阅读说明：本技术 一种氢能汽车车道偏离预警装置 (Hydrogen energy automobile lane departure early warning device ) 是由 程飞 郝义国 于 2020-12-03 设计创作，主要内容包括：本发明提供一种氢能汽车车道偏离预警装置,设计有两个模块,横向偏离速度模块和偏离预警逻辑处理模块分工协作共同完成氢能汽车车道偏离预警LDW功能,将复杂功能简单化；横向偏离速度模块用于计算横向偏离速度；偏离预警逻辑处理模块根据横向偏离速度和汽车工况智能开启或关闭预警LDW系统。本发明提供的有益效果是：提供了一套人性化的车道偏离预警系统,能自动识别车辆工况,在特殊工况下主动关闭车道偏离预警LDW系统功能,同时车道偏离预警LDW系统功能能够进行人为关闭和开启,自主性强。(The invention provides a hydrogen energy automobile lane departure early warning device, which is provided with two modules, wherein a transverse departure speed module and a departure early warning logic processing module are in work division and cooperation to jointly complete a hydrogen energy automobile lane departure early warning LDW function, so that the complex function is simplified; the transverse deviation speed module is used for calculating a transverse deviation speed; and the deviation early warning logic processing module intelligently turns on or off the early warning LDW system according to the transverse deviation speed and the automobile working condition. The beneficial effects provided by the invention are as follows: the humanized lane departure early warning system can automatically identify the working condition of a vehicle, actively closes the function of the lane departure early warning LDW system under the special working condition, can be manually closed and opened, and is high in autonomy.)

1. A lane departure early warning device for a hydrogen-powered vehicle comprises: the system comprises a vehicle control unit (220), a hydrogen fuel cell system (24), a high-voltage distribution box (25), a power battery system (26), a rear motor controller, a rear motor (27), a speed reducer, a differential (28), an electronic power steering (210), the vehicle control unit (220) and a brake pedal (230); a hydrogen fuel cell system (24) and a power battery system (26) are electrically connected with the high-voltage distribution box (25) to provide electric energy required by running for a hydrogen energy automobile; the high-voltage distribution box (25) is electrically connected with the rear motor controller and the motor (27); the rear motor controller and the motor (27) drive the speed reducer and the differential (28) by using electric energy, so that the hydrogen energy automobile can normally run, and the hydrogen energy automobile is characterized in that:

the early warning device further comprises: the system comprises a lane departure early warning LDW system function switch (160), a first camera (130), a second camera (140), an audible alarm system (150) and an ADAS controller (170);

the hydrogen fuel cell system (24), the high-voltage distribution box (25), the power battery system (26), the rear motor controller (27), the sound alarm system (150), the ADAS controller (170), the electronic power steering (210) and the whole vehicle controller (220) are subjected to information interaction through a CAN bus;

the electronic power steering (210) collects a steering wheel turning signal of the hydrogen energy automobile; the vehicle control unit (220) collects vehicle state signals; the steering wheel corner signal and the vehicle state signal are sent to the ADAS controller (170) through a CAN bus;

the ADAS controller (170) comprises a transverse deviation speed module and a deviation early warning logic processing module;

the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera (130) and the second camera (140);

the ADAS controller (170) utilizes the departure early warning logic processing module to make a lane departure early warning according to the state of a lane departure early warning LDW system function switch (160), a steering wheel turning signal, a whole vehicle state signal and a transverse departure speed, and plays early warning information in a voice form through the voice warning system (150) to remind a driver of safe driving.

2. The hydrogen energy automobile lane departure warning device according to claim 1, wherein: the vehicle state signal comprises: the automobile brake control system comprises an automobile gear signal, vehicle speed information, left and right steering lamp signals, a double-flashing state signal and a brake pedal (230) state.

3. The hydrogen energy automobile lane departure warning device according to claim 1, wherein: the functional switch (160) of the lane departure early warning LDW system is a physical switch and comprises two states, namely a closed state and an open state;

when a function switch (160) of the lane departure early warning LDW system is in an off state, the function switch indicates that an ADAS controller (170) is enabled, and the ADAS controller (170) can play early warning information in a voice form through the sound warning system (150) to remind a driver of driving safely;

when the function switch (160) of the lane departure warning LDW system is in a closed state, the ADAS controller (170) is indicated to turn off the lane departure warning function.

