CN206493934U - A kind of active anti-collision system based on electric automobile - Google Patents
A kind of active anti-collision system based on electric automobile Download PDFInfo
- Publication number
- CN206493934U CN206493934U CN201720197104.5U CN201720197104U CN206493934U CN 206493934 U CN206493934 U CN 206493934U CN 201720197104 U CN201720197104 U CN 201720197104U CN 206493934 U CN206493934 U CN 206493934U
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- China
- Prior art keywords
- electric automobile
- system based
- active anti
- laser radar
- early warning
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Abstract
The utility model discloses a kind of active anti-collision system based on electric automobile, including human-machine interface unit, information acquisition unit, CPU and execution unit.System uses electric control hydraulic braking technology, according to laser radar and visual sensor signal, target is identified using blending algorithm, safe early warning distance and safe stopping distance are calculated based on coefficient of road adhesion, finally early warning or active brake is realized through integrated decision-making control execution unit.The reliability of vehicle collision avoidance can be greatly improved in the system, effectively lift driving safety.
Description
Technical field
The utility model belongs to vehicle active safety field, and in particular to a kind of active anti-corrosion system based on electric automobile
System.
Background technology
With the increase of car ownership, while economic development is promoted, also bring many societies to us and ask
Topic, especially such as air pollution and traffic accident, traffic accident take place frequently, and bring serious economic loss and casualties.
Active anti-collision system based on electric automobile has become the important method for solving this problem, but existing anticollision
The brakes that system is used uses traditional stay-supported or motor-driven, and its response time is long, and feel is poor；In addition it is most of
Road surface situation of change is not considered Safety distance model in, so as to cause the poor reliability of its anticollision, these defects are all
Greatly damage the popularization of collision avoidance system.
In issued patents【CN106004671 A】In disclose a kind of intersection vehicle collision avoidance system and anticollision
Method, the system is used as target acquisition system using master and slave millimetre-wave radar and 1 monocular cam, although can be one
Determine to improve accuracy of detection in degree, but its cost is higher, and for blending algorithm, braking system composition, control strategy etc. not
Explanation；In issued patents【CN104276078 A】In disclose and a kind of filled based on the preceding automobile anti-rear end collision to collision avoidance system
Put, the system uses collision time TTC methods, although calculate simple, but its model accuracy is not high, surface conditions is not considered, reliably
Property is poor, is only capable of early warning in addition and can not realize active brake.
The content of the invention
In order to overcome the defect that above-mentioned prior art is present, the purpose of this utility model is to provide a kind of based on electronic vapour
The active anti-collision system and its control method of car, replace electric-controlled mechanical in the prior art in structure using electric control hydraulic braking
Braking, using solid-state laser radar and vision sensor detection front environment, algorithmically using solid-state laser radar and vision
Sensor data fusion method carries out target identification, and the coefficient of road adhesion at current time is estimated using Bayes' theorem, so that
Accuracy, reliability and the real-time of collision avoidance system identification are greatly enhanced, driving safety is effectively increased.
In order to achieve the above object, the utility model is adopted the following technical scheme that：A kind of active based on electric automobile is prevented
Collision system, it includes：Human-machine interface unit, information acquisition unit, CPU and execution unit.
Described human-machine interface unit includes a control panel, is arranged in driver's cabin console；
Described information collecting unit includes laser radar and vision sensor, and laser radar hides that to be arranged in automobile just anterior
Radiate in the middle part of grid, vision sensor is installed in driver's cabin windshield glass centrally above, laser radar and vision sensor
Communicated with CPU by vehicle bus；
Described CPU is included at data processing module, control strategy module and fault diagnosis module, data
Output of the module by vehicle bus receive information collecting unit is managed, control strategy mould is transferred to by vehicle bus after processing
Block, control strategy module obtain the result of fault diagnosis module by vehicle bus simultaneously, and send control signal to performing list
Member；
The execution unit includes electromagnetism valve assembly, and electromagnetism valve assembly connects master cylinder and four systems by fluid pressure line
Driving wheel cylinder.
Wherein, early warning buzzer, malfunction indicator lamp and controlling switch are disposed with control panel, including control for brake is opened
Pass, early warning controlling switch, power control switch.
Wherein, laser radar is a solid-state laser radar, and its position is radiating grid centre.
Wherein, data processing module connection includes turn signal Acquisition Circuit, controlling switch signal acquisition circuit.
Wherein, electromagnetism valve assembly includes driving circuit for electromagnetic valve and Oil pump electrical machinery drive circuit.
