodiment of the present invention.
Detailed Description
The first embodiment is as follows: referring to fig. 1-4 and fig. 6, an intelligent driving method for wading a vehicle includes the following steps:
s1, judging whether an unavoidable wading road section exists in front of the driving route;
s2, dividing signals acquired by each detector into a real-time type, a trigger type and an auxiliary type according to signal attributes, wherein the priorities of the real-time type, the trigger type and the auxiliary type are sequentially from high to low;
s3, setting the frequency of signal acquisition according to the signal priority of the signals acquired by each detector, wherein the higher the priority of the signals is, the higher the frequency of acquisition in unit time is;
s4, electrically connecting the signals with different attributes with corresponding feedback units respectively;
s5, presetting a numerical threshold for each signal according to the acquired signal attribute;
s6, detecting whether the acquired signal value reaches a preset value threshold value;
s7, if the acquired signal reaches the preset value threshold, the corresponding feedback unit is started;
and S8, the feedback unit carries out forward compensation according to the unfavorable factor of the wading running of the vehicle.
In this embodiment, the preset value threshold of the real-time signal is 0; when the real-time signal is acquired, the real-time signal immediately reaches a preset value threshold, and the corresponding feedback unit needs to immediately make forward compensation; real-time signals need to be acquired in real time; the feedback unit corresponding to the real-time type signal needs to compensate in real time; the real-time signals comprise the depth of an accelerator pedal, the depth of a brake pedal, the water inflow of an exhaust pipe and the like.
The feedback unit corresponding to the depth of the accelerator pedal is a throttle flow regulator, and when the accelerator pedal is stepped too deeply or too shallowly or too fast, the throttle flow regulator can immediately regulate the air inflow of the engine, so that the air inflow and the air inflow speed of the engine are stable, the exhaust of the exhaust pipe tends to be balanced all the time, and the problems that the air flow of the exhaust pipe changes to cause suck-back and water is sucked into the exhaust pipe are effectively solved.
The feedback unit corresponding to the depth of the brake pedal is a brake pump flow regulator, when the brake pedal is stepped too deep or too shallow, the brake pump flow regulator can immediately regulate the oil passing amount of a brake system, a brake piston is driven, a brake pad and a brake disc are always kept at a degree just fitting, no water residue is effectively ensured between the brake pad and the brake disc, and the vehicle still has a good brake function after running out of a wading area.
The feedback unit corresponding to the water inflow of the exhaust pipe is an automobile switch, and when the exhaust pipe enters water, the automobile switch is immediately turned off, so that the vehicle is flamed out, and the engine is prevented from being worn due to the fact that the vehicle still works after the engine enters water.
In this embodiment, the threshold value of the trigger signal is not 0; acquiring a trigger type signal according to a preset frequency; compensating the trigger type signal by a feedback unit corresponding to the trigger type signal after the trigger type signal reaches a preset value threshold; the trigger type signal comprises wading water level height, distance to the opposite coming vehicle, speed of the opposite coming vehicle, distance to the rear vehicle, speed of the rear vehicle and the like.
The feedback unit corresponding to the wading water level height is a brake pump flow regulator, when the wading water level height reaches a preset value threshold value, namely the wading water level height reaches a warning value, namely the wading water level height is about to submerge a drain pipe, the brake pump flow regulator immediately regulates the oil passing amount of a brake system, drives a brake piston to brake a running vehicle, and effectively avoids the problem that the running vehicle enters a water area with deeper water depth and is damaged due to water entering of an engine after the running vehicle continues to run.
The feedback unit corresponding to the distance between the oncoming vehicles is a throttle valve flow regulator, when the distance between the oncoming vehicles reaches a preset numerical threshold value, namely the distance between the oncoming vehicles is too short, the throttle valve flow regulator controls the air inflow of the engine, so that the air inflow of the engine is increased, the vehicles are stabilized at a certain speed, the vehicles can exit the wading area as soon as possible and safely, and meanwhile, the problem that the engine is damaged due to the fact that the target vehicles simultaneously enter the wading area to cause water waves to fluctuate and enter the drainage pipe is solved.