4. The hydrogen energy automobile lane departure warning device according to claim 3, wherein: the early warning device comprises two states, namely an off state and an on state;

when a lane departure early warning LDW system function switch (160) is in a closed state, or a steering wheel corner signal is higher than a preset first threshold value omega 1, or a left and right steering lamp signal is effective, or a double-flashing state signal is on or a brake signal is effective, the early warning device is in an off state, namely, early warning is not performed;

when the lane departure early warning LDW system function switch (160) is in an off state, the steering wheel corner signal is lower than a preset second threshold value omega 1, the left and right steering lamp signals are invalid, the double-flashing state signal is off, and the braking signal is invalid, the early warning device is in an on state, namely, the early warning is carried out through the intelligent judgment of the ADAS controller (170).

5. The hydrogen energy automobile lane departure warning device according to claim 4, wherein: the specific process of the transverse deviation speed module for calculating the transverse deviation speed is as follows: the first camera (130) measures that the offset distance between the automobile and the left lane line is L1, the second camera (140) measures that the offset distance between the automobile and the right lane line is L2, the width of the automobile body is width, and the lane center line is (L1+ L2+ width)/2; the lateral offset speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, and dt is a preset value.

6. The lane departure warning apparatus for a hydrogen powered vehicle as claimed in claim 5, wherein: dS is calculated as the deviation between the vehicle centerline and the lane centerline, i.e., | (L2-L1)/2| where | represents the absolute value.

7. The hydrogen energy automobile lane departure warning device according to claim 5, wherein: the on state of the early Warning device comprises two sub-states, namely a standby Passive state and an active Warning state;

when the deviation early warning logic processing module judges that the current gear is the D gear, the lane line offset distance between the left and right sides of the automobile is smaller than a preset threshold value D, the automobile speed is in a preset range, and

when Tset Vlater is greater than doffset-dhalfwidth, the early Warning device is in an activating state, otherwise, the early Warning device is in a standby state;

wherein Tset is preset deviation time, Vlaterals is transverse deviation speed, doffset is transverse deviation distance of any left side and right side of the automobile, and dhalfwidth is half of the width of the automobile body.

8. The hydrogen energy automobile lane departure warning device according to claim 7, wherein: when the early Warning device is in the Warning activation state, the ADAS controller (170) plays early Warning information through the sound Warning system (150) to remind a driver to correct the direction of the vehicle and drive back to the current lane.

Technical Field

The invention relates to the field of automobile intelligent systems, in particular to a hydrogen energy automobile lane departure early warning device.

Background

Lane departure warning is a common vehicle driving assistance function today, with the goal of keeping the vehicle driving safely in a highway lane. When the vehicle deviates from the lane line, the lane departure early warning system sends out corresponding warning.

At present, most lane departure early warning focuses on how to identify lane lines, how to judge deviation distances and the like, and relevant decision early warning is made based on the deviation distances and the like, so that the actual driving condition is not considered, and the lane departure early warning is not humanized enough.

Disclosure of Invention

In view of the above, in order to solve the defects in the prior art, the invention provides a hydrogen energy automobile lane departure warning device, which is designed with two modules, wherein a transverse departure speed module and a departure warning logic processing module cooperate with each other in a division manner to jointly complete a hydrogen energy automobile Lane Departure Warning (LDW) function, so that the complex function is simplified, and the realizability of a hydrogen energy automobile Lane Departure Warning (LDW) system is improved.

The technical problems to be solved in practice by the invention are as follows: how to humanizedly coordinate all control units, consider the comprehensive driving condition, automatically identify the working condition of the vehicle, and intelligently finish the lane departure early warning.

The invention provides a hydrogen energy automobile lane departure early warning device, which specifically comprises the following components:

the system comprises a vehicle control unit, a hydrogen fuel cell system, a high-voltage distribution box, a power battery system, a rear motor controller, a motor, a speed reducer, a differential, electronic power-assisted steering, a vehicle control unit and a brake pedal; the hydrogen fuel cell system and the power cell system are electrically connected with the high-voltage distribution box to provide electric energy required by running for the hydrogen energy automobile; the high-voltage distribution box is electrically connected with the rear motor controller and the motor; the rear motor controller and the motor drive the speed reducer and the differential mechanism by using electric energy, so that the hydrogen energy automobile runs normally;

the early warning device further comprises: the system comprises a lane departure early warning LDW system function switch, a first camera, a second camera, a sound alarm system and an ADAS controller;

