CN115571122A - Active and passive safety integrated control system and control method thereof - Google Patents

Active and passive safety integrated control system and control method thereof Download PDF

Info

Publication number
CN115571122A
CN115571122A CN202211398764.1A CN202211398764A CN115571122A CN 115571122 A CN115571122 A CN 115571122A CN 202211398764 A CN202211398764 A CN 202211398764A CN 115571122 A CN115571122 A CN 115571122A
Authority
CN
China
Prior art keywords
target vehicle
collision
active
target
lane
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
Application number
CN202211398764.1A
Other languages
Chinese (zh)
Inventor
沈传亮
肖啸
童言
李胜男
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jilin University
Original Assignee
Jilin University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN202211398764.1A priority Critical patent/CN115571122A/en
Publication of CN115571122A publication Critical patent/CN115571122A/en
Pending legal-status Critical Current

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
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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

Abstract

The invention discloses an active and passive safety integrated control system, which comprises: the information acquisition module is arranged on the target vehicle and used for acquiring the running information of the target vehicle and the running information of the collision target; the information processing module is connected with the information acquisition module and is used for receiving and processing information and judging collision risks; the information output module is connected with the information processing module and is used for sending out early warning information; and the executing mechanism is arranged on the target vehicle, is connected with the information output module and is used for controlling the steering and braking of the target vehicle. The invention also discloses a control method of the active and passive safety integrated control system, and the collision loss is reduced by combining the active and passive collision technology.