The feedback unit that the oncoming traffic speed corresponds is on-vehicle loudspeaker, after the oncoming traffic speed reaches and predetermines the numerical value threshold value, the oncoming traffic speed is too fast promptly, my vehicle can't rely on the speed-up to drive away from the area of wading under the safe condition, the oncoming traffic must be with my vehicle under the condition that can intersect in the area of wading, on-vehicle loudspeaker starts, the whistle signals to the oncoming traffic slows down to avoid causing the regional interior water wave fluctuation of wading, the water wave gets into in the drain pipe, causes the problem of engine damage to take place.
The feedback unit corresponding to the distance between the rear vehicles is a throttle valve flow regulator, when the distance between the rear vehicles reaches a preset value threshold value, namely when the distance between the rear vehicles and the vehicle of the current party is too close, the throttle valve flow regulator controls the air input of the engine, so that the air input of the engine is improved, the vehicle is stabilized at a certain speed, the vehicle can safely exit a wading area as soon as possible, and meanwhile, the problem that the engine is damaged due to the fact that the water waves fluctuate because the distance between the rear vehicles is too close and enter a drain pipe is avoided.
The feedback unit that back car speed corresponds is throttle valve flow regulator, after back car speed reaches the numerical value threshold value of predetermineeing, back car speed is too fast promptly, the water wave of kicking up is too big, water wave propagation speed is too fast, when can gushing into the blast pipe of our vehicle, the air input of throttle valve flow regulator control engine, make the engine air input promote, and make the vehicle stabilize at certain speed of a motor vehicle, make the vehicle pull open the distance with the rear vehicle as early as possible and safely, avoid simultaneously gushing into the blast pipe because of the water wave of rear vehicle kicking up, cause the problem of engine damage to take place.
In this embodiment, the predetermined value threshold of the auxiliary signal is not 0; acquiring the auxiliary signal according to a preset frequency; compensating the auxiliary signal by a feedback unit corresponding to the auxiliary signal after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the positions of wading wheels, the water accumulation condition in front of the driving route, the future rainfall and the like.
The feedback unit corresponding to the wading wheel position is an electric control steering mechanism, when the wading wheel position reaches a preset value threshold value, namely the wading wheel is only two wheels at the same side, because the wading side wheel is subjected to water resistance and the non-wading side wheel normally runs, the wheel can deflect towards the wading side wheel direction, the vehicle is easy to integrally rush into a water pit, the possibility of water inlet of the exhaust pipe is improved, at the moment, the electric control steering mechanism immediately deflects the vehicle to the non-wading side, and the problem that the water inlet probability of the exhaust pipe is increased after the vehicle integrally enters the water is effectively avoided.
The feedback unit corresponding to the ponding condition in front of the driving route is a vehicle-mounted display screen, and when the ponding condition in front of the driving route reaches a preset numerical threshold value, namely the number of ponding-free lanes in front of the driving route is detected to be more than or equal to 1, the vehicle-mounted display screen immediately displays the latest driving route and gives a driver visual, correct and safe driving suggestion.
The feedback unit corresponding to the future rainfall is a vehicle-mounted display screen, and when the future rainfall reaches a preset numerical threshold value, namely when the situation that the number of accumulated water sections on a future driving route is increased due to overlarge future rainfall is detected, the vehicle-mounted display screen immediately reminds a driver to pay attention to avoiding rain so as to avoid too many driving wading areas, and the possibility of engine water inflow is improved.
In the embodiment, the vehicle speed is preferably kept stable, the brake system is stable, and the exhaust pipe has no water inlet; the influence of water wave fluctuation caused by external factors on the water inflow of the vehicle when the vehicle runs in a wading area is firstly weakened; and the rear priority assists the driving comfort of the vehicle in the wading area and pre-judges the future driving safety.
