CN110654377A - Vehicle anti-collision control method and control system - Google Patents

Abstract

The invention discloses a vehicle anti-collision control method and a control system, and the specific content of the control method comprises the following steps: obtaining the distance between the lateral direction and the oblique direction of the vehicle and the obstacle at the current moment and the relative movement speed between the vehicle and the obstacle; calculating the pre-collision time of the vehicle and the obstacle according to the acquired distance and the relative movement speed, and comprehensively controlling a steering system, a braking system and a power system of the vehicle under the condition that the calculated pre-collision time is less than the critical time, so that the vehicle turns to avoid collision between the vehicle and the obstacle; when the controller judges that the pre-collision time is less than the critical time, the steering system, the braking system and the power system of the vehicle can be coordinately controlled, namely, the controller selects a proper operation mode to coordinately control the assisting amount and the steering amount of the steering system of the vehicle, whether the braking system is emergently braked and the power output amount of the power system so as to avoid the lateral collision and the oblique collision of the vehicle.

Description

A kind of vehicle collision avoidance control method and control system

technical field

The invention belongs to the technical field of automobile control, and particularly relates to a vehicle anti-collision control method and system.

Background technique

Automobile anti-collision control is one of the important control methods of automobile system, and its main function is to improve driving safety.

Generally, the vehicle collision avoidance system in the prior art mainly includes an acquisition system, a control system, a voice system and a braking mechanism. The acquisition system automatically measures the distance between the vehicle and the obstacle through the ultrasonic sensor, and then transmits the acquisition signal to the control system. The control system reminds the driver through the voice system, and the driver controls the vehicle through the braking mechanism to avoid collision with the obstacle.

In the prior art, a single sensor is mainly used for distance acquisition, and only an alarm or braking method is adopted when a critical collision distance is reached, and the main purpose is to prevent a frontal collision or a rearward collision. The way of alarming is just a passive prompt-type collision avoidance way, and emergency braking is often taken at the critical moment when a collision is about to occur. This emergency stop method is likely to cause collisions and injuries to the occupants in the vehicle, and reduce the driving experience of the occupants. The above-mentioned method cannot perform human-machine interaction with the driver well, and cannot improve the driver's control of the vehicle when the driver evades, thereby reducing the probability of collision to a greater extent.

Therefore, how to provide a vehicle collision avoidance control method to minimize the probability of collision is a technical problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

The present invention provides a vehicle collision avoidance control method, and the specific content of the control method includes:

S1. Obtain the distance between the vehicle and the obstacle at the current moment and the relative movement speed between the vehicle and the obstacle;

S2. Calculate the pre-collision time between the vehicle and the obstacle according to the obtained distance and relative motion speed. On the condition that the calculated pre-collision time is less than the critical time, comprehensively control the steering system, braking system and power system of the vehicle to make The vehicle turns to avoid collision with obstacles.

When the controller judges that the pre-collision time is less than the critical time, it can coordinately control the steering system, braking system and power system of the vehicle. Moderate braking is applied, and the electric motor or engine controlling the powertrain reduces RPM and torque or accelerates to safely turn the vehicle to avoid obstacles. That is to say, the controller can judge whether the vehicle and the surrounding obstacles (including people, vehicles, objects, etc.) are in a safe distance through the obtained distance and relative movement speed. When the distance is less than the safe distance , the controller selects the appropriate operation mode to coordinately control the amount of power assist and steering of the vehicle steering system, whether the braking system is emergency braking, and the power output of the power system to avoid side collision and oblique collision of the vehicle.

The invention is especially suitable for the passage of narrow and curvy roads and the implementation of variable speed active avoidance for oncoming vehicles at lateral high speed, thereby improving the safety of the vehicle.

Optionally, in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are further obtained; in step S2, in addition to the pre-collision time condition, vehicle operating condition parameters, driver driving One or more of habits, driver status, and external environment parameters.

Optionally, the critical time includes a first critical time T1 and a second critical time T2; in step S2, when it is determined that the pre-collision time is less than or equal to the first critical time T1 and greater than the second critical time T2, an alarm instruction is issued And prompt the driver to steer or/and brake.

Optionally, in step S2, when it is determined that the pre-collision time is less than or equal to the second critical time T2, increase or decrease the power assist amount when the steering wheel of the steering system is turned.

