Auxiliary control method for turning around of electric vehicle

Abstract

The invention discloses a turning-around auxiliary control method for an electric vehicle. The turning-around auxiliary control method comprises the steps of turning on and activating a turning-around auxiliary function; and after the U-turn auxiliary function is turned on and activated, environment data needed by U-turn is obtained through vehicle-mounted vision and radar, a U-turn driving path is planned according to the environment data, and the vehicle is driven to perform U-turn action according to the planned U-turn driving path. The method has the advantages that turning-around auxiliary control over the vehicle is achieved through a vision and radar fusion scheme, the reliability and accuracy of turning-around auxiliary control are improved, and convenience is provided for a user to turn around the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent auxiliary driving, in particular to an electric vehicle turning back auxiliary control method. BACKGROUND

[0002] Motor vehicle turning back is an operation of changing the driving direction of a vehicle by 180 degrees under the condition of a road allowing turning back. Sometimes, turning back is also needed under non-road conditions such as parking lots. Traditional motor vehicle turning back mainly relies on the experience of a driver. With the development of intelligent driving of electric vehicles, people generally hope to rely on intelligent hardware and software carried by electric vehicles to assist drivers to efficiently and safely complete the turning back action. The purpose of assisting vehicle turning back and reducing accidents caused by human motor vehicle turning back is to free the hands and feet of the driver and make the driving process more relaxed and convenient.

[0003] However, the turning back auxiliary driving system of the prior art often uses image recognition to recognize the turning back scene and controls based on the recognition result. However, the accuracy and reliability of the image recognition alone cannot guarantee the reliability of the turning back, and cannot meet the needs of turning back. At the same time, only simple working conditions are considered during turning back, and special working conditions are not specifically considered, resulting in the use of turning back control schemes for ordinary road conditions by vehicles in special road conditions, and thus causing abnormalities in the turning back auxiliary function. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide an electric vehicle turning back auxiliary control method that uses a vision and radar fusion scheme to realize turning back auxiliary control of the vehicle and improve the reliability and accuracy of the turning back auxiliary control.

[0005] In order to achieve the above purpose, the technical solution adopted by the present application is as follows: an electric vehicle turning back auxiliary control method, including opening and activating of a turning back auxiliary function; after the turning back auxiliary function is opened and activated, environmental data required for turning back is obtained by a vehicle-mounted vision and radar, and a turning back driving path is planned according to the environmental data, and the turning back action of the vehicle is driven according to the planned turning back driving path.

[0006] A turning back auxiliary function control soft switch is provided in an in-vehicle infotainment system (IHU), and the opening or closing of the turning back auxiliary function is controlled by manual or voice.

[0007] The "turning around auxiliary control" function is turned on or off through a voice recognition system; the voice recognition system has a fuzzy recognition function to realize recognition of a user voice instruction; the voice recognition system collects a user voice request through a microphone, a sound signal is converted into an electric signal through processing and is transmitted to the voice recognition system, after the voice recognition system successfully recognizes the user request, the request command is sent to an information entertainment system IHU, the information entertainment system IHU feeds back an on state to the voice recognition system, and whether the turning around auxiliary is turned on or not is broadcast through a loudspeaker.

[0008] When the voice recognition information recognizes that the volume of the voice instruction issued by the user is too small, voice recognition is wrong or the voice is in a language not supported, a reminder information is issued through a loudspeaker.

[0009] After the turning around auxiliary function is turned on, the turning around auxiliary function is activated by judging vehicle state data, and the turning around auxiliary function is activated when the activation condition is met.

[0010] The activation condition comprises:

[0011] (1) the ABS and EPS systems are not triggered;

[0012] (2) the main driver and the co-driver safety belts are normally worn;

[0013] (3) the vehicle speed is in a set threshold range;

[0014] (4) the left turn signal is triggered according to a preset logic;

[0015] When the four conditions are met, the activation of the turning around auxiliary function is triggered.

[0016] The preset logic triggering of the left turn signal comprises: fast and continuous toggling of the left turn signal twice or more.

[0017] After the turning around auxiliary function is activated, the vehicle is controlled to enter a left turning lane or a turning around lane, and the vehicle speed is kept below a set speed threshold; the current lane line, mark, traffic signal information and obstacle are recognized through a front camera module and a surround view camera, after the ADCC receives the collected related information, a turning around driving path is planned for the vehicle; the front radar module, the front left corner millimeter wave radar, the front right corner millimeter wave radar, the rear left corner millimeter wave radar and the rear right corner millimeter wave radar, in real time, detect the relative distance and speed of the moving target around the vehicle and the turning around path; after the ADCC receives the collected related information, a turning around speed is planned for the vehicle; the ADCC fuses the information received by the camera and the radar, and comprehensively calculates the turning around speed, the turning around turning radius, the turning angle and the angular velocity and the braking parameters of the vehicle.

