CN204452443U - A kind of self-adaption cruise system - Google Patents
A kind of self-adaption cruise system Download PDFInfo
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- CN204452443U CN204452443U CN201420851610.8U CN201420851610U CN204452443U CN 204452443 U CN204452443 U CN 204452443U CN 201420851610 U CN201420851610 U CN 201420851610U CN 204452443 U CN204452443 U CN 204452443U
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Abstract
The utility model belongs to vehicle information technologies field, particularly a kind of self-adaption cruise system, and native system comprises adaptive cruise mode selecting unit, data acquisition unit, ECU Central Processing Unit (CPU), performance element; Adaptive cruise pattern comprises cruise pattern and tracing mode; Collected the data of preceding object thing by vehicle-mounted millimeter wave radar, transmit ECU Central Processing Unit (CPU), and can automatically identify preceding object thing, take different measure, reduce the interventional procedure of chaufeur; Adopt ESP sensor to be used for gathering various information, decrease and add unnecessary hardware device, provide cost savings; The on off state of rain brush sensor to rain brush checks, increase safety distance when sleety weather, the utility model can effectively reduce driver-operated sense of fatigue, improves the safety of driving simultaneously.
Description
Technical field:
The utility model relates to vehicle information technologies field, particularly a kind of self-adaption cruise system.
Background technology:
Adaptive learning algorithms is one and allows vehicle cruise control system by regulating the speed to adapt to the automobile function of traffic.Different from common cruise system, self-adaption cruise system can automatically lock the front truck speed of a motor vehicle, accelerates and accelerate with front truck, and certainly, front truck slows down and also can slow down thereupon.Pin can be removed from pedal by navigating mate, as long as pay close attention to bearing circle, can significantly reduce brought fatigue of driving over a long distance.
In order to improve the traveling comfort of chaufeur, increasing car equipment has cruise function.Common cruise function is by the control of cruising speed, and actv. reduces chaufeur operation burden to a certain extent, too increases the safety performance of traveling simultaneously.
Current adaptive cruise has cruise pattern, for controlling the constant-speed traveling of automobile, automobile is once be set to cruising condition, the delivery quality of driving engine is just by conputer controlled, computer constantly can adjust delivery quality according to the resistance to motion of condition of road surface and automobile, makes automobile remain at the set speed of a motor vehicle and travels, and alleviate fatigue without the need to handling throttle, decrease unnecessary speed of a motor vehicle change simultaneously, can fuel saving.Generally, when driver steps on brake pedal or power-transfer clutch, cruise can be automatically terminated.
But existing most of cruise function can not judge then to take appropriate measures to the speed of preceding object thing, needs chaufeur continuous interventional procedure when there is obstacle in front, comparatively loaded down with trivial details.And existing cruise system safety distance value do not consider change of external conditions on safety distance impact, good comformability is not had to different environment.Add cost because cruise system needs to install extra sensor simultaneously.
Utility model content:
In order to solve the problems of the technologies described above, the utility model provides one and can judge preceding object thing speed, sleety weather extend safety distance self-adaption cruise system.
The utility model is achieved through the following technical solutions: a kind of self-adaption cruise system comprises adaptive cruise mode selecting unit, data acquisition unit, ECU Central Processing Unit (CPU), performance element; Described adaptive cruise mode selecting unit is connected with described ECU Central Processing Unit (CPU), described adaptive cruise mode selecting unit is for selecting different adaptive cruise patterns, and described ECU Central Processing Unit (CPU) controls from the speed of car and spacing in different modes; Described data acquisition unit comprises trailer-mounted radar and ESP sensor, described ESP sensor comprises wheel rotation sensor, acceleration pick-up and wheel speed sensor, described wheel rotation sensor is for gathering the angle of rotating from car steered wheel, described acceleration pick-up is for gathering the acceleration/accel from car, described wheel speed sensor is for gathering the speed from car wheel, described ESP sensor is connected with described ECU Central Processing Unit (CPU), and described ESP sensor is sent to described ECU Central Processing Unit (CPU) by what gather from car status change data; Described trailer-mounted radar is connected with described ECU Central Processing Unit (CPU), and described trailer-mounted radar is used for gathering from spacing, and the data collected are sent to described ECU Central Processing Unit (CPU) by described trailer-mounted radar (202); Described ECU Central Processing Unit (CPU) is connected with described performance element, and described ECU Central Processing Unit (CPU) can calculate the data transmitted and judge in real time, and the control delta data producing vehicle is sent to described performance element; Described performance element comprises Power Train and to unify braking force controller, and described power drive system controls from car acceleration/accel, and described braking force controller controls the size from car braking force.
In such scheme, described adaptive cruise pattern comprises cruise pattern and tracing mode.
