CN114802226B - Automobile auxiliary driving early warning control device and judging method thereof - Google Patents
Automobile auxiliary driving early warning control device and judging method thereof Download PDFInfo
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- CN114802226B CN114802226B CN202210404675.7A CN202210404675A CN114802226B CN 114802226 B CN114802226 B CN 114802226B CN 202210404675 A CN202210404675 A CN 202210404675A CN 114802226 B CN114802226 B CN 114802226B
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- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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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 judging method thereof. The auxiliary driving controller is respectively connected with a whole vehicle controller, a vehicle body electronic stability control system and an environmental data acquisition module through a controller local area network, the whole vehicle controller 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 a fatigue relieving module and a warning module through signals. Through gathering environmental data, the information of surrounding pedestrian's vehicle is monitored, judges surrounding pedestrian's vehicle to the dangerous degree of bicycle, sends to whole car controller in step, and whole car controller receives the relevant information after, sends real-time demand moment of torsion to motor controller, motor controller drive motor rotational speed to control speed of a motor vehicle is in order to avoid dangerous condition, carries out the seat massage and lightens driver's tired sense when reminding driver and surrounding vehicle and pedestrian and reminding driver simultaneously.
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 judging method thereof.
Background
Today, more and more driver-assisted vehicles are equipped with an adaptive cruise function, which basically is to alert the driver by means of an auxiliary driving controller, by adjusting the vehicle speed when special situation warnings occur, or by means of an instrument alarm or a buzzer alarm when extreme situations are encountered.
However, in the existing instrument early warning mode, when a driver starts the self-adaptive cruising, the driver is easy to pay attention to and not to ignore, or the buzzer alarms, and safety risks can exist due to sudden generation of sound; meanwhile, the warning device can remind the driver, and meanwhile, the warning device can not play a role in warning vehicles and pedestrians in the environment, and safety risks are also caused for surrounding pedestrians and vehicles.
Disclosure of Invention
The invention aims to solve the technical problems that: the automobile auxiliary driving early warning control device and the judging method thereof mainly provide the early warning function for drivers, surrounding vehicles and pedestrians, and the system is carried out on the premise of not increasing hardware design, and are low in cost and high in realizability.
The technical scheme adopted for solving the technical problems is as follows: an automobile auxiliary driving early warning control device comprises an auxiliary driving controller, a driving control module and a driving control module, wherein the auxiliary driving controller is used for processing acquired external environment and vehicle pedestrian information; the whole vehicle controller is used for receiving and processing the information of the external vehicle and pedestrians sent by the auxiliary driving controller and sending instructions to other controllers of the vehicle; the vehicle body electronic stability system controller is used for converting the wheel speed detected by the wheel speed sensor into a 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 whole vehicle controller; 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 massaging function; the auxiliary driving controller is respectively connected with a whole vehicle controller, a vehicle body electronic stability control system and an environmental data acquisition module through a controller local area network, the whole vehicle controller 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 a fatigue relieving module and a warning module through signals.
Further, the environment data acquisition module comprises a radar and a camera, and the radar and the camera are respectively connected with the driving assisting controller.
Further, the fatigue link module comprises a seat and a seat controller, wherein the seat controller is arranged in the seat and is used for relieving fatigue of a driver.
Further, the warning module comprises a dangerous alarm lamp and an atmosphere lamp in the vehicle, and the dangerous alarm lamp and the atmosphere lamp in the vehicle are respectively connected with the vehicle body controller.
