CN114802226A - Automobile driving assisting early warning control device and judgment method thereof - Google Patents
Automobile driving assisting early warning control device and judgment method thereof Download PDFInfo
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- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 230000006870 function Effects 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 5
- 238000013480 data collection Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
- B60N2/976—Details or parts not otherwise provided for massaging systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
- B60N2002/981—Warning systems, e.g. the seat or seat parts vibrates to warn the passenger when facing a danger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention relates to the technical field of vehicles, in particular to an automobile auxiliary driving early warning control device and a judgment method thereof. The auxiliary driving controller is respectively connected with a vehicle control unit, a vehicle body electronic stability control system and an environmental data acquisition module through a controller local area network, the vehicle control unit is respectively connected with a vehicle body controller and a motor controller through the controller local area network, and the vehicle body controller is respectively connected with the fatigue relieving module and the warning module through signals. The vehicle speed control system comprises a vehicle body, a vehicle controller, a motor controller, a seat massage module, a vehicle speed control module and a vehicle body control module.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an automobile auxiliary driving early warning control device and a judgment method thereof.
Background
Now, the number of driving-assistant automobiles is increased, most automobiles are provided with an adaptive cruise function, and the function is basically to avoid accidents by adjusting the speed of the automobiles when special condition early warning occurs through a driving-assistant controller, or to remind drivers by using an instrument alarm or a buzzer alarm in extreme conditions.
However, in the existing instrument early warning mode, when a driver starts the self-adaptive cruise, attention is easy to be ignored, or a buzzer alarms, and safety risks exist due to sudden sound generation; meanwhile, the driver is reminded, and meanwhile, the early warning effect on vehicles and pedestrians in the environment cannot be achieved, and the safety risk on surrounding pedestrians and vehicles is also avoided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the vehicle driving-assisting early warning control device and the judging method thereof mainly provide the driver and the surrounding vehicles and pedestrians with the function of early warning, the system is carried out on the premise of not increasing the hardware design, and the cost is low and the realizability is strong.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automobile driving assistance early warning control device comprises a driving assistance controller, a driving assistance controller and a warning module, wherein the driving assistance controller is used for processing collected external environment and vehicle and pedestrian information; the vehicle control unit is used for receiving and processing the information of the external vehicles and pedestrians sent by the driving assisting controller and sending instructions to other controllers of the vehicle; the electronic vehicle body stabilizing system controller is used for converting the wheel speed detected by the wheel speed sensor into speed measurement and sending the speed measurement to the auxiliary driving controller as input; the vehicle body controller is used for receiving a command of the vehicle control unit; the motor controller is used for receiving a torque request of the whole vehicle controller, driving the motor to work and providing power; the seat controller is used for receiving the instruction of the vehicle body controller and driving the seat to provide a seat massage function; the auxiliary driving controller is respectively connected with a vehicle control unit, a vehicle body electronic stability control system and an environmental data acquisition module through a controller local area network, the vehicle control unit is respectively connected with a vehicle body controller and a motor controller through the controller local area network, and the vehicle body controller is respectively connected with the fatigue relieving module and the warning module through signals.
Further, the environmental data acquisition module comprises a radar and a camera, and the radar and the camera are respectively connected with the auxiliary driving controller.
Furthermore, the fatigue link module comprises a seat and a seat controller, wherein the seat controller is installed in the seat and used for reducing the fatigue feeling of a driver.
Further, the warning module includes danger alarm lamp and car interior atmosphere lamp, danger alarm lamp and car interior atmosphere lamp are connected with automobile body controller respectively.
