CN103448720A - Method and device for controlling rear-end collision of vehicles in time of tire burst - Google Patents

Abstract

The invention discloses a method and a device for controlling rear-end collision of vehicles in time of tire burst. The method includes: a rear vehicle detector detects, at certain time intervals, relative speed and relative distance L between a vehicle body and a rear vehicle as well as position coordinates of the rear vehicle corresponding to the vehicle body; a speed sensor detects the speed of the vehicle body, a transverse angular velocity sensor detects transverse angular velocity of the vehicle self, and a tire pressure sensor detects tire pressure; a controller sequentially calculates maximum deceleration that can be executed on different rear vehicles; according to maximum deceleration speed control, the controller controls the vehicle self to slow down within the maximum deceleration control speed through a vehicle power system and a brake producing device. By the method and the device, the vehicle self can be controlled to be braked to slow down in time of the tire burst according the speed of the same and the rear vehicle as well as the distance from the rear vehicle.

Description

Automobile flat tire anti-knock into the back control method and control setup

Technical field

The present invention relates to the automotive safety technical field, especially relate to a kind of after vehicle flat tire, can control in real time the deceleration/decel from car according to the relative speed of a motor vehicle between car and front vehicle, relative distance and from the variation of car yaw velocity, effectively prevent anti-control control method and the control setup of knocking into the back of automobile flat tire that front vehicle knocks into the back.

Background technology

Along with the development of Electronic transducer technology and vehicle dynamic control technology, various active safety systems are developed widely.All kinds of active safety systems can be divided into two class functions according to whether intervening driving: early warning class function with control the class function.Wherein, have in the active safety system of controlling the class function and comparatively common are vehicle flat tire monitoring and control system (BMCS).

Vehicle flat tire monitoring and control system are monitored tire pressure by the tyre pressure sensor be arranged on each tire.If determine and blow out, system can be sent the command request brake system and initiatively get involved braking, before tire loses air pressure fully, vehicle is reached to quiescence.

Yet above-mentioned vehicle flat tire monitoring and control system are not being known under the condition of road surface of rear view of vehicle, require brake system to carry out larger braking deceleration, easily cause front vehicle to the rear-end collision from car.

Chinese patent mandate publication number CN201646689U, the Interrupt Control System of authorizing disclose a kind of tire burst brake open day on November 24th, 2010, described Interrupt Control System comprises central process unit and the collision avoidance radar that detects near information of vehicles, collision avoidance radar is connected with central process unit, described central process unit also is connected with the braking generation device, after central process unit monitors the tyre burst brake signal of braking generation device, collision avoidance radar is sent to energizing signal, and whether near the vehicle approach Information Selection fed back according to collision avoidance radar removes tyre burst brake.This utility model can judge whether that from the car speed of a motor vehicle brake off knocks into the back to prevent front vehicle in basis when car is blown out.The shortcoming of this utility model is, can not control in real time the deceleration/decel from car according to the variation of the relative speed of a motor vehicle between car and front vehicle, relative distance, easily causes front vehicle and knocking into the back from car in braking procedure.

Chinese patent mandate publication number CN201208956Y, the control system of authorizing disclose a kind of preventing rear-end collisions from tire burst open day on March 18th, 2009, described this control system comprises master control set ECU, this master control set ECU front end connects tire pressure monitoring module and wheel speed sensors side by side, and this master control set ECU rear end connects the braking generation device.This utility model can judge whether that from the car speed of a motor vehicle brake off knocks into the back to prevent front vehicle in basis when car is blown out.Shortcoming is, can not control in real time the deceleration/decel from car according to the variation of the relative speed of a motor vehicle between car and front vehicle, relative distance, easily causes front vehicle and knocking into the back from car in braking procedure.

