CN205022576U - Man -machine two systems of driving of car - Google Patents
Man -machine two systems of driving of car Download PDFInfo
- Publication number
- CN205022576U CN205022576U CN201520627762.4U CN201520627762U CN205022576U CN 205022576 U CN205022576 U CN 205022576U CN 201520627762 U CN201520627762 U CN 201520627762U CN 205022576 U CN205022576 U CN 205022576U
- Authority
- CN
- China
- Prior art keywords
- automobile
- controller
- man
- brake
- signal
- 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.)
- Active
Links
Abstract
The utility model relates to a man -machine two systems of driving of car, the in -process is sailed down in the automatic control mode to the automobile, receives signal that the driver stepped on brake pedal or judges for should implement the brake control by oneself the time that controller control braking system apply the brake according to the environmental information who gathers when the controller, and simultaneously, the controller sends zero throttle aperture imperative instruction to the actuating system to, controller shutting throttle signal. The utility model provides a two kinds of man -machine two systems of driving of car's difference lies in: have only a controller in the system, another system includes two controllers. Other parts in two systems are barrier distance detecting means, accelerator pedal, braking system and actuating system. The system provided by the utility model can prevent that the car is under the condition about should brake, because the emergence of traffic accident and the casualties that causes have effectively been avoided in the emergence that driver's misoperation stepped on accelerator pedal's the condition.
Description
Technical field
The utility model relates to man-machine pair of automobile and drives system.
Background technology
Automobile is the indispensable vehicle in people's routine life.The ups and downs of huge automotive market also to a great extent left and right global economic development.But automobile is in safe driving field Shortcomings part: very fatiguability when driver drives over a long distance, if when driving, driver occurs that any mistake all may cause personal casualty and property damage.According to statistical figure, each automobile superpower has people up to ten thousand to die from traffic accident every year.So the safe driving of automobile is thing extremely concerned at present.
Along with the development of each system electronic control technology of automobile, the electron steering of automobile driving system has also become an important supporting technology, plays basic effect at the numerous areas relating to vehicle longitudinal control.And, along with the development of auto electronic control technology, more and more man-machinely two drive automobile and be developed out.Man-machine two driving refers to that automobile has two kinds of master modes simultaneously: manual drive master mode, in other words driver's master mode and automatic control mode.These two kinds of master modes can carry out mutually flexibility at any time, reasonably switch in the operational process of vehicle, and enable the operation of vehicle safer, energy consumption is lower.The automatic control mode road conditions that to be automobile collect according to sensor and peripheral information carry out analyzing and processing, then control the automatic driving mode of automotive operation.Such as, application number is 200910037540.6, the Chinese patent application file that denomination of invention is " be convenient to external installation, be convenient to the Vehicular automatic driving system of manual/auto switching " discloses a kind of Vehicular automatic driving system of manual/auto switching, can realize the switching of automatic driving and manual drive by handling shifter.But man-machine two driving not is proper automatic Pilot, and automatic Pilot and pilot steering are not simply either-or, consider in automatic Pilot process, how people intervenes naturally.
Drive in technology at existing man-machine pair, although the random switching between automatic Pilot and pilot steering can be realized, be all utilize shifter to switch, belong to direct-cut operation.And in prior art, the safety control in the automotive safety in automatic Pilot process still belongs to blank.
Utility model content
The purpose of this utility model is to provide man-machine pair of a kind of automobile and drives system, in order to solve the problem of the safety control in the automotive safety in prior art not in automatic Pilot process.The utility model provides man-machine pair of another kind of automobile to drive system simultaneously.
For achieving the above object, scheme of the present utility model comprises man-machine pair of a kind of automobile and drives system, comprise controller, obstacle distance detecting device, Das Gaspedal, brake system and drive system, first collection signal input end of described controller connects described obstacle distance detecting device, second collection signal input end of controller connects the throttle signal mouth of described Das Gaspedal, brake system and drive system described in described controller control linkage.
Described obstacle distance detecting device is radar detection device.
