Lane changing collision avoidance control method with multiple modes and based on wire control steering

Abstract

The invention discloses a lane changing collision preventing control method with multiple modes and based on wire control steering, and aims to improve the safety when an automobile under all weathers and under all terrain working conditions changes a lane. In order to solve the problem that because of the limitation of the view field of a driver, the influence of bad weathers of fog, rain, snow and the like, and the influence of different road surface adhering conditions, the driver often cannot well control the driving situation of a rear automobile in a target lane, so that a collision accident is easy to occur, according to the relative motion state of a host automobile and the rear automobile in the rear of the target lane, and the difference of the danger degrees of lane changing, three kinds of lane changing collision preventing modes including an early warning lane changing collision preventing mode, an early warning and semi-automatic control lane changing collision preventing mode, and an early warning and full-automatic control lane changing collision preventing mode are set. The whole system comprises an information acquisition layer, a policy-making layer and an executing layer, wherein the information acquisition layer comprises a sensor module and an artificial selection module; the policy-making layer comprises a driver steering intention recognizing module and an auxiliary control module; and the executing layer comprises a wire control steering system and some human-machine interfaces.

Description

[0001] manual: Technical field: [0002] The invention belongs to the field of automobile safety, relates to vehicle lane-changing active anti-collision technology, in particular to a multi-mode lane-changing and collision-avoidance control method based on steer-by-wire, which is used to improve the driving safety of automobiles. technical background: [0003] With the rapid development of electronic and sensor technology, the application of electronic control system in automobile steering system is more and more extensive and in-depth, from electrohydraulic power steering system (Electronic hydrostatic power steering, EHPS) to electric power steering system (Electronic power steering system, EPS), and then to today's Steer-by-wire (SBW) system, which brings not only a structural change to the steering system of the car, but also a significant leap in quality and performance. Compared with the traditional EHPS, although EPS has the advantages of improved vehicle handling sta...

AI Technical Summary

Problems solved by technology

Compared with the traditional EHPS, although EPS has the advantages of improved vehicle handling stability, high efficiency, low energy consumption, and good assembly, it has not broken through the shackles of traditional mechanical structures, and there are still the following problems: 1) Due to the mechanical connection, when using EPS as the actuator of the lane change collision avoidance system, it is easy to conflict with the driver, and the man-machine coordination is insufficient; 2) because the EPS parameter matching does not fully take into The transmission ratio is slower than the steering response; 3) EPS only considers general working conditions and does not consider all weather and road conditions. Therefore, using EPS as an actuator for lane change and collision avoidance lacks certain intelligence, which is against the mainstream of current automobile development

[0005] Lane changing is a common behavior in the process of driving, but due to the limitations of the driver's vision, the influence of severe weather such as heavy fog, rain and snow, and road adhesion conditions, the driver often cannot understand the surrounding road traffic well. The environment is prone to danger in the process of changing lanes, which poses a potential threat to people's life and property safety

At the same time, considering that although the Advanced Driver Assistance System (ADAS) can improve the safety of driving to a large extent, it also exposes some common problems in the actual use process, the most challenging of which is The most important problem is the human-machine coordinated control problem, and this problem largely affects the driver's acceptance of the assistance system

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