Description

Active and passive safety integrated control system and control method thereof
Technical Field
The invention relates to the technical field of automobile anti-collision, in particular to an active and passive safety integrated control system and a control method thereof.
Background
With the increase of automobile reserves, the accompanying traffic accidents are also increased, so the research on automobile safety technology is more and more important.
At present, the main automobile safety technologies are divided into an active safety technology and a passive safety technology.
The initiative safety technique is mainly before the collision takes place, carries out the perception in advance to the collision that probably takes place, reminds or takes measures to the driver, avoids the emergence of collision accident, and the initiative safety technique includes: a Blind Spot Monitoring (BSM), an automatic Emergency Braking system (AEB), a Lane Departure Warning system (LDW), a Forward Collision Warning (FCW), an Automatic Emergency Steering (AES), and the like.
Passive safety techniques are mainly the protection of occupants or pedestrians during or after a collision accident, and include: the device comprises an active pre-tightening type safety belt, an air bag, an automobile energy absorption device, an engine hood bouncing device and the like.
However, in the prior art, the active safety technology and the passive safety technology are basically completely separated, and cannot play a role in cooperation to guarantee the safety of passengers and pedestrians in the event of collision, and the research on the passive technology for protecting pedestrians is not much.
Disclosure of Invention
The invention aims to design and develop an active and passive safety integrated control system, which is formed by multiple modules, so that different collision avoidance of vehicles is realized for different collision targets, and the safety of the vehicles is improved.
The invention also designs and develops a control method of the active and passive safety integrated control system, and reduces the loss caused by collision by adopting different active and passive collision combinations for different collision objects.
The technical scheme provided by the invention is as follows:
an active-passive safety integrated control system comprising:
the information acquisition module is arranged on the target vehicle and is used for acquiring the running information of the target vehicle and the state information of the collision target;
the information processing module is connected with the information acquisition module and is used for receiving and processing information and judging collision risks;
the information output module is connected with the information processing module and is used for sending out early warning information;
and the executing mechanism is arranged on the target vehicle, is connected with the information output module and is used for controlling the steering and braking of the target vehicle.
Preferably, the information collecting module includes:
a laser radar provided on a roof of a target vehicle for ranging;
the speed measuring radar is arranged at the front end of the target vehicle and used for detecting the acceleration of the collision target;
the vehicle-mounted cameras are arranged around the target vehicle and used for scanning and identifying lanes around the target vehicle and collision targets;
the laser radar, the speed measuring radar and the plurality of vehicle-mounted cameras are all connected with the information processing module.
Preferably, the information processing module is an electronic control unit.
Preferably, the information output module includes:
the voice reminding device is arranged in a cab of the target vehicle and used for carrying out risk reminding on a driver;
and the warning lamp is arranged in the cab of the target vehicle and used for carrying out risk prompt on the driver.
Preferably, the actuators include EPS, ESC & EPB, and EMS & TCU & BMS.
A control method of an active and passive safety integrated control system is used, and comprises the following steps:
acquiring the speed of a target vehicle, the speed of a collision target, the acceleration of the collision target and the distance between the target vehicle and the collision target;
step two, if D 1 ≤D w If so, the information output module prompts a driver to avoid the obstacle through braking or steering;
if D is 1 ≤D s When the driver does not act and the lane beside the lane where the target vehicle is located is safe, the executing mechanism enables the target vehicle to avoid obstacles through automatic emergency steering, and meanwhile, the active pre-tightening safety belt is tightened;
if D is 1 ＝D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the executing mechanism enables the target vehicle to avoid the obstacle through automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened;
if the collision target is a suddenly appearing vehicle and D 1 ＜D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the actuating mechanism enables the target vehicle to avoid obstacles through automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened up, and the safety airbag is popped up 0.01s before collision;
if the collision target is a suddenly appearing pedestrian and D 1 ＜D b2 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the executing mechanism enables the target vehicle to avoid the obstacle through automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened up, and the pedestrian protection device is started;
wherein D is 1 Is the distance between the target vehicle and the collision target, D w Critical warning distance, D s Critical distance for steering and collision avoidance, D b1 Critical distance to avoid collision for vehicle braking, D b2 Braking pedestrian by a collision-avoidance threshold distance, and D b1 ＜D s ＜D w ，D b2 ＜D s ＜D w 。
Preferably, the critical early warning distance satisfies:
D w ＝2.3v rel +6.3；
in the formula, v rel Is the relative speed between the target vehicle and the collision target.