the hydrogen fuel cell system, the high-voltage distribution box, the power battery system, the rear motor controller, the sound alarm system, the ADAS controller, the electronic power steering and the whole vehicle controller are subjected to information interaction through a CAN bus;

the electronic power steering system collects a steering wheel turning signal of the hydrogen energy automobile; the vehicle controller collects vehicle state signals; the steering wheel corner signal and the vehicle state signal are sent to the ADAS controller through a CAN bus;

the ADAS controller comprises a transverse deviation speed module and a deviation early warning logic processing module;

the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera and the second camera;

the ADAS controller utilizes the deviation early warning logic processing module to make lane deviation early warning according to the functional switch state of a lane deviation early warning LDW system, a steering wheel corner signal, a whole vehicle state signal and the transverse deviation speed, and early warning information is played through the sound alarm system in a voice mode to remind a driver of running safely.

Further, the vehicle state signal includes: the automobile brake control system comprises an automobile gear signal, automobile speed information, left and right steering lamp signals, a double-flash state signal and a brake pedal state.

Further, the functional switch of the lane departure early warning LDW system is a physical switch, and comprises two states, namely a closed state and an open state;

when a functional switch of the lane departure early warning LDW system is in an off state, the function switch indicates that the ADAS controller is enabled, and the ADAS controller can play early warning information in a voice form through the voice warning system so as to remind a driver of driving safely;

and when the function switch of the lane departure early warning LDW system is in a closed state, the ADAS controller is indicated to turn off the lane departure early warning function.

Further, the early warning device comprises two states, namely an off state and an on state;

when a functional switch of the lane departure early warning LDW system is in a closed state, or a steering wheel corner signal is higher than a preset first threshold value omega 1, or a left and right steering lamp signal is effective, or a double-flashing state signal is on or a brake signal is effective, the early warning device is in an off state, namely, early warning is not performed;

when the functional switch of the lane departure early warning LDW system is in an off state, the steering wheel corner signal is lower than a preset second threshold value omega 1, the left and right steering lamp signals are invalid, the double-flashing state signal is off, and the braking signal is invalid, the early warning device is in an on state, namely, the early warning is carried out through the intelligent judgment of the ADAS controller.

Further, the specific process of calculating the lateral deviation speed by the lateral deviation speed module is as follows: the first camera measures that the offset distance between the automobile and the left lane line is L1, the second camera measures that the offset distance between the automobile and the right lane line is L2, the width of the automobile body is width, and the lane center line is (L1+ L2+ width)/2; the lateral offset speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, and dt is a preset value.

Further, dS is calculated as the deviation between the car centerline and the lane centerline, i.e., | (L2-L1)/2| where | represents an absolute value.

Furthermore, the on state of the early Warning device comprises two sub-states, namely a standby Passive state and an active Warning state;

when the deviation early warning logic processing module judges that the current gear is the D gear, the lane line offset distance between the left and right sides of the automobile is smaller than a preset threshold value D, the automobile speed is in a preset range, and

when Tset Vlater is greater than doffset-dhalfwidth, the early Warning device is in an activating state, otherwise, the early Warning device is in a standby state;

wherein Tset is preset deviation time, Vlaterals is transverse deviation speed, doffset is transverse deviation distance of any left side and right side of the automobile, and dhalfwidth is half of the width of the automobile body.

When the early Warning device is in the Warning activation state, the ADAS controller plays early Warning information through the sound alarm system to remind a driver to correct the direction of the vehicle and drive back to the current lane.

The beneficial effects provided by the invention are as follows: the humanized lane departure early warning system can automatically identify the working condition of a vehicle, actively closes the lane departure early warning (LDW) system function under the special working condition, can be manually closed and opened, and is high in autonomy.

Drawings

FIG. 1 is a structural diagram of a lane departure warning device of a hydrogen energy automobile according to the present invention;

fig. 2 is a diagram showing various state determinations of the warning device.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1, a lane departure warning device for a hydrogen-powered vehicle includes the following components:

a hydrogen fuel cell system 24, a high-voltage distribution box 25, a power battery system 26, a rear motor controller and motor 27, a speed reducer and differential 28, a first camera 130, a second camera 140, a 150 sound alarm system, a lane departure early warning LDW system function switch 160, an ADAS (advanced driver assistance system) controller 170, an electronic power steering 210, a vehicle controller 220, a brake pedal 230 and a lighting system 240;

wherein each controller unit comprises: a hydrogen fuel cell system 24, a high-voltage distribution box 25, a power battery system 26, a rear motor controller 27, an acoustic alarm system 150, an ADAS controller 170, an electronic power steering 210 and a vehicle controller 220; the CAN communication signal lines are electrically connected with each other, and corresponding information interaction and control are carried out.

