CN115158303A - Automobile anti-collision system and method based on active suspension - Google Patents
Automobile anti-collision system and method based on active suspension Download PDFInfo
- Publication number
- CN115158303A CN115158303A CN202210904489.XA CN202210904489A CN115158303A CN 115158303 A CN115158303 A CN 115158303A CN 202210904489 A CN202210904489 A CN 202210904489A CN 115158303 A CN115158303 A CN 115158303A
- Authority
- CN
- China
- Prior art keywords
- collision
- vehicle
- active suspension
- controller
- chassis domain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
-
- 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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
Abstract
An automobile anti-collision system and method based on an active suspension comprises an chassis domain controller, an active suspension controller and a phased array radar, wherein the output end of the phased array radar is connected with the input end of the chassis domain controller, and the output end of the chassis domain controller is connected with the input end of the active suspension controller. According to the invention, the distance between obstacles on the left side and the right side of the vehicle and the vehicle as well as the movement speed and the movement direction of the obstacles are monitored through a phased array radar, a chassis domain controller simulates a collision model and judges whether collision occurs or not according to the distance between the obstacles and the vehicle as well as the movement speed and the movement direction of the obstacles and the self movement speed and the movement direction of the vehicle, if the collision is judged, a collision signal is sent to an active suspension controller, and the active suspension controller controls the height of the suspension according to the collision signal, so that a side anti-collision beam of the vehicle is lifted to the collision height, the deformation quantity of a weak part on the side surface of the vehicle is reduced, and the injury to passengers in the vehicle is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an automobile anti-collision system and method based on an active suspension.
Background
The automobile anti-collision system is a part of an automobile, is an intelligent device for preventing the automobile from colliding, can automatically find vehicles, pedestrians or other barrier objects which may collide with the automobile, and sends out an alarm or simultaneously takes measures such as braking or avoiding to avoid the collision; the development and progress of road traffic bring countless life convenience, economic benefits and social prosperity to human beings, but the frequent occurrence of traffic accidents also brings great disasters to human beings, and the traffic accidents are considered as a great harm to the current society.
Most of traditional automobile anti-collision systems are designed for rear-end collisions, but a large number of collision accidents exist in real life and are side collision accidents. When side collision occurs, the height of the anti-collision beam on the side of the vehicle body and the collision height determine the damaged condition of the side of the vehicle, and the personal safety of people in the vehicle can be influenced.
Therefore, in order to overcome the disadvantages of the prior art, it is necessary to design an automobile anti-collision system and method based on an active suspension to solve the above problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an automobile anti-collision system and method based on an active suspension.
In order to achieve the above objects and other related objects, the present invention provides the following technical solutions: an automobile anti-collision system based on an active suspension comprises a chassis domain controller, an active suspension controller and a phased array radar, wherein the output end of the phased array radar is connected with the input end of the chassis domain controller, and the output end of the chassis domain controller is connected with the input end of the active suspension controller;
the phased array radar is used for monitoring the motion parameters of obstacles on the left side and the right side of the vehicle and sending the motion parameters to the chassis domain controller;
the chassis domain controller establishes a collision model according to the motion parameters of the barrier and the motion parameters of the vehicle and judges whether collision occurs or not, and if the collision is judged, the collision height is calculated and a collision signal is sent to the active suspension controller;
and the active suspension controller controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height.
The preferable technical scheme is as follows: the vehicle body attitude sensor is arranged on the vehicle chassis, and the output end of the vehicle body attitude sensor is connected with the input end of the chassis domain controller; the vehicle body attitude sensor is used for monitoring the motion parameters of the vehicle.
The preferable technical scheme is as follows: the moving parameters of the obstacle include a distance between the obstacle and the vehicle, and a moving speed and a moving direction of the obstacle.
The preferable technical scheme is as follows: the motion parameters of the vehicle comprise the running speed and the running direction of the vehicle.
The preferable technical scheme is as follows: the phased array radar has two, and install respectively in the vehicle left and right sides.
An automobile anti-collision method based on an active suspension comprises the following steps:
step 1: the vehicle body attitude sensor measures and calculates the vehicle running speed and running direction under the current state;
and 2, step: the phased array radar measures and calculates the distance between the obstacles on the left side and the right side of the vehicle and the movement speed and the movement direction of the obstacles in the current state;
and 3, step 3: the chassis domain controller establishes a collision model according to the driving speed and the driving direction of the vehicle, the distance between the barrier and the vehicle, and the movement speed and the movement direction of the barrier, judges whether the barrier collides with the vehicle or not based on the collision model, calculates the collision height if the collision is judged, and sends a collision signal to the active suspension controller;
and 4, step 4: the active suspension controller controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height
Due to the application of the technical scheme, the invention has the beneficial effects that:
the invention provides an automobile anti-collision system and method based on an active suspension, wherein the distance between obstacles on the left side and the right side of a vehicle and the movement speed and the movement direction of the obstacles are monitored through a phased array radar, a chassis domain controller simulates a collision model and judges whether collision occurs or not according to the distance between the obstacles and the vehicle and the movement speed and the movement direction of the obstacles and the self movement speed and the movement direction of the vehicle, if the collision occurs, a collision signal is sent to the active suspension controller, and the active suspension controller controls the suspension height according to the collision signal, so that a side anti-collision beam of the vehicle is lifted to the collision height, the deformation quantity of a weak part on the side of the vehicle is reduced, and the injury to passengers in the vehicle is reduced.