A judging method of an automobile driving assisting early warning control device comprises the following steps:
s1: the IGN of the vehicle is electrified and initialized, no relevant fault of the vehicle is detected, and a relevant controller and a sensor of the whole vehicle work normally;
s2: on the premise that the vehicle is normal at S1, determining whether the vehicle enters the adaptive cruise mode:
s2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller receives information of vehicles and pedestrians acquired by the environment data acquisition module in the maximum monitoring range of the environment data acquisition module, whether safety hazards exist in the external vehicles and pedestrians is judged, if a pedestrian exists in the front or the vehicle speed is larger than the vehicle speed in the front and the distance is in the early warning range, the auxiliary driving controller sends flg1, and if the vehicle speed in the rear is larger than the vehicle speed and the distance between the two vehicles is in the early warning range, the auxiliary driving controller sends flg 2;
s2.2, if the distance of the vehicle exceeds the maximum detectable range of the environment perception controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to S2 for re-judgment;
s3: when the vehicle control unit receives the information sent by the auxiliary driving controller, and the vehicle control unit receives the flg1 instruction, the vehicle control unit judges the vehicle speed: when the relative speed V of the two vehicles is between-V1 and-V2, the vehicle controller firstly controls the travel Q1 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, and simultaneously sends an instruction L1 to the vehicle body controller, and the vehicle body controller controls the atmosphere lamp in the vehicle to work at the frequency of F1 so as to remind a driver;
when the relative speed V of the two vehicles is between-V2 and-V3, the vehicle controller firstly controls the travel Q2 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, and simultaneously sends an instruction L2 to the vehicle body controller, the vehicle body controller controls the interior atmosphere lamp of the vehicle to work at the frequency of F2, and simultaneously the vehicle body controller sends a seat massage instruction to the seat controller to remind a driver;
when the relative speed V of the two vehicles is less than-V3, the vehicle controller firstly controls the travel Q3 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, and simultaneously sends an instruction L2 to the vehicle controller, the vehicle controller controls an atmosphere lamp in the vehicle to work at the frequency of F3 and starts a danger alarm lamp, and simultaneously the vehicle controller sends a seat massage instruction to the seat controller to remind a driver;
s4: when the vehicle controller receives the flg2 instruction, and when the relative speed V of the two vehicles is between V1 and V2, the vehicle body controller controls the vehicle interior atmosphere lamp to work at the frequency of F1 to remind a driver;
when the relative speed V of the two vehicles is between V2 and V3, the vehicle controller firstly sends a request torque to the motor controller, the motor controller drives the motor to provide a response rotating speed to realize the self-adaptive cruise acceleration function, meanwhile, the vehicle controller sends an instruction L2 to the vehicle body controller, the vehicle body controller controls the vehicle interior atmosphere lamp to work at the frequency of F2, and meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller to remind a driver;
when the relative speed V of the two vehicles is greater than V3, the vehicle controller firstly realizes the self-adaptive cruise acceleration function, and simultaneously sends an instruction L3 to the vehicle controller, the vehicle controller controls the vehicle interior atmosphere lamp to work at the frequency of F3 and starts a danger alarm lamp, and simultaneously the vehicle controller sends a seat massage instruction to the seat controller to remind a driver;
s5: when the driver does not take charge of the vehicle and the vehicle is still in the self-adaptive cruise state under the condition of no fault, and the vehicle does not have the conditions of S3 and S4 in N continuous time periods, the whole vehicle controller sends an early warning ending instruction to the vehicle body controller, ends the working states of the seat, the danger warning lamp and the vehicle interior atmosphere lamp, and returns to the working state of S2.2.
The invention has the beneficial effects that the defects in the background technology are solved, the information of peripheral pedestrian vehicles is monitored by an auxiliary driving controller through acquiring environmental data, the danger degree of the peripheral pedestrian vehicles to the vehicles is judged, the information is synchronously sent to a vehicle controller, the vehicle controller is used as the brain of an electric vehicle after receiving relevant information, real-time required torque is sent to a motor controller, the motor controller drives the motor to rotate, the vehicle speed is controlled to avoid the dangerous condition, the vehicle controller is synchronously sent to a vehicle body controller to send relevant instructions, and the vehicle body controller reminds drivers, the peripheral vehicles and pedestrians by controlling a danger alarm lamp and an atmosphere lamp in the vehicle; meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller, and reminds the driver to massage the seat at the same time so as to reduce the fatigue of the driver.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a block diagram of a control device of the present invention;
FIG. 2 is a flow chart of a determination method of the present invention;
in the figure: 1. the system comprises an auxiliary driving controller, a vehicle controller 2, a vehicle body electronic stability control system 3, a vehicle body controller 4, a motor controller 5, a seat controller 6, a danger alarm lamp 7, an atmosphere lamp in the vehicle 8 and an environment data acquisition module 9.
