CN108407807B - Steering collision avoidance system of commercial vehicle and control method thereof - Google Patents
Steering collision avoidance system of commercial vehicle and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The steering collision avoidance system of the commercial vehicle comprises a front radar and a collision avoidance controller, wherein the front radar is in signal connection with the collision avoidance controller; the collision avoidance system further comprises an image processor, an electronic brake EBS controller and an electronic power assisted EPS controller, wherein the signal input end of the image processor is respectively connected with the signal output ends of the front camera, the left camera and the right camera, the signal output end of the image processor is connected with the image processing signal input end of the collision avoidance controller, the collision avoidance controller is respectively connected with the front radar, the left front radar and the right front radar through a vehicle CAN bus, and the collision avoidance controller is respectively connected with the electronic brake EBS controller and the electronic power assisted EPS controller through the vehicle CAN bus. The collision avoidance system has the advantages that collision avoidance can be realized under the condition of higher relative speed, the working condition range applicable to the collision avoidance system is enlarged, and the safety of the system is improved.
Description
Technical Field
The utility model relates to a steering collision avoidance system of a commercial vehicle, in particular to a steering collision avoidance system of a commercial vehicle and a control method thereof, which are particularly suitable for improving collision avoidance reliability.
Background
The commercial vehicle emergency collision avoidance system can take measures to avoid collision under dangerous conditions. The collision avoidance system at the present stage mainly recognizes obstacles through a radar or a camera, and reduces the speed of the vehicle under dangerous conditions through an electric control braking mode so as to avoid or reduce the collision.
Under the condition of low relative speed, the existing system can achieve a better effect by utilizing the braking system to avoid collision. However, when the relative speed is high, the braking distance required by complete collision avoidance can be greatly increased, and the early braking intervention can seriously influence the normal driving of a driver and greatly influence the effect of a system. Particularly, when the adhesion coefficient of the ground is low, the braking distance is greatly increased, and the effect of reducing the danger is not always achieved by only braking to avoid collision.
The utility model patent with publication number CN206781743 and publication date 2017, 12 and 22 discloses an automobile differential steering system with multiple collision avoidance modes, which comprises a radar, a vehicle speed sensor, a yaw rate sensor, a lateral acceleration sensor, a front wheel steering angle sensor, a signal integration module, a judging module, a steering module, a braking module and an ECU. When the automobile runs, the radar detects the speed of the front automobile and the relative distance between the automobile and the front automobile, and the ECU controls the steering module and the braking module of the automobile to work according to the magnitude relation between the measured relative distance, the steering safety distance and the braking safety distance; meanwhile, the stability of the automobile is regulated and controlled by utilizing the sliding film control by taking the yaw rate and the centroid slip angle as control parameters. Although this utility model enables steering collision avoidance, it still has the following drawbacks:
the sampling data of the utility model has fewer potential safety hazards.
Disclosure of Invention
The utility model aims to solve the problem of less sampling data in the prior art, and provides a steering collision avoidance system of a commercial vehicle with multi-azimuth sampling and a control method thereof.
In order to achieve the above object, the technical solution of the present utility model is: the steering collision avoidance system of the commercial vehicle comprises a front radar and a collision avoidance controller, wherein the front radar is in signal connection with the collision avoidance controller;
the collision avoidance system further comprises an image processor, an electronic brake EBS controller and an electronic power assisted EPS controller, wherein the signal input end of the image processor is respectively connected with the signal output ends of the front camera, the left camera and the right camera, the signal output end of the image processor is connected with the image processing signal input end of the collision avoidance controller, the collision avoidance controller is respectively connected with the front radar, the left front radar and the right front radar through a vehicle CAN bus, and the collision avoidance controller is respectively connected with the electronic brake EBS controller and the electronic power assisted EPS controller through the vehicle CAN bus.
The collision avoidance controller is in signal connection with the human-computer interaction device HMI through the whole vehicle CAN bus.