The hydrogen fuel cell system 24 and the power battery system 26 provide electric energy required by running for the running system, the high-voltage distribution box 25 distributes the electric energy to the motor controller and the motor 27, the motor controller and the motor 27 drive the motor by using the electric energy, the kinetic energy generated by the motor is transmitted to the speed reducer and the differential 28 through mechanical connection, and finally the power is transmitted to the rear driving shaft to realize the running function of the hydrogen energy automobile.

The electronic power steering 210 collects steering wheel angle signals and sends angle information to a communication signal line, and the vehicle controller 220 collects vehicle state information including vehicle gear information, vehicle speed information, left and right turn signal lights, a double flashing state signal and a brake pedal state, and sends the gear information, the vehicle speed information, the left and right turn signal lights (obtained from the light system 240), the double flashing state signal (obtained from the light system 240) and the brake pedal state to the communication signal line.

The ADAS controller (170) comprises a transverse deviation speed module and a deviation early warning logic processing module;

the transverse deviation speed module is used for calculating the transverse deviation speed of the hydrogen energy automobile according to the deviation distance signal from the left lane line and the deviation distance signal from the right lane line, which are respectively transmitted by the first camera (130) and the second camera (140);

in this embodiment, the function of the lateral deviation speed module is calculated in real time according to the left-right deviation distance of the obtained lane line, and it is necessary to ensure smooth and continuous change, so as to prevent the functional signal jump caused by sudden change or loss of the signal, specifically:

calculating the distance from the vehicle to the center line of the lane according to the obtained left-right offset distance of the lane line, and keeping the data loss condition of the lane line to a certain extent;

comparing the historical value of the vehicle center line offset distance with the current value to calculate the current offset speed;

the first camera 130 measures that the offset distance between the automobile and the left lane line is L1, the second camera 140 measures that the offset distance between the automobile and the right lane line is L2, the width of the automobile body is width, and the lane center line is (L1+ L2+ width)/2; the lateral offset speed vlanteral is dS/dt; dS represents the distance of the lateral deviation of the automobile in dt time, dt is a preset value, and according to the actual situation, dt in the embodiment linearly takes a value of 0.2-0.7S according to the automobile speed.

In other embodiments, when there is a jump in the calculated lateral deviation speed, the jump may be limited according to actual conditions, which is not important and will not be explained in detail here.

The ADAS controller 170 uses the departure warning logic processing module to make a lane departure warning according to the state of the lane departure warning LDW system function switch 160, the steering wheel angle signal, the vehicle state signal, and the lateral departure speed, and plays the warning information in a voice form through the sound warning system 150 to remind the driver of driving safely.

The functional switch 160 of the lane departure early warning LDW system is a physical switch, and includes two states, namely, a closed state and an open state;

in this embodiment, the switch is a driver manual selection switch for determining the actual operation intention of the driver, and when the switch is closed, it indicates that the driver does not use the LDW system, and at this time, the ADAS controller 170 turns off the lane departure warning function; when the switch is off, the switch indicates that the driver uses the LDW system, the ADAS controller 170 is enabled, and the ADAS controller 170 can play the early warning information in a voice form through the sound alarm system 150 to remind the driver of safe driving;

after the driver manually selects the lane departure early warning LDW system function switch 160 to be in the off state, the ADAS controller 170 is enabled, and at the moment, the early warning device (or called LDW system) can intelligently work; the principle of a Lane Departure Warning (LDW) device is to utilize: the front road lane line is monitored through the camera, and when the condition that the vehicle deviates from the lane line under the condition that the driver is unconscious is judged, the system sends out early warning to the driver in a voice prompt mode.

Applicable scenarios are: the illumination condition is good, the lane line is clear and visible, and the curvature radius is larger than 200 m; the vehicle speed range is 20 km/h-70 km/h;

the lane departure early warning (LDW) system can identify lane lines, can give out lanes corresponding to the positions of the vehicles according to the current lane lines under the conditions of good light and clear and visible lane lines, and judges whether the lane departure tendency exists; when the vehicle runs in the lane, if the vehicle has a tendency of deviating from the lane and deviates from a part of the lane, the LDW system sends out an early warning signal to remind a driver to correct the direction of the vehicle and drive back to the lane.

