CN206086597U - Independently with car system - Google Patents
Independently with car system Download PDFInfo
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- CN206086597U CN206086597U CN201620830523.3U CN201620830523U CN206086597U CN 206086597 U CN206086597 U CN 206086597U CN 201620830523 U CN201620830523 U CN 201620830523U CN 206086597 U CN206086597 U CN 206086597U
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Abstract
The utility model discloses an independently with car system, system are equipped with and install at the place ahead in vehicle the place ahead anticollision millimeter wave radar, the place ahead anticollision millimeter wave radar is through CAN bus output signal to the main control unit, the unit is reminded to the the main control unit alarm output signal to reporting to the police, the main control unit exports brake singal to drive -by -wire brake unit, an ultrasonic radar is respectively installed to the place ahead anticollision millimeter wave radar both sides, ultrasonic radar output signal is to ultrasonic radar the control unit, ultrasonic radar the control unit is through CAN bus output signal to main the control unit. The utility model has the advantages of the utility model discloses combine the low -cost ultrasonic radar to carry out the precision measurement to the relative distance of target closely, closely the range error is bigger than normal not enough to have compensatied the millimeter wave radar.
Description
Technical field
The utility model is related to intelligent vehicle technical field, and in particular to a kind of intelligent vehicle is independently with car system.
Background technology
Continuous development and the demand that drives to Vehicular intelligent of user with Vehicular intelligent technology, the advanced auxiliary of vehicle is driven
Sail and intelligent vehicle will be popularized quickly in future, the daily life for giving people brings many facilities.Wherein independently with car
System can partly substitute people and vehicle is controlled under high-speed working condition or city operating mode.Current adaptive cruise control
System (Adaptive Cruise Control, ACC) processed can be realized independently with car control, using 77GHz millimetre-wave radars pair
Objects ahead carries out real-time detection.Warning reminding and brake regulation are carried out when occurring dangerous.Radar detection precision only ± 0.5
Rice, it is impossible to realize closely accurately detecting, the early warning distance and brake regulation distance of the model assessment for adopting at present in addition is universal
Error is larger, it is impossible to carries out accurate estimation in real time according to driver, vehicle braking performances and traveling road conditions, causes safe distance
The too small risk for colliding increases or safe distance is excessive reduces road travel efficiency.
Utility model content
Technical problem to be solved in the utility model is to realize that one kind reduces as far as possible with following distance and be able to ensure that row
The system of car safety.
To achieve these goals, the technical solution adopted in the utility model is：Independently with car system, system is provided with installation
In the front anticollision millimetre-wave radar of vehicle front, the front anticollision millimetre-wave radar Jing CANs output signal to master control
Unit processed, the main control unit output alarm signal to warning reminding unit, the main control unit output brake signal is extremely
Brake-by-wire unit, the front anticollision millimetre-wave radar both sides are respectively provided with a ultrasonic radar, the ultrasonic radar
Ultrasonic radar control unit is outputed signal to, the ultrasonic radar control unit Jing CAN outputs signal to main control
Unit.
Vehicle front is provided with vehicle forward sight camera, and the vehicle forward sight camera Jing CANs output signal to master control
Unit processed.
Rear view of vehicle is provided with car detection radar, described to detect rear view of vehicle information with car detection radar and output signal to
Main control unit, the main control unit outputs control signals to the display reminding unit of rear view of vehicle.
Vehicle both sides are provided with lateral detection radar, and the lateral detection radar simultaneously outputs signal to main control unit, described
Main control unit outputs control signals to direction controlling unit.