The collision avoidance controller comprises an obstacle fusion identification module, a driving path judgment module, a collision avoidance strategy module and a CAN communication module, wherein the signal output end of the obstacle fusion identification module is connected with the signal input end of the driving path judgment module, the signal output end of the driving path judgment module is connected with the signal input end of the collision avoidance strategy module, and the obstacle fusion identification module, the driving path judgment module and the collision avoidance strategy module are all connected with the CAN communication module through signals.
The signal output end of the image processor is connected with the image processing signal input end of the obstacle fusion identification module in the collision avoidance controller 1, and the CAN communication module is in signal connection with the whole vehicle CAN bus.
The CAN communication module is in signal connection with the whole CAN bus, and the image processor is in signal connection with the CAN communication module through the whole CAN bus.
The front camera is arranged right below the front windshield of the cab, the left camera is arranged at the left rearview mirror of the vehicle, and the right camera is arranged at the right rearview mirror of the vehicle.
The front radar is arranged in the middle of a front bumper of the cab, the left front radar is arranged on the left front side of the cab, and the right front radar is arranged on the right front side of the cab.
A control method of a steering collision avoidance system of a commercial vehicle is characterized by comprising the following steps of:
the control method comprises the following steps:
the first step: the data acquisition, the image processor acquires signals of the front camera, the left camera and the right camera to obtain a front camera obstacle distance signal D respectively c Obstacle distance signal D on the left L1 Obstacle distance signal D on right side R1 Lane line position signal and send the signal to collision avoidance controller, front radar recognizes the obstacle in front of the vehicle and sends the distance signal D of the front radar obstacle R And a relative velocity signal V r The left front radar identifies the left front obstacle of the vehicle and sends a left front obstacle distance signal D to the collision avoidance controller through the whole vehicle CAN bus L2 The front right radar identification is sent to the collision avoidance controller through the CAN bus of the whole vehicleOther vehicles right front side obstacle and distance signal D of right front side obstacle R2 The collision avoidance controller is sent to the collision avoidance controller through the whole vehicle CAN bus;
and a second step of: the obstacle fusion recognition module is used for determining the effectiveness of the front obstacle, acquiring a vehicle speed signal V from a vehicle CAN bus, judging whether the front obstacle is in a forbidden state by comparing input information of the front camera and the front radar, if so, outputting a front obstacle relative distance signal D by the obstacle fusion recognition module m (D m ＝D R ) And a relative velocity signal V r (V r =v) to the travel path judgment module; if the obstacle in front is confirmed to be in motion state, the obstacle fusion recognition module outputs a relative distance signal D of the obstacle in front m (D m ＝D R ) And a relative velocity signal V r Giving a driving path judging module;
and a third step of: the driving path judgment module judges the driving path of the vehicle, wherein the driving path is divided into three modes of straight driving, left steering overtaking and right steering overtaking, the straight driving mode is a normally open mode, and when a lane exists on the left side and the vehicle does not exist on the left side or is far away from the longitudinal distance D of the vehicle L1 And D L2 The left steering overtaking mode is in an open state when the two steering overtaking modes are all more than 50 meters, and is in a closed state otherwise; when there is a lane on the right side, and there is no vehicle or longitudinal distance D from the host vehicle on the right side R1 And D R2 When the left steering overtaking mode is in an open state and the left steering overtaking mode is in a closed state when the left steering overtaking mode is larger than 50 meters; transmitting the switching conditions of the three driving path states to a collision avoidance strategy module, wherein the driving path judgment is completed;
fourth step: selecting a collision avoidance strategy, wherein the collision avoidance strategy module selects a collision avoidance strategy according to the distance D of the obstacle in front m And relative velocity V r Judging the danger of rear-end collision when the relative speed V r ＜2*TTC Steering *a mAx In the event of collision avoidance by braking directly, i.e. when the relative distance D is detected m ＜V r *t+1/2*V r 2 /a mAx During collision avoidance controllerThe electronic brake EBS controller is sent with a maximum deceleration instruction to brake through the whole vehicle CAN bus to realize collision avoidance; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode or the right steering mode is in an on state, the collision is avoided by adopting a steering mode, namely when the relative distance D m ＞V r *TTC Steering When the vehicle is in use, the collision avoidance controller sends a steering wheel angle instruction to the Electronic Power Steering (EPS) controller through the vehicle CAN bus to steer so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode and the right steering mode are both closed, the collision is avoided by adopting a braking mode, namely when the relative distance D m ＜V r *TTC Steering When the collision avoidance controller sends a maximum deceleration instruction to the electronic brake EBS controller through the whole vehicle CAN bus to brake so as to reduce the collision degree; wherein TTC is Steering TTC on commercial vehicle for minimum steering time Steering The value range of (a) is 1.0s-1.3s mAx For maximum deceleration value, a is applied to commercial vehicle mAx The range of the value of (2) is 5 m- s 2 –7m/ s 2 T is the delay time of the braking system, and the value range of t on the commercial vehicle is 0.2s-0.3s.
