CN114407881B - Steering collision avoidance method and system for goods van with trailer - Google Patents

Steering collision avoidance method and system for goods van with trailer Download PDF

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Publication number
CN114407881B
CN114407881B CN202210335627.7A CN202210335627A CN114407881B CN 114407881 B CN114407881 B CN 114407881B CN 202210335627 A CN202210335627 A CN 202210335627A CN 114407881 B CN114407881 B CN 114407881B
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trailer
collision avoidance
risk
collision
truck
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CN114407881A (en
Inventor
徐显杰
刘哲
张扬
袁亚东
汪光
杨红
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Suoto Hangzhou Automotive Intelligent Equipment Co Ltd
Tianjin Soterea Automotive Technology Co Ltd
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Suoto Hangzhou Automotive Intelligent Equipment Co Ltd
Tianjin Soterea Automotive 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a steering collision avoidance method and system for a truck with a trailer, wherein the method comprises the following steps: determining a dangerous area according to an included angle between a tractor with a trailer and the trailer in the steering process of the trailer, and determining a collision avoidance strategy according to the position of an obstacle in the dangerous area; in the process of executing the collision avoidance strategy, if manual collision avoidance operation of a driver is detected, the manual collision avoidance operation is adopted to control the truck with the trailer; under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the barrier in the dangerous area; and if the collision risk is not eliminated, replacing the manual collision avoidance operation by adopting a collision avoidance strategy matched with the current position of the barrier in the dangerous area of the truck with the trailer so as to control the truck with the trailer. The embodiment accurately evaluates the risk in the steering process and effectively avoids collision.

Description

Steering collision avoidance method and system for goods van with trailer
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a steering collision prevention method and system for a truck with a trailer.
Background
In the traffic accident that is relevant with taking trailer (tractor + trailer), the shared proportion of traffic accident that appears under the freight train right turn scene is great, and the personnel that the accident caused under this scene damage comparatively seriously, and the leading cause includes: 1. when the trailer is turned right, the whole right-turning traffic scene becomes more complex due to the vulnerable traffic participants such as pedestrians, non-motor vehicles and the like. 2. When the trailer is turned right, a large-range view blind area exists, and the trailer is easy to collide with pedestrians and non-motor vehicles in a right turning scene.
At present, a truck with a trailer only depends on a blind area detection and early warning mode, and the collision avoidance capability of the complex scene of right turning is limited.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method, a storage medium, and an electronic device for avoiding collision of a truck with a trailer, so as to accurately evaluate risks in a steering process of the truck with the trailer for effective collision avoidance.
Based on the above purpose, the application provides a steering collision avoidance method for a trailer, comprising the following steps:
determining a dangerous area according to an included angle between a tractor with a trailer and the trailer in the steering process of the trailer, and determining a collision avoidance strategy according to the position of an obstacle in the dangerous area;
in the process of executing the collision avoidance strategy, if manual collision avoidance operation of a driver is detected, the manual collision avoidance operation is adopted to control the truck with the trailer;
under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the barrier in the dangerous area;
and if the collision risk is not eliminated, replacing the manual collision avoidance operation by adopting a collision avoidance strategy matched with the current position of the barrier in the dangerous area of the truck with the trailer so as to control the truck with the trailer.
Based on the same invention concept, the application also provides a steering collision avoidance system of the truck with the trailer, which comprises: the system comprises a controller, and a radar, a gyroscope, an alarm, an engine management system and an electronic braking system which are connected with the controller;
the radar is used for determining the position of an obstacle in a dangerous area;
the gyroscope is used for determining an included angle between a tractor with a trailer truck and the trailer;
the controller is used for determining a dangerous area according to an included angle between a tractor with a trailer and the trailer in the steering process of the trailer, and determining a collision avoidance strategy according to the position of an obstacle in the dangerous area; after an early warning instruction is sent to an alarm and/or a braking instruction is sent to an electronic braking system and a torque limiting instruction is sent to an engine management system, if manual collision avoidance operation of a driver is detected, the manual collision avoidance operation is adopted to control the truck with the trailer; under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the barrier in the dangerous area; and if the collision risk is not eliminated, replacing the manual collision avoidance operation by adopting a collision avoidance strategy matched with the current position of the barrier in the dangerous area of the truck with the trailer so as to control the truck with the trailer.