The throttle signal mouth of described Das Gaspedal connects the collection signal input end of described controller by an A/D transfer device.
System driven by man-machine pair of a kind of automobile, comprise auto mat, longitudinal assembly controller, obstacle distance detecting device, Das Gaspedal, brake system and drive system, the collection signal input end of described auto mat connects described obstacle distance detecting device, the signal output part of auto mat connects described longitudinal assembly controller, the collection signal input end of described longitudinal assembly controller connects the throttle signal mouth of described Das Gaspedal, brake system and drive system described in described longitudinal assembly controller control linkage.
The throttle signal mouth of described Das Gaspedal connects the collection signal input end of described longitudinal assembly controller by an A/D transfer device.
First, the utility model can fill up the technological gap that the safety control field in automatic driving process also exists.And, automobile is under automatic control mode in driving process, when automobile receiver is to brake control signal, respond this brake control signal to brake, and controller sends zero accelerator open degree imperative instruction to drive system, and locking throttle signal, namely the driving throttle signal of automobile is 0, automobile not responsive oil gate signal simultaneously, driver does not make any drived control by Das Gaspedal to automobile.When the method can prevent automobile from should brake, the misoperation due to driver is stepped on the throttle generation, the generation that effectively prevent traffic accident and the personal casualty caused of situation of pedal.
Accompanying drawing explanation
Fig. 1 is the man-machine two structural representation driving system of the automobile in automobile autocontrol method embodiment;
Fig. 2 is the transfer principle figure mono-between automatic control mode and driver's master mode;
Fig. 3 is the transfer principle figure bis-between automatic control mode and driver's master mode;
Fig. 4 is the transfer principle figure tri-between automatic control mode and driver's master mode;
Fig. 5 is the principle flow chart of automobile autocontrol method;
Fig. 6 is the man-machine two structural representation driving another embodiment of system of automobile.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in more detail.
Automobile autocontrol method embodiment
Be illustrated in figure 1 man-machine pair of automobile and drive system, comprise auto mat, longitudinal assembly controller, radar detection device, Das Gaspedal, A/D transfer device, drive system and brake system, wherein, the collection signal input end of auto mat connects radar detection device, and the signal output part of auto mat connects longitudinal assembly controller; Das Gaspedal place is provided with an E-gas device, this E-gas device can export the voltage signal corresponding with the aperture of Das Gaspedal, this E-gas device is connected to the collection signal input end of longitudinal assembly controller by A/D transfer device, longitudinal assembly controller control linkage brake system and drive system.Connection between man-machine two each component part driven in system of this automobile all adopts CAN to connect.The information that radar detection device detects is not the various information of automobile internal operation situation own, but the information outside automobile, so can environmental information be defined as.
Auto mat can be lower computer or upper computer, and it calculates the virtual throttle opening value needed for automatically driving according to the information that radar detection device detects, and starts the virtual throttle opening value calculated to longitudinal assembly controller.
Several obstacle distance threshold values are set in the control program of auto mat inside, the corresponding speed stage of scope between adjacent two obstacle distance threshold values, throttle signal is as the controlling quantity of target velocity, and throttle signal and voltage signal also exist relation one to one.When the distance of automobile and obstacle is in the scope between some adjacent two obstacle distance threshold values, the speed stage that scope between these some adjacent two obstacle distance threshold values of vehicle response is corresponding, and regulate throttle signal, make automobile control vehicle using suitable throttle signal as controlling quantity and be in this speed stage; When the distance of automobile and obstacle changes, and when changing to the scope be between another adjacent two obstacle distance threshold values, the speed stage that scope between adjacent two the obstacle distance threshold values of vehicle response this another is corresponding, and with corresponding adjustment throttle signal, control vehicle using the throttle signal be applicable to as controlling quantity and be in this speed stage.Because throttle signal and voltage signal exist relation one to one, so, alternatively control vehicle using suitable voltage signal as controlling quantity and be in corresponding speed stage, to reach the object controlling vehicle and travel.