A judging method of an automobile auxiliary driving early warning control device comprises the following steps:
S1: the vehicle IGN is powered on and initialized, and the fact that the vehicle has no related faults is detected, and a vehicle related controller and a sensor work normally;
s2: on the premise that the S1 vehicle is normal, judging whether the vehicle enters an adaptive cruise mode:
S2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller receives the vehicle and pedestrian information acquired by the environment data acquisition module within the maximum monitorable range of the environment data acquisition module, judges whether potential safety hazards exist in external vehicles and pedestrians, if the pedestrians exist in front or the vehicle speed of the vehicle is greater than the vehicle speed of the front vehicle and the distance is within an early warning range, the auxiliary driving controller sends flg1, and if the vehicle speed of the rear vehicle is greater than the vehicle speed of the vehicle and the distance between the two vehicles is within the early warning range, the auxiliary driving controller sends flg2;
S2.2, if the vehicle distance exceeds the maximum detectable range of the environment sensing controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to the S2, and judging again;
S3: when the whole vehicle controller receives the information sent by the auxiliary driving controller and receives the flg1 instruction, the whole vehicle controller judges the vehicle speed: when the relative vehicle speed V of two vehicles is between-V1 and-V2, the whole vehicle controller firstly controls the travel Q1 of a brake pedal to reduce speed so as to realize the self-adaptive cruising and reducing function, meanwhile, the whole vehicle controller sends an instruction L1 to the vehicle body controller, and the vehicle body controller controls atmosphere lamps in the vehicles to work at the frequency of F1 so as to remind a driver;
When the relative vehicle speed V of two vehicles is between-V2 and-V3, the whole vehicle controller firstly controls the travel Q2 of a brake pedal to reduce speed so as to realize the self-adaptive cruising and reducing function, meanwhile, the whole vehicle controller sends an instruction L2 to the vehicle body controller, the vehicle body controller controls atmosphere lamps in the vehicles to work at the frequency of F2, and meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller so as to remind a driver;
When the relative speed V of two vehicles is smaller than-V3, the whole vehicle controller firstly controls the stroke Q3 of a brake pedal to reduce speed, so that the self-adaptive cruising and reducing function is realized, meanwhile, the whole vehicle controller sends a command L2 to the vehicle body controller, the vehicle body controller controls an atmosphere lamp in the vehicle to work at the frequency of F3 and starts a hazard warning lamp, and meanwhile, the vehicle body controller sends a seat massage command to the seat controller to remind a driver;
s4: when the whole vehicle controller receives a flg2 instruction and the relative vehicle speed V of two vehicles is between V1 and V2, 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 two vehicles is between V2 and V3, the whole vehicle controller firstly sends a request torque to the motor controller, the motor controller drives the motor to provide a response rotating speed so as to realize the self-adaptive cruising acceleration function, meanwhile, the whole vehicle controller sends an instruction L2 to the vehicle body controller, the vehicle body controller controls an atmosphere lamp in the vehicle to work at the frequency of F2, and meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller so as to remind a driver;
When the relative speed V of two vehicles is greater than V3, the whole vehicle controller firstly realizes the self-adaptive cruise acceleration function, meanwhile, the whole vehicle controller sends an instruction L3 to the vehicle body controller, the vehicle body controller controls an atmosphere lamp in the vehicle to work at the frequency of F3 and starts a hazard warning lamp, and meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller to remind a driver;
S5: when the driver does not take over the vehicle and the vehicle is in the self-adaptive cruising state under the condition of no fault, and when the conditions of S3 and S4 of the vehicle do not occur in continuous N time periods, the whole vehicle controller sends an early warning ending instruction to the vehicle body controller, the working states of the seat, the dangerous warning lamp and the atmosphere lamp in the vehicle are ended, and the working state returns to the working state of S2.2.
The invention has the beneficial effects that the defects existing in the background technology are overcome, the auxiliary driving controller is mainly used for monitoring the information of surrounding pedestrian vehicles by collecting environment data, judging the danger degree of the surrounding pedestrian vehicles to the vehicle, synchronously transmitting the information to the whole vehicle controller, after receiving the related information, the whole vehicle controller is used as the brain of the electric vehicle, transmitting real-time required torque to the motor controller, and driving the motor rotation speed by the motor controller, thereby controlling the vehicle speed to avoid dangerous situations, and synchronously transmitting related instructions to the vehicle body controller, wherein the vehicle body controller is used for reminding drivers, surrounding vehicles and pedestrians by controlling the danger alarm lamp and the atmosphere lamp in the vehicle body controller; meanwhile, the vehicle body controller sends a seat massage instruction to the seat controller, and then reminds a driver to massage the seat and lighten the fatigue of the driver.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a block diagram of a control device of the present invention;
FIG. 2 is a flow chart of the judging method of the present invention;
in the figure: 1. the vehicle comprises an auxiliary driving controller, a whole vehicle controller, a vehicle body electronic stability control system, a vehicle body controller, a motor controller, a seat controller, a danger warning lamp, an in-vehicle atmosphere lamp and an environmental data acquisition module.
Detailed Description
The invention will now be described in further detail with reference to the drawings and a preferred embodiment. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
The automobile auxiliary driving early warning control device shown in fig. 1 comprises an auxiliary driving controller 1 for processing acquired external environment and pedestrian information;
the whole vehicle controller 2 is used for receiving and processing the information of the external vehicle and pedestrians sent by the auxiliary driving controller 1 and sending instructions to other controllers of the vehicle;
The vehicle body electronic stability system controller 3 is used for converting the wheel speed detected by the wheel speed sensor into a speed measurement and sending the speed measurement to the auxiliary driving controller 1 as input;
a vehicle body controller 4 for receiving a command of the whole vehicle controller 2;
the motor controller 5 is used for receiving the torque request of the whole vehicle controller 2, driving the motor to work and providing power;
a seat controller 6 for receiving an instruction from the body controller 4 and driving the seat to provide a seat massage function;
The auxiliary driving controller 1 is respectively connected with the whole vehicle controller 2, the vehicle body electronic stability control system 3 and the environmental data acquisition module 9 through a controller local area network, the whole vehicle controller 2 is respectively connected with the vehicle body controller 4 and the motor controller 5 through the controller local area network, the vehicle body controller 4 is respectively connected with the fatigue relieving module and the warning module through signals, wherein the fatigue link module comprises a seat and a seat controller 6, the seat is a seat massage function carrier, the seat controller 6 is arranged in the seat and used for relieving fatigue of a driver, and the warning module comprises a dangerous warning lamp 7 and an in-vehicle atmosphere lamp 8 and plays a warning function.