The intelligent driving system for the wading driving of the vehicle by using the driving method in the specific embodiment comprises a driving computer, a signal acquisition unit and a feedback unit;
the driving computer is used for presetting a numerical threshold for each signal according to the acquired signal attribute;
the driving computer is used for judging whether the acquired signal reaches a preset numerical value threshold value;
the traveling crane computer is used for driving the feedback unit to work;
the traveling crane computer is used for judging the effectiveness of the compensation result of the feedback unit.
The signal acquisition unit comprises a visual signal acquisition module, a water level signal acquisition module, a pedal position sensing module, a speed judgment module and a network information module. The signal acquisition unit is used for acquiring a real-time signal, a trigger signal and an auxiliary signal.
The preset value threshold of the real-time signal is 0; when the real-time signal is acquired, the real-time signal immediately reaches a preset value threshold, and a corresponding feedback device needs to immediately make forward compensation; real-time signals need to be acquired in real time; the feedback unit needs to compensate in real time for adverse factors of the real-time type signal; the real-time signals comprise the depth of an accelerator pedal, the depth of a brake pedal, the water inflow of an exhaust pipe and the like.
The preset value threshold of the trigger type signal is not 0; acquiring a trigger type signal according to a preset frequency; after the trigger type signal reaches a preset value threshold, the feedback unit can compensate for the unfavorable factor of the trigger type signal; the trigger type signal comprises wading water level height, distance to the opposite coming vehicle, speed of the opposite coming vehicle, distance to the rear vehicle, speed of the rear vehicle and the like.
The preset value threshold of the auxiliary signal is not 0; acquiring the auxiliary signal according to a preset frequency; the feedback unit can compensate for the unfavorable factors of the auxiliary signal only after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the number of wading wheels, the positions of the wading wheels, the water accumulation condition in front of a driving route, the future rainfall and the like.
The driving computer is used for classifying the acquired signals according to signal attributes and determining priorities;
the real-time type, the trigger type and the auxiliary type signal priority are sequentially from high to low;
the priority comprises an acquisition priority, a frequency priority and a processing priority;
the feedback unit comprises a speed regulation feedback device, an alarm feedback device, an auxiliary feedback device and the like. The feedback unit is used for carrying out forward compensation on adverse factors of wading running of the vehicle.
The compensation response sequence of the feedback unit aiming at the real-time type signal unfavorable factors is prior to the compensation response sequence aiming at the trigger type signal unfavorable factors; the order of the compensation response of the feedback unit for the trigger type signal penalty is prioritized over the order of the compensation response for the auxiliary type signal penalty.
The visual signal acquisition module comprises image information collectors which are positioned on the front side and the rear side of the vehicle and electrically connected with a driving computer, the images on the front side and the rear side of the vehicle are transmitted to the driving computer by the image information collectors, and the driving computer extracts characteristic signals of the front side and the rear side of the vehicle, namely the driving computer extracts information such as the area of an opposite vehicle, a rear vehicle, a wading area, a front road condition and the like from the images.
The water level signal acquisition module comprises a wheel water level signal collector and an exhaust pipe water level signal collector; the wheel water level signal collector is positioned on a wheel hub and used for collecting wheel wading information; the exhaust pipe water level signal collector is positioned at the opening of the exhaust pipe and used for collecting the wading information of the exhaust pipe.
The pedal position sensing module comprises an accelerator pedal position sensing module and a brake pedal position sensing module; the accelerator pedal position sensing module is connected with an accelerator pedal and used for collecting stepping depth information of the accelerator pedal; the brake pedal position sensing module is connected with the brake pedal and used for collecting the tread depth information of the brake pedal.
The speed judging module comprises a vehicle speed judging module of one party and a vehicle speed judging module of the other party; the vehicle speed judging module of the owner is positioned at any wheel and is used for acquiring the driving speed information of the vehicle of the owner; the other party's speed of a motor vehicle judging module is located the wheel front and back both sides for gather the speed information of subtending vehicle and rear vehicle.