Summary of the invention

The present invention can not control the deceleration/decel from car according to the variation of the relative speed of a motor vehicle between car and front vehicle, relative distance in real time in order to overcome vehicle flat tire control setup of the prior art, in braking procedure, easily cause front vehicle with from the deficiency knocked into the back of car, provide a kind of and can control in real time the deceleration/decel from car according to the relative speed of a motor vehicle between car and front vehicle, relative distance and from the variation of car yaw velocity, effectively prevented automobile flat tire anti-knock into the back control method and control setup that front vehicle knocks into the back.

To achieve these goals, the present invention is by the following technical solutions:

The anti-control method that knocks into the back of a kind of automobile flat tire, comprise the steps:

(1-1) in controller, set while travelling from the longitudinal probing scope M between car and front vehicle, from the horizontal detection scope S between car and front vehicle, safety distance d after car and front vehicle stop _safety, the default reaction time t of rear chaufeur _reaction, the default deceleration/decel a of front vehicle _obj, be provided with m deceleration value a in car travels the radius of curvature limit value r of track and controller ₁, a ₂, a ₃..., a _m; | a ₁|, | a ₂|, | a ₃| ..., | a _m| reduce successively a _m=0;

(1-2) the front vehicle detector detects once from the relative speed of a motor vehicle between car and front vehicle, the relative spacing L between car and front vehicle every certain time interval _i, (i=1 ..., n); And rear car is with respect to the position coordinate value (x from car _i, y _i), (i=1 ..., n); The total number that n is the front vehicle that detects of front vehicle detector; Speed sensor is measured the speed of a motor vehicle from car, and the yaw velocity speed sensor is measured the yaw velocity speed from car, and tyre pressure sensor detects tire pressure;

Travelling from car that the system of axes of track take will be abscissa (x coordinate) from the first vertical guide of the average cutting in car left and right and the intersection of horizontal surface, take with perpendicular the second vertical guide of the first vertical guide and the intersection of horizontal surface is ordinate (y coordinate), and the second vertical guide overlaps with the vertical guide from tailstock section place.

(1-3) when the track that travels from car is straight line, if | x _i|≤M and | y _i|≤S, controller is made the judgement of front vehicle in the track from car;

If front vehicle, not in the driving trace scope from car, as in adjacent lane or in other farther tracks, does not have the danger to touching after knocking into the back from the car generation.

(1-4) when the track that travels from car is curve, controller is according to formula R=v _ego/ y _{aw_rate}calculating is from the travel radius of curvature of track of car;

Wherein, R is the radius of curvature of the track that travels from car, v _egofor from the car speed of a motor vehicle, y _{aw_rate}yaw velocity speed for the measurement of yaw velocity speed sensor;

When | R| >=r, controller adopts formula ${\left(x_{\mathrm{after}}\right)}_i=\sqrt{{y_i}^2+{x_i}^2}$ , ${\left(y_{\mathrm{after}}\right)}_i=y_i-\frac{{x_i}^2}{2R}$ The rear car coordinate is converted;

Wherein, (x _after) _ifor the abscissa, (y after conversion _after) _ifor ordinate, the x after conversion _ifor abscissa, the y before converting _ifor the ordinate before converting;

When | (x _after) _i|≤M and | (y _after) _i| during≤S, controller is made the judgement of front vehicle in the track from car; _?

(1-5) when front vehicle is in the track from car, controller according to detect from the car vehicle velocity V _ego, the safety distance d after car and front vehicle stop _safety, the default deceleration/decel a of front vehicle that sets _obj, the default reaction time t of rear chaufeur _reactionwith front vehicle speed of a motor vehicle v _objcalculate successively the maximum deceleration (a that can carry out for different front vehicle _avoid) _i, (a _avoid) _i<0; (1-6) controller utilizes formula

${\left(a_{\mathrm{avoid}}\right)}_{\max }=\max ({\left(a_{\mathrm{avoid}}\right)}_1,{\left(a_{\mathrm{avoid}}\right)}_2,...,{\left(a_{\mathrm{avoid}}\right)}_n)$

Calculate braking and control the maximum deceleration (a that can carry out _avoid) _max, (a _avoid) _max<0;

(1-7) the detection data judgement of controller by tyre pressure sensor learnt while blowing out, and controller is controlled automobile by automobile dynamic system and braking generation device and adopted the deceleration/decel deceleration that is less than or equal to maximum deceleration.