Preferably, the steering collision avoidance critical distance satisfies:
Figure BDA0003933694870000031
in the formula, y 1 Lateral displacement of the lane change required for collision avoidance, a y,max Maximum lateral acceleration, τ, of the target vehicle 1 Is the system delay time.
Preferably, the vehicle braking collision avoidance critical distance and the pedestrian braking collision avoidance critical distance satisfy:
Figure BDA0003933694870000032
Figure BDA0003933694870000041
in the formula, t 1 Is the braking time of the target vehicle, a x,max Maximum longitudinal braking deceleration, v, of the target vehicle 2 Speed of impact on the target, a 1,max Maximum longitudinal braking deceleration for a collision target, v 1 Is the speed of the target vehicle.
Preferably, the pre-tightening process time of the active pre-tightening type safety belt is 800ms, and the pre-tightening amount is 55mm;
the pedestrian protection device comprises an automobile energy absorption device and an engine hood bouncing device, wherein the automobile energy absorption device is a shape memory alloy automobile energy absorption device, and the engine hood bouncing device is a shape memory alloy automobile bouncing type engine hood structure;
the step of judging whether the lane beside the lane where the target vehicle is located is safe specifically comprises the following steps:
if no collision target exists in the front and back 50 meters of the position of the target vehicle corresponding to the lane beside the lane where the target vehicle is located, judging that the lane beside the lane where the target vehicle is located is safe, otherwise, judging that the lane beside the lane where the target vehicle is located is unsafe.
The invention has the following beneficial effects:
(1) The active and passive safety integrated control system designed and developed by the invention has the advantages that the active and passive safety integrated system is formed by multiple modules, different vehicle collision avoidance is adopted for different collision targets, and the vehicle safety is improved.
(2) The control method of the active and passive safety integrated control system designed and developed by the invention adopts different active and passive collision technologies aiming at different collision objects, and can reduce the loss caused by collision.
Drawings
Fig. 1 is a schematic flow chart of a control method of the active and passive integrated safety control system according to the present invention.
Detailed Description
The present invention is described in further detail below in order to enable those skilled in the art to practice the invention with reference to the description.
The invention provides an active and passive safety integrated control system, which comprises:
the system comprises an information acquisition module, an information processing module, an information output module and an execution mechanism, wherein the information acquisition module, the information processing module, the information output module and the execution mechanism are all arranged on a target vehicle and are sequentially connected, and the information acquisition module is used for acquiring running information of the target vehicle and state information of a collision target; the information processing module acquires the information acquired by the information acquisition module and judges whether the risk of collision between the vehicle and the front vehicle or the pedestrian exists or not; the information output module is used for sending out early warning information to a driver when the target vehicle and a front collision target (vehicle or pedestrian) have collision risks; the actuator realizes the operations of steering, braking and the like of the target vehicle.
Wherein, the information acquisition module includes: the system comprises a laser radar, a speed measuring radar and a plurality of vehicle-mounted cameras, wherein the laser radar is arranged on the roof of a target vehicle and used for detecting the distance between the target vehicle and a collision target and the distance between lanes or buildings around the target vehicle; the speed measuring radar is arranged at the front end of the target vehicle and used for detecting the acceleration of the collision target; the laser radar, the speed measuring radar and the vehicle-mounted cameras are connected with the information processing module to judge lane lines and surrounding vehicles.
In the present embodiment, the target vehicle is the own vehicle, and the collision target is a vehicle or a pedestrian in front of the own vehicle.
The information processing module adopts an Electronic Control Unit (ECU), and the speed of a target vehicle is acquired through a vehicle instrument panel.
The information output module includes: the voice reminding device and the warning lamp are both arranged in a target vehicle cab and used for carrying out risk reminding on a driver of the target vehicle.
The positioning module adopts a GPS or a Beidou navigation system to acquire the speed limit value of the position of the target vehicle.
The actuator includes: the system comprises actuators such as an Electric Power Steering (EPS), an automobile electronic stability control system & electronic manual brake parking (ESC & EPB), an engine management system & remote information control unit & battery management system (EMS & TCU & BMS) and the like, wherein the electronic control unit is connected with the actuators through a CAN bus, and the actuators CAN receive control commands sent by the electronic control unit and execute the control commands to realize the operations of steering, braking and the like of a target vehicle, so that the optimal utilization of a passive safety device is finally obtained through active safety control.
According to the active and passive safety integrated control system designed and developed by the invention, multiple modules form the active and passive safety integrated system, so that different collision avoidance targets are adopted by different vehicles, and the safety of the vehicles is improved.
