CN114013435A - Vehicle lateral assist control method and system - Google Patents
Vehicle lateral assist control method and system Download PDFInfo
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- CN114013435A CN114013435A CN202111339389.9A CN202111339389A CN114013435A CN 114013435 A CN114013435 A CN 114013435A CN 202111339389 A CN202111339389 A CN 202111339389A CN 114013435 A CN114013435 A CN 114013435A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 2
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003238 somatosensory effect Effects 0.000 description 2
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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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
提供一种车辆横向辅助控制方法，开启探测组件，持续获取车身与横向障碍物的间距数据；预设一安全阈值和一风险阈值，风险阈值大于安全间距阈值；车辆判断组件将间距数据与安全阈值和风险阈值进行比较；当间距数据大于安全阈值且小于风险阈值时，向驾驶员发出提醒信号，车辆处于驾驶员接管状态；当间距数据小于安全阈值时，控制部件开启自适应功能，操控车辆移动，改变车辆车身方向；当更新后的间距数据大于安全阈值时，停止自适应功能，车辆恢复驾驶员接管状态。上述车辆横向辅助控制方法能够帮助驾驶员把控车与侧面环境的距离，避免车身碰撞摩擦。还提供一车辆横向辅助控制系统。
A vehicle lateral auxiliary control method is provided, the detection component is turned on, and the distance data between the vehicle body and the lateral obstacle is continuously obtained; a safety threshold and a risk threshold are preset, and the risk threshold is greater than the safety distance threshold; the vehicle judgment component compares the distance data with the safety threshold Compare with the risk threshold; when the distance data is greater than the safety threshold and less than the risk threshold, a reminder signal is sent to the driver, and the vehicle is in the driver's takeover state; when the distance data is less than the safety threshold, the control component turns on the adaptive function to control the vehicle to move , change the direction of the vehicle body; when the updated distance data is greater than the safety threshold, the adaptive function is stopped, and the vehicle resumes the driver's takeover state. The above-mentioned vehicle lateral assistance control method can help the driver to control the distance between the vehicle and the side environment, and avoid collision and friction of the vehicle body. A vehicle lateral assist control system is also provided.
Description
Technical Field
The invention belongs to the field of vehicle active safety, and particularly relates to the field of vehicle auxiliary control.
Background
Driver misoperation or driver fatigue during long-distance driving of the vehicle may cause deviation of the driver's control accuracy of the vehicle from the side environment, and slight deviation may cause side friction or side collision accidents, such as collision with a road guardrail or a side vehicle. An auxiliary control method is therefore required to avoid the above situation.
Disclosure of Invention
The invention aims to provide a vehicle transverse auxiliary control method which can help a driver to control the transverse distance between a vehicle and an obstacle and avoid the problems of friction or collision.
The vehicle lateral assist control method for achieving the above object includes the steps of: presetting a safety threshold and a risk threshold, wherein the risk threshold is greater than the safety threshold; starting a detection assembly, and continuously acquiring transverse distance data between the vehicle body and the barrier; comparing the range data to the safety threshold and the risk threshold; when the distance data is larger than the safety threshold and smaller than the risk threshold, sending a reminding signal to the driver, and enabling the vehicle to be in a driver taking-over state; when the distance data is smaller than the safety threshold, starting a self-adaptive function by the vehicle, and controlling the vehicle to move by the control part; and when the updated distance data is larger than the safety threshold, stopping the self-adaptive function, and recovering the driver taking over state of the vehicle.
In one or more embodiments, the signal command of the control component is prioritized over the driver operation command after the adaptive function is turned on.
In one or more embodiments, the signal command of the control component is prioritized over the driver operation command after the adaptive function is turned on.
In one or more embodiments, the vehicle central control screen displays image data and text information of the vehicle body and the lateral obstacle to the driver after the first signal is sent.
In one or more embodiments, the safety threshold and the risk threshold are preset by the driver, the safety threshold not being lower than a suggested value.
In one or more embodiments, the vehicle takeover information is broadcast to the driver after the adaptive function is enabled.
In one or more embodiments, the distance data is compared to the safety threshold, and when the distance data is greater than the safety threshold, the distance data is compared to the risk threshold.
Another object of the present invention is to provide a lateral vehicle assist control system, which includes a detection component, a judgment component, a control component and a warning component.