[0018] After the turning around auxiliary function completes the turning around, the driver takes over the mode or enters the full speed adaptive cruise mode according to the current setting of the driver.

[0019] After the U-turn assist is completed, if the driver takes over mode, the vehicle enters the creeping state, and the instrument cluster module ICM prompts the driver to take over the vehicle. When it detects that the accelerator pedal or brake pedal is pressed, the vehicle exits the creeping state and the "U-turn assist control" function at the same time; if the full-speed adaptive cruise mode is entered, the U-turn assist control function is exited and the full-speed adaptive cruise function is activated.

[0020] The advantages of the present invention are that it realizes the U-turn auxiliary control of the vehicle through the vision and radar fusion solution, improves the reliability and accuracy of the U-turn auxiliary control, and provides convenience for the user's vehicle U-turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following is a brief description of the contents and symbols in the drawings of the present invention:

[0022] Figure 1 This is a schematic diagram of the control system of the present invention;

[0023] Figure 2 This is a schematic diagram of the central control screen soft switch of the present invention. DETAILED DESCRIPTION

[0024] The specific implementation of the present invention will be further explained in detail below by describing the best embodiment with reference to the accompanying drawings.

[0025] like Figure 1 、 2 As shown, the present invention provides a U-turn assist (TRA) control method for electric vehicles. The method uses a vision + radar fusion solution. The core of the present invention is driving assistance.

[0026] The electric vehicle U-turn assistance system described in the present invention includes an intelligent driving computing center ADCC, an integrated brake controller assembly ONEBOX, brake lights, an infotainment system IHU, an electronic power steering EPS, an airbag controller ACU (YAS), an instrument cluster module ICM, a front radar module FRM, four-corner millimeter-wave radars SRR, a surround-view camera FVC, a front-view camera FCM, a microphone, a voice recognition system and a speaker.

[0027] The intelligent driving computing center ADCC is encapsulated by impact-resistant materials and is an organic system composed of hardware and software such as the main control chip, operating system, middleware and application algorithm software.

[0028] In the infotainment system IHU, users can use a soft switch to turn on or off the "U-Turn Assist (TRA)" function and its two associated sub-functions.

[0029] The instrument cluster module (ICM) allows users to view the vehicle's U-turn assistance dynamic information.

[0030] The front camera module and the surround view camera identify the lane lines, signs, traffic signal information and obstacles related to the U-turn path.

[0031] The front radar module, the front left corner millimeter wave radar, the front right corner millimeter wave radar, the rear left corner millimeter wave radar and the rear right corner millimeter wave radar are used to detect the relative distance and speed of the moving target around the vehicle and the U-turn path in real time.

[0032] The microphone and the voice recognition system are respectively used for user voice collection and processing.

[0033] The speaker is used to feedback the processing result of the user voice or the fault information of the U-turn auxiliary control system.

[0034] The U-turn auxiliary control soft switch is provided, which can be manually opened and closed through the touch screen of the IHU, or opened and closed through voice control. The U-turn auxiliary control soft switch is associated with the driver takeover switch and the full-speed adaptive cruise control switch, which are used to enter the driver takeover control vehicle to continue driving or control the vehicle to continue driving through the full-speed adaptive cruise control mode after the U-turn auxiliary function completes the U-turn. As shown in Figure 2 The U-turn auxiliary control soft switch, the driver takeover switch and the full-speed adaptive cruise control switch are designed in the same interface and as sub-switches thereof, and the switch setting mode is provided for the operation after the completion of the U-turn auxiliary function.

[0035] The user enters the "driving assistance" function selection interface through the infotainment system IHU, and turns on or off the function through the "U-turn auxiliary control" switch. Figure 2 As shown in the figure, below the "U-turn auxiliary control" switch, there are two sub-function switches: "driver takeover" switch and "enter full-speed adaptive cruise control" switch. When the user actively turns on the "U-turn auxiliary control" switch, the two sub-function switches can be selected to be turned on or off. At this time, if the user turns off both sub-functions, the "U-turn auxiliary control" switch will be passively turned off. When the user actively turns off the "U-turn auxiliary control" switch, the two sub-function switches are turned off and cannot be turned on.