From the above, the steering collision avoidance method for the trailer provided by the embodiment of the application reasonably determines a dangerous area according to an included angle between the tractor and the trailer, and determines a matched collision avoidance strategy according to the position of the obstacle in the dangerous area; and furthermore, when a driver participates in control, the change condition of the collision risk can be detected in real time, and the collision risk is still existed, and the collision risk is timely taken over by the matched collision avoidance strategy, so that the collision risk is eliminated, and the safety in the steering process is improved.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a steering collision avoidance method for a belt trailer according to an embodiment of the present application;
FIG. 2 is a top view of a straight-ahead belt trailer as provided by an embodiment of the present application;
FIG. 3 is a top view of a truck with a trailer in a steering state according to an embodiment of the present application;
FIG. 4 is a schematic view of a radar installation location provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a radar coordinate system;
FIG. 6 is a schematic diagram of a radar coordinate system conversion in a steering state according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a steering collision avoidance system of a belt trailer truck according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an early warning and braking state machine according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with specific embodiments.
It should be noted that technical terms or scientific terms used in the embodiments of the present application should have a general meaning as understood by those having ordinary skill in the art to which the present application belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
The embodiment of the application provides a steering collision avoidance method for a goods van, which is suitable for the steering condition of the goods van, particularly the right-turning condition. It is to be appreciated that the method can be performed by any apparatus, electronic device, platform, cluster of devices having computing, processing capabilities. The technical method of the present application is described in detail below by specific embodiments, and specifically with reference to a flow chart of a steering collision avoidance method for a truck with a trailer shown in fig. 1, and includes the following steps:
s110, in the steering process of the trailer with the trailer, determining a dangerous area according to an included angle between the tractor with the trailer and the trailer with the trailer, and determining a collision avoidance strategy according to the position of the obstacle in the dangerous area.
Fig. 2 is a top view of a straight-ahead trailer truck according to an embodiment of the present disclosure, in which a tractor at the front and a trailer at the rear are visible. Fig. 3 is a top view of a trailer truck in a steering state, according to an embodiment of the present application, wherein a tractor truck is steered preferentially to form an angle with a trailer. The danger zone is an area of the turning sides of the tractor and trailer where pedestrians or vehicles (called obstacles) are at risk of being collided with, and therefore collision avoidance strategies need to be taken when an obstacle is detected to be located within the danger zone.
Compared with a passenger car, the embodiment is particularly suitable for a belt trailer car, and the danger area is also set according to the characteristics of the belt trailer car. The operation of determining the hazardous area includes:
1. and determining the dangerous area on the side surface of the tractor and the dangerous area on the side surface of the trailer according to the preset rectangular size.
The rectangular dimensions include a length and a width, and a hazard zone conforming to the aforementioned length and width is defined on the ground on the steering side of the tractor and trailer. Optionally, the dangerous area includes a high-risk area and a low-risk area, and a distance between the high-risk area and the belt trailer is smaller than that between the high-risk area and the belt trailer. The wide edge is along the lateral direction of the belt trailer and the long edge is along the longitudinal direction of the belt trailer. In the embodiment of the present application, the width is a set value, and the length is dynamically adjusted according to the TTC (time to collision). For example, the length is set to a length at which the longitudinal vehicle-front set value is a set value from the vehicle rearmost axle longitudinal direction TTC. Therefore, which obstacles are located in the dangerous area can be accurately evaluated according to the actual collision risk, and the condition that the dangerous area with fixed size is not suitable for various driving scenes is avoided.
Referring to fig. 2, a rectangle from 1m in the lateral direction, 2.5m in front of the longitudinal vehicle head to the rearmost axle of the trailer is a high-risk region, a rectangle from 1 to 3.5m in the lateral direction, and a rectangle from 5m in front of the longitudinal vehicle head to a position away from the rearmost axle of the vehicle by a longitudinal TTC =1.5s is a low-risk region. TTC (time to collision) = relative distance of the belt trailer and the obstacle/relative speed of the belt trailer and the obstacle.
2. And splicing the dangerous area on the side surface of the tractor and the dangerous area on the side surface of the trailer according to the included angle between the tractor and the trailer to obtain the final dangerous area.