Detailed Description
The invention will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The early warning control device for the auxiliary driving of the automobile shown in fig. 1 comprises an auxiliary driving controller 1, a signal acquisition module, a signal processing module and a signal processing module, wherein the auxiliary driving controller is used for processing the acquired external environment and the information of the vehicles and the pedestrians;
the vehicle control unit 2 is used for receiving and processing the information of the external vehicles and pedestrians sent by the driving assisting controller 1 and sending instructions to other controllers of the vehicles;
the electronic vehicle body stability system controller 3 is used for converting the wheel speed detected by the wheel speed sensor into speed measurement and sending the speed measurement to the auxiliary driving controller 1 as input;
the vehicle body controller 4 is used for receiving a command of the vehicle control unit 2;
the motor controller 5 is used for receiving a torque request of the vehicle control unit 2, driving the motor to work and providing power;
the seat controller 6 is used for receiving the instruction of the vehicle body controller 4 and driving the seat to provide a seat massage function;
supplementary driving controller 1 is connected with vehicle control unit 2, automobile body electron stable control system 3 and environmental data collection module 9 respectively through controller LAN, and vehicle control unit 2 is connected with vehicle control unit 4 and machine controller 5 respectively through controller LAN, and vehicle control unit 4 passing signal is alleviated the module with tired respectively and is connected with warning module, and wherein, tired link module includes seat and seat controller 6, and the seat is seat massage function carrier, install seat controller 6 in the seat for alleviate driver's tired sense, warning module includes in dangerous alarm lamp 7 and the car atmosphere lamp 8, plays the early warning function.
In addition, external environment data is gathered to 9 uses of environmental data collection module, and environmental data collection module 9 includes radar and camera, radar and camera are connected with supplementary driving controller 1 respectively, and wherein, environmental data collection module 9 is environmental perception class sensor, not only is limited to millimeter wave radar and camera, and other environmental perception sensors also can replace, as long as satisfy the design demand can.
As shown in fig. 2, a method for determining an auxiliary driving warning control device of an automobile includes the following steps:
s1: the IGN of the vehicle is electrified and initialized, no relevant fault of the vehicle is detected, and a relevant controller and a sensor of the whole vehicle work normally;
s2: on the premise that the vehicle is normal at S1, determining whether the vehicle enters the adaptive cruise mode:
s2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller 1 receives information of vehicles and pedestrians acquired by the environment data acquisition module 9 in the maximum monitorable range of the environment data acquisition module 9, judges whether external vehicles and pedestrians have potential safety hazards, if pedestrians exist in the front or the vehicle speed is larger than the vehicle speed in the front and the distance is in an early warning range, the auxiliary driving controller 1 sends flg1, and if the vehicle speed in the rear is larger than the vehicle speed and the distance between the vehicles is in the early warning range, the auxiliary driving controller 1 sends flg 2;
s2.2, if the distance of the vehicle exceeds the maximum detectable range of the environment perception controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to S2 for re-judgment;
s3: when the vehicle control unit 2 receives the information sent by the driving assistance controller 1, and the vehicle control unit 2 receives the flg1 instruction, the vehicle control unit 2 judges the vehicle speed: when the relative speed V of the two vehicles is between-V1 and-V2, the vehicle control unit 2 firstly controls the travel Q1 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle control unit 2 sends an instruction L1 to the vehicle body controller 4, and the vehicle body controller 4 controls the atmosphere lamp 8 in the vehicle to work at the frequency of F1 so as to remind a driver;
when the relative speed V of the two vehicles is between-V2 and-V3, the vehicle control unit 2 firstly controls the travel Q2 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle control unit 2 sends an instruction L2 to the vehicle body controller 4, the vehicle body controller 4 controls the atmosphere lamp 8 in the vehicle to work at the frequency of F2, and meanwhile, the vehicle body controller 4 sends a seat massage instruction to the seat controller 6 so as to remind a driver;