Optionally, in step S1, a driving state parameter of the driver is further obtained; in step S2, it is further determined whether the driver intends to drive the vehicle according to the driving state parameter, and when it is determined that the driver intends to drive the vehicle, according to the driving speed of the vehicle. , The angle and torque applied by the driver to the steering wheel, the driving habits of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle. Control the braking system while boosting the amount of boost to improve the handling of the vehicle.

Optionally, when it is determined in step S2 that the driver is unintentional or incapable of driving the vehicle, the driving path is re-planned according to vehicle operating condition parameters, external environment parameters, and the pre-collision time, and the steering system, braking system, and The three power systems control the steering motion of the vehicle with the re-planned driving path.

Optionally, the braking system is controlled to brake the vehicle while the steering movement is being performed.

Optionally, when it is determined in step S2 that the driver is unintentional or incapable of driving the vehicle, and the collision with the obstacle cannot be achieved by steering, an emergency braking strategy is implemented.

In addition, the present invention also provides a vehicle collision avoidance control system, comprising the following components:

The acquisition component is used to obtain the distance between the vehicle and the obstacle and the relative movement speed between the vehicle and the obstacle;

The controller calculates the pre-collision time between the vehicle and the obstacle according to the obtained distance and relative movement speed, and comprehensively controls the steering system, braking system and power system of the vehicle on the condition that the calculated pre-collision time is less than the critical time. Steer the vehicle to avoid collisions with obstacles.

Optionally, the obtaining component further includes:

Working condition sensor, used to obtain vehicle working condition parameters;

The driving habit collection component collects the driving parameters of the driver to form a driving habit database;

Status sensor, used to obtain the driver's status at the current moment;

Environmental sensors, used to obtain external environmental parameters;

The controller also considers one or more of vehicle operating condition parameters, driver's driving habits, driver's state, and external environment parameters to control the turning of the vehicle.

Description of drawings

1 is a flowchart of a vehicle collision avoidance control method in a specific embodiment of the present invention;

2 is a flowchart of a vehicle collision avoidance control method in another specific embodiment of the present invention;

FIG. 3 is a block diagram of a vehicle collision avoidance control system in a specific embodiment provided by the present invention.

Detailed ways

This paper proposes a new vehicle collision avoidance control method, which is described in detail as follows.

In order for those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the control method, control system, drawings and specific embodiments.

Please refer to FIG. 1 and FIG. 3 , FIG. 1 is a flowchart of a vehicle collision avoidance control method in a specific embodiment of the present invention; FIG. 3 is a block diagram of a vehicle collision avoidance control system in a specific embodiment provided by the present invention.

The invention provides a vehicle anti-collision control method, which specifically includes:

S1. Obtain the distance between the vehicle and the obstacle at the current moment and the relative movement speed between the vehicle and the obstacle;

The above distance and relative motion speed parameters can be obtained by acquiring components, which can be sensors installed in front, side or other positions of the vehicle. For example, the distance and relative motion speed between the vehicle and the obstacle can be obtained through cameras or radars. The measured distance is then calculated by the controller, such as millimeter-wave radar, ultrasonic radar, lidar, etc.; millimeter-wave radar and ultrasonic radar can be installed on the front of the car, on the side of the vehicle, and lidar can be installed on the roof.

The number and installation positions of the sensors are not unique, and the number may be one, two or more, one or more.

S2. Calculate the pre-collision time between the vehicle and the obstacle according to the obtained distance and relative motion speed. On the condition that the calculated pre-collision time is less than the critical time, comprehensively control the steering system, braking system and power system of the vehicle to make The vehicle turns to avoid collisions with obstacles.

Correspondingly, the vehicle collision avoidance control system includes a controller, and the controller may include a storage module and a judgment module. The controller can receive and judge according to the signal collected by the acquisition component and its internal storage critical time, and then pass the internal storage control mode. The steering system, braking system and power system are comprehensively controlled, so that the vehicle turns inevitably to avoid collision with obstacles.

In particular, it is advantageous to obtain the distance between the vehicle and the lateral or oblique obstacle at the current moment, and to avoid the collision between the vehicle turning and the lateral or oblique obstacle.