Referring to fig. 3, the dangerous area in fig. 2 also needs to be adapted when an angle is formed between the tractor and the trailer during steering. The angle formed by the dangerous area on the side surface of the tractor and the dangerous area on the side surface of the trailer is the same as the angle formed by the tractor and the trailer.
According to the above description, if an accurate dangerous area is desired, an accurate included angle needs to be obtained in real time. The embodiment creatively adopts the two gyroscopes to estimate the included angle in real time, ensures the accuracy, reduces the cost and does not need other angle sensors and complex algorithms. Two gyroscopes are respectively installed on the central axis of the tractor and the trailer, preferably installed on the central positions of the central axis of the tractor and the central axis of the trailer, and the actual conditions of the specific visible vehicles are installed under the two standards. The two gyroscopes output the rotation speeds of the tractor and the trailer respectively. Respectively acquiring the rotating speeds of a tractor and a trailer in the steering process of a trailer; obtaining relative rotating speed according to the rotating speed of the tractor and the trailer; and carrying out discrete integration on the relative rotating speed to obtain an included angle between the tractor and the trailer. Furthermore, an arithmetic mean filtering method is carried out on the included angle, and 3 sampling values are continuously taken to carry out arithmetic mean operation, so that the signal has certain smoothness.
The dangerous area changes along with the posture of the whole trailer truck with the trailer, the risk of the obstacle relative to the whole trailer truck with the trailer is accurately evaluated, and a basis is provided for the self-vehicle to take collision avoidance measures.
After determining the danger zone, optionally, if an obstacle is detected within the danger zoneAnd activating the function of controlling the vehicle by using the collision strategy, wherein the collision avoidance strategy comprises an early warning strategy and an early warning and braking strategy. The early warning strategy is to send an early warning instruction to an alarm and control an alarm lamp to be on for a long time; the early warning and braking strategies include: sending an early warning command to an alarm, controlling an alarm lamp to flash, controlling to send buzzing, sending a control command to an electronic braking system and sending a torque limiting command to an engine management system, wherein the braking strength is-4 m/s2. The braking intensity is between the braking intensity of an adaptive cruise control system ACC and the braking intensity of an automatic brake auxiliary system AEB, the braking intensity is determined according to a function application scene, namely a steering scene with the vehicle speed less than 30km/h, a good collision prevention effect can be obtained under the scene, and meanwhile, the current AEB braking intensity is referred to as-6 m/s2And the upper limit of ACC braking strength is-2.5 m/s2. If the braking causes the trailer to brake, the brake is kept for 2s after the brake.
And S120, in the process of executing the collision avoidance strategy, if the manual collision avoidance operation of the driver is detected, the truck with the trailer is controlled by adopting the manual collision avoidance operation.
And immediately adopting the collision avoidance strategy to control the cargo trailer after determining the collision avoidance strategy. In the course of executing the collision avoidance maneuver, the driver may operate autonomously due to perceived hazards, such as manual braking, manual acceleration, and manual steering.
The embodiment creatively provides a driver operation and function feedback interaction mechanism, allows the driver to respond to manual collision avoidance operation in the process of executing the collision avoidance strategy, and gives the driving right to the driver, so as to reduce the panic of the driver. It should be noted that when the driver operation occurs before the function is activated (without any warning or braking), the mechanism is not applicable before the function is activated; this occurs after the activation of the function, for example after turning on a warning or braking in response to a manual collision avoidance operation, i.e. the interaction mechanism is directed to the driver's operation after the activation of the function.
And S130, under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the obstacle in the dangerous area.
In the process of operation of a driver, the position of the obstacle in the dangerous area is still detected in real time so as to judge whether the collision risk is eliminated. Optionally, the risk of collision is not eliminated if the obstacle is still located in the hazardous area, and eliminated if the obstacle is not located in the hazardous area.
And S140, if the collision risk is not eliminated, replacing the manual collision avoidance operation by adopting a collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the belt trailer so as to control the truck with the belt trailer.
If the collision risk is not eliminated, the danger is not relieved by the manual operation of the driver, and then the collision avoidance strategy is replaced. Further, if the collision risk is eliminated, the operation is ended and the collision strategy is no longer involved in the control.