Compared with prior art, the utility model has following beneficial technique effect：
Using electric control hydraulic braking, overcome that machine driven system is complicated, SRT length defect；Using
Vision sensor carries out fusion treatment with laser radar information, makes environment sensing more accurate；By considering coefficient of road adhesion
The following distance of Safety distance model real-time judge two and safe distance relation, and consider driver steering be intended to, make pre-
Warn, brake relatively reliable；There is provided human-machine interface unit is selected there is provided a variety of functions, the flexible of collision avoidance system manipulation is improved
Property.
Brief description of the drawings
With reference to the explanation of the preferred implementing form of accompanying drawings below, will become more apparent that ground understands the utility model.But, implement shape
Formula and accompanying drawing are used for simple diagram and explanation, bel not applied to limit scope of the present utility model, scope of the present utility model by
Claims are determined.
Fig. 1 is active anti-collision system composition frame chart of the present utility model.
Fig. 2 is laser radar data clustering processing flow chart of the present utility model.
Fig. 3 is blending algorithm flow chart of the present utility model.
Fig. 4 is that coefficient of road adhesion of the present utility model estimates flow chart.
Fig. 5 is Comprehensive Decision Algorithm flow chart of the present utility model.
Embodiment
Preferred embodiment of the present utility model is illustrated according to Fig. 1~Fig. 5.
Fig. 1 represents active anti-collision system composition frame chart of the present utility model, and it includes human-machine interface unit, information gathering
Unit, CPU and execution unit.Human-machine interface unit includes a control panel, specifically includes malfunction indicator lamp, electricity
Source switch, early warning switch, brake switch, buzzer etc., it is arranged in driver's cabin console.The main application of human-machine interface unit exists
In on the one hand providing early warning for driver, the voice signal sent in the preferred embodiment using buzzer can also use light
Signal or vibration signal etc.；The another aspect purposes of human-machine interface unit is that different function settings are provided for driver, for
The brake switch operation different with early warning switch progress, can shield corresponding function.Such as, switch and close if switch on early warning
Brake switch, then system upon execution only carry out early warning without active brake；Early warning is closed if switch on brake switch to open
Close, then system only carries out active brake without early warning upon execution；If two switch be turned off, system neither early warning nor
Active brake.
Information acquisition unit includes laser radar and vision sensor, in the preferred embodiment, using 1 16 points of solid-state
Coherent infrared radar Leddar.This radar volume is small, and cost performance is high, hides and is arranged in the middle part of the positive anterior radiating grid of automobile, away from
About 50-70cm from the ground.Vision sensor is used, and there is night vision to increase powerful common monocular cam, be installed on driver's cabin
Centrally above, laser radar and vision sensor are communicated interior windshield glass with CPU by vehicle bus.
CPU includes data processing module, control strategy module and fault diagnosis module.Data processing module
By the output of vehicle bus receive information collecting unit, main video data including radar data and vision sensor and
Turn signal, electronic pedal signal, GES, the switching signal of operation button.Signal is passed after processing by vehicle bus
The result that control strategy module, control strategy module obtain fault diagnosis module by vehicle bus simultaneously is defeated by, control is sent
Signal is to execution unit；
Execution unit includes electromagnetism valve assembly, and master cylinder and four wheel cylinders are connected by fluid pressure line.The electromagnetism
Valve assembly valve body structure is consistent with existing ABS/ESP magnetic valves assembly structure, can be with volume procurement.Electromagnetism valve assembly includes electromagnetism
Valve-driving circuit and Oil pump electrical machinery drive circuit.In the preferred embodiment, solenoid-driven mainly uses Philip BCP68 tri-
Pole pipe, Oil pump electrical machinery driving is main to use HFV6 relays.
Based on the control method of above-mentioned active anti-collision system, comprise the following steps in this preferred embodiment：
Step 1, acquisition control switching signal, laser radar signal, visual sensor signal, speed sensor signal, turn
To signal, handled through data processing module；
Step 2, the signal after processing is input to CPU, and the side of front effective target is obtained according to laser radar
Position, and determine that effective target is behaved or vehicle using blending algorithm using visual sensor signal, and acquisition target is calculated to this
The relative distance and relative velocity of car；
Step 3, according to this vehicle speed, target relative velocity, based on coefficient of road adhesion calculate safe early warning away from
From and safe stopping distance；
Step 4, it is comprehensive according to safe early warning distance and safe stopping distance, relative distance, control button signal, turn signal
Decision-making is closed, control signal is drawn and drives execution unit.