The steering system of a vehicle mainly includes components such as steering actuator, torque/rotation angle sensor and steering controller. Among them, the main function of the torque/rotation angle sensor is to detect the steering torque and the rotation angle of the steering wheel. The above functions can be completed by one sensor, or can be completed by torque sensor and rotation angle sensor respectively. Specifically, the controller may send steering control instructions to the steering controller, and the steering controller controls the steering actuator to perform actions.

The braking system mainly includes a wheel speed sensor, an acceleration sensor, a yaw acceleration sensor, a brake pressure/displacement sensor, and a brake actuator (the brake actuator may include a body electronic stability system (the full English name is Electronic Stability Program, ESP for short), Electric brake system (English full name Electronic Booster, referred to as E-Booster), electronic parking system (English full name of electrical park brake, referred to as EPB), etc. (or similar brake actuators with other names but functions)) and their The brake controller and other components.

It should be noted that the above-mentioned ESP, E-Booster, and EPB have their own controllers, that is to say, the controllers in this paper include a main controller and a plurality of sub-controllers, and can also be made into an integrated controller. Each sub-controller controls the corresponding system actions respectively. Each sub-controller accepts the deceleration signal analyzed by the main controller according to the sensor. However, there may also be a possibility that the sub-controller can resolve the deceleration signal to other controllers. For example, the deceleration signal is parsed in ESP and passed to E-booster for use.

The main function of the brake pressure/displacement sensor is to measure the brake fluid master cylinder pressure and the displacement distance of the brake pedal. After the main controller sends the required vehicle deceleration signal to the brake controller, the brake controller will calculate the required braking torque, braking pressure or braking according to the commanded deceleration and the obtained wheel speed signal and acceleration signal. pedal displacement, etc., to reduce the vehicle speed to the target vehicle speed. Specifically, the controller may send a braking control command to the braking controller, and the braking controller controls the braking actuator to perform actions. The power system mainly includes motor/engine, power sensor and power controller. Power sensors mainly include various oxygen sensors, temperature sensors, position sensors (such as accelerator pedal position sensors, throttle position sensors, etc.), pressure sensors, etc., which are used to control the state of the engine to make it have stable power output. Sensors, (power steering pressure switch) clutches and other signals control the power output.

Specifically, the power sensor collects the motor/engine torque and related state signals, the main controller or the brake system controller sends the vehicle deceleration signal to the power controller, and the power controller will decelerate according to the command and the motor/engine obtained by the power sensor. The engine state calculates the required power output torque, controls the power actuator to act, makes the motor/engine increase/decrease power, or release the accelerator.

When the controller judges that the pre-collision time is less than the critical time, it can coordinately control the steering system, braking system and power system of the vehicle. Moderate braking is applied, and the motor or engine controlling the powertrain is lowered or accelerated to safely turn the vehicle to avoid obstacles. That is to say, the controller can judge whether the vehicle and the surrounding obstacles (including people, vehicles, objects, etc.) are in a safe distance through the obtained distance and relative movement speed. When the distance is less than the safe distance , the controller selects the appropriate operation mode to coordinately control the amount of power assist and steering of the vehicle steering system, whether the braking system is emergency braking, and the power output of the power system to avoid side collision and oblique collision of the vehicle.

The present invention is especially suitable for the passage of narrow and curved roads and the implementation of gear-shift active avoidance for oncoming vehicles at high lateral speed, thereby improving the safety of the vehicle.

The above-mentioned control method can be further optimized, and details are described in the following description.

In the above embodiment, in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters may be further obtained; in step S2, in addition to the pre-collision time condition, vehicle operating condition parameters, driving One or more of the member status and external environment parameters.

Correspondingly, the acquiring component further includes a working condition sensor for acquiring vehicle operating condition parameters; a driving habit collecting component, which collects the driving parameters of the driver to form a driving habit database; wherein the collected signals of the driving habit collecting component can be transmitted to the controller. , After the controller data is processed, a driving habit database is formed. When the vehicle collision avoidance control system is working, the driving habit is directly read from the inside of the controller.

The acquiring component also includes a state sensor, which is used to acquire the driver's state at the current moment; and an environment sensor, which is used to acquire external environment parameters.