The network information module comprises a weather signal acquisition module and a navigation signal acquisition module; the weather signal acquisition module is used for acquiring future weather information; the navigation signal acquisition module is used for acquiring road condition information of a future driving route.
The speed regulation feedback includes at least one of a throttle flow regulator, a brake pump flow regulator, and an automobile switch.
The warning feedback comprises at least one of a vehicle horn and a vehicle headlight.
The auxiliary feedback device comprises at least one of an electrically controlled steering mechanism and an on-board display screen.
When the vehicle runs, the intelligent driving system is started after the vision signal acquisition module acquires that the front of the vehicle must pass through the wading area through images, or after the water level signal acquisition module acquires that the vehicle enters the wading area, or after the network information module acquires that the front of the vehicle must pass through the wading area.
Firstly, the pedal position sensing module senses whether the depth of the pedal is within a set threshold value and senses whether the stable value of the variation amplitude of the depth of the pedal is within the set threshold value, and if the depth of the pedal is not within the set threshold value, the speed regulation feedback device regulates the speed of the vehicle and stabilizes the speed of the vehicle, so that the vehicle can safely and stably pass through a wading area. When the vehicle runs in the wading area, the water level signal acquisition module senses that the vehicle is about to run into the dangerous water level area or the exhaust pipe has entered water, the speed judgment module immediately controls the vehicle to decelerate and flameout, and the damage of the engine of the vehicle caused by entering water is effectively prevented.
Secondly, when the vehicle runs in a wading area, the visual signal acquisition module, the speed judgment module or the water level signal acquisition module senses the distance or the speed of the opposite vehicle or senses the distance or the speed of the rear vehicle, and the distance or the speed of the rear vehicle reaches or exceeds a set threshold value, so that the vehicle in the same party is in a dangerous driving environment, water easily enters an exhaust pipe of the same party due to fluctuation of water waves caused by the opposite vehicle or the rear vehicle, and when an engine is damaged, the speed regulation feedback device immediately and stably accelerates to enable the vehicle in the same party to pass through the wading area as soon as possible, or the warning feedback device warns the opposite vehicle to decelerate, or the speed regulation feedback device immediately stops the vehicle in the same party to advance and flameout, and the vehicle engine is effectively prevented from being damaged by water entering.
And finally, when the vehicle runs in the wading area, the water level signal acquisition module or the network information module senses that the vehicle runs with foreseeable driving danger, and the auxiliary feedback device assists in the running of the vehicle.
The second embodiment is as follows: different from the specific embodiment, the feedback device corresponding to the wading water level height is an automobile switch, and when the wading water level height exceeds a preset numerical threshold, namely the wading water level height exceeds a warning value, and the wading water level height does not pass through a drain pipe, the automobile switch is immediately turned off, so that the vehicle is flamed out to avoid the situation that the engine still works after water enters the engine, and the engine is abraded.
The third concrete embodiment: different from the specific embodiment, the feedback device corresponding to the speed of the oncoming vehicle is a vehicle-mounted headlamp, when the speed of the oncoming vehicle reaches a preset value threshold value, namely, the speed of the oncoming vehicle is too high, the vehicle of one party cannot drive away from a wading area by means of speed increase under the safe condition, and the vehicle-mounted headlamp is started under the condition that the oncoming vehicle and the vehicle of one party can meet in the wading area certainly, and the speed of the oncoming vehicle is reduced by means of light flicker, so that the problem that the water waves in the wading area fluctuate and enter a drain pipe to cause damage to an engine is solved.
The fourth concrete embodiment: the vehicle-mounted headlamp is started when the rear vehicle distance reaches a preset numerical threshold value, namely the rear vehicle distance is too close to the vehicle of the same party, and the vehicle is decelerated by light flicker, so that the problem that the engine is damaged due to the fact that water waves in a wading area fluctuate and enter a drainage pipe due to too close rear vehicle distance is avoided.