Fig. 2 is laser radar data clustering processing flow chart of the present utility model.Specifically include：
First, laser radar data pretreatment is carried out, region of interest number is extracted according to lane width and radar detection angle
According to calculating consecutive number strong point actual range；
Secondly, consecutive number strong point theoretical distance is calculated, horizontal theoretical distance calculation formula is d1=| y/tan (alpha+beta)-y/
Tan (β) |, longitudinal theoretical distance calculation formula is d2=| xtan (alpha+beta)-xtan (α) |, wherein x is that radar data point exists
Abscissa value under rectangular coordinate system, y is ordinate value of the radar data point under rectangular coordinate system, and α is solid-state laser radar
Angular resolution, β is the angle of laser beam and rectangular coordinate system transverse axis where radar data point；
Then, the absolute value and the ratio of actual range of the difference of adjacent 2 actual ranges and theoretical distance are calculated, with threshold
A, B, C class point are judged in value contrast；
Finally, effective target is judged according to the feature of A, B class point, and provides the orientation and velocity of effective target.
Fig. 3 is blending algorithm flow chart of the present utility model.Specifically include：
First, the region of interest of vision-based detection is determined according to the relative target bearing of detections of radar；
Secondly, support vector machine method is used to detect whether for vehicles or pedestrians according to the region of interest of determination；
Finally, absolute velocity, the relative distance information of target are provided.
Fig. 4 is that coefficient of road adhesion of the present utility model estimates flow chart.Specifically include：
First, driving wheel straight skidding rate s is calculated：
Under non-brake operating mode：S=1- ωr/ωf, wherein ωf, ωrRespectively it is the mean speed of two front and rear wheels；Braking
Under operating mode：Acceleration bias is estimated first：Wherein v is this vehicle speed, ax
For acceleration, ax_offsetFor acceleration bias, then speed is estimated using Luenberger observers：WhereinFor speed, acceleration bias estimate, l1, l2
For observer feedback oscillator, it is vehicle wheel rotational speed that speed finally is substituted into ω in s=(ω r-v)/max (ω r, v), formula, and r is wheel
Radius；
Secondly, the estimation of utilization service：In formula：
Front-wheel ground longitudinal force isWherein, Tb1For braking moment, Tr1For
Rolling resistance moment,For rotary inertia, the driving moment of front axle is Td=Tmi0ηT, wherein TmFor the output torque of motor,
i0For the gearratio of main reducing gear, ηTFor the efficiency of transmission system；
Front-wheel vertical force is Fz1=[mgb- (msax+Fa)hs]/L, wherein L are wheelbase, FaFor air drag, hsFor suspension matter
Heart height, m and msRespectively complete vehicle quality and sprung mass；
Then, the coefficient of road adhesion at current time is estimated using Bayes' theorem：In formula：
If Current terrestrial utilization service is μi, its posterior probability isWherein, Pk(μi)
For μiPrior probability, driving wheel straight skidding rate s is substituted into several different road surfaces pre-establishedRelation, can must be right
Utilization service is answered, is designated asDefine deviationEstimateThe conditional probability on the different road surfaces of correspondence etc.
Valency is in deviation Ei,kProbability distribution, if its Gaussian distributed, then can obtain following likelihood functioni
=1,2 ..., n, wherein σ are standard deviation.Finally, safe distance is calculated：
Safe early warning distance
Safe stopping distance
Wherein v is this vehicle speed, and u is target absolute velocity, vrFor relative velocity, t1For time of driver's reaction, t2For system
Dynamic time delay, g is acceleration of gravity, d0For minimum safe distance, 2~5m is typically taken.
Fig. 5 is Comprehensive Decision Algorithm flow chart of the present utility model.Specifically include：
First, the error band of safe distance is set according to this car speed, and error band and this car speed are negatively correlated, i.e. speed
Big error band is small, otherwise error band is big；
Secondly, target relative distance and the difference of safe stopping distance are calculated：
If reached within safe distance error band, now judge：
If brake switch is connected,：It is not braking if turn signal is detected, braked if without turn signal；
If brake switch is closed, not braking；
Finally, target relative distance and safe early warning are calculated apart from its difference：
If reached within safe distance error band, now judge：
If early warning switch connection, early warning；No person's not early warning；
Above in association with the embodiment description of accompanying drawing, it is intended to readily appreciate innovation essence of the present utility model, but not with this
To limit the claims that Suresh Kumar of the present utility model is implemented and required.In every case the utility model is understood, and
The equivalent structure change carried out according to above-described embodiment or component are replaced, and can realize the design of identical purpose and effect, all should
It is considered as the infringement that content is protected to present patent application.