In such scheme, described data acquisition unit also comprises windscreen wiper sensor, and described windscreen wiper sensor is connected with described ECU Central Processing Unit (CPU), and the on off state from car windscreen wiper is passed to described ECU Central Processing Unit (CPU) by described windscreen wiper sensor.
In such scheme, described trailer-mounted radar is vehicle-mounted millimeter wave radar.
Beneficial effect: technical solutions of the utility model are compared with prior art, and described ESP sensor is used for gathering various information, decreases and adds unnecessary hardware device, provide cost savings; System collects the data of preceding object thing by described vehicle-mounted millimeter wave radar, transmit ECU Central Processing Unit (CPU), and can automatically judge preceding object thing speed, take different measure, reduce the interventional procedure of chaufeur, the impact of described millimeter wave radar size and climate is less simultaneously; In described a kind of automotive self-adaptive cruise method, the acceleration/accel of described performance element vehicles and deceleration/decel, meet Cruise Conditions and tracking condition, also has traveling comfort simultaneously; The on off state of rain brush sensor described in described tracing mode to rain brush checks, increase safety distance when sleety weather, the utility model can effectively reduce driver-operated sense of fatigue, improves the safety of driving simultaneously.
Accompanying drawing illustrates:
Fig. 1 is self-adaption cruise system constructional drawing.
Fig. 2 is cruise pattern operational flowchart.
Fig. 3 is tracing mode operational flowchart.
The determination figure of Fig. 4 obstacle and trace centerline.
Fig. 5 interval time and length velocity relation variation diagram.
Wherein: 1 adaptive cruise mode selecting unit 101 cruise pattern 102 tracing mode 2 data acquisition unit 201ESP sensor 202 trailer-mounted radar 203 rain brush sensor 3ECU Central Processing Unit (CPU) 4 performance element 401 power drive system 402 braking force controller
Detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is described further:
As shown in Figure 1, a kind of vehicle self-adaption cruise system, comprises adaptive cruise mode selecting unit 1, data acquisition unit 2, ECU Central Processing Unit (CPU) 3, performance element 4;
Described adaptive cruise mode selecting unit 1 is connected with described ECU Central Processing Unit (CPU) 3, described adaptive cruise mode selecting unit 1 is for selecting different adaptive cruise patterns, described adaptive cruise pattern comprises cruise pattern 101 and tracing mode 102, and under different adaptive cruise patterns, described ECU Central Processing Unit (CPU) 3 controls from the speed of car and spacing;
Described data acquisition unit 2 comprises ESP sensor 201, trailer-mounted radar 202 and windscreen wiper sensor 203, described ESP sensor 201 comprises wheel rotation sensor, acceleration pick-up and wheel speed sensor, described wheel rotation sensor is for gathering the angle of rotating from car steered wheel, described acceleration pick-up is for gathering the acceleration/accel from car, described wheel speed sensor is for gathering the speed from car wheel, described ESP sensor 201 is connected with described ECU Central Processing Unit (CPU) 3, described ESP sensor 201 is sent to described ECU Central Processing Unit (CPU) 3 by what gather from car status change data, described trailer-mounted radar 202 is connected with described ECU Central Processing Unit (CPU) 3, described trailer-mounted radar 202 is vehicle-mounted millimeter wave radar, for gathering from car and objects ahead obstacle distance, the data collected are sent to described ECU Central Processing Unit (CPU) 3 by described trailer-mounted radar (202), described windscreen wiper sensor 203 is connected with described ECU Central Processing Unit (CPU) 3, and the on off state from car windscreen wiper is passed to described ECU Central Processing Unit (CPU) 3 by described windscreen wiper sensor 203.
Described ECU Central Processing Unit (CPU) 3 is connected with described performance element 4, and described ECU Central Processing Unit (CPU) 3 can calculate the data transmitted and judge in real time, and the control delta data producing vehicle is sent to described performance element 4;
Described performance element 4 comprises power drive system 401 and braking force controller 402, and described power drive system 401 controls from car acceleration/accel, and described braking force controller 402 controls the size from car braking force.
As shown in Figure 2, the rate-determining steps of described cruise pattern:
(1) select to enter described cruise pattern 101;
(2) detect the angle ψ from car steered wheel rotation by described wheel rotation sensor, described ECU Central Processing Unit (CPU) 3 is according to formula: y=d
ψ/ d
t, differential calculation must come from the anglec of rotation y of car around the longitudinal axis;
(3) detected the moving velocity v obtained from car by described acceleration pick-up, described ECU Central Processing Unit (CPU) 3 is according to formula: k
y=(d ψ/dt)/v, calculates the track curvature k travelled from car
y;
(4) speed of being cruised by the Speed Setting in the middle of gauge panel is v
set, after being provided with, described ECU Central Processing Unit (CPU) 3 automatically calculates and reaches described v by current speed
setthe acceleration/accel of required the most comfortable;
(5) the described acceleration/accel that step (4) calculates is sent to described performance element 4, described power drive system 401 controls acceleration/accel by regulating from the size of car engine electronic throttle aperture, and described braking force controller 402 is by controlling from car hydraulic brake system to control acceleration/accel from the size of car braking force.
