Lane departure shock early warning control optimization method

Abstract

The present application relates to the technical field of brake system, and particularly to a lane deviation vibration early warning control optimization method.The specific method is as follows:S1, a data acquisition module acquires vehicle information;S2, a lane deviation state detection module acquires road lane line information;S3, if the vehicle deviates from the lane, it is judged whether EPS vibration early warning is needed;S4, when EPS vibration early warning is needed, the output torque of the motor is calculated;S5, according to the steering wheel angle signal fed back by the angle sensor, the amplitude and frequency of the steering wheel angle change are calculated;S6, if the amplitude of the angle change is greater than threshold 1 and less than threshold 2, the control module maintains the output torque of the current EPS motor and the amplitude of the vibration;S7, if the amplitude of the angle change is greater than threshold 2, the control module reduces the output torque of the EPS motor and the amplitude of the vibration according to the preset gradient.Compared with the prior art, the problem that the current vibration early warning effect is unstable with the change of vehicle speed, road surface and vehicle state can be solved.

Description

Technical Field

[0001] This invention relates to the field of braking system technology, specifically to an optimized method for lane departure vibration warning control. Background Technology

[0002] During driving, a driver's own condition or operational errors can cause the vehicle to deviate from its intended path, resulting in a traffic accident. To avoid or reduce the frequency of such accidents and minimize loss of life and property, active safety technologies in automobiles are widely used. Among these, lane departure warning systems, as a type of advanced driver assistance system, can provide early warnings to the driver in such situations.

[0003] Currently, when a lane departure warning system detects a vehicle deviating from its lane or when the driver is inattentive due to factors such as fatigue or drunk driving, it controls the EPS motor torque to vibrate the steering wheel at a fixed frequency and amplitude. However, this method often performs well at specific speeds; at higher speeds, the vibration is not noticeable, resulting in ineffective warnings. At lower speeds, the vibration is too strong, affecting the driver's driving experience. Furthermore, the effectiveness of the vibration warning is also affected by changes in road surface and vehicle conditions, as well as alterations in the mechanical characteristics of the vehicle's lateral control system. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this invention provides an optimized method for lane departure vibration warning control, which can solve the problem that the current vibration warning effect is unstable with changes in vehicle speed, road surface and vehicle condition.

[0005] To achieve the above objectives, a lane departure vibration warning control optimization method is designed, including a lane departure state detection module, a data acquisition module, a motor torque calculation module, a control module, and an actuator. The specific method is as follows: S1, the data acquisition module acquires the vehicle's speed, steering wheel angle, driver's hand force, and steering signal; S2, the lane departure detection module obtains road lane line information and determines whether the vehicle has deviated from the lane based on the road lane line information and the vehicle's driving direction; S3. If the vehicle deviates from the lane and the current turn signal is not turned on and the driver's hand force is less than the preset hand force threshold, it is determined that an EPS vibration warning needs to be issued. S4, When EPS vibration warning is required, the motor torque calculation module uses the initial amplitude and frequency to calculate the motor output torque based on the sine wave or triangular wave vibration. S5 calculates the amplitude and frequency of the steering wheel angle change based on the steering wheel angle signal fed back by the angle sensor; S6, if the amplitude of the angle change is greater than threshold 1 and less than threshold 2, the control module maintains the current output torque and vibration amplitude of the EPS motor; the threshold 1 is 0.6°~0.9°; the threshold 2 is 1.1°~1.5°; S7, if the amplitude of the angle change is greater than the threshold 2, the control module reduces the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude - motor amplitude gradient, that is, MotAmptarg = MotAmpcurr - △MotAmp. S8, if the amplitude of the angle change is less than the threshold 1, the control module increases the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude + motor amplitude gradient, that is, MotAmptarg = MotAmpcurr + ΔMotAmp.

[0006] The speed of the vehicle includes the vehicle's lateral speed or the vehicle's forward speed.

[0007] The driver's hand force is obtained through a TAS sensor or a torsion bar sensor.

[0008] The steering wheel angle is obtained through a TAS sensor, a TIS sensor, or a RPS sensor.

[0009] The turn signal is obtained via CAN message.

[0010] The motor torque calculation module calculates the sine wave or triangular wave EPS motor torque output based on the enable signal of the lane departure detection judgment module and the vibration frequency and amplitude input by the control module.

[0011] The control module adjusts the frequency and amplitude of vibration based on the enable signal of the lane departure detection module, vehicle speed, and steering wheel angle.

[0012] The actuator is an EPS motor, which responds to the target motor torque input by the calculation module.

[0013] Compared with the prior art, the present invention provides an optimized method for lane departure vibration warning control, which can solve the problem that the current vibration warning effect is unstable with changes in vehicle speed, road surface and vehicle condition. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the lane departure vibration warning method according to the first embodiment of the present invention.

[0015] Figure 2 This is a structural diagram of the lane departure vibration warning device according to the first embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of the fatigue monitoring vibration early warning method according to the second embodiment of the present invention.

[0017] Figure 4 This is a structural diagram of the fatigue monitoring vibration early warning device according to the second embodiment of the present invention.

[0018] Figure 5 , Figure 6 This is a schematic diagram illustrating the change in steering wheel angle amplitude in an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings.

[0020] An optimized method for lane departure vibration warning control is described below: S1, the data acquisition module acquires the vehicle's speed, steering wheel angle, driver's hand force, and steering signal; S2, the lane departure detection module obtains road lane line information and determines whether the vehicle has deviated from the lane based on the road lane line information and the vehicle's driving direction; S3. If the vehicle deviates from the lane and the current turn signal is not turned on and the driver's hand force is less than the preset hand force threshold, it is determined that an EPS vibration warning needs to be issued. S4, When EPS vibration warning is required, the motor torque calculation module uses the initial amplitude and frequency to calculate the motor output torque based on the sine wave or triangular wave vibration. S5 calculates the amplitude and frequency of the steering wheel angle change based on the steering wheel angle signal fed back by the angle sensor; S6, if the amplitude of the angle change is greater than threshold 1 and less than threshold 2, the control module maintains the current output torque and vibration amplitude of the EPS motor; the threshold 1 is 0.6°~0.9°; the threshold 2 is 1.1°~1.5°; S7, if the amplitude of the angle change is greater than the threshold 2, the control module reduces the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude - motor amplitude gradient, that is, MotAmptarg = MotAmpcurr - △MotAmp. S8, if the amplitude of the angle change is less than the threshold 1, the control module increases the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude + motor amplitude gradient, that is, MotAmptarg = MotAmpcurr + ΔMotAmp.

[0021] Vehicle speed includes lateral speed or forward speed.

[0022] The driver's hand force is obtained through a TAS sensor or a torsion bar sensor.

[0023] The steering wheel angle is obtained through a TAS sensor, TIS sensor, or RPS sensor.

[0024] The turn signal is obtained via CAN message.

[0025] The motor torque calculation module calculates the sine wave or triangular wave EPS motor torque output based on the enable signal of the lane departure detection judgment module and the vibration frequency and amplitude input by the control module.

[0026] The control module adjusts the frequency and amplitude of vibration based on the lane departure detection module's enable signal, vehicle speed, and steering wheel angle.

[0027] The actuator is an EPS motor, responding to the target motor torque input by the calculation module. Example

[0028] like Figure 1 As shown, no lane departure occurred during the vehicle's straight-line driving. Figure 2 The lane departure state detection module (202) shown in the figure sets the steering wheel vibration warning flag to 0 (step 101, no lane departure vibration warning is performed). Figure 2 The data acquisition module (201) collects lane line position, vehicle position, steering wheel angle, steering wheel force, and turn signal (step 102); the lane departure detection module (202) determines whether the vehicle distance from the lane line is less than the lane line departure position threshold (step 103); when the vehicle distance from the lane line is less than the lane line departure position threshold, it checks whether the turn signal is turned on (step 104), otherwise proceeds to step 101; when the turn signal is not turned on, it determines whether the steering wheel force is greater than the force threshold, such as 3 Nm (step 105), otherwise proceeds to step 101; when the steering wheel force is less than the force threshold, it sets the steering wheel vibration warning flag to 1 (step 106, activate lane departure warning). Vibration warning); the control module determines whether the duration of the vibration warning flag being 1 is less than the time threshold t1 (step 107); when the duration of the vibration warning flag being 1 is less than the time threshold t1, the motor vibration torque amplitude and frequency are set to default values, and the motor torque calculation module calculates the current motor target torque according to the default amplitude and frequency using a sine wave or triangular wave (step 108); the EPS motor vibrates according to the target torque (step 115); when the duration of the vibration warning flag being 1 is greater than the time threshold t1, the control module calculates the amplitude and frequency of the steering wheel angle change (step 109); the control module determines whether the amplitude of the steering wheel angle vibration is less than the angle amplitude threshold Amp1 (step 110). Figure 5As shown; when the amplitude of the steering wheel angle vibration is less than Amp1, the control module calculates the motor torque amplitude, the target motor amplitude = current motor amplitude + motor amplitude gradient, MotAmptarg = MotAmpcurr + ΔMotAmp, and the motor torque calculation module calculates the current motor target torque according to the target amplitude and frequency using a sine wave or triangular wave (step 111); the EPS motor vibrates according to the target torque (step 115); when the amplitude of the steering wheel angle vibration is greater than Amp1, it is determined whether the amplitude of the steering wheel angle vibration is greater than the angle threshold Amp2 (step 112); when the amplitude of the steering wheel angle vibration is greater than the angle threshold Amp2, the control module calculates the motor torque amplitude, the target motor amplitude = current motor amplitude - motor amplitude gradient, MotAmptarg = MotAmpcurr - △MotAmp, the motor torque calculation module calculates the current target torque of the motor according to the target amplitude and frequency using a sine wave or a triangular wave (step 113); the EPS motor vibrates according to the target torque (step 115); when the angular vibration amplitude is between the angle threshold Amp1 and the angle threshold Amp2, the control module calculates the motor torque amplitude as the current torque amplitude, and the motor torque calculation module calculates the current target torque of the motor according to the current amplitude and frequency using a sine wave or a triangular wave (step 114); the EPS motor vibrates according to the target torque (step 115). Example

[0029] like Figure 3 As shown, when the driver is driving normally and is not fatigued or inattentive, Figure 4 The driver fatigue detection module (402) shown in the figure sets the steering wheel vibration warning flag to 0 (step 301, no steering wheel vibration warning is performed). Figure 4The data acquisition module (401) collects driver facial information (such as eyes, mouth, etc.), steering wheel angle, and steering wheel hand force (step 302); the driver fatigue detection module (402) determines whether the driver is fatigued (step 303); when the driver is fatigued, the steering wheel vibration warning flag is set to 1 (step 304, turn on steering wheel vibration warning); the control module determines whether the duration of the vibration warning flag being 1 is less than the time threshold t1 (step 305); when the duration of the vibration warning flag being 1 is less than the time threshold t1, the motor vibration torque amplitude and frequency are set to default values, and the motor torque calculation module calculates the current motor target torque according to the default amplitude and frequency using a sine wave or triangular wave (step 306); the EPS motor vibrates according to the target torque (step 313); when the duration of the vibration warning flag being 1 is greater than the time threshold t1, the control module calculates the amplitude and frequency of the steering wheel angle change (step 307); the control module determines whether the amplitude of the steering wheel angle vibration is less than the angle amplitude threshold Amp1 (step 308). Figure 6 As shown; when the amplitude of the steering wheel angle vibration is less than Amp1, the control module calculates the motor torque amplitude, the target motor amplitude = current motor amplitude + motor amplitude gradient, MotAmptarg = MotAmpcurr + ΔMotAmp, and the motor torque calculation module calculates the current motor target torque according to the target amplitude and frequency using a sine wave or triangular wave (step 309); the EPS motor vibrates according to the target torque (step 313); when the amplitude of the steering wheel angle vibration is greater than Amp1, it is determined whether the amplitude of the steering wheel angle vibration is greater than the angle threshold Amp2 (step 310); when the amplitude of the steering wheel angle vibration is greater than the angle threshold Amp2, the control module calculates the motor torque amplitude, the target motor amplitude = current motor amplitude - motor amplitude gradient, MotAmptarg = MotAmpcurr - △MotAmp, the motor torque calculation module calculates the current target torque of the motor according to the target amplitude and frequency using a sine wave or a triangular wave (step 312); the EPS motor vibrates according to the target torque (step 313); when the angular vibration amplitude is between the angle threshold Amp1 and the angle threshold Amp2, the control module calculates the motor torque amplitude as the current torque amplitude, and the motor torque calculation module calculates the current target torque of the motor according to the current amplitude and frequency using a sine wave or a triangular wave (step 311); the EPS motor vibrates according to the target torque (step 313).

Claims

1. A lane departure vibration warning control optimization method, comprising a lane departure state detection module, a data acquisition module, a motor torque calculation module, a control module, and an actuator, characterized in that: The specific method is as follows: S1, the data acquisition module acquires the vehicle's speed, steering wheel angle, driver's hand force, and steering signal; S2, the lane departure detection module obtains road lane line information and determines whether the vehicle has deviated from the lane based on the road lane line information and the vehicle's driving direction; S3. If the vehicle deviates from the lane and the current turn signal is not turned on and the driver's hand force is less than the preset hand force threshold, it is determined that an EPS vibration warning needs to be issued. S4, When EPS vibration warning is required, the motor torque calculation module uses the initial amplitude and frequency to calculate the motor output torque based on the sine wave or triangular wave vibration. S5 calculates the amplitude and frequency of the steering wheel angle change based on the steering wheel angle signal fed back by the angle sensor; S6, if the amplitude of the angle change is greater than threshold 1 and less than threshold 2, the control module maintains the current output torque and vibration amplitude of the EPS motor; the threshold 1 is 0.6°~0.9°; the threshold 2 is 1.1°~1.5°; S7, if the amplitude of the angle change is greater than the threshold 2, the control module reduces the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude - motor amplitude gradient, that is, MotAmptarg = MotAmpcurr - △MotAmp. S8, if the amplitude of the angle change is less than the threshold 1, the control module increases the output torque and vibration amplitude of the EPS motor according to the preset gradient. The target motor amplitude = current motor amplitude + motor amplitude gradient, that is, MotAmptarg = MotAmpcurr + ΔMotAmp.

2. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The speed of the vehicle includes the vehicle's lateral speed or the vehicle's forward speed.

3. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The driver's hand force is obtained through a TAS sensor or a torsion bar sensor.

4. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The steering wheel angle is obtained through a TAS sensor, a TIS sensor, or a RPS sensor.

5. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The turn signal is obtained via CAN message.

6. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The motor torque calculation module calculates the sine wave or triangular wave EPS motor torque output based on the enable signal of the lane departure detection judgment module and the vibration frequency and amplitude input by the control module.

7. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The control module adjusts the frequency and amplitude of vibration based on the enable signal of the lane departure detection module, vehicle speed, and steering wheel angle.

8. The lane departure vibration warning control optimization method according to claim 1, characterized in that: The actuator is an EPS motor, which responds to the target motor torque input by the calculation module.

Images