CN208101972U - A kind of steering anti-collision system of commercial vehicle - Google Patents
A kind of steering anti-collision system of commercial vehicle Download PDFInfo
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- CN208101972U CN208101972U CN201820354046.7U CN201820354046U CN208101972U CN 208101972 U CN208101972 U CN 208101972U CN 201820354046 U CN201820354046 U CN 201820354046U CN 208101972 U CN208101972 U CN 208101972U
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Abstract
A kind of steering anti-collision system of commercial vehicle, including preposition radar and collision avoidance controller, the preposition radar are connect with collision avoidance controller signals；The anti-collision system further includes image processor, deceleration of electrons EBS controller and electronics power-assisted EPS controller, the signal input part of described image processor respectively with preceding camera, left camera is connected with the signal output end of right camera, the signal output end of described image processor is connected with the image processing signal input terminal of collision avoidance controller, the collision avoidance controller by vehicle CAN bus respectively with preposition radar, left front radar is connected with radar signal before the right side, the collision avoidance controller is connect with deceleration of electrons EBS controller and electronics power-assisted EPS controller signals respectively by vehicle CAN bus.The design can expand the applicable condition range of anti-collision system, improve the safety of system in the collision avoidance in the higher situation of relative velocity.
Description
Technical field
The utility model relates to a kind of steering anti-collision system of commercial vehicle more particularly to the steering anti-collision system of commercial vehicle,
It is particularly applicable to improve collision avoidance reliability.
Background technique
The urgent anti-collision system of commercial vehicle can take measures to realize collision avoidance in a damaged condition.Anti-collision system at this stage
Mainly by radar or camera cognitive disorders object, this vehicle speed is reduced by way of electric control braking in a damaged condition
To avoid collision or reducing collisions.
For existing system in the case where opposite speed is relatively low, preferable effect can be reached by carrying out collision avoidance by braking system
Fruit.But when opposite speed is larger, the braking distance that complete collision avoidance needs can be increased substantially, premature carry out brake regulation
The serious normal driving for influencing driver of meeting, greatly influences the effect of system.Especially when ground attachment coefficient compared with
When low, it will lead to braking distance and greatly increase, carry out collision avoidance only by braking and also tend to that the effect for reducing danger is not achieved.
China Patent Publication No. is CN206781743, and publication date is that the utility model patent on December 22nd, 2017 discloses
A kind of automobile differential steering system with a variety of collision avoidance modes, including radar, vehicle speed sensor, yaw velocity sensing
Device, lateral acceleration sensor, front wheel angle sensor, signal integration module, judgment module, steering module, brake module with
And ECU.In motion, the speed of radar detection front vehicles and from vehicle and front truck relative distance, ECU is according to surveyed phase for automobile
Adjust the distance and turn to steering module, the brake module work of the size relation control automobile between safe distance, brake safe distance
Make；Meanwhile using yaw velocity and side slip angle as controling parameter, the stability of automobile is regulated and controled using synovial membrane control.
Although the utility model, which can allow to realize, turns to collision avoidance, there are still following defects for it：
The sampled data of the utility model is less, and there are security risks.
Summary of the invention
The purpose of the utility model is to overcome the less problems of sampled data existing in the prior art, and it is more to provide one kind
The steering anti-collision system of the commercial vehicle of azimuth sample.
In order to achieve the above object, the technical solution of the utility model is：A kind of steering anti-collision system of commercial vehicle, packet
Preposition radar and collision avoidance controller are included, the preposition radar is connect with collision avoidance controller signals；
The anti-collision system further includes image processor, deceleration of electrons EBS controller and electronics power-assisted EPS controller, institute
The signal input part for stating image processor is connected with the signal output end of preceding camera, left camera and right camera respectively,
The signal output end of described image processor is connected with the image processing signal input terminal of collision avoidance controller, the collision avoidance control
Device is connect with radar signal before preposition radar, left front radar and the right side respectively by vehicle CAN bus, and the collision avoidance controller passes through
Vehicle CAN bus is connect with deceleration of electrons EBS controller and electronics power-assisted EPS controller signals respectively.
The collision avoidance controller is connect by vehicle CAN bus with human-computer interaction device HMI signal.