Claims (5)
1. a kind of active anti-collision system based on electric automobile, it includes：Human-machine interface unit, information acquisition unit, center
Processing unit and execution unit, it is characterised in that：
Described human-machine interface unit includes a control panel, is arranged in driver's cabin console；
Described information collecting unit includes laser radar and vision sensor, and laser radar, which is hidden, is arranged in the positive anterior radiating of automobile
In the middle part of grid, vision sensor is installed on windshield glass in driver's cabin, and centrally above, laser radar and vision sensor are with
Central Processing Unit is communicated by vehicle bus；
Described CPU includes data processing module, control strategy module and fault diagnosis module, data processing mould
Block by the output of vehicle bus receive information collecting unit, after processing by vehicle bus be transferred to control strategy module,
Control strategy module obtains the result of fault diagnosis module by vehicle bus simultaneously, and sends control signal to execution unit；
The execution unit includes electromagnetism valve assembly, and electromagnetism valve assembly connects master cylinder and four braked wheels by fluid pressure line
Cylinder.
2. a kind of active anti-collision system based on electric automobile according to claim 1, it is characterised in that described control
Be disposed with early warning buzzer, malfunction indicator lamp and controlling switch on panel processed, including control for brake switch, early warning controlling switch,
Power control switch.
3. a kind of active anti-collision system based on electric automobile according to claim 1, it is characterised in that described swashs
Optical radar is a solid-state laser radar, and its position is radiating grid centre.
4. a kind of active anti-collision system based on electric automobile according to claim 1, it is characterised in that the data
Processing module connection includes turn signal Acquisition Circuit, controlling switch signal acquisition circuit.
5. a kind of active anti-collision system based on electric automobile according to claim 1, it is characterised in that the electromagnetism
Valve assembly includes driving circuit for electromagnetic valve and Oil pump electrical machinery drive circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720197104.5U CN206493934U (en) | 2017-03-02 | 2017-03-02 | A kind of active anti-collision system based on electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720197104.5U CN206493934U (en) | 2017-03-02 | 2017-03-02 | A kind of active anti-collision system based on electric automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206493934U true CN206493934U (en) | 2017-09-15 |
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| CN201720197104.5U Expired - Fee Related CN206493934U (en) | 2017-03-02 | 2017-03-02 | A kind of active anti-collision system based on electric automobile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671961A (en) * | 2017-03-02 | 2017-05-17 | 吉林大学 | Active anti-collision system based on electric automobile and control method thereof |
| CN109910879A (en) * | 2019-04-03 | 2019-06-21 | 大连理工大学 | A kind of vehicle safety anticollision control method of combination safe distance and collision time |
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
| CN111098819A (en) * | 2018-10-26 | 2020-05-05 | 丰田自动车株式会社 | Vehicle front structure |
| CN111862680A (en) * | 2019-04-25 | 2020-10-30 | 通用汽车环球科技运作有限责任公司 | Dynamic forward collision warning system |
| CN115217373A (en) * | 2022-03-31 | 2022-10-21 | 广州汽车集团股份有限公司 | Pre-collision door lock control method and device, vehicle and storage medium |
-
2017
- 2017-03-02 CN CN201720197104.5U patent/CN206493934U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671961A (en) * | 2017-03-02 | 2017-05-17 | 吉林大学 | Active anti-collision system based on electric automobile and control method thereof |
| CN111098819A (en) * | 2018-10-26 | 2020-05-05 | 丰田自动车株式会社 | Vehicle front structure |
| CN109910879A (en) * | 2019-04-03 | 2019-06-21 | 大连理工大学 | A kind of vehicle safety anticollision control method of combination safe distance and collision time |
| CN109910879B (en) * | 2019-04-03 | 2020-07-14 | 大连理工大学 | Vehicle safety anti-collision control method combining safe distance and collision time |
| CN111862680A (en) * | 2019-04-25 | 2020-10-30 | 通用汽车环球科技运作有限责任公司 | Dynamic forward collision warning system |
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
| CN115217373A (en) * | 2022-03-31 | 2022-10-21 | 广州汽车集团股份有限公司 | Pre-collision door lock control method and device, vehicle and storage medium |
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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: 20170915 Termination date: 20200302 |