The detection assembly is used for obtaining the distance data between the vehicle body and the obstacle; the judgment component is used for receiving the distance data, executing a judgment program related to a safety threshold and a risk threshold, sending a first instruction signal when the distance data is larger than the safety threshold and smaller than the risk threshold, sending a second instruction signal when the distance data is smaller than the safety threshold, and sending a third instruction signal when the updated distance data is larger than the safety threshold; the warning component is used for receiving the first instruction signal and sending out a reminding signal; and the control component is used for receiving the second instruction signal and the third instruction signal and determining the opening and closing of the self-adaptive function according to the second instruction signal and the third instruction signal.
In one or more embodiments, the control assembly is in signal connection with a vehicle steering system, and the vehicle steering system receives signals of the control assembly and controls the vehicle to steer.
In one or more embodiments, the detection component includes a plurality of sets of radars respectively disposed at two sides of the vehicle, the plurality of sets of radars are used for acquiring a plurality of sets of distance information, and a minimum value of the plurality of sets of distance information is the distance data.
In one or more embodiments, the alert component includes a central control screen and/or a voice announcement component.
According to the vehicle transverse auxiliary control method, the detection device detects the interval between the vehicle body and the left and right obstacles and compares the interval data with the preset safety threshold and the risk threshold, so that on one hand, a driver is given certain adjusting time to help the driver to know the distance precision between the vehicle and the side environment, on the other hand, self-adaptive adjustment of the vehicle body is realized through the self-adaptive function, and the risk of side friction or collision is effectively reduced.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which:
fig. 1 is a flowchart illustrating a lateral assist control method for a vehicle.
Detailed Description
The present invention is further described in the following description with reference to specific embodiments and the accompanying drawings, wherein the details are set forth in order to provide a thorough understanding of the present invention, but it is apparent that the present invention can be embodied in many other forms different from those described herein, and it will be readily appreciated by those skilled in the art that the present invention can be implemented in many different forms without departing from the spirit and scope of the invention. It is noted that these and other figures which follow are merely exemplary and not drawn to scale and should not be considered as limiting the scope of the invention as it is actually claimed.
The vehicle transverse auxiliary control method can help a driver to improve the control precision of the vehicle and the side environment and avoid the problem of friction or collision between a vehicle body and the side surface under the conditions of long-distance fatigue driving, misoperation or strange driving environment.
Fig. 1 shows a flow chart of a vehicle lateral assist control method. It should be noted that the operations described below are not necessarily performed exactly in order. Also, it is not beyond the scope of this disclosure to add other operations to, or remove one or more steps from, these processes.
Firstly, step 101 is performed to preset a safety threshold and a risk threshold, wherein the risk threshold is greater than the safety threshold. The safety threshold is the minimum distance between the vehicle body and the obstacle.
The new vehicle is internally provided with the safety threshold and the risk threshold. A recommended value of a minimum distance between the vehicle body and the obstacle is provided in consideration of the vehicle body condition and the driver's operation level. In a preferred embodiment, the safety threshold and the risk threshold are preset by a driver, and the driver self-defines a safety threshold and a risk threshold according to the actual road condition and the operation level, but the safety threshold is not lower than the recommended value, so as to ensure the safety of the driving process of the vehicle.
Then, step 102 is performed, the detection assembly is started, and the data of the transverse distance between the vehicle body and the obstacle are continuously acquired. The detection component can be a radar component, such as a radar added to an existing vehicle or an existing radar used for transmitting electromagnetic waves through the radar to obtain the transverse distance between the vehicle and an obstacle.
The radar continuously emits electromagnetic waves at a certain frequency, and acquires a plurality of groups of data according to a certain period. The multiple groups of radars positioned at different positions of the vehicle body can acquire distance data between different positions of the vehicle body and the obstacle.
In a preferred embodiment, the distance data finally sent out is the minimum value of the multiple sets of radar data, so as to ensure safety.
The range data is compared to a safety threshold and a risk threshold. In one embodiment, the distance data is compared to a safety threshold, and when the distance data is greater than the safety threshold, the distance data is compared to a risk threshold.
In accordance with the above description, step 103 is performed to determine the distance data and the size of the safety threshold.
When the distance data is larger than the safety threshold value, the distance between the surface vehicle and the obstacle is larger than the minimum distance, and the vehicle does not enter a dangerous state. .
Then, step 105 is performed to judge the distance data greater than the safety threshold and the set risk threshold.
And when the distance data is larger than the safety threshold but smaller than the risk threshold, executing step 106, and sending a reminding signal to the driver, wherein the vehicle is in a driver taking-over state. At the moment, the driver knows the information that the vehicle is too close to the obstacle and makes corresponding adjustment.