The utility model has the advantage of the utility model combines inexpensive ultrasonic radar to the relative of close-in target
Distance carries out accurate measurement, compensate for millimetre-wave radar closely range error deficiency bigger than normal.The peace that the utility model is adopted
Full distance appraising model increased self-learning module, it is considered to the individual difference between different vehicle braking ability and driver, with
And the influence factor such as track, front truck braking ability and transport condition, better adaptability, calculation of safety distance is more accurate.This
Utility model employs minimum safe spacing closed loop control framework, overcomes measured value as the range estimation method of mode input
The hysteresis quality of presence and ineffectiveness, and safe distance estimates the larger problem of universal deviation, it is ensured that minimum safe distance control
The stability and robustness of system, compensate for calculation of safety distance model deficiency affected by various factors.
The utility model proposes minimum safe spacing closed loop control method simultaneously, compensate for early warning distance and brake regulation
Range estimation deviation is larger to cause minimum safe distance too small or excessive deficiency.
Description of the drawings
The content of every width accompanying drawing expression in the utility model specification is briefly described below：
Fig. 1 is for autonomous with car system block diagram；
Fig. 2 is distance controlling flow chart.
Specific embodiment
As shown in figure 1, system includes front anticollision millimetre-wave radar；Front ultrasonic radar sensor；Objects ahead and
Environment sensing camera；Ultrasonic radar control unit, intelligent vehicle is independently with car control unit, warning reminding device and intelligence
Car brake-by-wire control unit and CAN are constituted.Front anticollision millimetre-wave radar is used for real-time detection forward and static
The relative distance of target, speed and orientation angles, determine whether vehicle straight trip whether dangerous and its degree of danger, Yi Jishi
No collection early warning or brake regulation.
Vehicle front installs the ultrasonic sensor of 2 low costs additional and coordinates forward-looking radar and forward sight camera to carry out front road
The perception of road environment, while being improved on the basis of existing Safety distance model, proposes safe early warning Range estimation model
With brake regulation Range estimation model, and minimum safe spacing closed loop control framework after brake regulation so that automatically with car system
System can either ensure traffic safety, while improving road travel efficiency.
The scope that 100 meters of vehicle front is detected that cooperation front camera is to front area by forward sight millimetre-wave radar
The target or barrier in domain is detected and recognized, by ultrasonic radar cooperation radar and camera in the range of 5 meters of front
Target or barrier in the region is detected, especially the accurate measurement of safe distance.Judge its degree of danger simultaneously
Decision-making is carried out, deceleration collision avoidance is carried out by intelligent vehicle brake-by-wire.Ultrasonic radar is used to detect the target in vehicle front rice
With the relative distance of this car, the low deficiency of front millimeter wave radar proximity detection precision is made up, improve distance measurement precision.
Ultrasonic radar controller be used to gathering the output signal of ultrasonic radar and by be calculated target and radar it is relative away from
From, and the relation between the installation site and vehicle axis system for passing through radar calculates the positional information of target relative vehicle.
Vehicle forward sight camera is used for the type for coordinating front millimeter wave radar further to recognize target, the danger to target
Degree determined whether, provides foundation to urgent collision avoidance.The information fusion of radar and vision can effectively improve front ring
Accuracy and validity that border perceives.
Intelligent independent is with car system in addition to target relative distance needs accurate detection, in addition it is also necessary to which accurately safe distance is estimated
Calculation model assessment early warning distance and brake regulation distance, but safe distance and driver characteristics, braking performance of vehicle and traveling
The dynamic factors such as operating mode are relevant, even and if these factors are difficult to estimate and also have hysteresis quality by model prediction.The utility model
On the basis of existing Safety distance model, introduce self-learning module, take into full account different vehicle braking ability and driver it
Between individual difference, and the influence factor such as track, front truck braking ability and transport condition establishes safe early warning distance
Model and brake regulation distance model, and for measured value as mode input range estimation method exist hysteresis quality and
It is ineffectiveness, it is proposed that to control minimum safe spacing closed loop control framework of the vehicle minimum safe distance as final goal, to keep away
This car braking deceleration is constantly adjusted during hitting, Dynamic Closed Loop Control is carried out to safe distance, it is ensured that Ben Che and front truck are relative
After speed is eliminated, minimum safe distance is maintained at a constant scope, it is to avoid excessive or too small, has both improve system distance
Estimation precision, anti-collision risk is reduced, while also ensure that ride comfort and driving efficiency.