The collision avoidance controller include barrier fusion recognition module, driving path judgment module, collision avoidance policy module and
CAN communication module, the signal output end of the barrier fusion recognition module and the signal input part of driving path judgment module
It is connected, the signal output end of the driving path judgment module is connected with the signal input part of collision avoidance policy module, described
Barrier fusion recognition module, driving path judgment module and collision avoidance policy module are connect with CAN communication module by signal.
The image procossing of barrier fusion recognition module in the signal output end and collision avoidance controller 1 of described image processor
Signal input part is connected, and the CAN communication module is connect with vehicle CAN bus signal.
The CAN communication module is connect with vehicle CAN bus signal, described image processor by vehicle CAN bus with
The connection of CAN communication module by signal.
The preceding camera is set to the underface of driver's cabin front windshield, and it is left back that the left camera is set to vehicle
At visor, the right camera is set at vehicle right rear view mirror.
The preposition radar is set in the middle part of driver's cabin front bumper, and the left front radar is set to driver's cabin front left side,
Radar is set to driver's cabin forward right side before the right side.
Compared with prior art, the beneficial effects of the utility model are：
1, preposition radar in a kind of steering anti-collision system of commercial vehicle of the utility model, left front radar, it is right before radar set
The obstacle signal for acquiring front, front left side, forward right side respectively is set, while being adopted by preceding camera, left camera, right camera
Collect the obstacle signal in front, left and right side.Omnibearing visual angle detects barrier, provides comprehensive judgement for anti-collision system
Condition.Therefore, the design monitoring comprehensively, effectively promotes anti-collision system reliability.
2, in a kind of steering anti-collision system of commercial vehicle of the utility model collision avoidance controller by front barrier away from
From the danger knocked into the back with evaluation of speed.When danger will occur, when relative distance is low, collision avoidance controller can send braking
Instruction electron braking system EBS controller carries out braking collision avoidance.When relative velocity is high, collision avoidance controller can analyse whether to accord with
Close steering condition.When meeting steering condition, sends steering order electron power-assisted steering EPS controller and carries out steering collision avoidance,
Such design can expand the applicable condition range of anti-collision system, significantly in the collision avoidance in the higher situation of relative velocity
The safety of system is improved, the intervention of simultaneity factor does not interfere with the normal driving of driver.Therefore, the design can be
Collision avoidance in the higher situation of relative velocity expands the applicable condition range of anti-collision system, improves the safety of system.
3, confirmed jointly by preceding camera with preposition radar in a kind of steering anti-collision system of commercial vehicle of the utility model
The stationary state that could assert barrier effectively increases the identification certainty of barrier fusion recognition module.Therefore, the design
Identification certainty is high, improves the safety of system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the scanning range schematic diagram of radar and camera in the utility model.
Fig. 3 is the logical flow chart of the utility model collision avoidance controller.
In figure：Radar 13, barrier fusion recognition module before collision avoidance controller 1, preposition radar 11, left front radar 12, the right side
14, driving path judgment module 15, collision avoidance policy module 16, CAN communication module 17, image processor 2, preceding camera 21, a left side
It is camera 22, right camera 23, deceleration of electrons EBS controller 3, electronics power-assisted EPS controller 4, human-computer interaction device HMI5, whole
Vehicle CAN bus 6.
Specific embodiment
The utility model is described in further detail below in conjunction with Detailed description of the invention and specific embodiment.
Referring to Fig. 1 to Fig. 3, a kind of steering anti-collision system of commercial vehicle, including preposition radar 11 and collision avoidance controller 1, institute
Preposition radar 11 is stated to connect with 1 signal of collision avoidance controller；
The anti-collision system further includes image processor 2, deceleration of electrons EBS controller 3 and electronics power-assisted EPS controller 4,
The signal input part of described image processor 2 is exported with the signal of preceding camera 21, left camera 22 and right camera 23 respectively
End is connected, and the signal output end of described image processor 2 is connected with the image processing signal input terminal of collision avoidance controller 1,
The collision avoidance controller 1 is connected with 13 signal of radar before preposition radar 11, left front radar 12 and the right side respectively by vehicle CAN bus 6
Connect, the collision avoidance controller 1 by vehicle CAN bus 6 respectively with deceleration of electrons EBS controller 3 and electronics power-assisted EPS controller
The connection of 4 signals.