Compared with the prior art, the utility model has the beneficial effects that:
1. the front radar, the left front radar and the right front radar in the steering collision avoidance system of the commercial vehicle respectively collect the front, left front and right front barrier signals, and simultaneously collect the front, left and right barrier signals through the front camera, the left camera and the right camera. The obstacle is detected from an omnibearing visual angle, and a comprehensive judgment condition is provided for the collision avoidance system. Therefore, the design is comprehensive in monitoring, and the reliability of the collision avoidance system is effectively improved.
2. The collision avoidance controller in the steering collision avoidance system of the commercial vehicle evaluates the danger of rear-end collision through the distance and the speed of the obstacle in front. When the danger is about to happen, the collision avoidance controller can send a braking instruction to the electronic braking system EBS controller to brake and avoid collision when the relative distance is low. When the relative speed is high, the collision avoidance controller analyzes whether the steering condition is met. When the steering conditions are met, a steering instruction is sent to the Electronic Power Steering (EPS) controller for steering collision avoidance, the collision avoidance can be realized under the condition of high relative speed by the aid of the design, the working condition range suitable for a collision avoidance system is enlarged, the safety of the system is greatly improved, and meanwhile, normal driving of a driver cannot be influenced by system intervention. Therefore, the collision avoidance system can avoid collision under the condition of higher relative speed, the working condition range applicable to the collision avoidance system is enlarged, and the safety of the system is improved.
3. According to the steering collision avoidance system of the commercial vehicle, the stationary state of the obstacle can be identified through the joint confirmation of the front camera and the front radar, so that the identification reliability of the obstacle fusion identification module is effectively improved. Therefore, the design is high in identification reliability, and the safety of the system is improved.
Drawings
Fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a schematic view of the scanning range of the radar and camera of the present utility model.
FIG. 3 is a logic flow diagram of a collision avoidance controller of the present utility model.
In the figure: the collision avoidance system comprises a collision avoidance controller 1, a front radar 11, a left front radar 12, a right front radar 13, an obstacle fusion identification module 14, a driving path judgment module 15, a collision avoidance strategy module 16, a CAN communication module 17, an image processor 2, a front camera 21, a left camera 22, a right camera 23, an electronic brake EBS controller 3, an electronic power EPS controller 4, a human-computer interaction device HMI5 and a whole vehicle CAN bus 6.
Detailed Description
The utility model is described in further detail below with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 3, a steering collision avoidance system of a commercial vehicle comprises a front radar 11 and a collision avoidance controller 1, wherein the front radar 11 is in signal connection with the collision avoidance controller 1;
the collision avoidance system further comprises an image processor 2, an electronic brake EBS controller 3 and an electronic power assisted EPS controller 4, wherein the signal input end of the image processor 2 is respectively connected with the signal output ends of a front camera 21, a left camera 22 and a right camera 23, the signal output end of the image processor 2 is connected with the image processing signal input end of the collision avoidance controller 1, the collision avoidance controller 1 is respectively connected with a front radar 11, a left front radar 12 and a right front radar 13 through a whole vehicle CAN bus 6, and the collision avoidance controller 1 is respectively connected with the electronic brake EBS controller 3 and the electronic power assisted EPS controller 4 through the whole vehicle CAN bus 6.
The collision avoidance controller 1 is in signal connection with the human-computer interaction device HMI5 through the whole vehicle CAN bus 6.