The front vehicle detector is in real time to being monitored from the car front vehicle, if the front vehicle while occurring of blowing out follows car excessively near, the maximum deceleration that braking control can be carried out is 0 meter per second 2, to prevent that front vehicle is to the generation from the car rear-end impact.

The vehicle flat tire control setup of prior art is not in the situation that install the front vehicle detector, can't the condition of road surface of rear view of vehicle be monitored, so while occurring when blowing out, controller can only use fixing braking deceleration to be slowed down, and easily causes the generation of front vehicle to the rear-end collision from car.

As preferably, the computation process of the maximum deceleration of the front vehicle in described step (1-5) comprises the steps:

（2-1）

Controller utilizes formula $\begin{array}{c}{t}_{\mathrm{objstop}}=t_{\mathrm{reation}}+\frac{v_{\mathrm{obj}}}{-a_{\mathrm{obj}}}\\ t_{\mathrm{egostop}}=\frac{v_{\mathrm{ego}}}{-a_j}\end{array}$ Calculate rear car standing time t _objstopwith from car standing time t _egostop, j=1;

(2-2) work as t _objstop>=t _egostopthe time, controller is according to formula

Calculate the collision possibility, wherein d _objfor from car at t _reactioninterior stopping distance, d _egofor rear car at t _reactioninterior stopping distance;

(2-3) work as t _objstop<t _egostopthe time, utilize formula $\begin{array}{c}{v}_{\mathrm{ego}@t1}=v_{\mathrm{ego}}+a_n{t}_{\mathrm{reation}},a_j<0\\ v_{\mathrm{obj}@t1}=v_{\mathrm{obj}}\end{array}$ Calculating from car in the wings the vehicle driver react constantly t ₁speed of a motor vehicle v _ego@t1, rear car is at t ₁speed of a motor vehicle v constantly _obj@t1,

Work as v _ego@t1>v _ob@t1the time, the danger of controller judgement collisionless;

Work as v _ego@t1≤ v _ob@t1the time, utilize following formula to calculate the collision possibility:

V _egofor from the car speed of a motor vehicle, v _objfor the front vehicle speed of a motor vehicle, t _sfor the t calculated ₁the moment that constantly, the two car speed of a motor vehicle are identical is apart from t ₀time constantly, t ₀for current time;

(2-4) when confirming with a _jwhen control is braked from car, this front vehicle, to from car collisionless risk, is stored a _jfor the maximum deceleration (a that can take from car for this front vehicle _avoid) i;

(2-5) when confirming with a _jwhen control is braked from car, this front vehicle is when existing risk of collision and j<m from car, and the j value increases by 1, repeats the computation process of (2-1) to (2-4).

Calculate respectively each deceleration/decel a _jwhen control is braked from car, front vehicle, to from car collisionless risk, will not have the deceleration/decel a of collision risk _jbe stored as the maximum deceleration that can take from car for this front vehicle.

As preferably, the horizontal detection scope S between car and front vehicle described in step (1-1)≤2 meters.

As preferably, the longitudinal probing scope M between car and front vehicle described in step (1-1) be 50 meters to 200.

As preferably, the time gap described in step (1-2) is 1/10 second to 1/1000 second.

As preferably, the safety distance d in step (1-1) _safetyit is 1 meter to 4 meters.