As shown in fig. 1, the present invention further provides a control method of an active and passive integrated safety control system, which includes the following steps:
step one, acquiring the speed v of a target vehicle through an information acquisition module 1 Speed v of collision target 2 Acceleration of the collision object and distance D between the object vehicle and the collision object 1 ；
Step two, if D 1 ≤D w When the driver stops driving, the information output module prompts the driver to avoid the obstacle through braking or steering through a warning lamp and a voice prompt device in the cab;
wherein D is w Is a critical early warning distance and satisfies:
D w ＝2.3v rel +6.3；
in the formula D w Is a critical warning distance, v rel Is the relative speed between the target vehicle and the collision target.
If D is 1 ≤D s When the driver does not act and the lane beside the lane where the target vehicle is located is safe, namely the lane is switched to the lane beside to avoid collision, the execution mechanism enables the target vehicle to avoid obstacles through automatic emergency steering, and meanwhile, the active pre-tightening type safety belt is tightened, the pre-tightening process time is set to be 800ms, and the pre-tightening amount is set to be 55mm;
wherein D is s The steering collision avoidance critical distance is met:
Figure BDA0003933694870000061
in the formula, D s Critical distance for steering and collision avoidance, y 1 Transverse displacement of the lane change required for collision avoidance, a y,max Is the maximum lateral acceleration, τ, of the target vehicle 1 Is the system delay time;
in the embodiment, the lane change lateral displacement required for collision avoidance is 2.5m, and the system delay time is 0.6s;
the step of judging whether the lane beside the lane where the target vehicle is located is safe specifically comprises the following steps:
if no collision target exists within 50 meters before and after the position of the target vehicle corresponding to the lane beside the lane where the target vehicle is detected by the laser radar, the lane beside the lane where the target vehicle is located is judged to be safe, otherwise, the lane beside the lane where the target vehicle is located is judged to be unsafe.
If D is 1 ＝D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, namely the collision of the vehicle lane can be avoided, the execution mechanism enables the target vehicle to avoid the obstacle through automatic emergency braking, and meanwhile, the active pre-tightening type safety belt is tightened;
wherein D is b1 The vehicle is braked and collision-avoidance critical distance is met:
Figure BDA0003933694870000071
in the formula, D b1 For braking the vehicle by a collision-avoidance threshold distance, t 1 Is the braking time of the target vehicle, a x,max Maximum longitudinal braking deceleration, v, of the target vehicle 2 Speed of impact on the target, a 1,max Maximum longitudinal braking deceleration for a collision target, v 1 Is the speed of the target vehicle.
If the collision target is a suddenly appearing vehicle and D 1 ＜D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, namely the collision of the vehicle is unavoidable, the executing mechanism enables the target vehicle to avoid obstacles through automatic emergency braking at the maximum longitudinal braking deceleration, meanwhile, the active pre-tightening type safety belt starts to tighten, the pre-tightening process time is set to 800ms, the pre-tightening amount is set to 55mm, and the safety air bag realizes pre-ignition pop-up at 0.01s before the collision;
if the collision target is a suddenly appearing pedestrian and D 1 ＜D b2 When the driver does not act and the lane beside the lane where the target vehicle is located is not safe, namely the collision of the vehicle lane cannot be avoided, the execution mechanism enables the target vehicle to avoid obstacles by automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened up, and the pedestrian protection device is started;
wherein D is b2 The pedestrian is braked and collision avoidance critical distance is met:
Figure BDA0003933694870000072
in this embodiment, D b1 ＜D s ＜D w ，D b2 ＜D s ＜D w 。
The pedestrian protection device comprises an automobile energy absorption device and an engine hood bouncing device, wherein the automobile energy absorption device is a shape memory alloy automobile energy absorption device, and the engine hood bouncing device is a shape memory alloy automobile bouncing type engine hood structure.
The automobile energy absorption device mainly has the following functions: (1) The connecting structure is used for connecting the anti-collision cross beam and the front longitudinal beam, so that the vehicle body structure has certain rigidity; (2) The energy absorption device is used for absorbing energy generated by crushing deformation during automobile collision and protecting members in the automobile and an automobile body; (3) The impact force is evenly transmitted to the two longitudinal beams of the automobile from the anti-collision cross beam.
The control method of the active and passive safety integrated control system provided by the invention comprises the steps of firstly judging whether the obstacle can be safely avoided or not, and if so, generating a corresponding collision avoidance strategy, namely automatic emergency steering or automatic emergency braking; if not, whether the obstacle is a vehicle or a pedestrian is judged again, and different active and passive integrated collision strategies are generated according to different collision targets, so that different active and passive collision technologies are adopted according to different collision objects, damage to passengers and the collision targets during collision can be greatly reduced, and loss caused by collision can be reduced.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, particular embodiments, but rather to those skilled in the art, and it is to be understood that the invention is capable of numerous modifications and that various changes may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (10)