Referring to fig. 2, fig. 2 is a diagram illustrating various state determinations of the warning device.

In this embodiment, the working states of the early warning device include two, which are respectively an off state and an on state; Off-On state judgment conditions:

off state conditions, i.e., condition 2:

the Lane Departure Warning (LDW) system function switch 160 is closed, or the steering wheel angle signal is higher than the threshold value Ω 1, or when the left and right turn signals are valid, or when the double-flashing state signal is on, or when the brake signal is valid;

on state conditions, i.e., condition 1:

when the Lane Departure Warning (LDW) system function switch 150 is off and the steering wheel angle signal is below the threshold Ω 2 and the left and right turn signal is invalid and the double flashing state signal is off and the braking signal is invalid;

wherein Ω 1 > Ω 2.

The off state and the on state are mutually complementary, and the uniqueness of the state of a Lane Departure Warning (LDW) system is ensured.

The on state of the early Warning device comprises two sub-states, namely a standby Passive state and an active Warning state;

the Warning state, i.e., condition 3:

1. the current gear is a D gear;

2. the offset distance d of the vehicle from the left lane line and the right lane line is less than 2 m;

3. the vehicle speed is between 20Km/h and 70 Km/h;

4. the vehicle will reach the edge of the lane line (the line press) in a set time: the algorithm is as follows: tset Vlaterl > doffset-dhalfwidth;

and when the conditions are simultaneously met, entering a Warning state.

Passive state, i.e., condition 4:

1. the current gear is in a non-D gear state;

2. the offset distance d between the vehicle and the left and right lane lines is more than 2.5 m;

3. the vehicle speed is less than 18Km/h or more than 72 Km/h;

4.Tset*Vlateral＜doffset-dhalfwidth；

and when any one of the conditions is met, entering a Passive state.

The early warning device enters a triggering mode of two sub-states in an on state and is completed by the deviation early warning logic processing module, and the method specifically comprises the following steps:

the Warning state, i.e., condition 3:

1. the current gear is a D gear;

2. the offset distance d of the vehicle from the left lane line and the right lane line is less than 2 m;

3. the vehicle speed is between 20Km/h and 70 Km/h;

4. the vehicle will reach the edge of the lane line (the line press) in a set time: the algorithm is as follows: tset Vlaterl > doffset-dhalfwidth;

and when the conditions are simultaneously met, entering a Warning state.

Passive state, i.e., condition 4:

1. the current gear is in a non-D gear state;

2. the offset distance d between the vehicle and the left and right lane lines is more than 2.5 m;

3. the vehicle speed is less than 18Km/h or more than 72 Km/h;

4.Tset*Vlateral＜doffset-dhalfwidth；

and when any one of the conditions is met, entering a Passive state.

Wherein Tset is a preset deviation time (the time standard is set according to the sum of the system delay, the brain response and the time for making a corrective action, and the parameter is adjusted according to the actual response), Vlaterl is a transverse deviation speed, doffset is a transverse deviation distance of any left side and right side of the automobile, and dhalfwidth is half of the width of the automobile body.

Based on the above, the actual working process of the hydrogen energy automobile lane departure early warning device in the invention is as follows: 1. judging the state of a functional switch 160 of the lane departure early warning LDW system, if the state is closed, indicating that the early warning device is not started, and if the state is open, indicating that the early warning device is started; 2. under the condition that the early warning device is started, the state of the early warning device is continuously judged to be off or on according to the actual working condition of the vehicle, if the state of the early warning device is off, the early warning device is invalid, and if the state of the early warning device is on, the step 3 is carried out; 3. combining the actual working condition of the vehicle, the sub-state of the on state is completed by the transverse deviation speed module and the deviation early warning logic processing module together: and judging the Passive state and the Warning state, wherein if the Passive state and the Warning state are the Warning state, the early Warning device can generate voice early Warning.

In particular, in some other embodiments, a vibration warning or other form of warning may also be employed, not limited to a voice warning.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof.

The beneficial effects provided by the invention are as follows: the humanized lane departure early warning system can automatically identify the working condition of a vehicle, actively closes the function of the lane departure early warning LDW system under the special working condition, can be manually closed and opened, and is high in autonomy.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.