The anti-control setup that knocks into the back of a kind of automobile flat tire, described automobile is provided with yaw-rate sensor and car speed sensor, comprise the tie pressure detection module of being located at respectively in each tire, be located at controller in compartment and, for receiving the first radio receiving transmitting module of tire pressure signal, be located at the front vehicle detector at rear portion, compartment; Tie pressure detection module comprises microprocessor, the second radio receiving transmitting module and sensor assembly, and microprocessor is electrically connected to the second radio receiving transmitting module and sensor assembly respectively; Described sensor assembly comprises temperature sensor, pressure sensor and humidity sensor; Described controller is electrically connected to tie pressure detection module, the first radio receiving transmitting module, car speed sensor, front vehicle detector, yaw-rate sensor, braking generation device and automobile dynamic system.

Car speed sensor, front vehicle detector, yaw velocity speed sensor and tie pressure detection module be at running car and when static, detects in real time respectively the speed of a motor vehicle from car, front vehicle situation, from car travel yaw velocity speed and the tire pressure situation of track.

In controller, be provided with while travelling from the longitudinal probing scope M between car and front vehicle and from the horizontal detection scope S between car and front vehicle, safety distance d after car and front vehicle stop _safety, rear time of driver's reaction t _reaction, the default deceleration/decel a of front vehicle _objradius of curvature limit value r with the track that travels from car;

Controller utilizes d _safety, t _reactionand a _objcalculate respectively when car is braked the maximum deceleration to each vehicle of rear, and the maxim of getting each maximum deceleration is controlled the maximum deceleration that can carry out as braking;

The detection data judgement of controller by tyre pressure sensor learn while blowing out, and controller is controlled automobile by automobile dynamic system and braking generation device and adopted the deceleration/decel deceleration that is less than or equal to maximum deceleration.

Therefore, automobile flat tire of the present invention prevents knocking into the back control setup can be when car be blown out, control in real time the deceleration/decel from car according to the relative speed of a motor vehicle between car and front vehicle, relative distance and from the variation of the yaw velocity speed of car, effectively prevent that front vehicle is to knocking into the back from car.

And whether the anti-control setup that knocks into the back of the prior art can only reduce speed now according to controlling from the car speed of a motor vehicle, for the scope of slowing down, can't be controlled.

As preferably, described front vehicle detector is at least one millimeter wave radar, or at least one vehicle-mounted camera, or at least one laser radar, or at least one global positioning system.

Millimeter wave radar can find to be positioned at the vehicle from certain angular range at car rear, can obtain respectively in the relative speed of a motor vehicle between car and front vehicle, the driving process relative spacing L between car and front vehicle and from the driving trace coordinate figure (x of car _i, y _i).

Global positioning system completes the global positioning system of catching and installing with front vehicle from flutterring of wheel paths and determines together the relative speed of a motor vehicle between car and front vehicle.

Pressure, the temperature of temperature sensor and pressure sensor Real-Time Monitoring tire under running car or static state, and the data that detect are launched by the second radio receiving transmitting module, controller judges according to the data that receive whether automobile blows out.

As preferably, brake generation device and comprise vacuum booster, ante-chamber electromagnetic valve and back cavity electromagnetic valve; Ante-chamber electromagnetic valve and back cavity electromagnetic valve are electrically connected to controller respectively.

Therefore, the present invention has following beneficial effect: (1) automobile flat tire of the present invention is anti-knock into the back control setup and control method can be when car be blown out, according to the speed of a motor vehicle from car, the rear car speed of a motor vehicle and the vehicle headway between car and front vehicle with control from the car braking deceleration from the car yaw velocity.

The accompanying drawing explanation

Fig. 1 is a kind of functional block diagram of the present invention;

Fig. 2 is a kind of diagram of circuit of the present invention.

In figure: yaw velocity speed sensor 1, car speed sensor 2, tie pressure detection module 3, controller 4, the first radio receiving transmitting module 5, front vehicle detector 6, microprocessor 7, the second radio receiving transmitting module 8, sensor assembly 9.

The specific embodiment

Below in conjunction with the drawings and specific embodiments, the present invention will be further described.