According to the steering collision avoidance method for the trailer with the trailer, the dangerous area is reasonably determined according to the included angle between the tractor and the trailer, and the matched collision avoidance strategy is determined according to the position of the barrier in the dangerous area; and furthermore, when a driver participates in control, the change condition of the collision risk can be detected in real time, and the collision risk is still existed, and the collision risk is timely taken over by the matched collision avoidance strategy, so that the collision risk is eliminated, and the safety in the steering process is improved.
On the basis of the above-described embodiment and the following embodiments, the low-risk region and the high-risk region are set in such a manner that when the distance to the truck is not consistent, the risks of pedestrians or vehicles are different, and different collision avoidance strategies are suitably adopted in a targeted manner. Optionally, if the obstacle is located in the low-risk area and the movement trend of the obstacle is close to the truck with the trailer, determining an early warning strategy; and if the obstacle is located in the high-risk area, determining an early warning and braking strategy.
Fig. 4 is a schematic diagram of a radar installation position provided by an embodiment of the application, and fig. 5 is a schematic diagram of a radar coordinate system. The radar is installed near tractor right side, front wheel, can install according to vehicle particular case, and the radar is fixed on the tractor right side towards the right side. The front orientation of the radar is a lateral Y axis, the lateral orientation is a longitudinal X axis, and the positive and negative are defined as positive front, negative back, positive left and negative right, and see the + -sign in FIG. 5. The radar coordinate system rotates as the vehicle head rotates.
The radar provides 5 motion state information of the obstacle under a radar coordinate system in real time, and the motion state information comprises the following steps: longitudinal distance, lateral distance, relative longitudinal velocity, relative lateral velocity, and motion state. The motion state includes stationary (the obstacle is always in a stationary state from the radar detection), stationary after moving (the radar detects the obstacle is initially in motion and stationary), and moving. The lateral distance of an obstacle whose motion state is stationary is assigned 10.
Under radar coordinates, the central axes of the tractor and the trailer are parallel when the trailer is driven linearly, and the coordinate system is suitable for the tractor and the trailer at the same time. When the trailer is turned, an included angle exists between the tractor and the trailer, and the radar coordinate system fixed on the tractor is not suitable for the trailer at the moment. The relative angles need to be translated to a coordinate system to accommodate the trailer. The tractor portion does not perform the transformation and the trailer portion does the coordinate transformation.
The metrics include: 1) the radar gives the longitudinal distance of the obstacle to the radar, which is within the distance range before the foremost end of the trailer, without coordinate transformation. 2) The longitudinal distance is within the range behind the foremost end of the trailer, and coordinate transformation is carried out. The transformation angle comprises the following steps: the coordinate rotation angle is the aforementioned angle, as shown in fig. 6. And (3) carrying out coordinate transformation on the obstacle information in the range of 2) so as to measure the relative motion condition of the obstacle relative to the trailer.
The following describes a method for calculating the obstacle movement trend in detail, and specifically includes the following three scenarios.
The first scenario is: the obstacle approaches the belt trailer from the side.
When the dynamic barrier is located in the lateral direction, the flag bit is output according to whether the dynamic barrier is close to the trend: close to 1, not close to 0. Specifically, the radar detects the obstacle, the obstacle is considered to be close to the radar coordinate system when the lateral distance of the obstacle is continuously reduced for three periods, and the lateral distance of the obstacle is continuously unchanged or increased for three periods, the obstacle is considered to be far away.
The second scenario is: the obstacle approaches the belt trailer from the front.
And (3) outputting a zone bit according to whether the dynamic obstacle is close to the trend or not when the dynamic obstacle is positioned in the right front by taking the radar as a reference: close to 1, not close to 0. Specifically, the radar detects the obstacle, the obstacle is considered to be close to the radar coordinate system when the longitudinal distance of the obstacle is reduced for three continuous cycles, and the longitudinal distance of the obstacle is considered to be far away when the longitudinal distance of the obstacle is unchanged or increased for three continuous cycles.
The third scenario is: the barrier approaches the belt trailer from the rear.