1. An active and passive safety integrated control system, comprising:
the information acquisition module is arranged on the target vehicle and used for acquiring the running information of the target vehicle and the state information of the collision target;
the information processing module is connected with the information acquisition module and is used for receiving and processing information and judging collision risks;
the information output module is connected with the information processing module and is used for sending out early warning information;
and the executing mechanism is arranged on the target vehicle, is connected with the information output module and is used for controlling the steering and braking of the target vehicle.
2. The active-passive safety integrated control system according to claim 1, wherein the information acquisition module comprises:
a laser radar provided on a roof of a target vehicle for ranging;
a speed measuring radar which is arranged at the front end of the target vehicle and is used for detecting the acceleration of the collision target;
the vehicle-mounted cameras are arranged around the target vehicle and used for scanning and identifying lanes around the target vehicle and collision targets;
the laser radar, the speed measuring radar and the plurality of vehicle-mounted cameras are all connected with the information processing module.
3. The integrated active-passive safety control system according to claim 2, wherein the information processing module is an electronic control unit.
4. The active-passive safety integrated control system according to claim 3, wherein the information output module comprises:
the voice reminding device is arranged in a cab of the target vehicle and used for carrying out risk reminding on a driver;
and the warning lamp is arranged in a cab of the target vehicle and used for carrying out risk prompt on the driver.
5. The integrated active-passive safety control system according to claim 4, wherein the actuators comprise EPS, ESC & EPB, and EMS & TCU & BMS.
6. A control method of an active and passive integrated safety control system, which uses the active and passive integrated safety control system as claimed in any one of claims 1-5, characterized by comprising the following steps:
acquiring the speed of a target vehicle, the speed of a collision target, the acceleration of the collision target and the distance between the target vehicle and the collision target;
step two, if D 1 ≤D w If so, the information output module prompts a driver to avoid the obstacle through braking or steering;
if D is 1 ≤D s When the driver does not act and the lane beside the lane where the target vehicle is located is safe, the executing mechanism enables the target vehicle to avoid obstacles through automatic emergency steering, and meanwhile, the active pre-tightening safety belt is tightened;
if D is 1 ＝D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the executing mechanism enables the target vehicle to avoid the obstacle through automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened;
if the collision target is a suddenly appearing vehicle and D 1 ＜D b1 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the actuating mechanism enables the target vehicle to avoid obstacles through automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened up, and the safety airbag is popped up 0.01s before collision;
if the collision target is a suddenly appearing pedestrian and D 1 ＜D b2 When the driver does not act and the lane beside the lane where the target vehicle is located is unsafe, the actuating mechanism enables the target vehicle to avoid obstacles by automatic emergency braking at the maximum longitudinal braking deceleration, and meanwhile, the active pre-tightening safety belt is tightened up, and the pedestrian protection device is started;
wherein D is 1 Is the distance between the target vehicle and the collision target, D w Is a critical warning distance, D s Critical distance for steering and collision avoidance, D b1 For braking vehicles by collision-avoidance threshold distance, D b2 Braking pedestrian from collision by a critical distance, and D b1 ＜D s ＜D w ，D b2 ＜D s ＜D w 。
7. The control method of the active and passive safety integrated control system according to claim 6, wherein the critical early warning distance satisfies the following conditions:
D w ＝2.3v rel +6.3；
in the formula, v rel Is the relative speed between the target vehicle and the collision target.
8. The control method of the active and passive safety integrated control system according to claim 7, wherein the steering collision avoidance critical distance satisfies:
Figure FDA0003933694860000021
in the formula, y 1 Transverse displacement of the lane change required for collision avoidance, a y,max Is the maximum lateral acceleration, τ, of the target vehicle 1 Is the system delay time.
9. The control method of the active-passive safety integrated control system according to claim 8, wherein the vehicle braking collision avoidance critical distance and the pedestrian braking collision avoidance critical distance satisfy:
Figure FDA0003933694860000031
Figure FDA0003933694860000032
in the formula, t 1 Is the braking time of the target vehicle, a x,max Maximum longitudinal braking deceleration, v, of the target vehicle 2 Speed of collision with the object, a 1,max Maximum longitudinal braking deceleration for a collision target, v 1 Is the speed of the target vehicle.
10. The control method of the active and passive integrated safety control system according to claim 9, wherein the pre-tightening process time of the active pre-tightening type safety belt is 800ms, and the pre-tightening amount is 55mm;
the pedestrian protection device comprises an automobile energy absorption device and an engine hood bouncing device, wherein the automobile energy absorption device is a shape memory alloy automobile energy absorption device, and the engine hood bouncing device is a shape memory alloy automobile bouncing type engine hood structure;
the step of judging whether the lane beside the lane where the target vehicle is located is safe specifically comprises the following steps:
if no collision target exists within 50 meters before and after the position of the target vehicle corresponding to the lane beside the lane where the target vehicle is detected by the laser radar, the lane beside the lane where the target vehicle is located is judged to be safe, otherwise, the lane beside the lane where the target vehicle is located is judged to be unsafe.
CN202211398764.1A 2022-11-09 2022-11-09 Active and passive safety integrated control system and control method thereof Pending CN115571122A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211398764.1A CN115571122A (en) 2022-11-09 2022-11-09 Active and passive safety integrated control system and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211398764.1A CN115571122A (en) 2022-11-09 2022-11-09 Active and passive safety integrated control system and control method thereof