The collision avoidance controller 1 is connect by vehicle CAN bus 6 with human-computer interaction device HMI5 signal.
The collision avoidance controller 1 includes barrier fusion recognition module 14, driving path judgment module 15, collision avoidance strategy mould
Block 16 and CAN communication module 17, the signal output end and driving path judgment module 15 of the barrier fusion recognition module 14
Signal input part be connected, the signal output end of the driving path judgment module 15 and the signal of collision avoidance policy module 16 are defeated
Enter end to be connected, the barrier fusion recognition module 14, driving path judgment module 15 and collision avoidance policy module 16 are and CAN
The connection of 17 signal of communication module.
The image of barrier fusion recognition module 14 in the signal output end and collision avoidance controller 1 of described image processor 2
Processing signal input part is connected, and the CAN communication module 17 is connect with 6 signal of vehicle CAN bus.
The CAN communication module 17 is connect with 6 signal of vehicle CAN bus, and described image processor 2 is total by vehicle CAN
Line 6 is connect with 17 signal of CAN communication module.
The preceding camera 21 is set to the underface of driver's cabin front windshield, and the left camera 22 is set to vehicle
At left-hand mirror, the right camera 23 is set at vehicle right rear view mirror.
The preposition radar 11 is set in the middle part of driver's cabin front bumper, and it is left front that the left front radar 12 is set to driver's cabin
Side, it is described it is right before radar 13 be set to driver's cabin forward right side.
A kind of control method of the steering anti-collision system of commercial vehicle, it is characterised in that：
The control method includes the following steps：
The first step：Data acquisition, image processor 2 acquire the letter of preceding camera 21, left camera 22 and right camera 23
It number respectively obtains front and images obstacle distance signal Dc, left side side obstacle distance signal DL1, right side side barrier away from
From signal DR1, lane line position signal and above-mentioned signal is sent to collision avoidance controller 1, preposition radar 11 identifies right ahead
Barrier, and by the distance signal D of front radar barrierRWith relative velocity signal VrIt is sent to and is kept away by vehicle CAN bus 6
Hit controller 1, left front radar 12 identifies vehicle front left side barrier, and by front left side obstacle distance signal DL2Pass through vehicle
CAN bus 6 is sent to collision avoidance controller 1, it is right before radar 13 identify vehicle forward right side barrier, and by forward right side obstacle distance
Signal DR2Collision avoidance controller 1 is sent to by vehicle CAN bus 6；
Second step：Barrier fusion recognition, barrier fusion recognition module 14 carry out validity to front obstacle and determine,
Barrier fusion recognition module 14 obtains speed signal V from vehicle CAN bus 6, passes through comparison preceding camera 21 and preposition radar
11 input information judges whether front obstacle is in illegal state, such as confirms that front obstacle remains static, obstacle
The output of object fusion recognition module 14 front barrier relative distance signal Dm(Dm=DR) and relative velocity signal Vr(Vr=V) it gives
Driving path judgment module 15；Such as confirm that front obstacle is motion state, the output of barrier fusion recognition module 14 front
Barrier relative distance signal Dm(Dm=DR) and relative velocity signal VrTo driving path judgment module 15；
Third step：Driving path judgement, driving path judgment module 15 judge the driving path of vehicle, travel road
Diameter is divided into straight trip, left steering is overtaken other vehicles, right turn is overtaken other vehicles Three models, straight-going mode is always-on, when left side side have lane and
Left side side does not have vehicle or the fore-and-aft distance D apart from this vehicleL1And DL2Left steering passing mode is opening state when being all larger than 50 meters
Otherwise state is in off state；When there is lane in right side side, and right side side does not have vehicle or the fore-and-aft distance D apart from this vehicleR1And DR2
When being all larger than 50 meters, left steering passing mode is open state, is otherwise in off state；By above-mentioned three kinds of driving path states
Switch conditions are transferred to collision avoidance policy module 16, and driving path judgement at this time is completed；