System main-control unit is by CAN and ultrasonic radar controller and forward sight camera, millimetre-wave radar
Communicated, obtained the detection data and the installation site by each sensor and respective coordinate system and this car of each sensor
Establishment of coordinate system corresponding relation, obtains each sensor detection target with respect to the particular location of this car, relative velocity and range information,
It is supplied to control strategy algorithm to do decision-making.Control strategy algorithm combines this car speed and running status according to the target information for obtaining
Output early warning information, and control warning device reminded to driver or by with intelligent vehicle brake-by-wire unit communication reality
Apply brake regulation.
Additionally, rear view of vehicle is provided with car detection radar, vehicle both sides are provided with lateral detection radar, lateral detection radar and
Rear view of vehicle information being detected with car detection radar and outputing signal to main control unit, main control unit outputs control signals to car
The display reminding unit and direction controlling unit at rear.The speed and distance of front vehicle can be detected with car detection radar,
Tip element can be LED display, point out vehicle to be normally in automatic cruising state, or show vehicle brake dynamics,
Give rear driver alert.Direction controlling unit can be the direction disk control unit on automatic Pilot unit, can control
The direction of vehicle, for linking with automatic cruising, appoints so to be likely to occur and collides possible when vehicle braking, can be carried out by steering
It is inevitable, need whether there is barrier or vehicle by lateral detections of radar side before turning to certainly.
As shown in Fig. 2 the control method of minimum safe following distance is as follows：
1) system electrification
2) control unit and radar system, visually-perceptible system and brake-by-wire unit carry out fault self-checking；
If 3) system malfunctions, fault alarm is carried out, otherwise perform 4；
4) front truck state examinations, by millimetre-wave radar sensor, ultrasonic radar sensor and visually-perceptible system
System is detected to front vehicles and recognized.If front truck slows down, execution step 5 otherwise continues to carry out reality to front vehicles
When detect；
5) early warning distance D is estimatedw, then judge, if whether measured distance D is more than or equal to Dw, then step 5 is repeated,
Otherwise execution step 6；
6) anti-collision warning, while estimating brake regulation apart from Dz, then judge, if whether measured distance D is more than or equal to
Dz, then step 6, otherwise execution step 7 are repeated；
If 7) front truck is static, this car speed is more than 0 or this car speed is more than front truck, then be braked intervention, then
Execution step 8, otherwise execution step 6；
8) safe distance D is carried outhEstimation, if measured distance D-DhMore than or equal to 1 meter, then apart from bigger than normal, increase this car system
Dynamic deceleration, execution step 7；If measured distance Dh- D is more than or equal to 1 meter, then apart from less than normal, reduce this car braking deceleration,
Execution step 7；Otherwise this car braking deceleration keeps, execution step 7.
There are car or rear to follow the speed of this car too fast or hypotelorism if detecting rear, can be given by display unit
Rear car is given to point out, while after this car starts with car system, also can know that this car is currently in automatically by rear car by display unit
Driving condition.
Additionally, the front following distance of collection and speed, and this car speed, if front truck deceleration is excessive causing and front following distance hardly possible
To meet braking distance, then vehicle both sides whether vehicle or barrier are detected, it is not right if there are barrier or vehicle in both sides
Direction active accommodation, if wherein side clear or vehicle, to the side this car direction is adjusted, if the equal clear in both sides or
Vehicle, then adjust this car direction to this car right side.
