TW201412585A - 車輛彎道翻覆預防系統及其方法 - Google Patents
車輛彎道翻覆預防系統及其方法 Download PDFInfo
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Abstract
本發明提供一種車輛彎道翻覆預防系統及其方法,其係利用影像擷取裝置所擷取之道路影像計算道路資訊,結合車輛當時的車速、加速度等車輛動態資訊,預估在彎道內的翻覆角及側向加速度等車輛動態資訊,計算出車輛在彎道行進時之重心高度及翻覆臨界速度,精算車輛翻覆指標是否超標,以在適當時候提出警示給駕駛人或控制車子的速度,避免車輛在彎道發生翻覆。
Description
本發明係有關一種預防車輛翻覆之技術,特別是指一種藉由估算重心高度使翻覆預測更為精準之車輛彎道翻覆預防系統及其方法。
按,隨著城鄉之間交流無距離,汽車幾已成為每戶人家必備的交通工具,但由於汽車數量增長快速,近年來交通事故頻傳,大部分交通事故皆肇因於駕駛人未注意路況,特別是前方有彎道時,若駕駛人不注意減速慢行,極有可能因來不及轉彎而衝出彎道或快速轉彎造成車輛翻覆。
為提高車輛行駛的安全性,現有以衛星GPS圖資或影像辨識為基礎之彎道翻覆預防系統,在前方出現彎道時會發出聲音提醒駕駛人,然而此系統雖能提供翻覆警示功能,但未考量進入彎道時車輛動態狀況,例如車輛的速度、側向加速度等因子,其預估之警示功能與車輛真實狀態存在落差。而車輛運動狀態的參數大多不易量測,如車輛重心高度變化、車輛翻覆角等,也是目前彎道翻覆預防系統難以克服的難題,特別是車輛在行經彎道時由於車身會略微傾斜,使車子重心位置改變,此時的重心變化特別會影響到翻覆速度的預測。
有鑑於此,本發明遂針對上述習知技術之缺失,提出一種車輛彎道翻覆預防系統及其方法,以有效克服上述之該等問題。
本發明之主要目的在提供一種車輛彎道翻覆預防系統及其方法,其係利用車況感測模組結合影像擷取裝置所擷取的道路影像,估測出車輛在彎
道時的翻覆角及重心高度變化,提高估算車輛翻覆臨界速度的精準度。
本發明之另一目的在提供一種車輛彎道翻覆預防系統及其方法,其利用擴展型卡爾曼濾波器預估車輛未來在前方道路的車輛動態變化。
本發明之再一目的在提供一種車輛彎道翻覆預防系統及其方法,其估測出車輛在彎道的翻覆臨界速度及翻覆指標,並提示駕駛者減速或採取適當措施,以避免車輛翻覆。
為達上述之目的,本發明提供一種車輛彎道翻覆預防方法,包括下列步驟:利用至少二影像擷取裝置擷取車輛前方之至少一道路影像,道路影像可計算彎道曲率與道路超高資訊;依據道路影像資訊估測出於彎道內之一車輛方向盤轉角變化,結合複數車輛動態資訊預估翻覆角及側向加速度;依據翻覆角、側向加速度及車輛動態資訊計算出車輛在彎道行進時之重心高度及翻覆臨界速度;以及依據重心高度、翻覆角及側向加速度定義一車輛翻覆指標,當車輛之各種數值代入車輛翻覆指標後,若超過一預設之標準值,則車輛發出一警示訊號或一控制訊號。
本發明另提供一種車輛彎道翻覆預防系統,設於一車輛上,包括:至少二影像擷取裝置,擷取車輛前方之道路影像;一車況感測模組,偵測車輛之車速、傾斜角度及加速度等車輛動態資訊;以及一處理器,連接影像擷取裝置及車況感測模組,利用道路影像估測出道路資訊,再結合車輛動態資訊計算出車輛在彎道行進時之重心高度及翻覆臨界速度,並定義出一車輛翻覆指標,當車輛翻覆指標超過預設之標準值時輸出一警示訊號或一控制訊號。
底下藉由具體實施例詳加說明,當更容易瞭解本發明之目的、技術內
容、特點及其所達成之功效。
本發明是一種車輛彎道翻覆預防系統及其方法,此車輛彎道翻覆預防系統係安裝於一車輛上,利用影像處理技術對前方道路影像進行處理,得到道路資訊後結合車輛當時的車速、加速度等動態資訊,預估車輛在彎道內之動態資訊,計算車輛在彎道行進時之重心高度及翻覆臨界速度,以提醒駕駛人注意或控制車輛減速,有效避免車輛翻覆之情況發生。