The reminding signal can be image data and character information of a vehicle body and a transverse barrier displayed to a driver by a vehicle central control screen, or can be reminding information broadcasted by a vehicle to the driver by voice, or can be superposition of the image data and the character information to inform the driver that the distance between the vehicle and the barrier is too close, so that the driver is assisted in controlling the vehicle transversely, and the driving safety is improved. It should be understood by those skilled in the art that the warning signal includes, but is not limited to, the above and examples, for example, in other embodiments, the warning signal may also provide somatosensory information to the driver by way of vibration to prompt the driver about the vehicle driving.
After a driver makes a certain command to the vehicle, the vehicle body deflects and is far away from the obstacle. At which point step 102 is performed again. After the new spacing data is obtained by the detection component, the detection component continues to compare with the safety threshold and the risk threshold. When the new distance data is larger than the risk threshold value, the surface vehicle is in a safe state, the final step 107 is entered, and the vehicle transverse auxiliary control process is ended.
When the distance data is smaller than the safety threshold, that is, the distance between the vehicle and the obstacle is too close to cause danger, the step 104 is executed, the vehicle starts the adaptive function, and the control component controls the vehicle to move.
In a preferred example, after the adaptive function is started, the signal instruction of the control part is prior to the operation instruction of the driver, at the moment, the automobile enters an automatic take-over state, and the control part sends a signal to a vehicle steering system, a vehicle braking system or a vehicle deceleration system, so that the vehicle decelerates.
Furthermore, after the self-adaptive function is started, vehicle taking-over information is broadcasted to the driver, and the vehicle taking-over information comprises the vehicle running parameters at the moment and also comprises the transverse distance between the vehicle and the obstacle. On one hand, the information that the vehicle is taken over is informed, the repeated operation of a driver is avoided, and on the other hand, the driver is also informed that the vehicle is in a dangerous state at the moment and needs to drive cautiously.
The vehicle body deflects and moves away from the obstacle under the adjustment of the self-adaptive function. And step 102 is executed again, the detection assembly obtains new distance data, step 103 is executed, and the distance data after the vehicle body direction is adjusted and the safety threshold value are judged.
And when the updated distance data is larger than the safety threshold and the risk threshold, executing step 107, stopping the self-adaptive function, and recovering the state of taking over by the vehicle driver, wherein the vehicle is in the safety state. When the updated distance data is larger than the safety threshold but smaller than the risk threshold, step 106 is still needed to send a reminding signal to the driver, the driver is given certain adjusting time to help the driver to know the distance precision between the vehicle and the side environment, and the driver determines the subsequent operation.
The method can assist the driver in driving safely, and especially can ensure the driving safety of the automobile under the conditions that the driver is in a long-distance fatigue driving state, misoperation occurs or the driving environment is strange, so that the risk of vehicle friction or collision is avoided, and a better auxiliary effect is achieved for the driver to control the vehicle state transversely.
In conjunction with the above description of the vehicle lateral assist control method, it can also be understood that a vehicle lateral assist control system can assist a driver in laterally controlling a vehicle to avoid friction or collision of the vehicle with an external obstacle.
The vehicle transverse auxiliary control system comprises a detection assembly, a judgment assembly, a control assembly and a warning assembly.
The detection assembly is used for obtaining the distance data between the vehicle body and the obstacle. Detection components include, but are not limited to, detection devices using radar or the like. In one embodiment, the detection assembly comprises a plurality of groups of radars respectively arranged at two sides of the vehicle, the plurality of groups of radars are used for acquiring a plurality of groups of distance information, and the minimum value in the plurality of groups of distance information is distance data.
The judging component is used for receiving the distance data, executing a judging program of the safety threshold value and the risk threshold value and sending out an instruction signal. Specifically, a first instruction signal is sent out when the distance data is greater than a safety threshold and less than a risk threshold; when the distance data is smaller than the safety threshold value, a second instruction signal is sent out; and sending a third instruction signal when the updated distance data is larger than the safety threshold value.
It should be noted that, the terms "first", "second", "third", etc. are used herein to limit the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore, should not be construed as limiting the scope of the present application.
The warning assembly is used for receiving the first instruction signal and sending out a reminding signal. In one embodiment, the warning component comprises a central control screen and/or a voice broadcast component. The vehicle body and the image data and the text information of the transverse barrier can be displayed for the driver through the vehicle central control screen, and the warning effect can be achieved through the mode that the vehicle broadcasts the reminding information to the driver through voice.
Those skilled in the art will appreciate that the warning includes but is not limited to the above-mentioned modes, for example, the warning component may also be a vibration module with a vibration function, and the warning function is achieved by providing somatosensory vibration to the driver.