When this car is in normally with car running operation, front truck emergency deceleration is caught sight of.This car subsequently takes braking deceleration
Collision avoidance, front truck running status is that final speed cannot be predicted, therefore early warning distance DwWith brake regulation apart from DzEstimation, it is assumed that with
Front truck is finally stopped, and rear car is estimated premised on also stopping, then calculation of safety distance model is under the operating mode：
In formula, vbFor this car current vehicle speed (ms-1)；TdRespectively driver's response time (s) and coefficient, TzFor braking
Coordination time (s)；abIt is this car braking deceleration estimate (ms with k-2) and coefficient；vfFor front truck current vehicle speed (ms-1)；
afFor front truck braking deceleration estimate (ms-2)；D is the minimum safe distance after front truck and Ben Che stoppings between this car and front truck
(m)。
This car braking in adjustment model is modified to this car braking ability assessment result to parameter l by self-learning module
Deceleration abPreset value, to match this car braking ability.By learning by oneself assessment result of the module to driver's response time, adjustment
Driver response time T in modeldPreset value.The assessment result of time, adjustment are coordinated to brakes by self-learning module
Driver response time T in modelzPreset value.K is adjusted by road surface identification module to be modified, this car and front in adjustment model
Car braking deceleration abPreset value, to match current driving road surface.By the adaptive correction to relevant parameter, the safety for making away from
It is more rational from estimating, more meet practical application scene, it is more accurate to estimate, it is ensured that while vehicle does not collide, keep compared with
High driving efficiency, ride comfort and driving experience.Formula (1) (2) is only applicable to estimate to start early warning distance and braking is dry
Pre- distance.If not this car of real-time adjustment braking deceleration in this car moderating process, this car and front truck relative velocity are eliminated
Afterwards to be likely to occur deviation excessive or too small for minimum safe distance and preferable distance, it is impossible to keep higher collision avoidance probability and
Driving efficiency.This car and front truck is kept to be maintained at ideal range with respect to minimum safe distance after speed elimination.For vehicle system
Running status operating mode after dynamic intervention, it is proposed that a kind of closed loop approaches self adaptation minimum safe distance estimation control model.At this
Car starts after braking deceleration, and the factor for affecting d values is mainly front truck braking distance and Ben Che braking distances, by adjusting this car system
Dynamic deceleration is adjusted to braking distance, it is ensured that d is in a preferable scope.
Assume DhFor this car in this car braking procedure and front truck safe distance estimate, D is this car of radar period measurement
With front truck relative distance, minimum safe spacing Controlling model is：
T is radar range finding cycle (s) in formula, and d is this car and front truck minimum safe after Ben Che and the elimination of front truck relative velocity
Distance (m), ideally each range finding period measurement relative distance D should and DhIt is close to, is maintained at certain error model
Enclose.D may be excessive if D is excessive, and this car may suddenly slow down, and cause the discomfort of driver and crew, while reducing road
Driving efficiency.D may be too small if D is too small, increases risk of collision.Front truck braking deceleration parameter is except according to road in model
Face identification module is held essentially constant outside being adjusted.Therefore can pass through regulation coefficient k in the range measurement cycle of each radar
This car braking deceleration is adjusted so that measured value D values are close to estimate Dh, using this evaluation method then without the concern for front
The final operating speed of car, practicality is higher in actual scene, keeps d values in the reasonable scope.abWith afAccording to millimeter wave thunder
Relative speed and the real-time speeds of Ben Che up to Real-time Collection is updated, and a closed loop prediction model is formed, by real-time adjustment
This car braking deceleration parameter coefficient l adjusts comparatively safe distance so that relative distance d more they tends to close after eliminating with respect to speed
Reason.
Wherein TdGeneral span 0.4s～1.5s, representative value 1s；TzGeneral value is 200～400ms, representative value
300ms；ab3.0～9.8ms of general span-2, representative value：Car brake deceleration；5.5m·s-2；Truck brake slows down
Degree 3.6ms-2.Coefficient j, k, l, m are pre-seted and are 1, excursion 0.5～1.5；D 1～2m of span.