The fifth concrete embodiment: the difference with the embodiment one is that, the feedback ware that back car speed corresponds is on-vehicle headlight, and after back car speed reached and predetermines the numerical value threshold value, back car speed was too fast promptly, and the water wave of arousing is too big, and water wave propagation speed is too fast, when can gushing into the blast pipe of my side's vehicle, on-vehicle headlight starts, relies on the light scintillation to signal the rear vehicle and slows down, avoids gushing into the blast pipe because of the water wave that the rear vehicle arouses, causes the problem of engine damage to take place.
The sixth specific embodiment: on the basis of the first specific embodiment, when the vehicle runs in the wading area and the accelerator pedal position sensing module senses that the oil supply of the engine is reduced or suddenly reduced, the throttle valve flow regulator regulates the oil supply amount of the engine to a stable state, so that the vehicle passes through the wading area under a stable and safe condition.
The seventh specific embodiment: on the basis of the first specific embodiment, when the vehicle runs in a wading area, when the brake pedal position sensing module senses that the brake pad and the brake disc of the vehicle are not attached or are attached too tightly, the piston extension stroke is immediately adjusted by the brake pump flow regulator, so that the brake pad and the brake disc are just attached together, the water is evaporated by the heat of friction between the brake pad and the brake disc, and the friction between the brake pad and the brake disc is ensured.
The eighth embodiment: on the basis of the first specific embodiment, when the vehicle runs in a wading area, when the exhaust pipe water level signal collector detects that water flows into the drain pipe, the vehicle is immediately flamed out by the automobile switch, and the situation that the engine works under the water inlet condition and is damaged is effectively avoided.
The specific embodiment is nine: on the basis of the first specific embodiment, when the vehicle runs in the wading area, the speed judgment module of the other party detects that the speed of the opposite vehicle is too high, the vehicle of the other party cannot run away from the wading area by means of speed increase under the safe condition, and the warning feedback device warns the vehicle of the other party to decelerate under the condition that the opposite vehicle and the vehicle of the other party are certainly intersected in the wading area, so that the problem that the engine is damaged due to water waves rising and falling caused by the fact that the speed of the opposite party is too high is solved.
The specific embodiment ten: on the basis of the first specific embodiment, when the vehicle runs in the wading area and the image information collector detects that the distance between the vehicle and the oncoming vehicle is too short, the throttle flow regulator controls the air inflow of the engine to increase the air inflow of the engine and stabilize the vehicle at a certain speed, so that the vehicle can run out of the wading area as quickly as possible and safely, and meanwhile, the problem that the engine is damaged due to the fact that the target vehicle runs into the wading area at the same time to cause water waves to fluctuate and enter the drain pipe is solved.
The first specific embodiment: on the basis of the first specific embodiment, when the vehicle runs in the wading area and the image information collector detects that the rear vehicle is too close to the vehicle at one side, the air inflow of the engine is controlled by the throttle valve flow regulator, so that the air inflow of the engine is improved, the vehicle is stabilized at a certain speed, the vehicle can run out of the wading area as soon as possible and safely, and meanwhile the problem that the engine is damaged due to the fact that water waves fluctuate and enter the drainage pipe due to the fact that the rear vehicle is too close is avoided.
The specific example twelve: on the basis of the first specific embodiment, when the vehicle runs in a wading area, when the speed judgment module of the other party detects that the speed of the rear vehicle is too high, the excited water wave is too large, the water wave propagation speed is too high, and the water wave can flow into the exhaust pipe of the vehicle of the other party, the throttle valve flow regulator controls the air inflow of the engine, so that the air inflow of the engine is improved, the vehicle is stabilized at a certain speed, the distance between the vehicle and the rear vehicle is pulled away as soon as possible and safely, and meanwhile, the problem that the engine is damaged due to the fact that the water wave excited by the rear vehicle flows into the exhaust pipe is avoided.