The collision avoidance controller 1 comprises an obstacle fusion identification module 14, a driving path judgment module 15, a collision avoidance strategy module 16 and a CAN communication module 17, wherein a signal output end of the obstacle fusion identification module 14 is connected with a signal input end of the driving path judgment module 15, a signal output end of the driving path judgment module 15 is connected with a signal input end of the collision avoidance strategy module 16, and the obstacle fusion identification module 14, the driving path judgment module 15 and the collision avoidance strategy module 16 are all in signal connection with the CAN communication module 17.
The signal output end of the image processor 2 is connected with the image processing signal input end of the obstacle fusion identification module 14 in the collision avoidance controller 1, and the CAN communication module 17 is in signal connection with the whole vehicle CAN bus 6.
The CAN communication module 17 is in signal connection with the whole CAN bus 6, and the image processor 2 is in signal connection with the CAN communication module 17 through the whole CAN bus 6.
The front camera 21 is arranged right below a front windshield of a cab, the left camera 22 is arranged at a left rearview mirror of a vehicle, and the right camera 23 is arranged at a right rearview mirror of the vehicle.
The front radar 11 is arranged in the middle of a front bumper of the cab, the left front radar 12 is arranged on the left front side of the cab, and the right front radar 13 is arranged on the right front side of the cab.
A control method of a steering collision avoidance system of a commercial vehicle is characterized by comprising the following steps of:
the control method comprises the following steps:
the first step: the data acquisition, the image processor 2 acquires signals of the front camera 21, the left camera 22 and the right camera 23 to obtain front camera obstacle distance signals D respectively c Obstacle distance signal D on the left L1 Obstacle distance signal D on right side R1 Lane line position signal and transmitting the signal to collision avoidance controller 1, front radar 11 recognizes an obstacle immediately ahead of the vehicle, and transmits distance signal D of the front radar obstacle R And a relative velocity signal V r The left front radar 12 recognizes the left front obstacle of the vehicle and sends a left front obstacle distance signal D to the collision avoidance controller 1 through the whole vehicle CAN bus 6 L2 The right front radar 13 recognizes the obstacle on the right front side of the vehicle and sends a distance signal D of the obstacle on the right front side to the collision avoidance controller 1 through the whole vehicle CAN bus 6 R2 The collision avoidance signal is sent to the collision avoidance controller 1 through the whole vehicle CAN bus 6;
and a second step of: the obstacle fusion recognition module 14 determines the validity of the front obstacle, the obstacle fusion recognition module 14 acquires a vehicle speed signal V from the vehicle CAN bus 6, and determines whether the front obstacle is in a forbidden state by comparing input information of the front camera 21 and the front radar 11, if the front obstacle is confirmed to be in a static state, the obstacle fusion recognition module 14 outputs a front obstacle relative distance signal D m (D m ＝D R ) And a relative velocity signal V r (V r =v) to the travel path determination module 15; if the obstacle in front is determined to be in motion, the obstacle fusion recognition module 14 outputs a relative distance signal D of the obstacle in front m (D m ＝D R ) And a relative velocity signal V r A travel path determination module 15;
and a third step of: the driving path judgment module 15 judges the driving path of the vehicle, wherein the driving path is divided into three modes of straight driving, left steering overtaking and right steering overtaking, the straight driving mode is a normally open mode, and when the left side is provided with a lane and the left side is provided with no vehicle or a longitudinal distance D from the vehicle L1 And D L2 The left steering overtaking mode is in an open state when the two steering overtaking modes are all more than 50 meters, otherwise, the left steering overtaking mode is in a closed stateA state; when there is a lane on the right side, and there is no vehicle or longitudinal distance D from the host vehicle on the right side R1 And D R2 When the left steering overtaking mode is in an open state and the left steering overtaking mode is in a closed state when the left steering overtaking mode is larger than 50 meters; transmitting the switching conditions of the three driving path states to the collision avoidance strategy module 16, wherein the driving path judgment is completed;