Embodiment as shown in Figure 1 is the anti-control setup that knocks into the back of a kind of automobile flat tire, described automobile is provided with yaw-rate sensor 1 and car speed sensor 2, comprise the tie pressure detection module 3 of being located at respectively in each tire, be located at controller 4 in compartment and, for receiving the first radio receiving transmitting module 5 of tire pressure signal, be located at the front vehicle detector 6 at rear portion, compartment; Tie pressure detection module comprises microprocessor 7, the second radio receiving transmitting module 8 and sensor assembly 9, and microprocessor is electrically connected to the second radio receiving transmitting module and sensor assembly respectively; Described controller is electrically connected to tie pressure detection module, the first radio receiving transmitting module, car speed sensor, front vehicle detector, yaw-rate sensor, braking generation device and automobile dynamic system.

The front vehicle detector is a millimeter wave radar.Sensor assembly comprises temperature sensor, pressure sensor and humidity sensor.The braking generation device comprises vacuum booster, ante-chamber electromagnetic valve and back cavity electromagnetic valve; Ante-chamber electromagnetic valve and back cavity electromagnetic valve are electrically connected to controller respectively.

As shown in Figure 2, the anti-control method that knocks into the back of a kind of automobile flat tire, comprise the steps:

Step 100, set the longitudinal probing scope M between car and front vehicle while travelling be in controller 80 meters, from car horizontal detection scope S be 1.5 meters, safety distance d after car and front vehicle stop _safetybe 1 meter, rear time of driver's reaction t _reactionbe 1 second and be 500 meters from the travel radius of curvature limit value r of track of car, 5 deceleration value a ₁=-9 meter per seconds ², a ₂=-7 meter per seconds ², a ₃=-6 meter per seconds ², a ₄=-5 meter per seconds ², a ₅=-4 meter per seconds ², a ₆=-3 meter per seconds ², a ₇=0 meter per second ²;

Step 200, the total number S=10 of the front vehicle that the front vehicle detector of supposing to detect in the present embodiment detects; The front vehicle detector is every within 1/30 second, detecting once from the relative speed of a motor vehicle between car and front vehicle, the relative spacing L between car and front vehicle _i,(i=1 ..., n) and rear car with respect to the position coordinate value (x from car _i, y _i), (i=1 ..., 10); Speed sensor is measured the speed of a motor vehicle from car, and the yaw velocity speed sensor is measured the yaw velocity speed from car, and tyre pressure sensor detects tire pressure; Controller is calculated according to each numerical value detected;

Step 300, when the track that travels from car is straight line, if | x _i|≤80 meters and | y _i|≤1.5 meters, controller is made the judgement of front vehicle in the track from car; _?

Step 400, when the track that travels from car is curve, controller is according to formula R=v _ego/ y _{aw_rate}calculating is from the travel radius of curvature of track of car;

Wherein, the radius of curvature that R is driving trace, v _egofor from the car speed of a motor vehicle, y _{aw_rate}for the yaw velocity speed that the yaw velocity speed sensor is measured, can use low-pass filter to carry out filtering to the original yaw velocity speed of sensor;

When | R| >=500 meter, controller adopts formula ${\left(x_{\mathrm{after}}\right)}_i=\sqrt{{y_i}^2+{x_i}^2}$ , ${\left(y_{\mathrm{after}}\right)}_i=y_i-\frac{{x_i}^2}{2R}$ The rear car coordinate is converted;

Wherein, (x _after) _ifor the abscissa, (y after conversion _after) _ifor ordinate, the x after conversion _ifor abscissa, the y before converting _ifor the ordinate before converting;

When | (x _after) _i|≤80 meters and | (y _after) _i| in the time of≤1.5 meters, controller is made the judgement of front vehicle in the track from car; _?