The specific example thirteen: on the basis of the first specific embodiment, when the vehicle runs in a wading area, when the wheel water level signal collector detects that wading wheels are only two wheels on the same side, the wheels on the wading side are subjected to water resistance, and the wheels on the non-wading side normally run, and the wheels can deflect towards the wheels on the wading side, so that the vehicle is easy to integrally flush into a water pit, the possibility of water entering the exhaust pipe is improved, at the moment, the electronic control steering mechanism immediately deflects the vehicle to the non-wading side, and the problem that the probability of water entering the exhaust pipe is increased after the vehicle integrally enters the water is effectively avoided.
The specific embodiment fourteen: on the basis of the first specific embodiment, when the vehicle runs in a wading area, when the navigation signal acquisition module detects that the number of lanes without water accumulation in front of the running route is greater than or equal to 1, the vehicle-mounted display screen immediately displays the latest running route, and a driver is given intuitive, correct and safe running suggestions.
The specific embodiment fifteen: on the basis of the first specific embodiment, when the vehicle runs in the wading area and when the weather signal acquisition module detects that the rainfall and rainfall amount in the future is too large and the number of accumulated water sections on a future driving route is increased, the vehicle-mounted display screen immediately reminds a driver to avoid rain so as to avoid too many wading areas, and the possibility of engine water inflow is improved.
The specific embodiment is sixteen: referring to fig. 5, in the intelligent driving method for the vehicle during wading, on the basis of the first embodiment, the feedback unit corresponding to the height of the wading water level is at least one of a brake pump flow regulator or an automobile switch. The feedback unit corresponding to the distance between the oncoming vehicle and the oncoming vehicle is a throttle flow regulator. The feedback unit corresponding to the speed of the oncoming vehicle is at least one of a vehicle-mounted horn or a vehicle-mounted headlamp. The feedback unit corresponding to the rear vehicle distance is at least one of a throttle flow regulator or a vehicle-mounted headlamp. And the feedback unit corresponding to the rear vehicle speed is at least one of a throttle flow regulator or a vehicle-mounted headlamp.
Claims (10)
1. The intelligent driving method for the vehicle wading driving is characterized in that: the method comprises the following steps:
s1, judging whether an unavoidable wading road section exists in front of the driving route;
s2, dividing signals acquired by each detector into a real-time type, a trigger type and an auxiliary type according to signal attributes, wherein the priorities of the real-time type, the trigger type and the auxiliary type are sequentially from high to low;
s3, setting the frequency of signal acquisition according to the signal priority of the signals acquired by each detector, wherein the higher the priority of the signals is, the higher the frequency of acquisition in unit time is;
s4, electrically connecting the signals with different attributes with corresponding feedback units respectively;
s5, presetting a numerical threshold for each signal according to the acquired signal attribute;
s6, detecting whether the acquired signal value reaches a preset value threshold value;
s7, if the acquired signal reaches the preset value threshold, the corresponding feedback unit is started;
s8, the feedback unit carries out forward compensation according to the unfavorable factors of the wading running of the vehicle;
s9, judging whether the compensation result is effective according to the signal obtained again after compensation and the signal value;
and S10, if the compensation result is valid, judging that the vehicle is safely driven away from the wading road section, and if the compensation result is invalid, returning to the step S7.
2. The intelligent driving method for wading driving of the vehicle according to claim 1, wherein: the preset value threshold of the real-time signal is 0; real-time signals need to be acquired in real time; the feedback unit corresponding to the real-time type signal needs to compensate in real time; the real-time signals include the depth of an accelerator pedal, the depth of a brake pedal and the water inflow of an exhaust pipe.
3. The intelligent driving method for wading driving of the vehicle according to claim 1, wherein: the preset value threshold of the trigger type signal is not 0; acquiring a trigger type signal according to a preset frequency; compensating the trigger type signal by a feedback unit corresponding to the trigger type signal after the trigger type signal reaches a preset value threshold; the trigger type signal comprises wading water level height, distance to the oncoming vehicle, speed of the oncoming vehicle, distance to the rear vehicle and speed of the rear vehicle.