Publications (1)

Publication Number Publication Date
CN115571122A true CN115571122A (en) 2023-01-06

Family

ID=84588225

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211398764.1A Pending CN115571122A (en) 2022-11-09 2022-11-09 Active and passive safety integrated control system and control method thereof

Country Status (1)

Country Link
CN (1) CN115571122A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117302207A (en) * 2023-11-29 2023-12-29 华东交通大学 Intelligent automobile driving safety early warning system suitable for mixed driving environment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117302207A (en) * 2023-11-29 2023-12-29 华东交通大学 Intelligent automobile driving safety early warning system suitable for mixed driving environment
CN117302207B (en) * 2023-11-29 2024-02-13 华东交通大学 Intelligent automobile driving safety early warning system suitable for mixed driving environment

Similar Documents

Publication Publication Date Title
CN106891890B (en) Automobile active anti-collision system
CN106427998B (en) The control method of the urgent lane change collision avoidance of vehicle under a kind of fast state
CN208101973U (en) A kind of intelligent driving auxiliary anti-collision system
US8483945B2 (en) Method for reducing the energy absorbed by a vehicle in a collision and a system for implementing the method
CN109421710A (en) Vehicle control system, control method for vehicle and storage medium
US20080319610A1 (en) Method and Device for Avoiding and/or Reducing the Consequences of Collisions Upon Evasion with Respect to Obstacles
CN101489836A (en) Vehicle control device
EP3354525A1 (en) Arrangement and method for mitigating a forward collision between road vehicles
US20140343792A1 (en) Driving assistance apparatus for vehicle
US20160375932A1 (en) Method for detecting vehicle collision
CN110920618A (en) Vehicle control system and vehicle control method
CN111516678A (en) Driver assistance system and method
CN110103961A (en) Intelligent follow the bus control method, device, system and terminal
CN115571122A (en) Active and passive safety integrated control system and control method thereof
EP1852323B1 (en) Rear end collision mitigation system for an automotive vehicle
US11634120B2 (en) Driver assistance system and driver assistance method
Sanders et al. X-by-wire technology
US11008003B2 (en) Device for making safe a stationary vehicle in the presence of a risk of collision from the rear
CN110641460A (en) Vehicle control system
CN214985317U (en) Intelligent control system for omnibearing anti-collision of automobile
CN115891901A (en) Vehicle and motor belt control method
CN115230685A (en) Vehicle collision protection control method and advanced driving assistance system
CN113830084A (en) Control method based on multi-lane vehicle active collision avoidance and vehicle
CN112660119A (en) Vehicle rear collision early warning method
CN114834382B (en) Vehicle collision safety protection system and method

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