The control component is used for receiving the second instruction signal and the third instruction signal and determining the opening and closing of the self-adaptive function according to the second instruction signal and the third instruction signal. In one embodiment, the control assembly is in signal connection with a vehicle steering system, and the vehicle steering system receives signals of the control assembly and controls the vehicle to steer to keep away from the obstacle.
When the control assembly receives the second instruction signal, the distance data is smaller than the safety threshold value, the vehicle and the obstacle are in a close-distance dangerous state, the self-adaptive function is started to directly take over the vehicle, and the vehicle steering is achieved. And when the control assembly receives the third instruction signal and the updated distance data is larger than the safety threshold, the vehicle is considered to be out of risk, the self-adaptive adjustment function is stopped, and the vehicle is completely controlled by a driver.
Although the present invention has been disclosed in terms of the preferred embodiment, it is not intended to limit the invention, and variations and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. In other embodiments, many aspects may have more details than the embodiments described above, and at least some of these details may have multiple variations. Therefore, any modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope defined by the claims of the present invention, unless the technical essence of the present invention departs from the content of the present invention.
Claims (11)
1. The vehicle transverse auxiliary control method is characterized by comprising the following steps:
presetting a safety threshold and a risk threshold, wherein the risk threshold is greater than the safety threshold;
starting a detection assembly, and continuously acquiring transverse distance data between the vehicle body and the barrier;
comparing the range data to the safety threshold and the risk threshold;
when the distance data is larger than the safety threshold and smaller than the risk threshold, sending a reminding signal to the driver, and enabling the vehicle to be in a driver taking-over state;
when the distance data is smaller than the safety threshold, starting a self-adaptive function by the vehicle, and controlling the vehicle to move by the control part;
and when the updated distance data is larger than the safety threshold, stopping the self-adaptive function, and recovering the driver taking over state of the vehicle.
2. The vehicle lateral assist control method according to claim 1, wherein the signal command of the control member is prioritized over the driver operation command after the adaptive function is turned on.
3. The vehicle lateral assist control method of claim 1, wherein the vehicle audibly broadcasts a reminder to the driver after the first signal is emitted.
4. The vehicle lateral assist control method according to claim 1 or 3, wherein the vehicle center control screen displays image data and text information of the vehicle body and the obstacle to the driver after the first signal is emitted.
5. The vehicle lateral assist control method according to claim 1, wherein the safety threshold and the risk threshold are preset by a driver, and the safety threshold is not lower than a recommended value.
6. The vehicle lateral assist control method of claim 1, wherein after the adaptive function is enabled, vehicle take-over information is audibly broadcast to the driver.
7. The vehicle lateral assist control method of claim 1, wherein the distance data is compared to the safety threshold and compared to the risk threshold when the distance data is greater than the safety threshold.
8. A vehicle lateral assist control system, comprising:
the detection assembly is used for obtaining the distance data between the vehicle body and the obstacle;
the judging component is used for receiving the distance data, executing a judging program related to a safety threshold and a risk threshold, sending out a first instruction signal when the distance data is larger than the safety threshold and smaller than the risk threshold, sending out a second instruction signal when the distance data is smaller than the safety threshold, and sending out a third instruction signal when the updated distance data is larger than the safety threshold;
the warning component is used for receiving the first instruction signal and sending out a reminding signal;
and the control component is used for receiving the second instruction signal and the third instruction signal and determining the opening and closing of the self-adaptive function according to the second instruction signal and the third instruction signal.
9. The vehicle lateral assist control system of claim 8, wherein the control assembly is in signal communication with a vehicle steering system that receives signals from the control assembly and steers the vehicle.
10. The vehicle lateral assist control system of claim 8, wherein the detection assembly includes a plurality of sets of radars respectively disposed at both sides of the vehicle, the plurality of sets of radars being configured to obtain a plurality of sets of pitch information, a minimum of the plurality of sets of pitch information being the pitch data.
11. The vehicle lateral assist control system of claim 8, wherein the alert assembly includes a central control screen and/or a voice announcement assembly.
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| CN202111339389.9A CN114013435A (en) | 2021-11-12 | 2021-11-12 | Vehicle lateral assist control method and system |
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| CN202111339389.9A CN114013435A (en) | 2021-11-12 | 2021-11-12 | Vehicle lateral assist control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117549914A (en) * | 2024-01-12 | 2024-02-13 | 钧捷科技（北京）有限公司 | Vehicle-mounted vision auxiliary driving system and control method thereof |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hozon New Energy Automobile Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220208 |