fourth step: collision avoidance strategy selection, collision avoidance strategy module 16 based on the distance D of the obstacle immediately ahead m And relative velocity V r Judging the danger of rear-end collision when the relative speed V r ＜2*TTC Steering *a mAx In the event of collision avoidance by braking directly, i.e. when the relative distance D is detected m ＜V r *t+1/2*V r 2 /a mAx When the collision avoidance controller 1 sends a maximum deceleration instruction to the electronic brake EBS controller 3 through the whole vehicle CAN bus 6 to brake so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode or the right steering mode is in an on state, the collision is avoided by adopting a steering mode, namely when the relative distance D m ＞V r *TTC Steering When the vehicle is in use, the collision avoidance controller 1 sends a steering wheel angle instruction to the electronic power steering EPS controller 4 through the vehicle CAN bus 6 to steer so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode and the right steering mode are both closed, the collision is avoided by adopting a braking mode, namely when the relative distance D m ＜V r *TTC Steering When the collision avoidance controller 1 sends a maximum deceleration instruction to the electronic brake EBS controller 3 through the whole vehicle CAN bus 6 to brake so as to reduce the collision degree; wherein TTC is Steering TTC on commercial vehicle for minimum steering time Steering The value range of (a) is 1.0s-1.3s mAx For maximum deceleration value, a is applied to commercial vehicle mAx The range of the value of (C) is 5m/s 2 –7m/s 2 T is the delay time of the braking system, and the value range of t on the commercial vehicle is 0.2s-0.3s.
The principle of the utility model is explained as follows:
and after the electronic brake EBS controller 3 acquires a deceleration instruction through the whole vehicle CAN bus 6, controlling the brake valve to realize the required deceleration value. When the Electronic Power Steering (EPS) controller 4 obtains a steering wheel angle instruction through the whole vehicle Controller Area Network (CAN) bus 6, the steering wheel is controlled to realize the required steering wheel angle.
The collision avoidance controller 1 is in signal connection with the human-computer interaction device HMI5 through the whole vehicle CAN bus 6. The human-machine interaction device HMI5 is configured to execute an audible and visual alarm instruction.
Example 1:
the steering collision avoidance system of the commercial vehicle comprises a front radar 11 and a collision avoidance controller 1, wherein the front radar 11 is in signal connection with the collision avoidance controller 1, the collision avoidance system further comprises an image processor 2, an electronic brake EBS controller 3 and an electronic power assisted EPS controller 4, the signal input end of the image processor 2 is respectively connected with the signal output ends of a front camera 21, a left camera 22 and a right camera 23, the signal output end of the image processor 2 is connected with the image processing signal input end of the collision avoidance controller 1, the collision avoidance controller 1 is respectively in signal connection with the front radar 11, the left front radar 12 and the right front radar 13 through a whole vehicle CAN bus 6, and the collision avoidance controller 1 is respectively in signal connection with the electronic brake EBS controller 3 and the electronic power assisted EPS controller 4 through the whole vehicle CAN bus 6; the collision avoidance controller 1 comprises an obstacle fusion identification module 14, a driving path judgment module 15, a collision avoidance strategy module 16 and a CAN communication module 17, wherein the signal output end of the obstacle fusion identification module 14 is connected with the signal input end of the driving path judgment module 15, the signal output end of the driving path judgment module 15 is connected with the signal input end of the collision avoidance strategy module 16, and the obstacle fusion identification module 14, the driving path judgment module 15 and the collision avoidance strategy module 16 are all in signal connection with the CAN communication module 17; the signal output end of the image processor 2 is connected with the image processing signal input end of the obstacle fusion identification module 14 in the collision avoidance controller 1, and the CAN communication module 17 is in signal connection with the whole vehicle CAN bus 6.