And (3) taking the radar as a reference, and outputting a flag bit according to whether the dynamic obstacle is close to the trend when the dynamic obstacle is positioned at the rear right: close to 1, not close to 0. Specifically, the radar detects the obstacle, the obstacle is considered to be close to the radar coordinate system after three continuous periods of longitudinal distance decrease, and the obstacle is considered to be far away from the radar coordinate system after three continuous periods of longitudinal distance constant or increasing.
In the three scenes, any zone bit is 1, the obstacle is judged to approach, all zone bits are 0, and the obstacle is judged not to approach.
Under the condition that the dangerous area comprises a low-risk area and a high-risk area and a matched collision avoidance strategy is set, the manual collision avoidance operation is replaced by the collision avoidance strategy matched with the current position of the barrier in the dangerous area with the trailer, and the method comprises the following steps: if the obstacle is in the high-risk area with the trailer, replacing the manual collision avoidance operation by an early warning and braking strategy, and if the obstacle is in the low-risk area with the trailer, replacing the manual collision avoidance operation by the early warning strategy.
On the basis of the above embodiment and the following embodiments, in consideration of actual operation conditions, the right turn is a dynamic continuous behavior, and the driver, as a behavior subject for controlling the whole right turn, may take an action of avoiding collision risk, that is, after the function is activated (early warning, or early warning and braking), when the driver performs a certain manual operation behavior, the function needs to give feedback. The current position of the barrier in the dangerous area is detected through a radar, and different collision risk judgment methods are set for different manual collision avoidance operations. The method specifically comprises the following three implementation modes:
the first embodiment: the manual collision avoidance operation includes manual braking. In manual braking operationUnder the control, if the barrier is kept in the low-risk area, judging that the collision risk is not eliminated, and adopting an early warning strategy; if the barrier enters the high-risk area from the low-risk area and the manual braking strength is greater than or equal to a set value, judging that the collision risk is eliminated, and maintaining the manual braking operation; if the barrier enters the high-risk area from the low-risk area and the manual braking intensity is smaller than a set value, judging that the collision risk is not eliminated, and adopting an early warning and braking strategy; wherein the set value is a system-set value, e.g., -4m/s2. When the manual braking strength is larger than or equal to the set value, the braking strength is large enough, and the collision risk can be eliminated by default.
It should be noted that, if the obstacle is in the high-risk area, it is preferable that the manual braking strength is greater than or equal to a set value to allow the control of the belt trailer. If the vehicle is maintained in the high-risk area, the collision risk is judged not to be eliminated, the vehicle is braked and stopped by adopting an early warning and braking strategy, and the vehicle is braked and stopped for 2 s. Entering a low-risk area from a high-risk area, exiting a braking strategy, only executing an early warning strategy and adopting manual braking operation, wherein the collision risk is not eliminated; and after the barrier exits the low-risk area, judging that the collision risk is eliminated.
The second embodiment: the manual collision avoidance operation includes manual steering. Under the control of manual steering operation, if the obstacle is kept in a low-risk area, judging that the collision risk is not eliminated, adopting an early warning strategy; if the barrier enters the high-risk area from the low-risk area, judging that the collision risk is not eliminated, and adopting an early warning and braking strategy; and if the obstacle does not exist in the dangerous area, judging that the collision risk is eliminated, and continuing manual collision avoidance operation.
The third embodiment: the manual collision avoidance operation includes manual acceleration. Under the control of the manual collision avoidance operation, if an obstacle exists in front of a steering side (for example, in a range of 3.5m in a lateral direction and 7m in front of a longitudinal vehicle head), judging that the operation is mistaken, and not responding to the manual collision avoidance operation; on the contrary, if no obstacle exists in front of the steering side and the obstacle is kept in the low-risk area, judging that the collision risk is not eliminated, and adopting an early warning strategy; and if the barrier enters a high-risk area from a low-risk area, judging that the collision risk is not eliminated, and adopting an early warning and braking strategy.
Optionally, the collision avoidance strategy is determined according to the position of the obstacle in the dangerous area only when the working state of the truck with the trailer needs to meet a certain condition. Optionally, obtaining a current working state of the truck with the trailer, wherein the working state at least comprises a vehicle speed and a corner; and determining that the current working state meets a set range. When the current working state meets the set range, the collision avoidance strategy can be activated only when the vehicle speed is relatively low and the turning angle is relatively large.