Drawings
FIG. 1 is a schematic diagram of the connection of the present invention.
FIG. 2 is a schematic diagram of the control method of the present invention.
In the above figures, 1, a phased array radar; 2. a chassis domain controller; 3. an active suspension controller.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1-2. It should be understood that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the product of the present invention is usually placed in when used, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediary, and a communication between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The embodiment is as follows:
as shown in fig. 1-2, the present invention provides an automobile anti-collision system based on active suspension. The system comprises a chassis domain controller 2, an active suspension controller 3 and a phased array radar 1. The output end of the phased array radar 1 is connected with the input end of the chassis domain controller 2, and the output end of the chassis domain controller 2 is connected with the input end of the active suspension controller 3.
The phased array radar 1 is used for monitoring the motion parameters of obstacles on the left side and the right side of a vehicle and sending the motion parameters to the chassis domain controller 2; the chassis domain controller 2 establishes a collision model according to the motion parameters of the obstacle and the motion parameters of the vehicle and judges whether collision occurs or not, and if the collision is judged, the collision height is calculated and a collision signal is sent to the active suspension controller 3; the active suspension controller 3 controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height, reduce the deformation of the weak part on the side surface of the vehicle, reduce the injury to passengers in the vehicle and improve the dynamic protection capability of the vehicle to the passengers in the vehicle when the vehicle has side collision accidents.
In addition, the vehicle body monitoring system further comprises a vehicle body attitude sensor (not shown) installed on a vehicle chassis, wherein the output end of the vehicle body attitude sensor is connected with the input end of the chassis domain controller 2 and used for monitoring the motion parameters of the vehicle.
In the application, the motion parameters of the obstacle include the distance between the obstacle and the vehicle, and the motion speed and the motion direction of the obstacle, and can be obtained based on phased array radar measurement.
The motion parameters of the vehicle comprise the running speed and the running direction of the vehicle, and can be calculated and obtained based on a vehicle body posture sensor.
The phased array radars are two and are respectively installed on the left and right sides of the vehicle.
In the present application, the collision height H is an average value of a lowest collision point H1 and a highest collision point H2 between an obstacle and a vehicle in a collision model, that is, H = (H1 + H2)/2.
In addition, the application also relates to an automobile anti-collision method based on the active suspension, which comprises the following steps:
step 1: the vehicle body attitude sensor measures and calculates the vehicle running speed and running direction under the current state;
and 2, step: the method comprises the following steps that a phased array radar measures and calculates the distance between obstacles on the left side and the right side of a vehicle and the movement speed and the movement direction of the obstacles in the current state;
and 3, step 3: the chassis domain controller establishes a collision model according to the driving speed and the driving direction of the vehicle, the distance between the barrier and the vehicle, and the movement speed and the movement direction of the barrier, judges whether the barrier collides with the vehicle or not based on the collision model, calculates the collision height if the collision is judged, and sends a collision signal to the active suspension controller;
and 4, step 4: and the active suspension controller controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height.
It should be noted that the active suspension has an actuator as a direct force generator, which can perform an optimal feedback control according to the input and output, so that the suspension has the best damping characteristic to improve the smoothness and steering stability of the vehicle. An important feature of active suspension is that it requires that the force generated by the actuator be able to track well any force control signal. Therefore, it provides a wide design space for the choice of control laws, i.e. how to determine the control laws so that the system can achieve the best overall performance of the vehicle. The active suspension that this application related to includes air suspension, hydraulic suspension and electromagnetism suspension, through above three kinds of suspensions, all can realize the automobile anticollision function.
Therefore, the invention has the following advantages:
the invention provides an automobile anti-collision system and method based on an active suspension, wherein the distance between obstacles on the left side and the right side of a vehicle and the vehicle as well as the movement speed and the movement direction of the obstacles are monitored through a phased array radar, a chassis domain controller simulates a collision model and judges whether collision occurs according to the distance between the obstacles and the vehicle as well as the movement speed and the movement direction of the obstacles and by combining the movement speed and the movement direction of the vehicle, if the collision is judged to occur, a collision signal is sent to an active suspension controller, and the active suspension controller controls the height of the suspension according to the collision signal, so that a side anti-collision beam of the vehicle is lifted to the collision height, the deformation quantity of a weak part on the side surface of the vehicle is reduced, and the injury to passengers in the vehicle is reduced.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. An automobile anti-collision system based on an active suspension is characterized in that: the system comprises a chassis domain controller, an active suspension controller and a phased array radar, wherein the output end of the phased array radar is connected with the input end of the chassis domain controller, and the output end of the chassis domain controller is connected with the input end of the active suspension controller;
the phased array radar is used for monitoring the motion parameters of obstacles on the left side and the right side of the vehicle and sending the motion parameters to the chassis domain controller;
the chassis domain controller establishes a collision model according to the motion parameters of the barrier and the motion parameters of the vehicle and judges whether collision occurs or not, and if the collision is judged, the collision height is calculated and a collision signal is sent to the active suspension controller;
and the active suspension controller controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height.