(6) to preceding object thing whether with belong to same track from car and judge as shown in Figure 4: described trailer-mounted radar 202 monitor front there is obstacle time, data are sent to described ECU Central Processing Unit (CPU) (3), go out the lateral error d between tested obstacle and predicted orbit by following formulae discovery
yc:
d
yvcourse＝k
y*d
2/2
d
yv＝d
sensor+d*sinα
d
yc＝d
yvcourse-d
yv
In formula, d represents the straight-line distance of tested obstacle and trailer-mounted radar, k
yrepresent the track curvature travelled from car, d
yvcourserepresent predicted orbit and the transverse distance from the car longitudinal axis, d
yvrepresent horizontal compensation rate, d
sensorrepresent the distance from the car longitudinal axis and trailer-mounted radar, α represents tested obstacle and the angle from car ordinate, if d
yc< D/2, D are surface width of road, then obstacle with from car on same track, otherwise, not on same track.
(7) speed being in same lane obstructions thing is judged: the relative velocity v being monitored out preceding object thing by described trailer-mounted radar 202
rel, detected the moving velocity v obtained from car by described acceleration pick-up, described ECU Central Processing Unit (CPU) 3 is according to formula: v
j=v+v
rel, calculate the absolute velocitye v of preceding object thing
jif, v
set-5km/h < v
j< v
set+ 5km/h, then keep certain safety distance to follow preceding object thing and advance, return to setting speed of a motor vehicle v after waiting the disappearance of preceding object thing again
setif, v
j< v
set-5km/h, then alarm of sounding, reminds chaufeur to overtake other vehicles.
As shown in Figure 3, the rate-determining steps of described tracing mode 102:
1. select to enter described tracing mode 102;
2. detect the angle ψ from car steered wheel rotation by described wheel rotation sensor, described ECU Central Processing Unit (CPU) is according to formula: y=d
ψ/ d
t, calculate from the anglec of rotation y of car around the longitudinal axis;
3. detected the moving velocity v obtained from car by described acceleration pick-up, described ECU Central Processing Unit (CPU) is according to formula: k
y=(d ψ/dt)/v, calculates the track curvature k travelled from car
y;
4. tracking range d is set by the distance in the middle of gauge panel
tracking range, described d
tracking rangebe divided into Three Estate: the distance d kept is followed the tracks of in short range
sht, moderate distance follows the tracks of the distance d kept
midthe distance d kept is followed the tracks of with long distance
long;
5. described rain brush sensor 203 detects the on off state from car rain brush, start from car rain brush when running into sleety weather change, described rain brush sensor 203 detects the state variation of rain brush and is sent to described ECU Central Processing Unit (CPU) 3, and described ECU Central Processing Unit (CPU) 3 is according to the d arranged from car
tracking rangethe difference of grade extends tracking range accordingly, described tracking range d
tracking rangebe expressed as:
D
tracking range=v* τ+d
road adherence coefficient of correction
In formula, τ is time gap, and v is from vehicle speed, τ be time gap along with the change from vehicle speed v as shown in Figure 5, larger τ is less for speed v, and less τ is larger for speed v,
As described d
tracking rangefor described d
shttime, described d
road adherence coefficient of correction=6,
As described d
tracking rangefor described d
midtime, described d
road adherence coefficient of correction=5,
As described d
tracking rangefor described d
longtime, described d
road adherence coefficient of correction=4,
When rain brush is closed, d
road adherence coefficient of correction=0, do not extend tracking range;
6. to preceding object thing whether with belong to same track from car and judge as shown in Figure 4: described trailer-mounted radar 202 monitor front there is obstacle time, data are sent to described ECU Central Processing Unit (CPU) 3, go out the lateral error d between tested obstacle and predicted orbit by following formulae discovery
yc:
d
yvcourse＝k
y*d
2/2
d
yv＝d
sensor+d*sinα
d
yc＝d
yvcourse-d
yv
In formula, d represents the straight-line distance of tested obstacle and trailer-mounted radar, k
yrepresent the track curvature travelled from car, d
yvcourserepresent predicted orbit and the transverse distance from the car longitudinal axis, d
yvrepresent horizontal compensation rate, d
sensorrepresent the distance from the car longitudinal axis and trailer-mounted radar, α represents tested obstacle and the angle from car ordinate, if d
yc< D/2, D are surface width of road, then obstacle with from car on same track, otherwise, not on same track;
7. the absolute velocitye v of obstacle on same track is calculated
j, described absolute velocitye v
j>50km/h, from car according to the described d arranged
tracking rangecarry out tracking to travel.