A control method of a steering collision avoidance system of a commercial vehicle, the control method comprising the steps of:
the first step: data acquisition, image processingThe device 2 acquires signals of the front camera 21, the left camera 22 and the right camera 23 to obtain a front camera obstacle distance signal D respectively c Obstacle distance signal D on the left L1 Obstacle distance signal D on right side R1 Lane line position signal and transmitting the signal to collision avoidance controller 1, front radar 11 recognizes an obstacle immediately ahead of the vehicle, and transmits distance signal D of the front radar obstacle R And a relative velocity signal V r The left front radar 12 recognizes the left front obstacle of the vehicle and sends a left front obstacle distance signal D to the collision avoidance controller 1 through the whole vehicle CAN bus 6 L2 The right front radar 13 recognizes the obstacle on the right front side of the vehicle and sends a distance signal D of the obstacle on the right front side to the collision avoidance controller 1 through the whole vehicle CAN bus 6 R2 The collision avoidance signal is sent to the collision avoidance controller 1 through the whole vehicle CAN bus 6;
and a second step of: the obstacle fusion recognition module 14 determines the validity of the front obstacle, the obstacle fusion recognition module 14 acquires a vehicle speed signal V from the vehicle CAN bus 6, and determines whether the front obstacle is in a forbidden state by comparing input information of the front camera 21 and the front radar 11, if the front obstacle is confirmed to be in a static state, the obstacle fusion recognition module 14 outputs a front obstacle relative distance signal D m (D m ＝D R ) And a relative velocity signal V r (V r =v) to the travel path determination module 15; if the obstacle in front is determined to be in motion, the obstacle fusion recognition module 14 outputs a relative distance signal D of the obstacle in front m (D m ＝D R ) And a relative velocity signal V r A travel path determination module 15;
and a third step of: the driving path judgment module 15 judges the driving path of the vehicle, wherein the driving path is divided into three modes of straight driving, left steering overtaking and right steering overtaking, the straight driving mode is a normally open mode, and when the left side is provided with a lane and the left side is provided with no vehicle or a longitudinal distance D from the vehicle L1 And D L2 The left steering overtaking mode is in an open state when the two steering overtaking modes are all more than 50 meters, and is in a closed state otherwise; when there is a lane on the right side, and there is no vehicle or distance from the host vehicle on the right sideLongitudinal distance D of (2) R1 And D R2 When the left steering overtaking mode is in an open state and the left steering overtaking mode is in a closed state when the left steering overtaking mode is larger than 50 meters; transmitting the switching conditions of the three driving path states to the collision avoidance strategy module 16, wherein the driving path judgment is completed;
fourth step: collision avoidance strategy selection, collision avoidance strategy module 16 based on the distance D of the obstacle immediately ahead m And relative velocity V r Judging the danger of rear-end collision when the relative speed V r ＜2*TTC Steering *a mAx In the event of collision avoidance by braking directly, i.e. when the relative distance D is detected m ＜V r *t+1/2*V r 2 /a mAx When the collision avoidance controller 1 sends a maximum deceleration instruction to the electronic brake EBS controller 3 through the whole vehicle CAN bus 6 to brake so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode or the right steering mode is in an on state, the collision is avoided by adopting a steering mode, namely when the relative distance D m ＞V r *TTC Steering When the vehicle is in use, the collision avoidance controller 1 sends a steering wheel angle instruction to the electronic power steering EPS controller 4 through the vehicle CAN bus 6 to steer so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a mAx When the left steering mode and the right steering mode are both closed, the collision is avoided by adopting a braking mode, namely when the relative distance D m ＜V r *TTC Steering When the collision avoidance controller 1 sends a maximum deceleration instruction to the electronic brake EBS controller 3 through the whole vehicle CAN bus 6 to brake so as to reduce the collision degree; wherein TTC is Steering TTC on commercial vehicle for minimum steering time Steering The value range of (a) is 1.0s-1.3s mAx For maximum deceleration value, a is applied to commercial vehicle mAx The range of the value of (C) is 5m/s 2 –7m/s 2 T is the delay time of the braking system, and the value range of t on the commercial vehicle is 0.2s-0.3s.
Example 2:
example 2 is substantially the same as example 1 except that:
the collision avoidance controller 1 is in signal connection with the human-computer interaction device HMI5 through the whole vehicle CAN bus 6.
Example 3:
example 3 is substantially the same as example 2 except that:
the CAN communication module 17 is in signal connection with the whole CAN bus 6, and the image processor 2 is in signal connection with the CAN communication module 17 through the whole CAN bus 6; the front camera 21 is arranged right below a front windshield of the cab, the left camera 22 is arranged at a left rearview mirror of the vehicle, and the right camera 23 is arranged at a right rearview mirror of the vehicle; the front radar 11 is arranged in the middle of a front bumper of the cab, the left front radar 12 is arranged on the left front side of the cab, and the right front radar 13 is arranged on the right front side of the cab.
Claims (7)
1. The utility model provides a steering collision avoidance system control method of commercial car, includes leading radar (11) and collision avoidance controller (1), leading radar (11) and collision avoidance controller (1) signal connection, its characterized in that:
the collision avoidance system further comprises an image processor (2), an Electronic Brake (EBS) controller (3) and an electronic power assisted (EPS) controller (4), wherein the signal input end of the image processor (2) is respectively connected with the signal output ends of a front camera (21), a left camera (22) and a right camera (23), the signal output end of the image processor (2) is connected with the image processing signal input end of the collision avoidance controller (1), the collision avoidance controller (1) is respectively connected with a front radar (11), a left front radar (12) and a right front radar (13) through a whole vehicle CAN bus (6), and the collision avoidance controller (1) is respectively connected with the Electronic Brake (EBS) controller (3) and the electronic power assisted (EPS) controller (4) through the whole vehicle CAN bus (6);
the method comprises the following steps:
the first step: the data acquisition, the image processor (2) acquires signals of the front camera (21), the left camera (22) and the right camera (23) to obtain front camera obstacle distance signals D respectively c Obstacle distance signal D on the left L1 Obstacle distance signal D on right side R1 Lane line position signal and send the signal to collision avoidance controller (1), leadingThe radar (11) recognizes an obstacle immediately ahead of the vehicle and transmits a distance signal D of the ahead radar obstacle R And a relative velocity signal V r The left front radar (12) identifies the left front obstacle of the vehicle and sends the left front obstacle distance signal D to the collision avoidance controller (1) through the whole vehicle CAN bus (6) L2 The right front radar (13) identifies the obstacle on the right front side of the vehicle and sends the obstacle distance signal D on the right front side to the collision avoidance controller (1) through the whole vehicle CAN bus (6) R2 The collision avoidance signal is sent to the collision avoidance controller (1) through the whole vehicle CAN bus (6);
and a second step of: the obstacle fusion recognition module (14) determines the effectiveness of the front obstacle, the obstacle fusion recognition module (14) acquires a vehicle speed signal V from the whole vehicle CAN bus (6), and judges whether the front obstacle is in a forbidden state or not by comparing input information of the front camera (21) and the front radar (11), if the front obstacle is confirmed to be in a static state, the obstacle fusion recognition module (14) outputs a front obstacle relative distance signal D m (D m ＝D R ) And a relative velocity signal V r (V r =v) to the travel path determination module (15); if the obstacle in front is confirmed to be in a motion state, the obstacle fusion recognition module (14) outputs a relative distance signal D of the obstacle in front m (D m ＝D R ) And a relative velocity signal V r Giving the driving path judgment module (15);
and a third step of: the driving path judgment module (15) judges the driving path of the vehicle, wherein the driving path is divided into three modes of straight running, left steering overtaking and right steering overtaking, the straight running mode is a normally open mode, and when a lane is arranged on the left side and the vehicle is not arranged on the left side or the longitudinal distance D from the vehicle is not arranged on the left side L1 And D L2 The left steering overtaking mode is in an open state when the two steering overtaking modes are all more than 50 meters, and is in a closed state otherwise; when there is a lane on the right side, and there is no vehicle or longitudinal distance D from the host vehicle on the right side R1 And D R2 When the left steering overtaking mode is in an open state and the left steering overtaking mode is in a closed state when the left steering overtaking mode is larger than 50 meters; transmitting the switching conditions of the three driving path states to a collision avoidance strategy module (16), wherein the driving path judgment is completed;