2. The active suspension-based automotive anti-collision system according to claim 1, wherein: the vehicle body attitude sensor is arranged on the vehicle chassis, and the output end of the vehicle body attitude sensor is connected with the input end of the chassis domain controller; the vehicle body attitude sensor is used for monitoring the motion parameters of the vehicle.
3. The active suspension-based automotive anti-collision system according to claim 1, wherein: the motion parameters of the obstacle include a distance between the obstacle and the vehicle, and a moving speed and a moving direction of the obstacle.
4. The active suspension-based automotive collision avoidance system according to claim 1, wherein: the motion parameters of the vehicle comprise the running speed and the running direction of the vehicle.
5. The active suspension-based automotive collision avoidance system according to claim 1, wherein: the phased array radar has two, and install respectively in the vehicle left and right sides.
6. The automobile anti-collision method based on the active suspension is characterized by comprising the following steps of:
step 1: the vehicle body attitude sensor measures and calculates the vehicle running speed and running direction under the current state;
step 2: the method comprises the following steps that a phased array radar measures and calculates the distance between obstacles on the left side and the right side of a vehicle and the movement speed and the movement direction of the obstacles in the current state;
and step 3: the chassis domain controller establishes a collision model according to the driving speed and the driving direction of the vehicle, the distance between the barrier and the vehicle, and the movement speed and the movement direction of the barrier, judges whether the barrier collides with the vehicle or not based on the collision model, calculates the collision height if the collision is judged, and sends a collision signal to the active suspension controller;
and 4, step 4: and the active suspension controller controls the active suspension to lift according to the collision signal so as to lift the side anti-collision beam of the vehicle to the collision height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210904489.XA CN115158303A (en) | 2022-07-29 | 2022-07-29 | Automobile anti-collision system and method based on active suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210904489.XA CN115158303A (en) | 2022-07-29 | 2022-07-29 | Automobile anti-collision system and method based on active suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115158303A true CN115158303A (en) | 2022-10-11 |
Family
ID=83477620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210904489.XA Pending CN115158303A (en) | 2022-07-29 | 2022-07-29 | Automobile anti-collision system and method based on active suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115158303A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022081A (en) * | 2023-01-05 | 2023-04-28 | 中国第一汽车股份有限公司 | Anti-collision control method and device, vehicle and storage medium |
-
2022
- 2022-07-29 CN CN202210904489.XA patent/CN115158303A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022081A (en) * | 2023-01-05 | 2023-04-28 | 中国第一汽车股份有限公司 | Anti-collision control method and device, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103010209B (en) | For running method and the self-propelled vehicle of the safety system of self-propelled vehicle | |
| CN115158303A (en) | Automobile anti-collision system and method based on active suspension | |
| CN113415266B (en) | Track deviation protection method for vehicle magnetic nail tracking operation | |
| CN111169444A (en) | Collision relieving system and method for bus | |
| CN113844445B (en) | Automatic emergency braking system and method for vehicle based on prediction reference line coordinate system | |
| CN112339694A (en) | Collision mitigation method and device for vehicle | |
| CN108657102A (en) | A kind of vehicle safety method, system and running crane control device | |
| JP2005254923A (en) | Vehicular shock-eliminating device | |
| CN114212102B (en) | Auxiliary driving method, system and device for avoiding lateral collision | |
| CN113525274B (en) | Pre-collision device capable of adjusting positive and negative Poisson's ratio and control method | |
| WO2023246318A1 (en) | Method and apparatus for reducing injury to passenger caused by side pole impact of full vehicle | |
| KR101328018B1 (en) | Collision avoidance method for car at low-speed and short distance and collision avoidance apparatus thereof | |
| CN219190267U (en) | Walking robot radar level self-adjusting device and walking robot | |
| CN112277859A (en) | Unmanned anti-collision protection device | |
| CN213768466U (en) | Unmanned safety buffer stop | |
| CN114179794A (en) | Brake execution system of intelligent driving vehicle | |
| CN210348273U (en) | AGV car | |
| CN210793072U (en) | Automobile anti-collision bumper | |
| CN113561726A (en) | Vehicle active obstacle avoidance system | |
| CN110667331A (en) | Vehicle impact mitigation system and control method thereof | |
| CN112455357A (en) | Unmanned automobile that security performance is high | |
| CN111361368A (en) | Yaw control system and method thereof | |
| CN214523682U (en) | Mechanical anti-collision device for intelligent guide vehicle for horizontal transportation of automatic wharf | |
| CN219429211U (en) | Anti-collision device for travelling mechanism of ship unloader cart | |
| CN219950404U (en) | AGV fork truck keeps away barrier system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |