CN102001338A - Control method and device for safe driving of vehicle - Google Patents
- ️Wed Apr 06 2011
CN102001338A - Control method and device for safe driving of vehicle - Google Patents
Control method and device for safe driving of vehicle Download PDFInfo
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- CN102001338A CN102001338A CN2010105289109A CN201010528910A CN102001338A CN 102001338 A CN102001338 A CN 102001338A CN 2010105289109 A CN2010105289109 A CN 2010105289109A CN 201010528910 A CN201010528910 A CN 201010528910A CN 102001338 A CN102001338 A CN 102001338A Authority
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- bend
- vehicle
- targeted security
- speed range
- security speed Prior art date
- 2010-10-28 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 20
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The invention provides a control method for safe driving of a vehicle and a device thereof; the method comprises the following steps: detecting the state messages of a curve in driving direction of the vehicle, wherein the state messages of the curve comprise the start point position of the curve, the curvature of the curve, and the end point position of the curve; calculating a target safe speed range during the driving progress around the curve of the vehicle according to the curvature of the curve; calculating the deceleration range of the vehicle at current driving position according to the current driving speed, the distance between the current driving position and the start point position of the curve of the vehicle, and the target safe speed range; controlling the vehicle to drive to the curve according to the deceleration range, and controlling the vehicle to enter the curve to drive at the target safe speed range. In the invention, the vehicle is controlled to drive at the corresponding safe speed range according to the state messages of the curve in driving direction of the vehicle, thereby improving the driving safety of the vehicle.
Description
Technical field
The present invention relates to automobile technical field, relate in particular to a kind of control method and device of vehicle safe driving.
Background technology
Vehicle is when negotiation of bends, if turning radius is too little or speed of a motor vehicle when too fast, vehicle has and takes place to break away or the danger of rollover, therefore, need control the speed that vehicle bend travels.The GPS navigation system can provide the road information in the place ahead of travelling in real time for the driver, and can select running route the most easily for the user according to the destination of travelling that the user selectes.The road condition information in the highway section, vehicle ' the place ahead that chaufeur can provide according to the GPS navigation system is adjusted the moving velocity of vehicle, with the generation that avoids traffic accident.
Yet, in actual driving procedure, especially when vehicle ' the place ahead is the bend highway section, though the GPS navigation system provides the road condition information in highway section, the place ahead, but vehicle generally is difficult to control to travel in the safety speed scope of corresponding road conditions, therefore has bigger potential safety hazard.
Summary of the invention
The present invention proposes a kind of control method and device of vehicle safe driving, travel in corresponding safety speed scope according to the traffic information control vehicle of vehicle '.
To achieve these goals, the present invention proposes a kind of control method of vehicle safe driving, may further comprise the steps,
Detect the bend status information in vehicle ' the place ahead, described bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend;
Curvature according to described bend is calculated the targeted security speed range of vehicle in described negotiation of bends process;
Distance and described targeted security speed range according to current driving speed, current driving position and the described bend initial point position of vehicle calculate the deceleration/decel scope of vehicle in the current driving position;
Travel to described bend according to described deceleration/decel scope control vehicle, and control vehicle enters described negotiation of bends with described targeted security speed range.
Preferably, vehicle, also comprises after described negotiation of bends with described targeted security speed range,
Obtain the condition of road surface information of bend, and adjust described targeted security speed range according to described curved road surface condition information, control vehicle is travelling on the bend under adjusted targeted security speed range.
Preferably, the condition of road surface information of described bend comprises the humidity information of the obliquity information and the curved road surface of bend.
Preferably, utilize the GPS navigation system to obtain the bend status information in vehicle ' the place ahead.
Preferably, the curvature of described targeted security speed range and described bend is inversely proportional to.
The invention allows for a kind of control setup of vehicle safe driving, comprise,
The bend state detection module is used to detect the bend status information in vehicle ' the place ahead, and described bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend;
The targeted security speed calculation module is calculated the targeted security speed range of vehicle in described negotiation of bends process according to the curvature of described bend;
The deceleration/decel computing module calculates the deceleration/decel scope of vehicle in the current driving position according to the distance and the described targeted security speed range of current driving speed, current driving position and the described bend initial point position of vehicle;
The car speed control module travel to described bend according to described deceleration/decel scope control vehicle, and control vehicle enters described negotiation of bends with described targeted security speed range.
Preferably, described device also comprises bend road conditions detection module and targeted security speed adjusting module, wherein,
Bend road conditions detection module is used to obtain the condition of road surface information of bend;
Targeted security speed adjusting module is used for adjusting described targeted security speed range according to described curved road surface condition information, and control vehicle is travelling on the bend in adjusted targeted security speed range.