[0036] Further, the infotainment system IHU sends the opening / closing state information of the "U-turn auxiliary control" and its sub-function switches to the intelligent driving computing center ADCC.

[0037] The user can also turn on or off the "turning around assistance control" function through a voice recognition system, which supports fuzzy recognition. The microphone collects the user's voice request, and the sound signal is converted into an electrical signal and transmitted to the voice recognition system. After the voice recognition system successfully identifies the user's request, the request command is sent to the infotainment system IHU, and the infotainment system IHU feeds back the on state to the voice recognition system and broadcasts through the loudspeaker whether the turning around assistance is turned on. If the volume of the voice request issued by the user is too small, the pronunciation is not standard, or the language is not supported by the system, the voice recognition system only broadcasts "your request is not successfully identified" through the loudspeaker. If the "turning around assistance control" function is in the on state, the voice recognition system successfully identifies the user's request to turn on the function, and at this time the voice recognition system broadcasts "the turning around assistance control has been turned on". After the user turns on the "turning around assistance control" function through the voice recognition system, the sub-function "enter full-speed adaptive cruise" of the function is turned on by default.

[0038] Turning around assistance control function enables to turn on:

[0039] Precondition: TRA does not detect fault & four-door two-cover closed & vehicle power gear = ON & whole vehicle ready & D gear.

[0040] Trigger condition: The user turns on the function through the soft switch / voice switch of the central control screen.

[0041] Execution action: The turning around assistance function is turned on.

[0042] Shut down condition: The user turns off the function through the soft switch / voice switch of the central control screen.

[0043] When powered off, the setting state before power off is not remembered, and it is turned off by default.

[0044] When the system detects that the following conditions are met, the turning around assistance function is activated:

[0045] 1) ABS and ESP are not in action;

[0046] 2) The main driver and the co-driver safety belts are normal;

[0047] 3) The vehicle speed is maintained at 0-15 km / h for more than 2 seconds;

[0048] 4) The left turn signal is quickly toggled twice.

[0049] Only when the turning around assistance function is turned on can it be determined whether the turning around assistance function is activated, and only when the turning around assistance function is activated can the turning around assistance control be performed. After turning on the "turning around assistance control" function, the turning around assistance control function is activated:

[0050] The vehicle enters the left-turn lane, activates the left turn signal, and maintains a speed not exceeding 15 km / h. The front camera module and surround-view cameras identify the current lane markings, signs, traffic light information, and obstacles. The ADCC receives this information and plans a U-turn path for the vehicle. The front radar module, front left corner millimeter-wave radar, front right corner millimeter-wave radar, rear left corner millimeter-wave radar, and rear right corner millimeter-wave radar detect the relative distance and speed between the vehicle and moving targets around the U-turn path in real time. The ADCC receives this information and plans the U-turn speed for the vehicle. The ADCC integrates the information received by the camera and radar to comprehensively calculate the vehicle's U-turn speed, turning radius, turning angle, angular velocity, and braking parameters.

[0051] After U-turn Assist is complete, the system will enter either "Driver Takeover" or "Enter Full-Speed ​​Adaptive Cruise Control" depending on the driver's current settings. "Driver Takeover" causes the vehicle to enter creep mode, and the instrument cluster module (ICM) prompts the driver to take over. If the accelerator or brake pedal is depressed, creep mode and U-turn Assist Control are exited. "Enter Full-Speed ​​Adaptive Cruise Control" exits U-turn Assist Control and activates full-speed adaptive cruise control.

[0052] In a preferred embodiment of the present application, since a vehicle may encounter various operating conditions during assisted U-turn control, each of which has different impacts on the U-turn assist function, to improve the reliability of the U-turn assist function, a function interruption and resumption judgment is provided, allowing timely interruption and resumption control of the function. During the operation of the assisted U-turn function, the auxiliary function is interrupted when the vehicle's yaw rate is detected to be greater than a set threshold; the function is resumed when the yaw rate is detected to be less than the set yaw rate threshold; the function is interrupted when the U-turn lane width is detected to be less than a threshold S1; the function is resumed when the U-turn lane width is detected to be greater than a distance S2; the function is interrupted when the ABS and ESP are detected to be activated; the function is resumed when they are restored to inactivation; the function is interrupted when the turn signal is detected to be inconsistent with the steering direction; the function is resumed when they are consistent. During both interruptions and resumptions, a reminder signal is issued to the user via the human-computer interface or IHU system. If a function is interrupted due to a certain parameter, its recovery also needs to monitor whether the corresponding parameter meets the recovery condition, so that the parameter corresponding to the function interruption is consistent with the parameter corresponding to the function recovery. After the function is interrupted due to the parameter, the parameter is monitored in real time to see whether it meets the recovery condition. If it meets the condition, the function recovery control is completed. The specific function interruption and recovery conditions are as follows:

[0053] (1) Control function interrupted when yaw rate is too high

[0054] The yaw rate is <0.16 rad / s and the function is restored.

[0055] Yaw rate > 0.20 rad / s, function interrupted. Interrupt immediately when condition is met.

[0056] (2) Lane too narrow

[0057] Lane width > 2.2 m, function resumed. Interrupt is removed immediately when condition is met.

[0058] Lane width < 2.0 m, function interrupted.

[0059] (3) ABS and ESP active

[0060] ABS and ESP not active, function resumed.

[0061] ABS and ESP active, function interrupted. Interrupt immediately when condition is met.

[0062] (4) Turn signal

[0063] Turn signal on, not in line with steering of own vehicle, function interrupted. Interrupt immediately when condition is met.

[0064] Turn signal on, in line with steering of own vehicle, function resumed.

[0065] (5) Braking

[0066] Brake pressure < 3 bar, function resumed.

[0067] Brake pressure > 10 bar, function interrupted. Interrupt immediately when condition is met.

[0068] (6) Steering wheel angle rate

[0069] Steering wheel angle rate < deactivation threshold, function resumed.

[0070] Steering wheel angle rate > activation threshold, function interrupted. Interrupt immediately when condition is met.

[0071] (7) Accelerator pedal rate too high

[0072] Pedal rate < 30 % / s, function resumed.

[0073] Pedal rate > 60 % / s, function interrupted. Interrupt immediately when condition is met.

[0074] (8) Hazard warning light

[0075] Hazard warning light off, function resumed.

[0076] Hazard warning light on, function interrupted. Interrupt immediately when condition is met.

[0077] Function exit and deactivation of the auxiliary turning function:

[0078] (1) User clicks the central control screen soft switch to turn off the function;

[0079] (2) Permanent hardware failure is detected, such as camera structure damage, and the function is exited;

[0080] (3) Temporary hardware failure is detected, such as camera overheat protection and high voltage protection, and the function is exited;

[0081] (4) Communication failure, such as message timeout, message counter failure, redundancy check failure and data length failure, and the function is exited;

[0082] (5) Invalid signal, such as invalid input vehicle speed signal and seat belt status signal, and the function is exited.

[0083] Fault strategy and processing mechanism: When permanent hardware failure is detected, the instrument icon displays red, and when other faults occur, the instrument icon displays orange. After the fault is resolved, the turn-around assistance control system is started: if the function is reactivated, the instrument icon displays green; if the function is not activated, the instrument icon displays gray.

[0084] Example 2:

[0085] Due to the diversity and complexity of the vehicle driving environment, in many cases, the turn-around is not on flat ground, at which time the reliability and safety of the turn-around need to be considered. After the turn-around assistance function is started, the vehicle's road surface inclination angle during the turn-around is detected by various sensors such as the on-board gyroscope. When the road surface inclination angle is greater than the set angle threshold, the vehicle's side slip state is collected in real time through the ABS system. When it is detected that the vehicle has a side slip state during the turn-around, the vehicle speed during the turn-around is further reduced to the minimum speed allowed for the turn-around, and the turning angle during the turn-around is further reduced. Then the side slip state is further monitored. If the side slip state disappears, the turn-around strategy is continued. Otherwise, a safety reminder is issued through the instrument, IHU, etc. that the turn-around has a side slip, and the driver is reminded to take over. Before the driver takes over, the turn-around is stopped and the vehicle is stabilized by parking control.

[0086] During the vehicle turn-around, if it is detected that the road surface on which the turn-around is performed is an inclined road surface, the width of the turn-around road surface is collected when the turn-around path is planned. The minimum steering wheel angle required for the turn-around is calculated based on the width of the turn-around road surface, and the vehicle is turned around with the minimum steering wheel angle. Because on an inclined road surface, if the steering wheel angle is too large, the turn-around radius is small, and the risk of side slip increases. In order to improve the safety and reliability of the turn-around, the maximum turn-around radius is achieved by using the minimum steering wheel angle to realize the turn-around. Although this way has a large turn-around radius, it is safer and more reliable, and reduces the safety hazards of the turn-around caused by the inclined road surface.

[0087] In the embodiment, the auxiliary turning function may be inaccurate due to the rain shielding, wet road surface and other reasons in the rainy day, so the rain state detection is accessed in the embodiment, whether the driver is prompted to intervene is judged according to the rain state detected by the rain sensor, when the rain amount is greater than the set rain amount threshold, the recognition of the road, obstacles and the like may be affected, so when the rain amount is greater than the threshold, the driver is prompted to pay attention to the intervention control at any time when the auxiliary turning works, the safety and controllability of the turning assistance are improved, and the safety in the rainy day is improved.

[0088] Obviously, the specific implementation of the present application is not limited by the above-mentioned manner, and various non-essential improvements made by adopting the method concept and technical scheme of the present application are within the protection scope of the present application.

Claims

1. A U-turn assist control method for an electric vehicle, characterized by: It includes the turning on and activating of the U-turn assist function; after the U-turn assist function is turned on and activated, the environmental data required for the U-turn is obtained through the on-board vision and radar, and the U-turn driving path is planned according to the environmental data, and the U-turn action of the vehicle is driven according to the planned U-turn driving path.

2. The electric vehicle U-turn assist control method according to claim 1, wherein: A U-turn assist function control soft switch is provided in the in-vehicle infotainment system IHU, which can be used to control the U-turn assist function on or off manually or by voice.

3. The electric vehicle U-turn assist control method according to claim 2, wherein: The "U-turn Assist Control" function is turned on or off through the voice recognition system; the voice recognition system has a fuzzy recognition function to realize the recognition of user voice commands; the voice recognition system collects the user's voice request through the microphone, and the acoustic signal is processed and converted into an electrical signal and transmitted to the voice recognition system. After the voice recognition system successfully recognizes the user's request, the request command is sent to the infotainment system IHU. The infotainment system IHU will feedback the activation status to the voice recognition system and announce whether the U-turn Assist is on through the speaker.

4. The electric vehicle U-turn assist control method according to claim 3, wherein: When the voice recognition information recognizes that the volume of the user's voice command is too low, the voice recognition is wrong, or the voice is in an unsupported language, a reminder message will be issued through the speaker.

5. The electric vehicle U-turn assist control method according to any one of claims 1 to 4, characterized in that: After the U-turn assist function is turned on, the activation of the U-turn assist function is controlled by judging the vehicle status data, and the U-turn assist function is activated when the activation conditions are met.

6. The electric vehicle U-turn assist control method according to claim 5, characterized in that: The activation conditions include: (1) Neither the ABS nor the EPS system is triggered; (2) The driver and passenger seat belts are worn normally; (3) The vehicle speed is within the set threshold range; (4) The left turn signal is triggered according to the preset logic; The activation of the U-turn assist function is triggered when all four conditions are met.

7. The electric vehicle U-turn assist control method according to claim 6, characterized in that: The preset logic trigger of the left turn signal includes: quickly and continuously turning the left turn signal twice or more.

8. The electric vehicle U-turn assist control method according to any one of claims 1 to 7, characterized in that: After activating the U-turn assist function, the vehicle is controlled to enter the left turn lane or the U-turn lane, and the speed is kept below the set speed threshold; the current lane lines, signs, traffic light information and obstacles are identified through the front camera module and the surround-view camera, and ADCC plans the U-turn driving path for the vehicle after receiving the collected relevant information; the front radar module, front left corner millimeter-wave radar, front right corner millimeter-wave radar, rear left corner millimeter-wave radar and rear right corner millimeter-wave radar detect the relative distance and speed between the vehicle and the moving targets around the U-turn path in real time; ADCC plans the U-turn speed for the vehicle after receiving the collected relevant information; ADCC integrates the information received by the camera and radar, and comprehensively calculates the U-turn speed, U-turn turning radius, turning angle and angular velocity and braking parameters of the vehicle.

9. The electric vehicle U-turn assist control method according to claim 8, characterized in that: After the U-turn assist function completes the U-turn, it enters the driver takeover mode or the full-speed adaptive cruise mode according to the driver's current settings.

10. The electric vehicle U-turn assist control method according to claim 9, characterized in that: After the U-turn assist is completed, if the driver takes over mode, the vehicle enters the creeping state, and the instrument cluster module ICM prompts the driver to take over the vehicle. When it detects that the accelerator pedal or brake pedal is pressed, the vehicle exits the creeping state and the "U-turn assist control" function at the same time; if the full-speed adaptive cruise mode is entered, the U-turn assist control function is exited and the full-speed adaptive cruise function is activated.

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