In addition, the obstacle distance threshold value that setting one is minimum in several obstacle distance threshold values arranged is stopping distance threshold value, when the distance L of the automobile detected and obstacle is less than this stopping distance threshold value, show that now automobile distance obstacle is very near, in order to automotive safety, need to control automobile brake, so now auto mat exports a brake command signal for the purpose of stopping.
That is, automobile is when automatic Pilot, radar detection device detects the distance of automobile and obstacle in real time, auto mat makes corresponding process according to the information detected: when the distance of automobile and obstacle is in the scope between some adjacent two obstacle threshold values, and automobile is with speeds corresponding to the speed stage that the scope between these some adjacent two obstacle threshold values is corresponding; When the distance of automobile and obstacle changes, and when changing to the scope be between another adjacent two obstacle threshold values, automobile is with speeds corresponding to the speed stage that the scope between this another adjacent two obstacle threshold values is corresponding; Here automobile and the distance of obstacle may become large, also may diminish, and when the distance of automobile and obstacle become greater to another scope, auto mat exports Acceleration Signal; When the distance of automobile and obstacle is varied down to another scope, auto mat exports restriction signal, and restriction signal can realize by reducing throttle, also can carry out braking realization by applying suitable braking force; When the distance of automobile and obstacle is less than stopping distance threshold value, auto mat exports a brake command signal for the purpose of stopping.
This man-machine two system of driving has two kinds of master modes: driver's master mode and automatic control mode.Driver's master mode is pilot steering, the control that to be driver come automobile by artificial step on the throttle pedal or brake pedal.When driver driving pattern, driver steps on the throttle pedal, E-gas device will produce a voltage signal corresponding with pedal aperture, this voltage signal is converted to digital voltage signal by analog voltage signal after being changed by A/D, and inputing to longitudinal assembly controller, longitudinal assembly controller makes corresponding process.
When automatic control mode, the automobile that auto mat detects according to radar detection device exports corresponding throttle signal or speed-slackening signal to the distance of obstacle and the change of this distance, and the signal of output is exported to longitudinal assembly controller, longitudinal assembly controller makes corresponding process.
Can change between driver's master mode and automatic control mode, as shown in Figure 2, Figure 3 and Figure 4: when current automobile is driver's master mode, if auto mat sends throttle signal or speed-slackening signal to longitudinal assembly controller, then automobile is converted to automatic control mode by driver's master mode, and the drived control of automobile is taken over by auto mat; When current automobile is automatic control mode, the pedal if driver steps on the throttle, then automobile switches to driver driving pattern by automatic control mode; Now, the automatic drived control of vehicle no longer acts on, once driver's close the throttle, and the drived control of auto mat adapter automobile again; When current automobile is automatic control mode, if auto mat stops sending control command to longitudinal assembly controller, then automobile switches to driver driving pattern by automatic control mode, and also, now automobile exits automatic drived control.
Longitudinal assembly controller can be entire car controller in automobile or other controllers, and longitudinal assembly controller can respond the throttle signal or speed-slackening signal that receive, to complete drived control and control for brake.This throttle signal and speed-slackening signal can be from the signal of driver by step on the throttle pedal and brake pedal generation, can also be that auto mat carries out processing the control signal of rear output according to the signal that radar detection device detects.
As shown in Figure 5, automobile is under automatic control mode in driving process, and namely automobile is when automatic running, when longitudinal assembly controller receives the brake command signal that auto mat sends, longitudinal assembly controller responds this brake command signal, controls brake system and brakes.Meanwhile, longitudinal assembly controller generates zero accelerator open degree imperative instruction, and this zero accelerator open degree imperative instruction is sent to drive system, drive system responds this imperative instruction, because this imperative instruction is zero accelerator open degree, so drive system responds this imperative instruction, do not make and drive traveling action, and, the throttle signal that longitudinal assembly controller locking Das Gaspedal produces, that is, even if pedal and longitudinal assembly controller receive accelerator open degree command signal even if driver steps on the throttle, longitudinal assembly controller also no longer responds throttle signal or the accelerator open degree instruction of the generation of this Das Gaspedal, so, longitudinal assembly controller receive speed-slackening signal and control brake system brake time, driver does not make any drived control by Das Gaspedal to automobile, automotive drive system can not make any drived control by accelerator open degree instruction to automobile, namely accelerate to control.