when the relative speed V of the two vehicles is less than-V3, the vehicle controller 2 firstly controls the travel Q3 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle controller 2 sends an instruction L2 to the vehicle body controller 4, the vehicle body controller 4 controls the vehicle interior atmosphere lamp 8 to work at the frequency of F3 and starts a danger alarm lamp, and meanwhile, the vehicle body controller 4 sends a seat massage instruction to the seat controller 6 so as to remind a driver;
s4: when the vehicle controller 2 receives the flg2 instruction, and when the relative speed V of the two vehicles is between V1 and V2, the vehicle body controller 4 controls the vehicle interior atmosphere lamp 8 to work at the frequency of F1 to remind a driver;
when the relative speed V of the two vehicles is between V2 and V3, the vehicle control unit 2 firstly sends a request torque to the motor controller 5, the motor controller 5 drives the motor to provide a response rotating speed to realize the self-adaptive cruise acceleration function, meanwhile, the vehicle control unit 2 sends an instruction L2 to the vehicle body controller 4, the vehicle body controller 4 controls the vehicle interior atmosphere lamp 8 to work at the frequency of F2, and meanwhile, the vehicle body controller 4 sends a seat massage instruction to the seat controller 6 to remind a driver;
when the relative speed V of the two vehicles is greater than V3, the vehicle controller 2 firstly realizes the self-adaptive cruise acceleration function, meanwhile, the vehicle controller 2 sends an instruction L3 to the vehicle body controller 4, the vehicle body controller 4 controls the vehicle interior atmosphere lamp 8 to work at the frequency of F3 and starts a danger alarm lamp, and meanwhile, the vehicle body controller 4 sends a seat massage instruction to the seat controller 6 to remind a driver;
s5: when the driver does not take charge of the vehicle and the vehicle is in the adaptive cruise state under the condition of no fault, and the vehicle does not have the conditions of S3 and S4 in N continuous time periods, the vehicle controller 2 sends an early warning ending instruction to the vehicle body controller 4, ends the working states of the seat, the danger warning lamp 7 and the vehicle interior atmosphere lamp 8, and returns to the working state of S2.2.
While particular embodiments of the present invention have been described in the foregoing specification, various modifications, alterations and adaptations to those embodiments have been described herein without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a car driver assistance early warning controlling means which characterized in that: comprises that
The auxiliary driving controller (1) is used for processing the collected external environment and vehicle and pedestrian information;
the vehicle control unit (2) is used for receiving and processing the information of the external vehicles and pedestrians sent by the driving assisting controller (1) and sending instructions to other controllers of the vehicles;
the electronic vehicle body stability system controller (3) is used for converting the wheel speed detected by the wheel speed sensor into speed measurement and sending the speed measurement to the auxiliary driving controller (1) as input;
the vehicle body controller (4) is used for receiving a command of the vehicle control unit (2);
the motor controller (5) is used for receiving a torque request of the whole vehicle controller (2), driving the motor to work and providing power;
the seat controller (6) is used for receiving the instruction of the vehicle body controller (4) and driving the seat to provide a seat massage function;
the auxiliary driving controller (1) is connected with a vehicle control unit (2), a vehicle body electronic stability control system (3) and an environmental data acquisition module (9) through a controller local area network respectively, the vehicle control unit (2) is connected with a vehicle body controller (4) and a motor controller (5) through the controller local area network respectively, and the vehicle body controller (4) is connected with a fatigue relieving module and a warning module through signals respectively.
2. The vehicle driving-assisting warning control device as claimed in claim 1, wherein: the environment data acquisition module (9) comprises a radar and a camera, and the radar and the camera are respectively connected with the assistant driving controller (1).
3. The warning control apparatus for assisting driving of a vehicle according to claim 1, wherein: the fatigue link module comprises a seat and a seat controller (6), wherein the seat controller (6) is installed in the seat and used for reducing the fatigue feeling of a driver.
4. The warning control apparatus for assisting driving of a vehicle according to claim 1, wherein: the warning module include in dangerous alarm lamp (7) and the car atmosphere lamp (8), dangerous alarm lamp (7) and car atmosphere lamp (8) are connected with automobile body controller (4) respectively.