The utility model is exemplarily described above in conjunction with accompanying drawing, it is clear that the utility model is implemented not to be received
The restriction of aforesaid way, as long as employing changing for the various unsubstantialities that method design of the present utility model and technical scheme are carried out
Enter, or it is not improved by it is of the present utility model design and technical scheme directly apply to other occasions, in the utility model
Protection domain within.
Claims (4)
1. autonomous with car system, system is provided with the front anticollision millimetre-wave radar installed in vehicle front, the front anticollision milli
Metre wave radar Jing CANs output signal to main control unit, and the main control unit output alarm signal is to warning reminding list
Unit, the main control unit exports brake signal to brake-by-wire unit, it is characterised in that：The front anticollision millimetre-wave radar
Both sides are respectively provided with a ultrasonic radar, and the ultrasonic radar outputs signal to ultrasonic radar control unit, described super
Sound radar control unit Jing CAN outputs signal to main control unit.
2. according to claim 1 autonomous with car system, it is characterised in that：Vehicle front is provided with vehicle forward sight camera,
The vehicle forward sight camera Jing CANs output signal to main control unit.
3. according to claim 1 and 2 autonomous with car system, it is characterised in that：Rear view of vehicle is provided with car detection radar,
It is described to detect rear view of vehicle information with car detection radar and output signal to main control unit, the main control unit output control
The display reminding unit of signal to rear view of vehicle.
4. according to claim 1 autonomous with car system, it is characterised in that：Vehicle both sides are provided with lateral detection radar, institute
State lateral detection radar and output signal to main control unit, the main control unit outputs control signals to direction controlling list
Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620830523.3U CN206086597U (en) | 2016-08-03 | 2016-08-03 | Independently with car system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620830523.3U CN206086597U (en) | 2016-08-03 | 2016-08-03 | Independently with car system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206086597U true CN206086597U (en) | 2017-04-12 |
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ID=58468087
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620830523.3U Expired - Fee Related CN206086597U (en) | 2016-08-03 | 2016-08-03 | Independently with car system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351785A (en) * | 2017-07-12 | 2017-11-17 | 奇瑞汽车股份有限公司 | Vehicle-periphery sensory perceptual system |
| CN107521478A (en) * | 2017-07-10 | 2017-12-29 | 浙江亚太机电股份有限公司 | Control method based on ultrasonic radar and millimetre-wave radar |
| CN107600068A (en) * | 2017-09-11 | 2018-01-19 | 合肥缤赫信息科技有限公司 | A kind of vehicle safety is with car system |
| CN108407784A (en) * | 2018-01-23 | 2018-08-17 | 内蒙古青杉汽车有限公司 | A kind of anticollision control method and device based on fuzzy control theory |
| CN110869247A (en) * | 2017-06-12 | 2020-03-06 | 大陆汽车有限公司 | Rear anti-collision flashing hazard lamp system |
-
2016
- 2016-08-03 CN CN201620830523.3U patent/CN206086597U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110869247A (en) * | 2017-06-12 | 2020-03-06 | 大陆汽车有限公司 | Rear anti-collision flashing hazard lamp system |
| US11618380B2 (en) | 2017-06-12 | 2023-04-04 | Continental Automotive Gmbh | Rear pre-crash safety system |
| CN107521478A (en) * | 2017-07-10 | 2017-12-29 | 浙江亚太机电股份有限公司 | Control method based on ultrasonic radar and millimetre-wave radar |
| CN107351785A (en) * | 2017-07-12 | 2017-11-17 | 奇瑞汽车股份有限公司 | Vehicle-periphery sensory perceptual system |
| CN107600068A (en) * | 2017-09-11 | 2018-01-19 | 合肥缤赫信息科技有限公司 | A kind of vehicle safety is with car system |
| CN108407784A (en) * | 2018-01-23 | 2018-08-17 | 内蒙古青杉汽车有限公司 | A kind of anticollision control method and device based on fuzzy control theory |
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