In one embodiment, the operation state satisfying the set range includes: (1) vehicle speed conditions: the vehicle speed is more than 5km/h and less than 30 km/h. (2) Turning: the turning angle is more than 40 deg. (3) The right turn light is turned on. (4) The ESP (electronic stability control system) function is not activated. (5) The transverse acceleration is less than 2.5m/s2. (6) The parking hand brake is not pulled up. (7) The dual flash lamp is in an off state.
Correspondingly, if the collision risk is not eliminated, replacing the manual collision avoidance operation with a collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the belt to control the truck with the belt comprises: if the collision risk is not eliminated and the current working state does not meet the set range due to manual collision avoidance operation, the manual collision avoidance operation is still replaced by a collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the trailer so as to control the truck with the trailer. For example, in the process of manual braking, manual steering and manual acceleration, if the obstacle is kept in a low-risk area, the obstacle is prevented from entering a high-risk area (due to the fact that the obstacle is close to the high-risk area), the situation that the vehicle speed or the turning angle cannot meet the set range due to manual braking, manual steering and manual acceleration is shielded, and an early warning strategy is still adopted.
The embodiment of the present application still provides a take trailer to turn to collision avoidance system, see fig. 7, include: a controller, and a radar (e.g., a side-facing millimeter wave radar), a gyroscope, an alarm, an engine management system, and an electronic braking system coupled to the controller. Optionally, the alarm has buzzing, lighting and a display screen.
The radar is used for determining the position of an obstacle in a dangerous area; the gyroscope is used for determining the included angle between a tractor with a trailer truck and the trailer truck.
The controller is used for determining a dangerous area according to an included angle between a tractor with a trailer and the trailer in the steering process of the trailer, and determining a collision avoidance strategy according to the position of an obstacle in the dangerous area; after an early warning instruction is sent to an alarm and/or a braking instruction is sent to an electronic braking system and a torque limiting instruction is sent to an engine management system, if manual collision avoidance operation of a driver is detected, the manual collision avoidance operation is adopted to control the truck with the trailer; under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the barrier in the dangerous area; and if the collision risk is not eliminated, replacing the manual collision avoidance operation by adopting a collision avoidance strategy matched with the current position of the barrier in the dangerous area of the truck with the trailer so as to control the truck with the trailer.
The controller in this embodiment can execute the steering collision avoidance method for the truck with the trailer provided in any one of the above embodiments, and has corresponding technical effects.
The application sets up early warning and braking state machine to entire system's operating condition, refers to fig. 8, carries out complete description to system operating condition:
the vehicle starts the function and defaults to get into the off state, and the function switch gets into standby state after opening, and operating condition gets into operating condition after satisfying, and the barrier gets into low-risk region and for being close to the trend, carries out the early warning, gets into high-risk region, carries out early warning and braking.
And (3) closing state: the function is turned off. Standby state: and starting the function, and waiting for the working state condition to be met.
The working state is as follows: the working state condition of function activation is satisfied; entering the working state from the standby state: judging whether all the working conditions are met; entering an operating state from a warning and/or braking state: and comprehensively judging by combining the functional working condition, the driver operation judgment and the functional feedback mechanism.
Early warning state: the controller sends an early warning instruction to the alarm to control the alarm lamp to be on for a long time.
Early warning and braking states: the controller sends a braking instruction to the alarm to control the alarm lamp to flash and control the buzzer to send out; and sending a braking control command to the electronic braking system, and sending a torque limiting command to the engine management system, wherein the torque is limited to be 0. If the braking results in the vehicle stopping, the braking is maintained for 2s after the vehicle stopping.
And (5) sending a control instruction to the alarm to display on a display screen: and (4) functional failure and giving a corresponding failure type.
In connection with the above states, the following description is made for the system operating state jumps, where the following 1-11 correspond to 1-11 in fig. 8, respectively:
1. the function switch is turned on.
2. The function switch is turned off.
3. The working conditions are satisfied (the vehicle satisfies the following 7 conditions):
(1) vehicle speed conditions: the vehicle speed is more than 5km/h and less than 30 km/h;
(2) steering angle: the steering angle is more than 40 deg;
(3) turning on a right steering lamp;
(4) the ESP (electronic stability control system) function is not activated;
(5) the transverse acceleration is less than 2.5m/s2；
(6) The parking hand brake is not pulled up;
(7) the dual flash lamp is in an off state.