Step 500, when front vehicle is in the track from car, controller according to detect from the car vehicle velocity V _ego, the safety distance d after car and front vehicle stop _safety, the default deceleration/decel a of front vehicle that sets _obj, the default reaction time t of rear chaufeur _reactionwith front vehicle speed of a motor vehicle v _objcalculate successively the maximum deceleration (a that can carry out for different front vehicle _avoid) _i, (a _avoid) _i<0;

Step 500 specifically comprises the steps:

Step 510,

Controller utilizes formula $\begin{array}{c}{t}_{\mathrm{objstop}}=t_{\mathrm{reation}}+\frac{v_{\mathrm{obj}}}{-a_{\mathrm{obj}}}\\ t_{\mathrm{egostop}}=\frac{v_{\mathrm{ego}}}{-a_j}\end{array}$ Calculate rear car standing time t _objstopwith from car standing time t _egostop, j=1;

Step 520,

Work as t _objstop>=t _egostopthe time, controller is according to formula

Calculate the collision possibility, wherein d _objfor from car at t _reactioninterior stopping distance, d _egofor rear car at t _reactioninterior stopping distance;

Step 530,

Work as t _objstop<t _egostopthe time, utilize formula $\begin{array}{c}{v}_{\mathrm{ego}@t1}=v_{\mathrm{ego}}+a_n{t}_{\mathrm{reation}},a_j<0\\ v_{\mathrm{obj}@t1}=v_{\mathrm{obj}}\end{array}$ Calculating from car in the wings the vehicle driver react constantly t ₁speed of a motor vehicle v _ego@t1, rear car is at t ₁speed of a motor vehicle v constantly _obj@t1,

Work as v _ego@t1>v _ob@t1the time, the danger of controller judgement collisionless;

Work as v _ego@t1≤ v _ob@t1the time, utilize following formula to calculate the collision possibility:

V _egofor from the car speed of a motor vehicle, v _objfor the front vehicle speed of a motor vehicle, t _sfor the t calculated ₁the moment that constantly, the two car speed of a motor vehicle are identical is apart from t ₀time constantly, t ₀for current time;

Step 540,

When confirming with a _jwhen control is braked from car, this front vehicle, to from car collisionless risk, is stored a _jfor the maximum deceleration (a that can take from car for this front vehicle _avoid) i;

Step 550,

When confirming with a _jwhen control is braked from car, this front vehicle is when existing risk of collision and j<m from car, and the j value increases by 1, repeats the computation process of (2-1) to (2-4).

Each front vehicle is all carried out to the calculating of step 510 to step 550, obtain respectively the maximum deceleration (a that can take from car for each front vehicle _avoid) 1, (a _avoid) 2 ..., (a _avoid) n;

For example: first front vehicle do not have the deceleration value of collision risk to be respectively a ₃=-6 meter per seconds ², a ₄=-5 meter per seconds ², a ₅=-4 meter per seconds ², (a _avoid) the 1=-4 meter per second ².

Second front vehicle do not have the deceleration value of collision risk to be respectively a ₄=-5 meter per seconds ², a ₅=-4 meter per seconds ², a ₆=-3 meter per seconds ², (a _avoid) the 2=-3 meter per second ².

Step 600,

Controller utilizes formula

${\left(a_{\mathrm{avoid}}\right)}_{\max }=\max ({\left(a_{\mathrm{avoid}}\right)}_1,{\left(a_{\mathrm{avoid}}\right)}_2,...,{\left(a_{\mathrm{avoid}}\right)}_n)$ Maximum deceleration control rate (a that the computing controller braking is controlled _avoid) _max;

For example: the maximum deceleration of 10 front vehicle is respectively :-9 meter per seconds ²,-8 meter per seconds ²,-8 meter per seconds ²,-7 meter per seconds ²,-6 meter per seconds ²,-6 meter per seconds ²,-5 meter per seconds ²,-4 meter per seconds ²,-3 meter per seconds ²,-3 meter per seconds ²;

(a _avoid) _max=-3 meter per seconds ².

Step 700,

The detection data judgement of controller by tyre pressure sensor learn while blowing out, and controller is controlled automobile by automobile dynamic system and braking generation device and adopted the deceleration/decel deceleration that is less than or equal to maximum deceleration.