請參考第1圖,其為本發明車輛彎道翻覆預防系統之方塊圖,包括至少二影像擷取裝置10、一車況感測模組12及一處理器14,其中影像擷取裝置10安裝於車輛上,用以擷取車輛前方之道路影像;車況感測模組12用以偵測車輛之車速、傾斜角度及加速度等車輛動態資訊;處理器14連接影像擷取裝置10及車況感測模組12,依據影像擷取裝置10所擷取之道路影像估測出道路資訊,如彎道曲率及道路超高資訊等,再結合車況感測模組12所偵測之車輛動態資訊計算出車輛在彎道行進時之重心高度及翻覆臨界速度,並定義出一車輛翻覆指標。
在車況感測模組12中包括一輪速感測器122、一陀螺儀124及一加速度感測器126,其中輪速感測器122係裝設於車輛之輪胎上,用以偵測輪胎之轉速;陀螺儀124用以測量車輛的姿態變化;加速度感測器126用以偵測車輛之加速度。
車輛彎道翻覆預防系統中更包括一蜂鳴器16及一油門與剎車控制器18,當車輛行經彎道時其車輛翻覆指標超過預設之標準值,處理器14會輸出一警示訊號給蜂鳴器16,使蜂鳴器16發出警示音,或是處理器14會輸
出一控制訊號給油門與剎車控制器18,使油門與剎車控制器18控制車輛的油門與剎車,調整車輛的速度,使其減速過彎。
第2圖為本發明中車輛彎道翻覆預防之方法,在步驟S10中當車輛彎道翻覆預防系統啟動後,利用影像擷取裝置擷取車輛前方之道路影像,進行道路環境偵測,結合影像擷取裝置之高度,可計算出一車道模型曲線,進而得到彎道曲率與道路超高資訊等道路資訊,道路超高資訊必須要二個以上的影像擷取裝置所擷取的影像才能得到,請同時參考第3A圖及第3B圖,第3A圖為將二影像擷取裝置的世界座標轉換成影像座標表示之車道模型之示意圖,第3B圖為使用立體影像處理法取得道路深度影像之示意圖,車道線模型係以世界座標為基準,可將車道線模型投影至以影像座標為基準之一車道模型後再進行相應的座標轉換,其中投影座標的車道線模型公式如下式(1):
其中u為影像平面之橫座標,v為影像平面之縱座標,eu為u方向影像擷取裝置10焦距轉換到影像座標的基本量,ev為v方向影像擷取裝置10焦距轉換到影像座標的基本量,二者單位皆為像素(pixel),H為影像擷取裝置10裝設於車輛上之高度,k、m、b為車道線模型之參數,mθ為影像擷取裝置10之傾斜角度。影像擷取裝置10之傾斜角度為影像擷取裝置10中心線與實際道路之夾角,若實際道路為上坡或有傾角,則會使處理器在估算彎道曲率時造成誤差。
步驟S10中利用不同時間點的道路影像得到u、v、eu、ev、H、mθ等數
值,便可計算出k、m、b等參數值,將k、m、b代入車道線模型曲線之公式如下式(2):x=k.y2+m.y+b (2)如此便可得到車道模型曲線,計算出彎道曲率。
接著,步驟S12中依據道路影像資訊估測出當車輛在彎道中時之車輛方向盤轉角變化,請同時參考第4圖,其為車輛行經彎道之示意圖,其中R為彎道之曲率半徑,θ為輪胎轉向角,L為前輪20a與後輪20b之軸距,因此可估算方向盤轉角,如下式(3):
其中為方向盤轉角,K為轉向不足梯度,其係因高速時產生側滑效應所需,ay為側向加速度,steering_ratio為轉向比,公式中之57.3為180/π。
接著,步驟S14於擴展型卡爾曼濾波器(Extended Kalman Filter,EKF)中,將彎道曲率、道路超高資訊、方向盤轉角變化等,結合複數車輛動態資訊,預估車輛在彎道內之翻覆角及側向加速度。擴展型卡爾曼濾波器中之方程式如下:與P (k-1)為初始預估值,接著進行時間更新,預估下一時間的系統狀態,如下式(4):
再進行測量更新方程式如下式(5):
其中Xk、uk分別代表著系統狀態與輸入向量,Pk為Error Covariance,Kk為Kalman增益,Zk為量測向量,Hk及Vk為量測的Jacobians矩陣,Rk為各量測雜訊的covariance矩陣,當計算完公式(5)之後會拿新的數值回到公式(4),如此不斷更新。