Preferably, described bend road conditions detection module comprises high sensor of axle and humidity sensor, wherein,
The high sensor of described axle is used to detect the obliquity information of bend, and described humidity sensor is used to detect the humidity information of curved road surface.
Preferably, the bend state detection module utilizes the GPS navigation system to obtain the bend status information in vehicle ' the place ahead.
Preferably, the described targeted security speed range of targeted security speed calculation module calculating and the curvature of described bend are inversely proportional to.
The present invention has following beneficial effect:
The present invention proposes a kind of control method and device of vehicle safe driving, bend status information according to vehicle ' the place ahead is calculated the targeted security speed range that vehicle travels at the bend place, and realized the adjustment of targeted security speed range, thereby improve the safety of vehicle in negotiation of bends according to the pavement state of bend.
Description of drawings
Fig. 1 is the schematic flow sheet of the control method of a kind of vehicle safe driving of the present invention's proposition;
Fig. 2 is the structural representation of the control setup of a kind of vehicle safe driving of the present invention's proposition.
The specific embodiment
For making those skilled in the art understand technical scheme of the present invention better, the control method of vehicle safe driving provided by the invention and the control system of vehicle safe driving are described in detail below in conjunction with accompanying drawing.
The present invention proposes a kind of control method of vehicle safe driving, as shown in Figure 1, may further comprise the steps:
Step s101, the bend status information in detection vehicle ' the place ahead, the bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend.
Particularly, the bend information in the vehicle ' the place ahead that obtains based on the GPS navigation system, the bend status information comprises the relevant informations such as end of a period point position of the initial point position of bend, the curvature of bend (bend curvature is big more, and bend is steep more), bend.
Step s102 calculates the targeted security speed range of vehicle in the negotiation of bends process according to the curvature of bend.
The targeted security speed range can change in certain safe range, and the curvature of targeted security speed range V and bend is inversely proportional to, and promptly the curvature of bend is big more, and the negotiation of bends speed of vehicle should be more little.Corresponding relation below the targeted security speed range satisfies, i.e. targeted security speed V ∝ K1/ ρ, wherein, k1 is a coefficient, and ρ is a bend curvature, and the value of k1 can be obtained or is empirical data according to a large amount of experiments.
Step s103 calculates the deceleration/decel scope of vehicle in the current driving position according to the distance and the targeted security speed range of current driving speed, current driving position and the bend initial point position of vehicle.
The deceleration/decel scope of vehicle current location can be calculated in the following way, and the current driving speed of establishing vehicle is v 1, the distance of current driving position and bend initial point position is S, the targeted security speed range is v 2～v 3, the deceleration/decel scope of current driving position can be expressed as so
Particularly, in vehicle actual travel process, may there be following three kinds of relations between the current driving speed of vehicle and the target velocity, specify as follows:
When the current driving speed of vehicle during less than the targeted security speed range, vehicle can keep the current driving speed v 1Sail bend into, or increase moving velocity to targeted security speed range v 2～v 3In, make vehicle at targeted security speed range v 2～v 3In sail bend into.
When the current driving speed of vehicle was within the targeted security speed range, vehicle can keep the current driving speed v 1Sail bend into.
When the current driving speed of vehicle during greater than the targeted security speed range, the deceleration/decel scope of the preceding traveling-position that vehicle is determined according to step s101, step s102, step s103
Slow down, and make vehicle at targeted security speed range v 2～v 3In sail bend into.
Step s104 travel to bend according to deceleration/decel scope control vehicle, and control vehicle enters negotiation of bends with the targeted security speed range.
Control vehicle travels to bend according to calculating the deceleration/decel scope that obtains from current location, and control vehicle is sentenced the targeted security speed range at bend and is travelled, guaranteed the safety of vehicle, avoided causing vehicle contingent rollover in the negotiation of bends process dangerous because of car speed is too fast in negotiation of bends.
When vehicle enters bend and travels with targeted security speed, can adjust the targeted security speed range according to the pavement state information of bend, to adapt to the safety traffic requirement of different curved road surface states, turn to step s105.
Step s105 obtains the condition of road surface information of bend, and the condition of road surface information of bend comprises the humidity information of the obliquity information and the curved road surface of bend.
Concrete, the curved road surface condition information comprises the humidity information of the obliquity information and the curved road surface of bend, can obtain corresponding target information by the sensor that is installed on the vehicle.For example, by being installed in the humidity information that axle high sensor and humidity sensor on the vehicle detects the obliquity information and the curved road surface of bend respectively, wherein, the humidity information of curved road surface can show as tire and ground-surface friction coefficient.
For example: bend, expressway and urban viaduct lane change place bend in entrance place or exit have bigger inclination angle, when vehicle enters negotiation of bends, difference because of the inclination angle, vehicle is also different with the friction force between the ground, therefore, in the actual travel process, need carry out the adjustment of speed according to the bend inclination angle.In addition, also different with the friction force between the road surface because of weather reason vehicle, for example, when vehicle was crossed negotiation of bends in the rainy day, half when vehicle and ground-surface friction force have only normal weather in this case, needed to reduce the moving velocity of vehicle, to guarantee safety.
Step s106 adjusts the targeted security speed range according to the curved road surface condition information, and control vehicle is travelling on the bend in adjusted targeted security speed range.
Humidity information according to the obliquity information and the curved road surface of the bend that obtains among the step s105, the targeted security speed range is adjusted, and control vehicle travels within adjusted targeted security speed range, thereby realized travelling on bend according to the actual condition of road surface of bend.The humidity of curved road surface is mainly reflected in the friction force between tire and the ground, have following relation between friction force between the inclination angle of bend, tire and the ground and the targeted security speed: targeted security speed range V is directly proportional with tire and ground-surface friction force, be inversely proportional to the inclination angle of bend, corresponding relation below it satisfies, be targeted security speed V ∝ K2 μ/γ, wherein, K2 is a constant, μ is tire and ground-surface friction coefficient, and γ is the inclination angle of bend.
By the present invention proposes the control method of vehicle safe driving, bend status information according to vehicle ' the place ahead is calculated the targeted security speed range that vehicle travels at the bend place, and realized the adjustment of targeted security speed range, thereby improve the safety of vehicle in negotiation of bends according to the pavement state of bend.
The invention allows for a kind of control setup of vehicle safe driving, as shown in Figure 2, comprise bend
state detection module21, targeted security
speed calculation module22, deceleration/
decel computing module23, car
speed control module24, bend road
conditions detection module25 and targeted security
speed adjusting module26, wherein
Bend
state detection module21 is used to detect the bend status information in vehicle ' the place ahead, and the bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend;
Targeted security
speed calculation module22 is connected with bend
state detection module21, is used for calculating the targeted security speed range of vehicle in the negotiation of bends process according to the curvature of bend;
Deceleration/
decel computing module23, be connected with targeted security
speed calculation module22 with bend
state detection module21, the distance and the targeted security speed range that are used for current driving speed, current driving position and bend initial point position according to vehicle calculate the deceleration/decel scope of vehicle in the current driving position;
Car
speed control module24 is connected with deceleration/
decel computing module23 with targeted security
speed calculation module22, be used for travelling to bend according to deceleration/decel scope control vehicle, and control vehicle enters negotiation of bends with the targeted security speed range.
Bend road
conditions detection module25 is used to obtain the condition of road surface information of bend;
Targeted security
speed adjusting module26, be connected with targeted security
speed calculation module22, car
speed control module24 and bend road
conditions detection module25, be used for adjusting the targeted security speed range according to the curved road surface condition information, control vehicle is travelling on the bend in adjusted targeted security speed range.
Wherein, bend road
conditions detection module25 comprises high sensor of axle and humidity sensor, and wherein, the high sensor of axle is used to detect the obliquity information of bend, and humidity sensor is used to detect the humidity information of curved road surface.
Bend
state detection module21 utilizes the GPS navigation system to obtain the bend status information in vehicle ' the place ahead.The targeted security speed range that targeted security
speed calculation module22 is calculated and the curvature of bend are inversely proportional to.
By the present invention proposes the control setup of vehicle safe driving, bend status information according to vehicle ' the place ahead is calculated the targeted security speed range that vehicle travels at the bend place, and realized the adjustment of targeted security speed range having improved the safety of vehicle in negotiation of bends according to the pavement state of bend.
Be understandable that above embodiment only is the illustrative embodiments that adopts for principle of the present invention is described, yet the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement also are considered as protection scope of the present invention.
Claims (10)
1. the control method of vehicle safe driving is characterized in that, may further comprise the steps,
Detect the bend status information in vehicle ' the place ahead, described bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend;
Curvature according to described bend is calculated the targeted security speed range of vehicle in described negotiation of bends process;
Distance and described targeted security speed range according to current driving speed, current driving position and the described bend initial point position of vehicle calculate the deceleration/decel scope of vehicle in the current driving position, and travel to described bend according to described deceleration/decel scope control vehicle;
Control vehicle enters described negotiation of bends with described targeted security speed range.