4. The operating condition is not satisfied (any one of the above conditions is not satisfied).
5. The following three conditions are simultaneously achieved:
(1) the working condition is satisfied;
(2) the obstacle is in a low risk area;
(3) the obstacle tends to move closer.
6. The following conditions (1) and (2) are achieved:
(1) the barrier is not in the low-risk area and not in the high-risk area;
(2) the working conditions are not satisfied.
Note that: and if the working condition of the condition (2) is not met, judging that: the driver performs braking, steering and accelerating operation to avoid collision, so that the two working conditions of steering and vehicle speed are not met, and the state is kept and jumping is not performed.
7. The following conditions (1) and (2) are achieved:
(1) after the brake is stopped (the vehicle speed is less than 0.5km/h), keeping the brake for more than 2 s;
(2) the working conditions are not satisfied.
Note that: and if the working condition of the condition (2) is not met, judging that: the driver performs braking, steering and accelerating operation to avoid collision, so that the two working conditions of steering and vehicle speed are not met, and the state is kept and jumping is not performed. And (4) activating the function, keeping the state and not jumping when the vehicle speed condition caused by braking is not met.
8. The barrier enters the high-risk area from the low-risk area.
9. The barrier enters the low-risk area from the high-risk area.
10. Functional failure, the failure type is: radar faults, communication faults, electronic brake system faults, and the like, but are not limited thereto.
11. The function is failure-free.
It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the application. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the present application are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present application are intended to be included within the scope of the present application.

Claims (9)

1. A steering collision avoidance method for a belt trailer truck is characterized by comprising the following steps:
determining a dangerous area on the side surface of a tractor and a dangerous area on the side surface of a trailer according to a preset rectangular size in the steering process of a trailer with a trailer, wherein the dangerous areas comprise a high-risk area and a low-risk area; the transverse distance between the high-risk area and the trailer is smaller than that between the high-risk area and the trailer; splicing the dangerous area on the side surface of the tractor and the dangerous area on the side surface of the trailer according to the included angle between the tractor and the trailer to obtain a final dangerous area, and determining a collision avoidance strategy according to the position of the barrier in the dangerous area;
in the process of executing the collision avoidance strategy, if manual collision avoidance operation of a driver is detected, the truck with the trailer is controlled by the manual collision avoidance operation, under the control of the manual collision avoidance operation, the change situation of collision risks is judged according to the position of an obstacle in the dangerous area, and if the collision risks are not eliminated, the manual collision avoidance operation is replaced by the collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the trailer, so that the truck with the trailer is controlled.
2. The method for avoiding collision during steering of a trailer truck according to claim 1, wherein before determining the danger zone according to an angle between a tractor and a trailer of the trailer truck during steering of the trailer truck, the method further comprises:
respectively acquiring the rotating speeds of a tractor and a trailer in the steering process of a trailer;
obtaining relative rotating speed according to the rotating speed of the tractor and the trailer;
and carrying out discrete integration on the relative rotating speed to obtain an included angle between the tractor and the trailer.
3. The steering collision avoidance method for a pickup truck according to claim 1,
the determining a collision avoidance strategy according to the position of the obstacle in the dangerous area comprises:
if the obstacle is located in the low-risk area and the movement trend of the obstacle is close to the truck with the trailer, determining an early warning strategy;
and if the obstacle is located in the high-risk area, determining an early warning and braking strategy.
4. The method for avoiding collision of a steering wheel of a truck according to claim 1, wherein the danger zone comprises a high danger zone and a low danger zone, and the distance between the high danger zone and the truck is smaller than that between the high danger zone and the low danger zone; the manual collision avoidance operation comprises manual braking;
under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the obstacle in the dangerous area, wherein the change condition comprises the following steps:
under the control of manual braking operation, if the barrier is kept in a low-risk area or a high-risk area, judging that the collision risk is not eliminated;
if the barrier enters the high-risk area from the low-risk area and the manual braking strength is greater than or equal to a set value, judging that the collision risk is eliminated;
if the barrier enters the high-risk area from the low-risk area and the manual braking intensity is smaller than a set value, judging that the collision risk is not eliminated;
if the barrier enters the low-risk area from the high-risk area, judging that the collision risk is not eliminated, and judging that the braking intervention is quitted;
and if the barrier exits the low-risk area, judging that the collision risk is eliminated.