如此,藉由擴展型卡爾曼濾波器便可分析車輛之各種模型,如側傾模型、縱向模型、橫擺模型及側向模型等,請同時參考第5A圖及第5B圖,其分別為車輛進彎時之前視圖及俯視圖,側傾模型如下式(6):
縱向模型如下式(7):
橫擺模型如下式(8):
側傾模型如下式(9):
其中Fx1為輪胎前軸之縱向量,Fy1為輪胎前軸之橫向量,Fx2為輪胎後軸之縱向量,Fy2為輪胎後軸之橫向量,故,藉由上述模型便可計算出車輛在彎道中行進之翻覆角及側向加速度ay。
接著步驟S16依據翻覆角、側向加速度及車輛動態資訊計算出車輛在彎道行進時之重心高度及翻覆臨界速度。請參考第6圖,由於車輛在彎道中會側傾使重心偏移,因此需重新計算重心高度,計算公式如下式(10):
其中,其係由估測車輛模型的公式而來,如下式(11):
公式(10)及(11)中Ixx為轉動慣量,m為車輛重量,h’R為預估重心高度,為車輛翻覆角,C為阻尼係數,K為剛性係數,E為同軸的二輪胎的輪距。
當計算出新的重心高度後,便可計算車輛的翻覆臨界速度,假設車輛以等速進入彎道,如下式(12):
其中hr為旋轉重心至地面高度,l為1/2輪距,則車輛進入彎道的最大車速
(亦即臨界速度)為下式(13):
在步驟S18中依據重心高度、翻覆角及側向加速度定義一車輛翻覆指標,請同時參考第7圖及下式(14):
其中v為側向速度,u為縱向速度。最後,步驟S20當車輛之前計算的各項數值代入車輛翻覆指標後,若超過一預設之標準值,則車輛發出一警示訊號或一控制訊號,例如預設翻覆指標RI為1或-1時,車輛會發生翻覆,RI>0.6時,警示訊號會命令蜂鳴器發出警示音,提醒駕駛者應減速,或依據控制訊號直接控制油門與剎車,調整車輛之速度,或者以亮燈方式顯示車況,如綠燈為安全速度、黃燈需減速、紅燈需再減速等。
綜上所述,本發明提供之車輛彎道翻覆預防系統及其方法係透過影像道路資訊,結合擴展型卡爾曼濾波器估測器與車輛重心高度演算法,估測出前方道路如翻覆角或側向加速度等車輛動態資訊及車輛側傾後新的重心高度,精算車輛的危險狀態(即車輛翻覆指標)與極限車速(翻覆臨界速度),並在車輛翻覆指標達到預設值時警示駕駛者,避免車輛翻覆發生。
唯以上所述者,僅為本發明之較佳實施例而已,並非用來限定本發明實施之範圍。故即凡依本發明申請範圍所述之特徵及精神所為之均等變化或修飾,均應包括於本發明之申請專利範圍內。
10‧‧‧影像擷取裝置
12‧‧‧車況處理模組
122‧‧‧輪速感測器
124‧‧‧陀螺儀
126‧‧‧加速度感測器
14‧‧‧處理器
16‧‧‧蜂鳴器
18‧‧‧油門與剎車控制器
20a‧‧‧前輪
20b‧‧‧後輪
第1圖為本發明車輛彎道翻覆預防系統之方塊圖。
第2圖為本發明車輛彎道翻覆預防方法之流程圖。
第3A圖為將二影像擷取裝置的世界座標轉換成影像座標表示之車道模型之示意圖。
第3B圖為使用立體影像處理法取得道路深度影像之示意圖。
第4圖為車輛行經彎道之示意圖。
第5A圖及第5B圖分別為車輛進彎時之前視圖及俯視圖。
第6圖為車輛行經彎道時重心偏移之示意圖。
第7圖為車輛即將翻覆時之示意圖。
Claims (10)
- 一種車輛彎道翻覆預防方法,包括下列步驟:利用至少二影像擷取裝置擷取一車輛前方之至少一道路影像,並利用該道路影像計算一彎道曲率與一道路超高資訊;依據該道路影像估測於一彎道內之一車輛方向盤轉角變化,結合複數車輛動態資訊預估一翻覆角及一側向加速度;依據該翻覆角、該側向加速度及該等車輛動態資訊以計算出該車輛在該彎道行進時之一重心高度及一翻覆臨界速度;以及依據該重心高度、該翻覆角及該側向加速度定義一車輛翻覆指標,當該車輛之該重心高度、該側向加速度、該翻覆角等數值代入該車輛翻覆指標後若超過一預設之標準值,則該車輛發出一警示訊號或一控制訊號。
- 如請求項1所述之車輛彎道翻覆預防方法,其中該至少一道路影像結合該車輛之該等影像擷取裝置之高度,可計算出一車道模型曲線。