When the tire pressure of at least one tyre pressure sensor detection sharply reduces suddenly, controller is made the judgement of blowing out.

Should be understood that the present embodiment only is not used in and limits the scope of the invention for the present invention is described.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.

Claims (9)

1. the anti-control method that knocks into the back of automobile flat tire, is characterized in that, comprises the steps:

(1-1) in controller, set while travelling from the longitudinal probing scope M between car and front vehicle, from the horizontal detection scope S between car and front vehicle, safety distance d after car and front vehicle stop _safety, the default reaction time t of rear chaufeur _reaction, the default deceleration/decel a of front vehicle _obj, be provided with m deceleration value a in car travels the radius of curvature limit value r of track and controller ₁, a ₂, a ₃..., a _m; | a ₁|, | a ₂|, | a ₃| ..., | a _m| reduce successively a _m=0;

(1-2) the front vehicle detector detects once from the relative speed of a motor vehicle between car and front vehicle, the relative spacing L between car and front vehicle every certain time interval _i, (i=1 ..., n); And rear car is with respect to the position coordinate value (x from car _i, y _i), (i=1 ..., n); The total number that n is the front vehicle that detects of front vehicle detector; Speed sensor is measured the speed of a motor vehicle from car, and the yaw velocity speed sensor is measured the yaw velocity speed from car, and tyre pressure sensor detects tire pressure;

(1-3) when the track that travels from car is straight line, if | x _i|≤M and | y _i|≤S, controller is made the judgement of front vehicle in the track from car;

(1-4) when the track that travels from car is curve, controller is according to formula R=v _ego/ y _{aw_rate}calculating is from the travel radius of curvature of track of car;

Wherein, R is the radius of curvature of the track that travels from car, v _egofor from the car speed of a motor vehicle, y _{aw_rate}yaw velocity speed for the measurement of yaw velocity speed sensor;

When | R| >=r, controller adopts formula ${\left(x_{\mathrm{after}}\right)}_i=\sqrt{{y_i}^2+{x_i}^2}$ , ${\left(y_{\mathrm{after}}\right)}_i=y_i-\frac{{x_i}^2}{2R}$ The rear car coordinate is converted;

Wherein, (x _after) _ifor the abscissa, (y after conversion _after) _ifor ordinate, the x after conversion _ifor abscissa, the y before converting _ifor the ordinate before converting;

When | (x _after) _i|≤M and | (y _after) _i| during≤S, controller is made the judgement of front vehicle in the track from car; _?

(1-5) when front vehicle is in the track from car, controller according to detect from the car vehicle velocity V _ego, the safety distance d after car and front vehicle stop _safety, the default deceleration/decel a of front vehicle that sets _obj, the default reaction time t of rear chaufeur _reactionwith front vehicle speed of a motor vehicle v _objcalculate successively the maximum deceleration (a that can carry out for different front vehicle _avoid) _i, (a _avoid) _i<0; (1-6) controller utilizes formula

${\left(a_{\mathrm{avoid}}\right)}_{\max }=\max ({\left(a_{\mathrm{avoid}}\right)}_1,{\left(a_{\mathrm{avoid}}\right)}_2,...,{\left(a_{\mathrm{avoid}}\right)}_n)$ Calculate braking and control the maximum deceleration (a that can carry out _avoid) _max, (a _avoid) _max<0;

(1-7) the detection data judgement of controller by tyre pressure sensor learnt while blowing out, and controller is controlled automobile by automobile dynamic system and braking generation device and adopted the deceleration/decel deceleration that is less than or equal to maximum deceleration.