5. The method for avoiding collision of a steering wheel of a truck according to claim 1, wherein the danger zone comprises a high danger zone and a low danger zone, and the distance between the high danger zone and the truck is smaller than that between the high danger zone and the low danger zone; the manual collision avoidance operation comprises manual steering;
under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the obstacle in the dangerous area, wherein the change condition comprises the following steps:
under the control of the manual steering operation, it is determined that the collision risk is not eliminated if the obstacle remains in the low-risk region or enters the high-risk region from the low-risk region.
6. The method for avoiding collision of a steering wheel of a truck according to claim 1, wherein the danger zone comprises a high danger zone and a low danger zone, and the distance between the high danger zone and the truck is smaller than that between the high danger zone and the low danger zone; the manual collision avoidance operation comprises manual acceleration;
under the control of the manual collision avoidance operation, judging the change condition of the collision risk according to the position of the obstacle in the dangerous area, wherein the change condition comprises the following steps:
under the control of the manual collision avoidance operation, if an obstacle exists in front of the steering side, judging that the operation is wrong;
if no obstacle exists in front of the steering side, if the obstacle is kept in the low-risk area or enters the high-risk area from the low-risk area, the collision risk is determined not to be eliminated.
7. The method for steering collision avoidance of a pickup truck according to claim 1, further comprising, before said determining a collision avoidance strategy based on a location of an obstacle within said hazardous area:
acquiring the current working state of the truck with the trailer, wherein the working state at least comprises a vehicle speed and a corner;
determining that the current working state meets a set range;
if the collision risk is not eliminated, replacing the manual collision avoidance operation with a collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the belt trailer to control the truck with the belt trailer, comprising:
if the collision risk is not eliminated and the current working state does not meet the set range due to manual collision avoidance operation, the manual collision avoidance operation is still replaced by a collision avoidance strategy matched with the current position of the obstacle in the dangerous area of the truck with the trailer so as to control the truck with the trailer.
8. The method for avoiding collision of a steering wheel of a truck with a trailer according to any one of claims 1 to 7, wherein the collision avoidance strategy comprises an early warning strategy and an early warning and braking strategy;
the early warning strategy is to send an early warning instruction to an alarm and control an alarm lamp to be on for a long time;
the early warning and braking strategy comprises: and sending an early warning instruction to an alarm, controlling an alarm lamp to flicker, controlling to send buzzing, sending a control instruction to an electronic braking system, sending a torque limiting instruction to an engine management system, limiting the torque to be 0, and keeping braking for 2s after the braking if the braking causes the braking of the trailer.
9. The utility model provides a take trailer car to turn to collision avoidance system which characterized in that includes: the system comprises a controller, and a radar, a gyroscope, an alarm, an engine management system and an electronic braking system which are connected with the controller;
the radar is used for determining the position of an obstacle in a danger area;
the gyroscope is used for determining an included angle between a tractor with a trailer truck and the trailer;
the controller is used for determining a dangerous area on the side surface of the tractor and a dangerous area on the side surface of the trailer according to a preset rectangular size in the steering process of the trailer with the trailer, wherein the dangerous areas comprise a high-risk area and a low-risk area; the transverse distance between the high-risk area and the trailer is smaller than that between the high-risk area and the trailer; splicing the dangerous area on the side surface of the tractor and the dangerous area on the side surface of the trailer according to the included angle between the tractor and the trailer to obtain a final dangerous area, and determining a collision avoidance strategy according to the position of the barrier in the dangerous area; after an early warning instruction is sent to an alarm and/or a braking instruction is sent to an electronic braking system and a torque limiting instruction is sent to an engine management system, if the manual collision avoidance operation of a driver is detected, the truck with the trailer is controlled by the manual collision avoidance operation, under the control of the manual collision avoidance operation, the change condition of collision risks is judged according to the position of an obstacle in a dangerous area, and if the collision risks are not eliminated, the manual collision avoidance operation is replaced by a collision strategy matched with the current position of the obstacle in the dangerous area of the truck with the trailer, so that the truck with the trailer is controlled.
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