The types of the above collection components and sensors can be reasonably selected according to the specific installation environment, as long as the above functions can be realized.

Several specific control modes are given below, of course, the anti-collision control mode of the vehicle is not limited to the following description. The control mode is pre-stored inside the controller, and the control mode can also be optimized through artificial intelligence deep learning.

In a specific embodiment, in step S2, when it is determined that the pre-collision time is less than or equal to the first critical time T1 and greater than the second critical time T2, an alarm command is issued and the driver is prompted to turn or/and brake.

It can be seen from the above description that T1 is greater than T2. In the above embodiment, the vehicle is far away from the obstacle, the controller sends out an alarm command to remind the driver, and prompts the driver to turn or/and brake, and the driver has enough time to control the vehicle to avoid it according to the instructions of the controller. obstacles, thereby greatly increasing the driving safety of the vehicle.

The warning command is usually an audible signal, the interval between which the audible signal sounds will be shortened as the collision time decreases.

In the above-mentioned embodiments, when it is determined in step S2 that the pre-collision time is less than or equal to the second critical time T2, the power assist amount of the steering wheel of the steering system is increased or decreased. Increasing or decreasing the steering wheel assist can assist the driver in evading. Further, in step S1, the driving state parameter of the driver is further obtained; in step S2, it is further determined whether the driver intends to drive the vehicle according to the driving state parameter, and when it is determined that the driver intends to drive the vehicle, according to the driving speed of the vehicle, The angle and torque applied by the driver to the steering wheel, the driving habits of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle change the amount of power assist of the steering wheel of the steering system to improve the handling of the vehicle sex.

The driving state parameter is mainly used to determine what state the driver is in at this time and whether he can drive the vehicle normally.

When the vehicle is evading quickly at high speed, according to the distance between the vehicle and the front, rear and side obstacles, vehicle speed, steering wheel torque and other information, provide appropriate power assistance (change the current power assistance), so that the vehicle will not turn too large and out of control, or the turning angle is too small Collision.

For another example, when the car is reversing, before the vehicle pre-collision occurs, the steering system controls the motor to reduce the power assist or provide a small amount of reverse power assist, so as to avoid the vehicle collision.

In each of the above embodiments, when it is determined in step S2 that the driver is unintentional or incapable of driving the vehicle, the driving path is re-planned according to vehicle operating condition parameters, external environment parameters, and pre-collision time, and the steering system, braking system and The three power systems control the steering movement of the vehicle with the re-planned driving path.

When the driver is unintentional or incapable of driving the vehicle, the control of the vehicle is switched to automatic control, the vehicle moves according to the driving path planned by the controller, and turns safely to avoid collision between the vehicle and obstacles, which greatly increases the driving safety.

Of course, on the basis of the above embodiment, the controller also controls the braking system to brake the vehicle while the vehicle is steering by itself.

In the above embodiment, when it is determined in step S2 that the driver is unintentional or incapable of driving the vehicle, and the collision with the obstacle cannot be achieved by steering, the emergency braking strategy is implemented. The emergency braking strategy is the same as that in the prior art, which is pre-stored in the controller, and will not be described in detail herein.

The driving habits of the drivers in the above embodiments can be collected by the collection component, and transmitted to the controller for data processing to form a driving habit database.

On the basis of the above description, a specific control method is given in this paper, please refer to FIG. 2 , which is a flowchart of a vehicle collision avoidance control method in another specific embodiment of the present invention.

S2 specifically includes the following steps:

S21, judging the relationship between the pre-collision time and T1, T2; when it is judged that the pre-collision time is less than or equal to the first critical time T1 and greater than the second critical time T2, execute S25; when it is judged that the pre-collision time is less than or equal to At the second critical time T2, execute S22;

S22, determine whether the driver intends to drive the vehicle, if so, execute step S23; otherwise, execute step S24;

S23. Change the steering wheel of the steering system according to the running speed of the vehicle, the turning angle and torque applied by the driver to the steering wheel, the driving habits of the driver, the distance between the vehicle and the obstacle, and the relative movement speed between the obstacle and the vehicle. The amount of power assist or the control of the braking system while changing the amount of steering wheel assist to improve the handling of the vehicle;

S24, re-plan the driving path according to the vehicle operating condition parameters, external environment parameters, and pre-collision time, and comprehensively control the steering system, braking system and power system of the vehicle to control the steering movement and vehicle speed of the vehicle with the re-planned driving path;

S25, issue an alarm command and prompt the driver to perform steering or/and braking.