In addition, the application of the environment data acquisition module 9 acquires external environment data, the environment data acquisition module 9 comprises a radar and a camera, and the radar and the camera are respectively connected with the driving assistance controller 1, wherein the environment data acquisition module 9 is an environment sensing sensor, and the environment sensing sensor is not only limited to a millimeter wave radar and the camera, but also can replace other environment sensing sensors, so long as the design requirement is met.
As shown in fig. 2, a method for judging an automobile auxiliary driving early warning control device includes the steps of:
S1: the vehicle IGN is powered on and initialized, and the fact that the vehicle has no related faults is detected, and a vehicle related controller and a sensor work normally;
s2: on the premise that the S1 vehicle is normal, judging whether the vehicle enters an adaptive cruise mode:
S2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller 1 receives the vehicle and pedestrian information acquired by the environment data acquisition module 9 within the maximum monitoring range of the environment data acquisition module 9, judges whether potential safety hazards exist on external vehicles and pedestrians, if the front vehicles or the pedestrians are greater than the front vehicles and the distance is within the early warning range, the auxiliary driving controller 1 sends flg1, and if the rear vehicles are greater than the vehicle and the distance is within the early warning range, the auxiliary driving controller 1 sends flg2;
S2.2, if the vehicle distance exceeds the maximum detectable range of the environment sensing controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to the S2, and judging again;
S3: when the vehicle controller 2 receives the information sent by the auxiliary driving controller 1 and the vehicle controller 2 receives the flg1 command, the vehicle controller 2 performs vehicle speed judgment: when the relative vehicle speed V of two vehicles is between-V1 and-V2, the whole vehicle controller 2 firstly controls the travel Q1 of a brake pedal to reduce speed so as to realize the self-adaptive cruising and reducing function, meanwhile, the whole vehicle controller 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 vehicle speed V of two vehicles is between-V2 and-V3, the whole vehicle controller 2 firstly controls the travel Q2 of a brake pedal to reduce speed, so as to realize the self-adaptive cruising and reducing function, meanwhile, the whole 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 two vehicles is smaller than-V3, the whole vehicle controller 2 firstly controls the stroke Q3 of a brake pedal to reduce speed, so as to realize the self-adaptive cruising speed reduction function, meanwhile, the whole 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 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;
s4: when the whole vehicle controller 2 receives a flg2 instruction and the relative vehicle speed V of two vehicles is between V1 and V2, 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 vehicle speed V of the two vehicles is between V2 and V3, the whole vehicle controller 2 firstly sends a request torque to the motor controller 5, the motor controller 5 drives the motor to provide a response rotating speed so as to realize the self-adaptive cruising acceleration function, meanwhile, the whole 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 so as to remind a driver;
When the relative speed V of 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 atmosphere lamp 8 in the vehicle to work at the frequency of F3 and starts the hazard warning 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 over the vehicle and the vehicle is in the self-adaptive cruise state under the condition of no fault, and when the conditions of the vehicle are not in the S3 and S4 continuously for N time periods, the whole vehicle controller 2 sends an early warning ending instruction to the vehicle body controller 4, ends the working states of the seat, the hazard warning lamp 7 and the atmosphere lamp 8 in the vehicle, and returns to the working state of S2.2.