2. control method as claimed in claim 1 is characterized in that, vehicle, also comprises after described negotiation of bends with described targeted security speed range,
Obtain the condition of road surface information of bend, and adjust described targeted security speed range according to described curved road surface condition information, control vehicle is travelling on the bend under adjusted targeted security speed range.
3. control method as claimed in claim 2 is characterized in that, the condition of road surface information of described bend comprises the humidity information of the obliquity information and the curved road surface of bend.
4. control method as claimed in claim 1 or 2 is characterized in that, utilizes the GPS navigation system to obtain the bend status information in vehicle ' the place ahead.
5. control method as claimed in claim 1 is characterized in that the curvature of described targeted security speed range and described bend is inversely proportional to.
6. the control setup of vehicle safe driving is characterized in that, comprise,
The bend state detection module is used to detect the bend status information in vehicle ' the place ahead, and described bend status information comprises the initial point position of bend, the curvature of bend and the terminating point position of bend;
The targeted security speed calculation module is calculated the targeted security speed range of vehicle in described negotiation of bends process according to the curvature of described bend;
The deceleration/decel computing module calculates the deceleration/decel scope of vehicle in the current driving position according to the distance and the described targeted security speed range of current driving speed, current driving position and the described bend initial point position of vehicle;
The car speed control module travel to described bend according to described deceleration/decel scope control vehicle, and control vehicle enters described negotiation of bends with described targeted security speed range.
7. control setup as claimed in claim 6 is characterized in that, described device also comprises bend road conditions detection module and targeted security speed adjusting module, wherein,
Bend road conditions detection module is used to obtain the condition of road surface information of bend,
Targeted security speed adjusting module is used for adjusting described targeted security speed range according to described curved road surface condition information, and control vehicle is travelling on the bend under adjusted targeted security speed range.
8. control setup as claimed in claim 7 is characterized in that, described bend road conditions detection module comprises high sensor of axle and humidity sensor, wherein,
The high sensor of described axle is used to detect the obliquity information of bend, and described humidity sensor is used to detect the humidity information of curved road surface.
9. control setup as claimed in claim 6 is characterized in that, the bend state detection module utilizes the GPS navigation system to obtain the bend status information in vehicle ' the place ahead.
10. control setup as claimed in claim 6 is characterized in that, the described targeted security speed range that the targeted security speed calculation module is calculated and the curvature of described bend are inversely proportional to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105289109A CN102001338A (en) | 2010-10-28 | 2010-10-28 | Control method and device for safe driving of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105289109A CN102001338A (en) | 2010-10-28 | 2010-10-28 | Control method and device for safe driving of vehicle |
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| CN102001338A true CN102001338A (en) | 2011-04-06 |
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| CN2010105289109A Pending CN102001338A (en) | 2010-10-28 | 2010-10-28 | Control method and device for safe driving of vehicle |
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| CN108189838A (en) * | 2017-12-30 | 2018-06-22 | 吉利汽车研究院（宁波）有限公司 | A kind of pattern of fusion adaptive cruise curve control method and device |
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| CN110281913A (en) * | 2019-06-24 | 2019-09-27 | 东莞市天佑运输服务有限公司 | A kind of anti-rollover method and system for haulage vehicle |
| CN110316192A (en) * | 2019-07-01 | 2019-10-11 | 百度在线网络技术（北京）有限公司 | Automatic Pilot method, apparatus, vehicle and storage medium |
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| CN110281913A (en) * | 2019-06-24 | 2019-09-27 | 东莞市天佑运输服务有限公司 | A kind of anti-rollover method and system for haulage vehicle |
| CN110316192A (en) * | 2019-07-01 | 2019-10-11 | 百度在线网络技术（北京）有限公司 | Automatic Pilot method, apparatus, vehicle and storage medium |
| CN110696914A (en) * | 2019-10-31 | 2020-01-17 | 一汽解放汽车有限公司 | Vehicle control method, device, vehicle and storage medium |
| CN112373466A (en) * | 2020-10-12 | 2021-02-19 | 上汽通用五菱汽车股份有限公司 | Cruise control method added with vehicle-mounted navigation information |
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| 2011-05-25 | SE01 | Entry into force of request for substantive examination | |
| 2014-05-21 | C12 | Rejection of a patent application after its publication | |
| 2014-05-21 | RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110406 |