4th step：Collision avoidance policy selection, collision avoidance policy module 16 is according to front obstacle distance DmWith relative velocity VrInto
Row rear end collision judgement, as relative velocity Vr< 2*TTCIt turns to*amAxWhen, the mode for directlying adopt braking carries out collision avoidance, that is, works as spy
Measure relative distance Dm< Vr*t+1/2*Vr 2/amAxWhen, collision avoidance controller 1 brakes EBS control by 6 electron of vehicle CAN bus
Device 3 processed sends maximum deceleration instruction and is braked to realize collision avoidance；As relative velocity Vr> 2*TTCIt turns to*amAxWhen, and turn left
When to mode or right turn mode being open state, collision avoidance is carried out by the way of steering, i.e., as relative distance Dm> Vr*TTCIt turns to
When, collision avoidance controller 1 is carried out by the instruction of 6 electron power-assisted steering EPS controller of vehicle CAN bus, 4 sending direction disk corner
It turns to realize collision avoidance；As relative velocity Vr> 2*TTCIt turns to*amAxWhen, but left steering and right turn mode are all closed states
When, collision avoidance still is carried out by the way of braking, i.e., as relative distance Dm< Vr*TTCIt turns toWhen, collision avoidance controller 1 passes through vehicle CAN
6 electron of bus braking EBS controller 3 sends maximum deceleration instruction and is braked to reduce impact severity；Wherein TTCIt turns toFor
Away from TTC in commercial vehicle when minimum turns toIt turns toValue range be 1.0s -1.3s, amAxFor maximum deceleration value, a in commercial vehiclemAx
Value range be 5m/s2–7m/s2, t is the delay time of braking system, and the value range of t is 0.2s -0.3s in commercial vehicle.
The principles of the present invention are described as follows：
After deceleration of electrons EBS controller 3 obtains deceleration instruction by vehicle CAN bus 6, control brake valve is realized and is needed
The deceleration value asked.After electronic power assist steering EPS controller 4 obtains steering wheel angle instruction by vehicle CAN bus 6, control
Steering wheel processed realizes the steering wheel angle of demand.
The collision avoidance controller 1 is connect by vehicle CAN bus 6 with human-computer interaction device HMI5 signal.Human-computer interaction dress
HMI5 is set for executing sound-light alarm instruction.
Embodiment 1：
A kind of steering anti-collision system of commercial vehicle, including preposition radar 11 and collision avoidance controller 1, the preposition radar 11 with
The connection of 1 signal of collision avoidance controller, the anti-collision system further includes that image processor 2, deceleration of electrons EBS controller 3 and electronics help
Power EPS controller 4, the signal input part of described image processor 2 respectively with preceding camera 21, left camera 22 and right camera
23 signal output end is connected, and the image processing signal of the signal output end and collision avoidance controller 1 of described image processor 2 is defeated
Enter end to be connected, the collision avoidance controller 1 by vehicle CAN bus 6 respectively with thunder before preposition radar 11, left front radar 12 and the right side
It is connected up to 13 signals, the collision avoidance controller 1 is helped with deceleration of electrons EBS controller 3 and electronics respectively by vehicle CAN bus 6
The connection of 4 signal of power EPS controller；The collision avoidance controller 1 includes barrier fusion recognition module 14, driving path judgment module
15, collision avoidance policy module 16 and CAN communication module 17, the signal output end of the barrier fusion recognition module 14 and traveling road
The signal input part of diameter judgment module 15 is connected, the signal output end and collision avoidance strategy mould of the driving path judgment module 15
The signal input part of block 16 is connected, the barrier fusion recognition module 14, driving path judgment module 15 and collision avoidance strategy
Module 16 is connect with 17 signal of CAN communication module；Hinder in the signal output end of described image processor 2 and collision avoidance controller 1
The image processing signal input terminal of object fusion recognition module 14 is hindered to be connected, the CAN communication module 17 and vehicle CAN bus 6
Signal connection.
Embodiment 2：
Embodiment 2 is substantially the same manner as Example 1, the difference is that：
The collision avoidance controller 1 is connect by vehicle CAN bus 6 with human-computer interaction device HMI5 signal.