- 如請求項1所述之車輛彎道翻覆預防方法,其中該等車輛動態資訊包括一輪胎轉向角、一橫向速度、一曲率半徑、一轉向比、該車輛之重量、一剛性係數、一阻尼係數、一輪距、一前後輪之軸距及一轉動慣量。
- 如請求項1所述之車輛彎道翻覆預防方法,其中該翻覆角及該側向加速度係利用擴展型卡爾曼濾波器(EKF)預估。
- 如請求項1所述之車輛彎道翻覆預防方法,其中該車輛係利用一處理器計算該翻覆臨界速度及該車輛翻覆指標,並依據該警示訊號命令一蜂鳴器發出警示音,或依據該控制訊號調整該車輛之速度。
- 一種車輛彎道翻覆預防系統,設於一車輛上,該車輛彎道翻覆預防系統包括:至少二影像擷取裝置,擷取該車輛前方之至少一道路影像;一車況感測模組,偵測該車輛之車速、傾斜角度及加速度等複數車輛動態資訊;以及一處理器,連接該至少二影像擷取裝置及該車況感測模組,利用該道路影像估測出複數道路資訊,再結合該等車輛動態資訊計算出該車輛在一彎道行進時之一重心高度及一翻覆臨界速度,並定義出一車輛翻覆指標,當該車輛翻覆指標超過一預設之標準值時輸出一警示訊號或一控制訊號。
- 如請求項6所述之車輛彎道翻覆預防系統,其中該車況感測模組中包括:一輪速感測器,其裝設於該車輛之一輪胎上,用以偵測該輪胎之轉速;一陀螺儀,用以測量車輛之姿態變化;以及一加速度感測器,用以偵測該車輛之加速度。
- 如請求項6所述之車輛彎道翻覆預防系統,其中該等車輛動態資訊更包括一輪胎轉向角、一橫向速度、一曲率半徑、一轉向比、該車輛之重量、一剛性係數、一阻尼係數、一輪距、一前後輪之軸距及一轉動慣量,而該等道路資訊則包括一彎道曲率及一道路超高資訊,該道路資訊再結合該等影像擷取裝置之高度,可計算出一車道模型曲線。
- 如請求項6所述之車輛彎道翻覆預防系統,更包括一蜂鳴器,依據該警示訊號發出警示音。
- 如請求項6所述之車輛彎道翻覆預防系統,更包括一油門與剎車控制 器,連接該微處理器,該油門與剎車控制器係依據該控制訊號調整該車輛之速度。
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JP6148592B2 (ja) * | 2013-10-15 | 2017-06-14 | ヤマハ発動機株式会社 | 車速決定システム、安定制御システム及びそれを備えた鞍乗り型車両 |
-
2012
- 2012-09-18 TW TW101134111A patent/TW201412585A/zh unknown
- 2012-10-17 CN CN201210394987.0A patent/CN103661366B/zh active Active
- 2012-12-11 US US13/711,327 patent/US9116784B2/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108595817A (zh) * | 2018-04-19 | 2018-09-28 | 黄冈师范学院 | 一种基于观测器的半主动悬架汽车侧倾参数在线估计方法 |
TWI779911B (zh) * | 2021-10-28 | 2022-10-01 | 財團法人車輛研究測試中心 | 穩煞系統及其方法 |
Also Published As
Publication number | Publication date |
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US9116784B2 (en) | 2015-08-25 |
CN103661366A (zh) | 2014-03-26 |
TWI500542B (zh) | 2015-09-21 |
US20140081542A1 (en) | 2014-03-20 |
CN103661366B (zh) | 2017-09-22 |
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