4. The intelligent driving method for wading driving of the vehicle according to claim 1, wherein: the preset value threshold of the auxiliary signal is not 0; acquiring the auxiliary signal according to a preset frequency; compensating the auxiliary signal by a feedback unit corresponding to the auxiliary signal after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the position of a wading wheel, the condition of ponding in front of a driving route and the future rainfall.
5. The intelligent driving method for wading driving of the vehicle according to claim 1, wherein: the response sequence of the feedback unit corresponding to the real-time signal is prior to the response sequence of the feedback unit corresponding to the trigger signal; the response sequence of the feedback units corresponding to the trigger type signal is prior to the response sequence of the feedback units corresponding to the auxiliary type signal.
6. The utility model provides an intelligent driving system when vehicle wades and traveles which characterized in that: the system comprises a driving computer, a signal acquisition unit and a feedback unit;
the signal acquisition unit is used for acquiring a real-time signal, a trigger signal and an auxiliary signal;
the feedback unit is used for carrying out forward compensation on adverse factors of wading running of the vehicle;
the driving computer is used for classifying the acquired signals according to signal attributes and determining priorities;
the real-time type, the trigger type and the auxiliary type signal priority are sequentially from high to low;
the priority comprises an acquisition priority, a frequency priority and a processing priority;
the driving computer is used for presetting a numerical threshold for each signal according to the acquired signal attribute;
the driving computer is used for judging whether the acquired signal reaches a preset numerical value threshold value;
the traveling crane computer is used for driving the feedback unit to work;
the traveling crane computer is used for judging the effectiveness of the compensation result of the feedback unit;
the intelligent driving system uses the intelligent driving method when the vehicle wades for driving according to any one of claims 1-5.
7. The intelligent driving system for wading driving of the vehicle according to claim 6, wherein: the preset value threshold of the real-time signal is 0; real-time signals need to be acquired in real time; the feedback unit needs to compensate in real time for adverse factors of the real-time type signal; the real-time signals include the depth of an accelerator pedal, the depth of a brake pedal and the water inflow of an exhaust pipe.
8. The intelligent driving system for wading driving of the vehicle according to claim 6, wherein: the preset value threshold of the trigger type signal is not 0; acquiring a trigger type signal according to a preset frequency; after the trigger type signal reaches a preset value threshold, the feedback unit can compensate for the unfavorable factor of the trigger type signal; the trigger type signal comprises wading water level height, distance to the oncoming vehicle, speed of the oncoming vehicle, distance to the rear vehicle and speed of the rear vehicle.
9. The intelligent driving system for wading driving of the vehicle according to claim 6, wherein: the preset value threshold of the auxiliary signal is not 0; acquiring the auxiliary signal according to a preset frequency; the feedback unit can compensate for the unfavorable factors of the auxiliary signal only after the auxiliary signal reaches a preset value threshold; the auxiliary signals comprise the position of a wading wheel, the condition of ponding in front of a driving route and the future rainfall.
10. The intelligent driving system for wading driving of the vehicle according to claim 6, wherein: the compensation response sequence of the feedback unit aiming at the real-time type signal unfavorable factors is prior to the compensation response sequence aiming at the trigger type signal unfavorable factors; the order of the compensation response of the feedback unit for the trigger type signal penalty is prioritized over the order of the compensation response for the auxiliary type signal penalty.
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| GB2520250B (en) * | 2013-11-12 | 2016-05-25 | Jaguar Land Rover Ltd | Vehicle having wade sensing display and system therefor |
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| CN101323279A (en) * | 2007-07-11 | 2008-12-17 | 岳亮 | Motor vehicle safe drive warning method and warning system |
| CN104380060A (en) * | 2012-03-30 | 2015-02-25 | 捷豹路虎有限公司 | Wade sensing display control system |
| GB201320159D0 (en) * | 2013-11-15 | 2014-01-01 | Jaguar Land Rover Ltd | Vehicle having wade sensing display and system therefore |
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