Claims (4)
1. a self-adaption cruise system, is characterized in that, comprises adaptive cruise mode selecting unit (1), data acquisition unit (2), ECU Central Processing Unit (CPU) (3), performance element (4);
Described adaptive cruise mode selecting unit (1) is connected with described ECU Central Processing Unit (CPU) (3), described adaptive cruise mode selecting unit (1) is for selecting different adaptive cruise patterns, and described ECU Central Processing Unit (CPU) (3) controls from the speed of car and spacing in different modes;
Described data acquisition unit (2) comprises ESP sensor (201) and trailer-mounted radar (202), described ESP sensor (201) comprises wheel rotation sensor, acceleration pick-up and wheel speed sensor, described wheel rotation sensor is for gathering the angle of rotating from car steered wheel, described acceleration pick-up is for gathering the acceleration/accel from car, described wheel speed sensor is for gathering the speed from car wheel, described ESP sensor (201) is connected with described ECU Central Processing Unit (CPU) (3), described ESP sensor (201) is sent to described ECU Central Processing Unit (CPU) (3) by what gather from car status change data, described trailer-mounted radar (202) is connected with described ECU Central Processing Unit (CPU) (3), described trailer-mounted radar (202) is for gathering the relative distance from car and objects ahead obstacle, and the data collected are sent to described ECU Central Processing Unit (CPU) (3) by described trailer-mounted radar (202),
Described ECU Central Processing Unit (CPU) (3) is connected with described performance element (4), described ECU Central Processing Unit (CPU) (3) can calculate the data transmitted and judge in real time, and the control delta data producing vehicle is sent to described performance element (4);
Described performance element (4) comprises power drive system (401) and braking force controller (402), described power drive system (401) controls from car acceleration/accel, and described braking force controller (402) controls the size from car braking force.
2. a kind of self-adaption cruise system according to claim 1, is characterized in that, described adaptive cruise pattern comprises cruise pattern (101) and tracing mode (102).
3. a kind of self-adaption cruise system according to claim 1, it is characterized in that, described data acquisition unit (2) also comprises windscreen wiper sensor (203), described windscreen wiper sensor (203) is connected with described ECU Central Processing Unit (CPU) (3), and the on off state from car windscreen wiper is passed to described ECU Central Processing Unit (CPU) (3) by described windscreen wiper sensor (203).
4. a kind of self-adaption cruise system according to claim 1, is characterized in that, described trailer-mounted radar (202) is vehicle-mounted millimeter wave radar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420851610.8U CN204452443U (en) | 2014-12-29 | 2014-12-29 | A kind of self-adaption cruise system |
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|---|---|---|---|
| CN201420851610.8U CN204452443U (en) | 2014-12-29 | 2014-12-29 | A kind of self-adaption cruise system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527644A (en) * | 2014-12-29 | 2015-04-22 | 江苏大学 | Self-adaption cruise system and method |
| CN107176099A (en) * | 2016-03-09 | 2017-09-19 | 株式会社斯巴鲁 | The travel controlling system of vehicle |
| CN107521489A (en) * | 2016-06-21 | 2017-12-29 | 香宾 | A kind of road accessory system automobile for improving driving safety |
| CN107963081A (en) * | 2017-11-27 | 2018-04-27 | 财团法人车辆研究测试中心 | Adaptive method for controlling driving speed and its adaptive speed controller |
| CN110481554A (en) * | 2019-08-06 | 2019-11-22 | 浙江吉利汽车研究院有限公司 | A kind of intelligent driving auxiliary control method and system |
-
2014
- 2014-12-29 CN CN201420851610.8U patent/CN204452443U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527644A (en) * | 2014-12-29 | 2015-04-22 | 江苏大学 | Self-adaption cruise system and method |
| CN107176099A (en) * | 2016-03-09 | 2017-09-19 | 株式会社斯巴鲁 | The travel controlling system of vehicle |
| CN107176099B (en) * | 2016-03-09 | 2021-06-29 | 株式会社斯巴鲁 | Vehicle travel control device |
| CN107521489A (en) * | 2016-06-21 | 2017-12-29 | 香宾 | A kind of road accessory system automobile for improving driving safety |
| CN107963081A (en) * | 2017-11-27 | 2018-04-27 | 财团法人车辆研究测试中心 | Adaptive method for controlling driving speed and its adaptive speed controller |
| CN107963081B (en) * | 2017-11-27 | 2019-11-15 | 财团法人车辆研究测试中心 | Adaptive method for controlling driving speed and its adaptive speed controller |
| CN110481554A (en) * | 2019-08-06 | 2019-11-22 | 浙江吉利汽车研究院有限公司 | A kind of intelligent driving auxiliary control method and system |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150708 Termination date: 20171229 |