The foregoing description is merely illustrative of specific embodiments of the invention, and the invention is not limited to the details shown, since modifications and variations of the foregoing embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (4)
1. An automobile auxiliary driving early warning control device is characterized in that: comprising
The auxiliary driving controller (1) is used for processing the acquired external environment and vehicle pedestrian information;
The whole vehicle controller (2) is used for receiving and processing the information of the external vehicle and pedestrians sent by the auxiliary driving controller (1) and sending instructions to other controllers of the vehicle;
A vehicle body electronic stability system controller (3) for converting the wheel speed detected by the wheel speed sensor into a vehicle speed and transmitting the vehicle speed to the auxiliary driving controller (1) as an input;
The vehicle body controller (4) is used for receiving a command of the whole vehicle controller (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 massaging function;
The auxiliary driving controller (1) is respectively connected with a whole vehicle controller (2), a vehicle body electronic stability system controller (3) and an environmental data acquisition module (9) through a controller local area network, the whole vehicle controller (2) is respectively connected with a vehicle body controller (4) and a motor controller (5) through the controller local area network, and the vehicle body controller (4) is respectively connected with a fatigue relieving module and a warning module through signals;
the judging method of the automobile auxiliary driving early warning control device comprises the following steps:
S1: the vehicle IGN is powered on and initialized, and the fact that the vehicle has no related faults is detected, and a vehicle related controller and a sensor work normally;
s2: on the premise that the S1 vehicle is normal, judging whether the vehicle enters an adaptive cruise mode:
S2.1, if the self-adaptive cruise mode is entered, the auxiliary driving controller (1) receives the information of the vehicles and pedestrians acquired by the environment data acquisition module (9) within the maximum monitorable range of the environment data acquisition module (9), judges whether the external vehicles and pedestrians have potential safety hazards, if the pedestrians exist in front or the vehicle speed is greater than the vehicle speed and the distance is within the early warning range, the auxiliary driving controller (1) sends flg1, and if the vehicle speed at the rear is greater than the vehicle speed and the distance between the two vehicles is within the early warning range, the flg2 is sent;
S2.2, if the vehicle distance exceeds the maximum detectable range of the environment sensing controller, returning to S2.1 for re-judgment;
s2.3, if the vehicle does not enter the self-adaptive cruise mode, returning to the S2, and judging again;
S3: when the whole vehicle controller (2) receives information sent by the auxiliary driving controller (1), the whole vehicle controller (2) receives a flg1 instruction, and the whole vehicle controller (2) judges the vehicle speed: when the relative vehicle speed V of two vehicles is between-V1 and-V2, the whole vehicle controller (2) firstly controls the travel Q1 of a brake pedal to reduce speed, so as to realize the self-adaptive cruising and reducing function, meanwhile, the whole vehicle controller (2) sends a command 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 to remind a driver;
When the relative vehicle speed V of two vehicles is between-V2 and-V3, the whole vehicle controller (2) firstly controls the travel Q2 of a brake pedal to reduce speed, so that the self-adaptive cruising and decelerating functions are realized, meanwhile, the whole 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 two vehicles is smaller than-V3, the whole vehicle controller (2) firstly controls the stroke Q3 of a brake pedal to reduce speed, so that the self-adaptive cruise reduction function is realized, meanwhile, the whole 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 F3 and starts a hazard warning lamp, and meanwhile, the vehicle body controller (4) sends a seat massage instruction to the seat controller (6) to remind a driver;
s4: when the vehicle controller (2) receives a flg2 instruction and the relative vehicle speed V of two vehicles is between V1 and V2, 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 vehicle speed V of two vehicles is between V2 and V3, the whole vehicle controller (2) firstly sends a request torque to the motor controller (5), the motor controller (5) drives the motor to provide a response rotating speed so as to realize a self-adaptive cruise accelerating function, meanwhile, the whole 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 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 a command L3 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 F3 and starts the hazard warning lamp, and meanwhile, the vehicle body controller (4) sends a seat massage command to the seat controller (6) to remind a driver;
S5: when the driver does not take over the vehicle and the vehicle is in the self-adaptive cruising state under the condition of no fault, and when the conditions of S3 and S4 of the vehicle do not exist in the continuous N time periods, the whole vehicle controller (2) sends an early warning ending instruction to the vehicle body controller (4), the working states of the seat, the dangerous warning lamp (7) and the atmosphere lamp (8) in the vehicle are ended, and the working state of S2.2 is returned.
2. The automobile auxiliary driving early warning control device according to claim 1, characterized in that: the environment data acquisition module (9) comprises a radar and a camera, and the radar and the camera are respectively connected with the auxiliary driving controller (1).
3. The automobile auxiliary driving early warning control device according to claim 1, characterized in that: the fatigue relieving module comprises a seat and a seat controller (6), wherein the seat controller (6) is arranged in the seat and is used for relieving fatigue of a driver.
4. The automobile auxiliary driving early warning control device according to claim 1, characterized in that: the warning module comprises a dangerous warning lamp (7) and an atmosphere lamp (8) in the vehicle, and the dangerous warning lamp (7) and the atmosphere lamp (8) in the vehicle are respectively connected with the vehicle body controller (4).
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| CN115366786A (en) * | 2022-08-12 | 2022-11-22 | 合众新能源汽车有限公司 | Ambient light control method and vehicle in vehicle cockpit |
| CN116176407A (en) * | 2023-01-03 | 2023-05-30 | 重庆长安汽车股份有限公司 | Control method and device of vehicle-mounted atmosphere lamp, vehicle and storage medium |
| CN116834729B (en) * | 2023-08-28 | 2023-11-17 | 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 |
| CN116968765B (en) * | 2023-09-21 | 2023-12-05 | 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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