When the automobile distance obstacle that radar detection device detects is very near, when its distance is less than stopping distance threshold value, now in order to ride safety of automobile needs brake operating with trying to forestall traffic accidents, auto mat will send speed-slackening signal, after longitudinal assembly controller receives this speed-slackening signal, send zero accelerator open degree imperative instruction and locking throttle signal, when being to prevent automobile from should brake, misoperation due to driver is stepped on the throttle the generation of situation of pedal, the generation that can effectively avoid traffic accident.
After obstacle far goes or removes, when the distance of automobile and obstacle is greater than stopping distance threshold value again, auto mat stops sending speed-slackening signal, longitudinal assembly controller stops sending zero accelerator open degree imperative instruction, and unlock the throttle signal of Das Gaspedal, now automobile recovers normal work, or carries out automatic drived control according to the driving order that auto mat sends, or is carried out pilot steering controlled by driver's pedal of stepping on the throttle.
In above-described embodiment, the distance detection device of automobile and obstacle is radar detection device, and as other embodiment, the distance detection device of automobile and obstacle can also be laser distance detecting device or other distance detection device.
In above-described embodiment, Das Gaspedal place arranges an E-gas device and pedal aperture is converted to corresponding voltage signal, and as other embodiment, Das Gaspedal and E-gas device unite two into one, that is, this Das Gaspedal can export the voltage signal with the equivalence of pedal aperture.
In above-described embodiment, the throttle signal mouth of Das Gaspedal connects the collection signal input end of longitudinal assembly controller by an A/D conversion equipment, as other embodiment, if longitudinal assembly controller can receive and treatment of simulated amount signal, so, just A/D transfer device is not set in this system.
System embodiment 1 driven by man-machine pair of automobile
The man-machine two system of driving of this automobile is described in detail in automobile autocontrol method embodiment, does not repeat here.
System embodiment 2 driven by man-machine pair of automobile
This automobile is man-machine two drives that system and automobile are man-machine twoly to be driven system embodiment 1 difference and be: only have a controller in this system, this controller can be entire car controller, also can be controllers of other special settings.As shown in Figure 6, this controller is sampled simultaneously and is connected the throttle signal mouth of detections of radar equipment and Das Gaspedal, control linkage brake system and drive system.This controller internal operation two kinds of control methods, a kind of distance according to automobile and obstacle makes the control accelerated, slow down and brake, and another kind is when braking, sends zero accelerator open degree imperative instruction, and the throttle signal of locking Das Gaspedal.Concrete control process is identical with the man-machine two control process driven in system embodiment 1 of automobile, does not repeat here.Use a controller to complete whole control treatment, which increase the burden of this controller, but be the reduction of input cost, and a controller is also can realize controlling.
The part described in detail is not had to belong to the common practise of prior art or this area in above-described embodiment.
Be presented above concrete embodiment, but the utility model is not limited to described embodiment.Basic ideas of the present utility model are above-mentioned basic scheme, and for those of ordinary skill in the art, according to instruction of the present utility model, designing the model of various distortion, formula, parameter does not need to spend creative work.The change carried out embodiment when not departing from principle of the present utility model and spirit, amendment, replacement and modification still fall in protection domain of the present utility model.
Claims (5)
1. system driven by man-machine pair an of automobile, it is characterized in that, comprise controller, obstacle distance detecting device, Das Gaspedal, brake system and drive system, first collection signal input end of described controller connects described obstacle distance detecting device, second collection signal input end of controller connects the throttle signal mouth of described Das Gaspedal, brake system and drive system described in described controller control linkage.