The vehicle collision avoidance control system herein can implement the above-mentioned control method, so the vehicle collision avoidance control system also has the above-mentioned technical effect of the above-mentioned control method.

The vehicle collision avoidance control method and control system provided by the present invention have been described in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. a vehicle collision avoidance control method, is characterized in that, the concrete content of this control method comprises: S1. Obtain the distance between the vehicle and the obstacle at the current moment and the relative movement speed between the vehicle and the obstacle; S2. Calculate the pre-collision time between the vehicle and the obstacle according to the obtained distance and relative motion speed. On the condition that the calculated pre-collision time is less than the critical time, comprehensively control the steering system, braking system and power system of the vehicle to make The vehicle turns to avoid collision with obstacles. 2. The vehicle collision avoidance control method as claimed in claim 1, wherein in step S1, vehicle operating condition parameters, driver driving habits, driver status, and external environment parameters are further obtained; in step S2, except for considering pre-collision In addition to the time conditions, one or more of the vehicle operating condition parameters, the driver's driving habits, the driver's state, and the external environment parameters are also considered. 3. The vehicle collision avoidance control method according to claim 1, wherein the critical time includes a first critical time T1 and a second critical time T2; in step S2, when it is determined that the pre-collision time is less than or equal to the first critical time When the critical time T1 is greater than the second critical time T2, an alarm command is issued and the driver is prompted to perform steering or/and braking. 4. The vehicle collision avoidance control method according to claim 1 or 3, wherein in step S2, when it is judged that the pre-collision time is less than or equal to the second critical time T2, the steering of the steering system is increased or decreased The amount of assist when the disc is turned. 5. The vehicle collision avoidance control method according to claim 4, wherein in step S1, a driving state parameter of the driver is further obtained; in step S2, it is further determined whether the driver intends to drive the vehicle according to the driving state parameter , When judging that the driver intends to drive the vehicle, according to the speed of the vehicle, the angle and torque applied by the driver to the steering wheel, the driver's driving habits, the distance between the vehicle and the obstacle, and the relative movement between the obstacle and the vehicle The speed changes the amount of steering wheel assist of the steering system or controls the braking system while changing the amount of steering wheel assist to improve the handling of the vehicle. 6 . The vehicle collision avoidance control method according to claim 5 , wherein when it is determined in step S2 that the driver is unintentional or incapable of driving the vehicle, the vehicle is regenerated according to vehicle operating condition parameters, external environment parameters, and the pre-collision time. 7 . The driving path is planned, and the steering system, the braking system and the power system of the vehicle are comprehensively controlled to control the steering movement and the speed of the vehicle based on the re-planned driving path. 7 . The vehicle collision avoidance control method according to claim 6 , wherein the braking system is controlled to brake the vehicle while the steering movement is performed. 8 . 8. The vehicle collision avoidance control method according to claim 5, characterized in that, when it is judged in step S2 that the driver is unintentional or incapable of driving the vehicle, and the collision with the obstacle cannot be realized by steering, the emergency braking strategy is implemented . 9. A vehicle collision avoidance control system, characterized in that it comprises the following components: The acquisition component is used to obtain the distance between the vehicle and the obstacle and the relative movement speed between the vehicle and the obstacle; The controller calculates the pre-collision time between the vehicle and the obstacle according to the obtained distance and relative motion speed, and comprehensively controls the steering system, braking system and power system of the vehicle on the condition that the calculated pre-collision time is less than the critical time. Steer the vehicle to avoid collisions with obstacles. 10. The vehicle collision avoidance control system according to claim 9, wherein the obtaining component further comprises: Working condition sensor, used to obtain vehicle working condition parameters; The driving habit collection component collects the driving parameters of the driver to form a driving habit database; Status sensor, used to obtain the driver's status at the current moment; Environmental sensors, used to obtain external environmental parameters; The controller also considers one or more of vehicle operating condition parameters, driver's driving habits, driver's state, and external environment parameters to control the turning of the vehicle.

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