2. the anti-control method that knocks into the back of automobile flat tire according to claim 1, is characterized in that, the computation process of the maximum deceleration of the front vehicle in described step (1-5) comprises the steps:

（2-1）

Controller utilizes formula $\begin{array}{c}{t}_{\mathrm{objstop}}=t_{\mathrm{reation}}+\frac{v_{\mathrm{obj}}}{-a_{\mathrm{obj}}}\\ t_{\mathrm{egostop}}=\frac{v_{\mathrm{ego}}}{-a_j}\end{array}$ Calculate rear car standing time t _objstopwith from car standing time t _egostop, j=1;

(2-2) work as t _objstop>=t _egostopthe time, controller is according to formula

Calculate the collision possibility, wherein d _objfor from car at t _reactioninterior stopping distance, d _egofor rear car at t _reactioninterior stopping distance;

(2-3) work as t _objstop<t _egostopthe time, utilize formula $\begin{array}{c}{v}_{\mathrm{ego}@t1}=v_{\mathrm{ego}}+a_n{t}_{\mathrm{reation}},a_j<0\\ v_{\mathrm{obj}@t1}=v_{\mathrm{obj}}\end{array}$ Calculating from car in the wings the vehicle driver react constantly t ₁speed of a motor vehicle v _ego@t1, rear car is at t ₁speed of a motor vehicle v constantly _obj@t1,

Work as v _ego@t1>v _obj@t1the time, the danger of controller judgement collisionless;

Work as v _ego@t1≤ v _obj@t1the time, utilize following formula to calculate the collision possibility:

V _egofor from the car speed of a motor vehicle, v _objfor the front vehicle speed of a motor vehicle, t _sfor the t calculated ₁the moment that constantly, the two car speed of a motor vehicle are identical is apart from t ₀time constantly, t ₀for current time;

(2-4) when confirming with a _jwhen control is braked from car, this front vehicle, to from car collisionless risk, is stored a _jfor the maximum deceleration (a that can take from car for this front vehicle _avoid) i;

(2-5) when confirming with a _jwhen control is braked from car, this front vehicle is when existing risk of collision and j<m from car, and the j value increases by 1, repeats the computation process of (2-1) to (2-4).

3. the control method of the anti-control setup that knocks into the back of automobile flat tire according to claim 1, is characterized in that the horizontal detection scope S between car and front vehicle described in step (1-1)≤2 meters.

4. the anti-control method that knocks into the back of automobile flat tire according to claim 1, is characterized in that, the longitudinal probing scope M between car and front vehicle described in step (1-1) be 50 meters to 200.

5. the anti-control method that knocks into the back of automobile flat tire according to claim 1, is characterized in that, the time gap described in step (1-2) is 1/10 second to 1/1000 second.

6. according to claim 1 or the anti-control method that knocks into the back of 2 or 3 or 4 described automobile flat tires, it is characterized in that the safety distance d in step (1-1) _safetyit is 1 meter to 4 meters.

7. the control setup for control method claimed in claim 1, described automobile is provided with yaw-rate sensor (1) and car speed sensor (2), it is characterized in that, comprise the tie pressure detection module (3) of being located at respectively in each tire, be located at controller (4) in compartment and, for receiving first radio receiving transmitting module (5) of tire pressure signal, be located at the front vehicle detector (6) at rear portion, compartment; Tie pressure detection module comprises microprocessor (7), the second radio receiving transmitting module (8) and sensor assembly (9), and microprocessor is electrically connected to the second radio receiving transmitting module and sensor assembly respectively; Described sensor assembly comprises temperature sensor, pressure sensor and humidity sensor; Described controller is electrically connected to tie pressure detection module, the first radio receiving transmitting module, car speed sensor, front vehicle detector, yaw-rate sensor, braking generation device and automobile dynamic system.

8. the anti-control setup that knocks into the back of automobile flat tire according to claim 7, is characterized in that, described front vehicle detector is at least one millimeter wave radar, or at least one vehicle-mounted camera, or at least one laser radar, or at least one global positioning system.

9. according to the anti-control setup that knocks into the back of the described automobile flat tire of claim 7 or 8, it is characterized in that, the braking generation device comprises vacuum booster, ante-chamber electromagnetic valve and back cavity electromagnetic valve; Ante-chamber electromagnetic valve and back cavity electromagnetic valve are electrically connected to controller respectively.

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