fourth step: the collision avoidance strategy selection, wherein the collision avoidance strategy module (16) selects the collision avoidance strategy according to the distance D of the obstacle in front m And relative velocity V r Judging the danger of rear-end collision when the relative speed V r ＜2*TTC Steering *a max In the event of collision avoidance by braking directly, i.e. when the relative distance D is detected m ＜V r *t+1/2*V r 2 /a max When the collision avoidance controller (1) sends a maximum deceleration instruction to the electronic brake EBS controller (3) through the whole vehicle CAN bus (6) to brake so as to avoid collision; when the relative velocity V r ＞*TTC Steering *a max When the left steering mode or the right steering mode is in an on state, the collision is avoided by adopting a steering mode, namely when the relative distance D m ＞V r *TTC Steering When the collision avoidance controller (1) sends a steering wheel angle instruction to the Electronic Power Steering (EPS) controller (4) through the whole vehicle Controller Area Network (CAN) bus (6) to steer so as to avoid collision; when the relative velocity V r ＞2*TTC Steering *a max When the left steering mode and the right steering mode are both closed, the collision is avoided by adopting a braking mode, namely when the relative distance D m ＜V r *TTC Steering When the collision avoidance controller (1) sends a maximum deceleration instruction to the electronic brake EBS controller (3) through the whole vehicle CAN bus (6) to brake so as to reduce the collision degree; wherein TTC is Steering TTC on commercial vehicle for minimum steering time Steering The value range of (a) is 1.0s-1.3s max For maximum deceleration value, a is applied to commercial vehicle max The range of the value of (C) is 5m/s 2 –7m/s 2 T is the delay time of the braking system, and the value range of t on the commercial vehicle is 0.2s-0.3s.
2. The control method of a steering collision avoidance system of a commercial vehicle according to claim 1, characterized by:
the collision avoidance controller (1) is in signal connection with the human-computer interaction device HMI (5) through the whole vehicle CAN bus (6).
3. The steering collision avoidance system control method of a commercial vehicle according to claim 1 or 2, characterized in that:
the collision avoidance controller (1) comprises an obstacle fusion identification module (14), a driving path judgment module (15), a collision avoidance strategy module (16) and a CAN communication module (17), wherein the signal output end of the obstacle fusion identification module (14) is connected with the signal input end of the driving path judgment module (15), the signal output end of the driving path judgment module (15) is connected with the signal input end of the collision avoidance strategy module (16), and the obstacle fusion identification module (14), the driving path judgment module (15) and the collision avoidance strategy module (16) are all connected with the CAN communication module (17) through signals.
4. A steering collision avoidance system control method for a commercial vehicle according to claim 3, wherein:
the signal output end of the image processor (2) is connected with the image processing signal input end of the obstacle fusion identification module (14) in the collision avoidance controller (1), and the CAN communication module (17) is in signal connection with the whole vehicle CAN bus (6).
5. A steering collision avoidance system control method for a commercial vehicle according to claim 3, wherein: the CAN communication module (17) is in signal connection with the whole CAN bus (6), and the image processor (2) is in signal connection with the CAN communication module (17) through the whole CAN bus (6).
6. A steering collision avoidance system control method for a commercial vehicle according to claim 3, wherein:
the front camera (21) is arranged right below a front windshield of the cab, the left camera (22) is arranged at a left rearview mirror of the vehicle, and the right camera (23) is arranged at a right rearview mirror of the vehicle.
7. The control method for a steering collision avoidance system of a commercial vehicle according to claim 6, characterized by:
the front radar (11) is arranged in the middle of a front bumper of the cab, the left front radar (12) is arranged on the left front side of the cab, and the right front radar (13) is arranged on the right front side of the cab.
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| CN109334659A (en) * | 2018-09-27 | 2019-02-15 | 北京海纳川汽车部件股份有限公司 | Control method, device and the vehicle with it of vehicle |
| CN109606360B (en) * | 2018-12-12 | 2021-03-30 | 奇瑞汽车股份有限公司 | Vehicle control method and system |
| CN110104063A (en) * | 2019-05-28 | 2019-08-09 | 爱驰汽车有限公司 | Automobile assisted power steering control method, system, equipment and storage medium |
| CN112896154A (en) * | 2021-02-03 | 2021-06-04 | 神龙汽车有限公司 | Active collision avoidance system for training vehicle in driving school and control method thereof |
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