Embodiment 3：
Embodiment 3 is substantially the same manner as Example 2, the difference is that：
The CAN communication module 17 is connect with 6 signal of vehicle CAN bus, and described image processor 2 is total by vehicle CAN
Line 6 is connect with 17 signal of CAN communication module；The preceding camera 21 is set to the underface of driver's cabin front windshield, described
Left camera 22 is set at vehicle left-hand mirror, and the right camera 23 is set at vehicle right rear view mirror；The preposition thunder
It is set in the middle part of driver's cabin front bumper up to 11, the left front radar 12 is set to driver's cabin front left side, radar 13 before the right side
It is set to driver's cabin forward right side.
Claims (7)
1. a kind of steering anti-collision system of commercial vehicle, including preposition radar（11）With collision avoidance controller（1）, the preposition radar
（11）With collision avoidance controller（1）Signal connection, it is characterised in that：
The anti-collision system further includes image processor（2）, deceleration of electrons EBS controller（3）With electronics power-assisted EPS controller
（4）, described image processor（2）Signal input part respectively with preceding camera（21）, left camera（22）With right camera
（23）Signal output end be connected, described image processor（2）Signal output end and collision avoidance controller（1）Image procossing
Signal input part is connected, the collision avoidance controller（1）Pass through vehicle CAN bus（6）Respectively with preposition radar（11）, left front thunder
It reaches（12）With radar before the right side（13）Signal connection, the collision avoidance controller（1）Pass through vehicle CAN bus（6）Respectively with electronics system
Dynamic EBS controller（3）With electronics power-assisted EPS controller（4）Signal connection.
2. a kind of steering anti-collision system of commercial vehicle according to claim 1, it is characterised in that：
The collision avoidance controller（1）Pass through vehicle CAN bus（6）With human-computer interaction device HMI（5）Signal connection.
3. a kind of steering anti-collision system of commercial vehicle according to claim 1 or 2, it is characterised in that：
The collision avoidance controller（1）Including barrier fusion recognition module（14）, driving path judgment module（15）, collision avoidance strategy
Module（16）With CAN communication module（17）, the barrier fusion recognition module（14）Signal output end sentence with driving path
Disconnected module（15）Signal input part be connected, the driving path judgment module（15）Signal output end and collision avoidance strategy mould
Block（16）Signal input part be connected, the barrier fusion recognition module（14）, driving path judgment module（15）With keep away
Hit policy module（16）With CAN communication module（17）Signal connection.
4. a kind of steering anti-collision system of commercial vehicle according to claim 3, it is characterised in that：
Described image processor（2）Signal output end and collision avoidance controller（1）Middle barrier fusion recognition module（14）Figure
It is connected as handling signal input part, the CAN communication module（17）With vehicle CAN bus（6）Signal connection.
5. a kind of steering anti-collision system of commercial vehicle according to claim 3, it is characterised in that：The CAN communication module
（17）With vehicle CAN bus（6）Signal connection, described image processor（2）Pass through vehicle CAN bus（6）With CAN communication module
（17）Signal connection.
6. a kind of steering anti-collision system of commercial vehicle according to claim 3, it is characterised in that：
The preceding camera（21）It is set to the underface of driver's cabin front windshield, the left camera（22）It is set to vehicle
At left-hand mirror, the right camera（23）It is set at vehicle right rear view mirror.
7. a kind of steering anti-collision system of commercial vehicle according to claim 6, it is characterised in that：
The preposition radar（11）It is set in the middle part of driver's cabin front bumper, the left front radar（12）It is left front to be set to driver's cabin
Side, it is described it is right before radar（13）It is set to driver's cabin forward right side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820354046.7U CN208101972U (en) | 2018-03-15 | 2018-03-15 | A kind of steering anti-collision system of commercial vehicle |
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| CN201820354046.7U CN208101972U (en) | 2018-03-15 | 2018-03-15 | A kind of steering anti-collision system of commercial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113415273A (en) * | 2021-06-28 | 2021-09-21 | 东风汽车集团股份有限公司 | System and method for automobile to intelligently pass through obstacles |
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2018
- 2018-03-15 CN CN201820354046.7U patent/CN208101972U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113415273A (en) * | 2021-06-28 | 2021-09-21 | 东风汽车集团股份有限公司 | System and method for automobile to intelligently pass through obstacles |
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