5. A judging method of the automobile driving assistance early warning control device according to any one of claims 1 to 4, characterized in that: comprises the following steps:
s1: the IGN of the vehicle is electrified and initialized, no relevant fault of the vehicle is detected, and a relevant controller and a sensor of the whole vehicle work normally;
s2: on the premise that the vehicle is normal at S1, determining whether the vehicle enters the adaptive cruise mode:
s2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller (1) receives vehicle and pedestrian information acquired by the environment data acquisition module (9) in the maximum monitorable range of the environment data acquisition module (9), judges whether external vehicles and pedestrians have potential safety hazards, if a pedestrian exists in the front or the vehicle speed is greater than the vehicle speed in the front and the distance is within an early warning range, the auxiliary driving controller (1) sends flg1, and if the vehicle speed in the rear is greater than the vehicle speed and the distance between the two vehicles is within the early warning range, the auxiliary driving controller (1) sends flg 2;
s2.2, if the distance of the vehicle exceeds the maximum detectable range of the environment perception controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to S2 and judging again;
s3: when the vehicle control unit (2) receives the information sent by the driving assistance controller (1), and the vehicle control unit (2) receives the flg1 instruction, the vehicle control unit (2) judges the vehicle speed: when the relative speed V of the two vehicles is between-V1 and-V2, the vehicle control unit (2) firstly controls the travel Q1 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle control unit (2) sends an instruction L1 to the vehicle body controller (4), and the vehicle body controller (4) controls the atmosphere lamp (8) in the vehicle to work at the frequency of F1 so as to remind a driver;
when the relative speed V of the two vehicles is between-V2 and-V3, the vehicle controller (2) firstly controls the travel Q2 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle controller (2) sends an instruction L2 to the vehicle body controller (4), the vehicle body controller (4) controls the atmosphere lamp (8) in the vehicle to work at the frequency of F2, and meanwhile, the vehicle body controller (4) sends a seat massage instruction to the seat controller (6) to remind a driver;
when the relative speed V of the two vehicles is less than-V3, the vehicle controller (2) firstly controls the travel Q3 of a brake pedal to decelerate so as to realize the self-adaptive cruise deceleration function, meanwhile, the vehicle controller (2) sends an instruction L2 to the vehicle body controller (4), the vehicle body controller (4) controls an atmosphere lamp (8) in the vehicle to work at the frequency of F3 and starts a danger alarm lamp, and meanwhile, the vehicle body controller (4) sends a seat massage instruction to the seat controller (6) so as to remind a driver;
s4: when the vehicle controller (2) receives the flg2 instruction, and when the relative vehicle speed V of the two vehicles is between V1 and V2, the vehicle body controller (4) controls the vehicle interior atmosphere lamp (8) to work at the frequency of F1 to remind a driver;
when the relative speed V of the two vehicles is between V2 and V3, the vehicle control unit (2) firstly sends a request torque to the motor controller (5), the motor controller (5) drives the motor to provide a response rotating speed to realize the self-adaptive cruise acceleration function, meanwhile, the vehicle control unit (2) sends an instruction L2 to the vehicle body controller (4), the vehicle body controller (4) controls the interior atmosphere lamp (8) to work at the frequency of F2, and meanwhile, the vehicle body controller (4) sends a seat massage instruction to the seat controller (6) to remind a driver;
when the relative speed V of the two vehicles is greater than V3, the whole vehicle controller (2) firstly realizes the self-adaptive cruise acceleration function, meanwhile, the whole vehicle controller (2) sends an instruction L3 to the vehicle body controller (4), the vehicle body controller (4) controls the vehicle interior atmosphere lamp (8) to work at the frequency of F3 and starts a danger alarm lamp, and meanwhile, the vehicle body controller (4) sends a seat massage instruction to the seat controller (6) to remind a driver;
s5: when a driver does not take charge of the vehicle and the vehicle is in the self-adaptive cruise state under the condition of no fault, the vehicle controller (2) sends an early warning ending instruction to the vehicle body controller (4) when the vehicle does not have the conditions of S3 and S4 in N continuous time periods, ends the working states of the seat, the danger warning lamp (7) and the vehicle interior atmosphere lamp (8), and returns to the working state of S2.2.
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| CN202210404675.7A CN114802226A (en) | 2022-04-18 | 2022-04-18 | Automobile driving assisting early warning control device and judgment method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834729A (en) * | 2023-08-28 | 2023-10-03 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
| CN116968765A (en) * | 2023-09-21 | 2023-10-31 | 常州星宇车灯股份有限公司 | Lane departure warning method and system with self-adaptive warning time interval |
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