2. system driven by man-machine pair of automobile according to claim 1, and it is characterized in that, described obstacle distance detecting device is radar detection device.
3. system driven by man-machine pair of automobile according to claim 1, and it is characterized in that, the throttle signal mouth of described Das Gaspedal connects the collection signal input end of described controller by an A/D transfer device.
4. system driven by man-machine pair an of automobile, it is characterized in that, comprise auto mat, longitudinal assembly controller, obstacle distance detecting device, Das Gaspedal, brake system and drive system, the collection signal input end of described auto mat connects described obstacle distance detecting device, the signal output part of auto mat connects described longitudinal assembly controller, the collection signal input end of described longitudinal assembly controller connects the throttle signal mouth of described Das Gaspedal, brake system and drive system described in described longitudinal assembly controller control linkage.
5. system driven by man-machine pair of automobile according to claim 4, it is characterized in that, the throttle signal mouth of described Das Gaspedal connects the collection signal input end of described longitudinal assembly controller by an A/D transfer device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520627762.4U CN205022576U (en) | 2015-08-19 | 2015-08-19 | Man -machine two systems of driving of car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520627762.4U CN205022576U (en) | 2015-08-19 | 2015-08-19 | Man -machine two systems of driving of car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205022576U true CN205022576U (en) | 2016-02-10 |
Family
ID=55255136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520627762.4U Active CN205022576U (en) | 2015-08-19 | 2015-08-19 | Man -machine two systems of driving of car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205022576U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697072A (en) * | 2017-09-25 | 2018-02-16 | 北京新能源汽车股份有限公司 | Switching method, vehicle and the entire car controller of driving model |
-
2015
- 2015-08-19 CN CN201520627762.4U patent/CN205022576U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697072A (en) * | 2017-09-25 | 2018-02-16 | 北京新能源汽车股份有限公司 | Switching method, vehicle and the entire car controller of driving model |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105083266A (en) | Automatic automobile control method and man-machine driving systems for automobile | |
| CN105857309B (en) | A kind of adaptive cruise control method for considering multiple target | |
| CN201833882U (en) | Electronic intelligent accelerator stepping misoperation prevention system | |
| CN204750152U (en) | A self -adaptation cruise control system for electric automobile | |
| CN103754201B (en) | A kind of brake control method of train automatic protection onboard system | |
| CN106347138A (en) | Energy recovery control method and device of battery electric vehicle and battery electric vehicle | |
| CN105128857B (en) | A kind of automobile autonomous driving control method and a kind of automobile autonomous driving system | |
| DE102014118636A1 (en) | Device and method for controlling vehicles | |
| CN103085816A (en) | Trajectory tracking control method and control device for driverless vehicle | |
| CN204506563U (en) | A kind of novel intelligent accelerator stepping misoperation preventing emergency braking apparatus | |
| WO2013029966A1 (en) | Method for controlling a deceleration arrangement of a motor vehicle | |
| CN205381159U (en) | Novel energy resource vehicle | |
| CN206749792U (en) | A kind of pure electric automobile driving cycle discriminating gear | |
| CN204915669U (en) | Car automatic control system | |
| CN106864436A (en) | A kind of automatic driving vehicle brakes and braking method | |
| CN205022576U (en) | Man -machine two systems of driving of car | |
| CN104960511A (en) | Method for preventing mistaking accelerator pedal for brake pedal | |
| CN105035045B (en) | Vehicle brake control apparatus | |
| CN105501077A (en) | New energy automobile and two kinds of power control methods | |
| CN103994894B (en) | A kind of platform for electric vehicle experiments based on AMT and function realizing method thereof | |
| KR100820436B1 (en) | A vehicle interval control system and the drive disposition collection method thereof | |
| CN205292616U (en) | Braking system of static pressure transmission vehicle | |
| CN104228581A (en) | Vehicle forced speed limiting method | |
| CN205034112U (en) | Car is control loop independently | |
| CN104963779B (en) | Vehicle drive control apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |