CN109398352A

CN109398352A - Brake control method and equipment, computer readable storage medium

Info

Publication number: CN109398352A
Application number: CN201811063666.6A
Authority: CN
Inventors: 马东辉; 郑玉端
Original assignee: Beijing CHJ Automotive Information Technology Co Ltd
Current assignee: Beijing CHJ Automotive Information Technology Co Ltd
Priority date: 2018-09-12
Filing date: 2018-09-12
Publication date: 2019-03-01

Abstract

Embodiment of the invention discloses a kind of brake control method, device, system, equipment, vehicle and computer readable storage mediums, wherein, brake control method includes: information of vehicles, the first relative position information for obtaining this vehicle, and information of vehicles, the first relative position information are sent to surrounding vehicles；First relative position information is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；Receive surrounding vehicles information of vehicles, the second relative position information when, according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information be computed or looked up this vehicle aimed acceleration and evacuation angle；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；According to aimed acceleration and evacuation angle, the travel speed and driving direction of this vehicle are controlled.This method can reduce accident rate.

Description

Brake control method and equipment, computer readable storage medium

Technical field

The present invention relates to technical field of vehicle, fill in particular to a kind of brake control method, a kind of control for brake It sets, a kind of braking control system, a kind of vehicle, a kind of brake control apparatus and a kind of computer readable storage medium.

Background technique

During high speed driving, when front truck brake, Brake lamp can light vehicle.The driver of front vehicle is according to brake The signal that car light lights judges that front truck has taken braking, and then takes deceleration or change the measure of direction of traffic, to avoid knocking into the back Wipe the traffic accidents such as vehicle.

The shortcomings that such scheme has: after front truck braking, brake lamp only lights a kind of state, and rear car can only judge front truck Brake is taken, can not be light brake or emergency brake according to the state of brake lamp, judgement.Especially in the case where bad weather, such as The situation that foggy weather, heavy rain etc. cause light impacted, lights according to brake lamp, is difficult to obtain the driving side of front truck next step To tendency information, thus it is not easy to judge the subsequent driving intention and travel route of front truck at the first time.Due to high speed traveling Speed quickly, when interim discovery front truck is emergency brake and then when taking emergency braking, often because distance have been subjected to it is close=and be easy Cause brake not in time, caused rear-end collision.Although rear car takes emergency braking immediately, because two vehicles are apart from mistake Closely, and rear car can not judge the subsequent driving intention of front truck and travel route, and cause to avoid in vain, lead to major motor vehicle thing Therefore.

Summary of the invention

Embodiment disclosed by the invention aims to solve the problem that the prior art or in the related technology due to the light of front truck vehicle warning light Line is caused rear car vehicle to obtain front truck brake warning light information inaccuracy, is unable to judge accurately front truck vehicle by adverse weather conditions It is emergency brake or light the problem of stopping, effective measures to keep clear cannot be taken to lead to accident.

For this purpose, the first aspect of embodiment disclosed by the invention proposes a kind of brake control method.

The second aspect of embodiment disclosed by the invention proposes a kind of brake control.

The third aspect of embodiment disclosed by the invention proposes a kind of braking control system.

The fourth aspect of embodiment disclosed by the invention proposes a kind of vehicle.

5th aspect of embodiment disclosed by the invention proposes a kind of brake control apparatus.

6th aspect of embodiment disclosed by the invention proposes a kind of computer readable storage medium.

In view of above-mentioned, according to the present invention disclosed embodiment in a first aspect, provide a kind of brake control method, wrap It includes: obtaining the information of vehicles, the first relative position information of this vehicle, and information of vehicles, the first relative position information are sent To surrounding vehicles；First relative position information is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；? When receiving information of vehicles, the second relative position information of surrounding vehicles, according to the information of vehicles of this vehicle, the first relative position Information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the aimed acceleration and evacuation angle of this vehicle Degree；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；According to target Acceleration and evacuation angle, control the travel speed and driving direction of this vehicle.

The brake control method that embodiment disclosed by the invention provides, enables vehicle be provided simultaneously with to surrounding vehicles and sends itself Information and the information sent of surrounding vehicles is received to control the function of itself avoiding automatically, specifically, this vehicle is to vehicle around Send itself information of vehicles and itself and surrounding vehicles the first relative position information, while receiving surrounding vehicles and sending Information of vehicles and the second relative position information (can be what surrounding vehicles directly transmitted, be also possible to surrounding vehicles by the What tripartite's server was sent, such as cloud server), and can be determined according to the first relative position information, the second relative position information Send the corresponding relationship of information of vehicles, the vehicle of the second relative position information and the actually detected surrounding vehicles arrived of this vehicle (i.e. Determine send information of vehicles, the second relative position information vehicle be in surrounding vehicles which)；It determines and sends vehicle letter After corresponding relationship between breath, the vehicle of the second relative position information and the actually detected surrounding vehicles arrived of this vehicle, this vehicle It is known that be to have sent information to oneself positioned at the vehicle of which position.It will be sent out with the vehicle for sending information when this vehicle predicts When raw collision, automatic evacuation condition is just met, and then according to the information of vehicles of this vehicle, the first relative position information, surrounding The information of vehicles of vehicle is computed or looked up the aimed acceleration and evacuation angle of this vehicle to get optimization braking strategy is arrived, and Actively vehicle is operated, thus from receiving information, judgement, execute time for entirely acting when saving pilot steering, for up to It races against time to perfection evacuation effect, after risk releases, operating rights can be returned driver.It wherein, can be according to currently obtaining Information calculates aimed acceleration and evacuation angle, can also calculate in advance under a large amount of different operating conditions corresponding aimed acceleration and Angle is avoided, aimed acceleration and evacuation angle are directly gone out according to the information searching currently obtained when executing this method every time, it can Further shorten the reaction time, improves evacuation precision and safety.

This method can assist driver to send the dangerous driving states of this vehicle, so that surrounding vehicles identify this vehicle in time Driving states, and be computed or looked up reasonable aimed acceleration and evacuation angle, to take corresponding brake measure automatically, Accident rate is reduced, accident injury is reduced.

In addition, the brake control method in the above-mentioned technical proposal that embodiment disclosed by the invention provides can also have as Lower additional technical feature:

In the above-mentioned technical solutions, it is preferable that information of vehicles includes the current moving parameter information of vehicle；Kinematic parameter letter Breath includes speed, vehicle acceleration, headstock direction, wheel direction.

In any of the above-described technical solution, it is preferable that information of vehicles further includes the whole-car parameters of vehicle；Whole-car parameters include The dimensional parameters of vehicle.

In any of the above-described technical solution, it is preferable that the first relative position information include: around each vehicle relative to this vehicle Azimuth-range where；Second relative position information includes: this vehicle relative to the azimuth-range where surrounding vehicles.

In any of the above-described technical solution, it is preferable that according to the information of vehicles of this vehicle, the first relative position information, week The information of vehicles of vehicle is enclosed, the second relative position information is computed or looked up the aimed acceleration of this vehicle and avoids the operation of angle It include: to determine according to the first relative position information, the second relative position information and send information of vehicles, the second relative position information Vehicle and surrounding vehicles corresponding relationship；According to the opposite position of the information of vehicles of this vehicle, the first relative position information or second Confidence ceases, the information of vehicles of surrounding vehicles is computed or looked up the aimed acceleration of this vehicle and avoids angle.

In any of the above-described technical solution, it is preferable that the vehicle around being sent to information of vehicles, the first relative position information Operation after, further includes: obtain the information of vehicles, the first relative position information of this vehicle in real time；It is real-time to surrounding vehicles The information of vehicles and the first relative position information updated is sent, for surrounding vehicles adjustment aimed acceleration and evacuation angle.

In any of the above-described technical solution, it is preferable that according to aimed acceleration and evacuation angle, control the row of this vehicle After the step of sailing speed and driving direction, further includes: receive information of vehicles, the second relative position of surrounding vehicles real-time update Information；According to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position letter Breath adjusts the aimed acceleration and evacuation angle of this vehicle.

In any of the above-described technical solution, it is preferable that according to the information of vehicles of this vehicle, the first relative position information, The information of vehicles of surrounding vehicles, the second relative position information adjust this vehicle aimed acceleration and evacuation angle the step of it Afterwards, further includes: when the information of vehicles for no longer receiving surrounding vehicles and the second relative position information or be computed this vehicle and week When enclosing vehicle collisionless risk, stop operation relevant to aimed acceleration and evacuation angle.

In any of the above-described technical solution, it is preferable that obtaining the information of vehicles of this vehicle, the first relative position information After operation, further includes: whether there is mobile object in the predeterminable area of this vehicle periphery of real-time detection；When predeterminable area memory In mobile object, the evacuation angle of this vehicle is calculated, according to the orientation of mobile object to enable mobile object exit predeterminable area.

In any of the above-described technical solution, it is preferable that obtaining the information of vehicles of this vehicle, the first relative position information After operation, before information of vehicles, the first relative position information are sent to the operation of surrounding vehicles, further includes: according to this The information of vehicles of vehicle judges whether this vehicle enters emergency braking condition；When determining that this vehicle enters emergency braking condition, Execute the operation that information of vehicles, the first relative position information are sent to surrounding vehicles.

In any of the above-described technical solution, it is preferable that moving parameter information further includes vehicle inclination angle and brake-pedal travel.

In any of the above-described technical solution, it is preferable that judge whether this vehicle enters tightly according to the information of vehicles of this vehicle The operation of anxious on-position include: according to speed and vehicle Dip countion critical acceleration and/or critical retardation pedal travel, or Corresponding critical acceleration and/or critical retardation pedal travel are searched according to speed and vehicle inclination angle；Judging vehicle acceleration is It is no whether to be greater than critical retardation pedal travel less than critical acceleration and/or brake-pedal travel, when the judgment result is yes, sentence This fixed vehicle enters emergency braking condition.

In any of the above-described technical solution, it is preferable that the vehicle around being sent to information of vehicles, the first relative position information Operation after, further includes: judge whether this vehicle exits emergency braking condition according to the information of vehicles of this vehicle；Work as judgement When this vehicle exits emergency braking condition, stop the operation that information of vehicles, the first relative position information are sent to surrounding vehicles.

In any of the above-described technical solution, it is preferable that the operation for obtaining the information of vehicles of this vehicle includes: to obtain headstock side The steering angle that the headstock direction detected to sensor and rotation direction sensor detect, according to headstock direction and steering angle meter Calculate wheel direction；It include: to be sent out using workshop signal by the operation that information of vehicles, the first relative position information are sent to surrounding vehicles Information of vehicles, the first relative position information are sent to surrounding vehicles by injection device.

The second aspect of disclosed embodiment according to the present invention provides a kind of brake control, which is characterized in that dress Setting includes: information reading module, for obtaining the information of vehicles, the first relative position information of this vehicle；First relative position letter Breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；Communication module, for by the vehicle of this vehicle Information, the first relative position information are sent to surrounding vehicles；And receive information of vehicles, surrounding vehicles and this vehicle of surrounding vehicles The second relative position information；Second relative position information is this vehicle for detecting of surrounding vehicles relative to surrounding vehicles Location information；Computing module, when for receiving information of vehicles, the second relative position information of surrounding vehicles in communication module, It is calculated according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information Or search the aimed acceleration and evacuation angle of this vehicle；Control module, for according to aimed acceleration and evacuation angle, control The travel speed and driving direction of this vehicle.

The brake control that embodiment disclosed by the invention provides, enables vehicle be provided simultaneously with to surrounding vehicles and sends itself Information and the information sent of surrounding vehicles is received to control the function of itself avoiding automatically, specifically, communication module is to surrounding Vehicle sends the information of vehicles that read module obtains and the first relative position information of itself and surrounding vehicles, while receiving week Enclose information of vehicles that vehicle is sent and the second relative position information (can be what surrounding vehicles directly transmitted, be also possible to around Vehicle is sent by third-party server, such as cloud server), computing module can be according to the first relative position information, second Relative position information, determine send information of vehicles, the second relative position information vehicle and this vehicle is actually detected arrive around Vehicle corresponding relationship (determine send information of vehicles, which in surrounding vehicles the vehicle of the second relative position information be )；It determines between the vehicle and the actually detected surrounding vehicles arrived of this vehicle that send information of vehicles, the second relative position information After corresponding relationship, it is to have sent information to oneself positioned at the vehicle of which position that this vehicle, which is known that,.When computing module predicts When by colliding with the vehicle for sending information, automatic evacuation condition is just met, and then according to the information of vehicles of this vehicle, the The information of vehicles of one relative position information, surrounding vehicles, be computed or looked up this vehicle aimed acceleration and evacuation angle to get To optimize braking strategy, control module actively vehicle is operated, thus when saving pilot steering from receive information, sentence The time that disconnected, execution entirely acts races against time to reach perfect evacuation effect, after risk releases, can return operating rights and drive The person of sailing.Wherein, computing module can calculate aimed acceleration and evacuation angle according to the information currently obtained, can also calculate in advance Corresponding aimed acceleration and evacuation angle under a large amount of difference operating conditions out, direct basis currently obtains when executing this method every time Information searching goes out aimed acceleration and evacuation angle, can further shorten the reaction time, improves evacuation precision and safety.

The device can assist driver to send the dangerous driving states of this vehicle, so that surrounding vehicles identify this vehicle in time Driving states, and be computed or looked up reasonable aimed acceleration and evacuation angle, to take corresponding brake measure automatically, Accident rate is reduced, accident injury is reduced.

The third aspect of disclosed embodiment according to the present invention, provides a kind of braking control system, and system includes: ranging Sensor, for detecting first relative position information of the surrounding vehicles relative to this vehicle；And such as any of the above-described technical solution institute The brake control stated.

The fourth aspect of disclosed embodiment according to the present invention provides a kind of vehicle, including such as above-mentioned technical proposal institute The braking control system stated.

5th aspect of disclosed embodiment according to the present invention, provides a kind of brake control apparatus, comprising: memory, It is configured to storage executable instruction；Processor is configured to execute the instruction of storage to realize as described in any of the above-described technical solution The step of method.

6th aspect of disclosed embodiment according to the present invention, provides a kind of computer readable storage medium, deposits thereon Computer program is contained, is realized when computer program is executed by processor such as the step of any of the above-described technical solution the method.

The additional aspect and advantage of disclosed embodiment will provide in following description section according to the present invention, partially will Become obvious from the following description, or practice through the invention is recognized.

Detailed description of the invention

The above-mentioned and/or additional aspect and advantage of embodiment disclosed by the invention are from combination following accompanying drawings to embodiment It will be apparent and be readily appreciated that in description, in which:

Fig. 1 shows the schematic flow diagram of brake control method according to first embodiment of the invention；

Fig. 2 shows the schematic flow diagrams of the brake control method of second embodiment according to the present invention；

Fig. 3 shows vehicle relative positional relationship schematic diagram according to an embodiment of the invention；

Fig. 4 shows the schematic flow diagram of the brake control method of third embodiment according to the present invention；

Fig. 5 shows the schematic flow diagram of the brake control method of the 4th embodiment according to the present invention；

Fig. 6 shows the schematic flow diagram of the brake control method of the 5th embodiment according to the present invention；

Fig. 7 shows the schematic flow diagram of brake control method according to the sixth embodiment of the present；

Fig. 8 shows the schematic flow diagram of the brake control method of the 7th embodiment according to the present invention；

Fig. 9 shows the schematic flow diagram of the brake control method of the 8th embodiment according to the present invention；

Figure 10 shows the schematic block diagram of brake control according to first embodiment of the invention；

Figure 11 shows the schematic block diagram of the brake control method of second embodiment according to the present invention；

Figure 12 shows the schematic block diagram of the brake control method of third embodiment according to the present invention；

Figure 13 shows the schematic block diagram of the brake control method of the 4th embodiment according to the present invention；

Figure 14 shows the schematic block diagram of the brake control method of the 5th embodiment according to the present invention；

Figure 15 shows the schematic block diagram of brake control apparatus according to an embodiment of the invention.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application Feature in example and embodiment can be combined with each other.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below Specific embodiment limitation.

The embodiment of first aspect present invention provides a kind of brake control method.

Fig. 1 shows the schematic flow diagram of brake control method according to first embodiment of the invention.Such as Fig. 1 institute Show, this method comprises:

S102 obtains the information of vehicles, the first relative position information of this vehicle, and by information of vehicles, first with respect to position Confidence breath is sent to surrounding vehicles；First relative position information is position of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle Confidence breath；

S104, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S106 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

It is to be appreciated that this vehicle and surrounding vehicles are relative concept rather than absolute probability herein, observation view is embodied The difference at angle.It is provided simultaneously with using the vehicle of this method and sends information to surrounding vehicles and receive the information of surrounding vehicles and realize The function that this vehicle avoids automatically.In other words, surrounding vehicles receive the information of vehicles of this vehicle transmission, the first relative position letter After breath, equally automatic evacuation can be realized according to the realization logic of this vehicle.

Optionally, current vehicle and surrounding vehicles can may knock into the back or the vehicle of lane-change collision for traveling in the same direction, can also The respectively horizontal and vertical traveling of traffic intersection and the vehicle that may collide.

In one embodiment of the invention, it is preferable that information of vehicles includes the current moving parameter information of vehicle；Movement Parameter information includes speed, vehicle acceleration, headstock direction, wheel direction.

In this embodiment, specifically define that information of vehicles includes the moving parameter information of this vehicle, movement tendency information is not But outside including this kind of data that can reflect vehicle travel condition of speed and vehicle acceleration, further comprise headstock direction and wheel Direction (angle that can deviate headstock according to wheel determines), to reflect the variation tendency of vehicle forward direction.Headstock direction and vehicle It takes turns direction and more accurately executes the positional relationship and collision situation for calculating and predicting with this vehicle for surrounding vehicles, help to mention High evacuation precision.

In one embodiment of the invention, it is preferable that information of vehicles further includes the whole-car parameters of vehicle；Whole-car parameters packet Include the dimensional parameters of vehicle.

In this embodiment, specifically define that information of vehicles further includes whole-car parameters, including vehicle width, vehicle commander's equidimension ginseng Number further includes the driving such as vehicle performance factor, vehicle, brand as calculating aimed acceleration and avoiding the basic data of angle The intrinsic parameter of computer, such as discharge capacity, the relationship of torque, the rotational angle of steering wheel and vehicle wheel rotation angle, so that it is determined that reach The operation that aimed acceleration and evacuation angle need to execute vehicle, the brake-pedal travel that should such as use, steering wheel angle of rotation Degree.

In one embodiment of the invention, it is preferable that the first relative position information include: around each vehicle relative to this Azimuth-range where vehicle；Second relative position information includes: this vehicle relative to the azran where surrounding vehicles From.

In this embodiment, the first relative position information and the second relative position information are specifically described, both for vehicle Relative bearing and distance between, but subjective visual angle is different, wherein the first relative position information is the visual angle of this vehicle, Be this vehicle periphery each vehicle relative to the azimuth-range where this vehicle, the second relative position information is to send out to this vehicle Deliver letters the visual angle of certain vehicle around breath, be the vehicle periphery each vehicle relative to the azimuth-range where the vehicle, with Convenient for difference.

Fig. 2 shows the schematic flow diagrams of the brake control method of second embodiment according to the present invention.Such as Fig. 2 institute Show, this method comprises:

S202 obtains the information of vehicles, the first relative position information of this vehicle, and by information of vehicles, first with respect to position Confidence breath is sent to surrounding vehicles；First relative position information is position of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle Confidence breath；

S204, receive surrounding vehicles information of vehicles, the second relative position information when, according to the first relative position believe Breath, the second relative position information determine the vehicle pass corresponding with surrounding vehicles for sending information of vehicles, the second relative position information System；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；

S206, according to the information of vehicles of this vehicle, the first relative position information or the second relative position information, surrounding vehicles Information of vehicles be computed or looked up this vehicle aimed acceleration and evacuation angle；

S208 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

In this embodiment, can be obtained simultaneously when vehicle obtains relative position information orientation where more trolleys around and Distance, and the location information of acquisition and the corresponding relationship of surrounding vehicles can not be directly determined due to the vehicle, therefore will acquire complete Portion's location information issues every trolley of surrounding, and true by the first relative position information of comparison and the second relative position information Recognize to the vehicle that this vehicle sends information is which platform in surrounding vehicles.For example, as shown in figure 3, this vehicle get One relative position information is the azimuth-range that surrounding vehicles A, B, C, D are respectively relative to this vehicle are as follows: A (0 degree, 30 meters), B (90 degree, 40 meters), C (120 degree, 35 meters), D (270 degree, 50 meters), when this vehicle receives the vehicle that around a certain vehicle is sent Information and the second relative position information, and the second relative position information be the vehicle periphery vehicle A, C and this vehicle relative to The location information of the vehicle, specifically: when A (307 degree, 50 meters), C (210 degree, 20 meters), this vehicle (270 degree, 40 meters), due to In first relative position information and the second relative position information orientation it is opposite and apart from identical location information be respectively (90 degree, 40 meters) and (270 degree, 40 meters), then this vehicle can determine that the vehicle is the vehicle B at 40 meters of this right ahead.Really Information of vehicles and relative position information after fixed further according to the two are computed or looked up the aimed acceleration and evacuation angle of this vehicle, Calculated result can be made accurate.The vehicle of information is sent due to having had been acknowledged herein, therefore relative position information both can be used first Letter corresponding with the vehicle in the second relative position information can also be used in information corresponding with the vehicle in relative position information Breath, either-or.

Fig. 4 shows the schematic flow diagram of the brake control method of third embodiment according to the present invention.Such as Fig. 4 institute Show, this method comprises:

S302 obtains the information of vehicles, the first relative position information of this vehicle, and by information of vehicles, first with respect to position Confidence breath is sent to surrounding vehicles；First relative position information is position of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle Confidence breath；

S304 obtains the information of vehicles, the first relative position information of this vehicle in real time；

S306 sends the information of vehicles and the first relative position information of update, in real time to surrounding vehicles for surrounding vehicles Adjust aimed acceleration and evacuation angle；

S308, receive surrounding vehicles information of vehicles, the second relative position information when, according to the first relative position believe Breath, the second relative position information determine the vehicle pass corresponding with surrounding vehicles for sending information of vehicles, the second relative position information System；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；

S310, according to the information of vehicles of this vehicle, the first relative position information or the second relative position information, surrounding vehicles Information of vehicles be computed or looked up this vehicle aimed acceleration and evacuation angle；

S312 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle；

S314 receives information of vehicles, the second relative position information of surrounding vehicles real-time update；

S316, according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second phase The aimed acceleration and evacuation angle of this vehicle are adjusted to location information.

In this embodiment, it is maintained for once transmission information of vehicles and the first relative position information, this vehicle to week Information of vehicles and the first relative position information that vehicle sends update in real time are enclosed, i.e. communication between vehicle is real-time perfoming, week Aimed acceleration and evacuation angle can be adjusted in static preceding whole service state for this vehicle in real time by enclosing vehicle, with evacuation This vehicle, to effectively avoid collision.Specifically, S304 and S308 can be performed simultaneously, and be sent in S308 in response to surrounding vehicles Information of vehicles and the second relative position information assist this vehicle braking, in the state of this vehicle auxiliary braking, continue to keep The information of vehicles of this vehicle is obtained in real time and the first relative position information and is sent to surrounding vehicles.

Correspondingly, in S314, when this vehicle receives information of vehicles and the second relative position of surrounding vehicles real-time update When information, aimed acceleration and evacuation angle can also be readjusted in S316.Specifically, adjustment aimed acceleration and evacuation angle When, it is equivalent to and aimed acceleration and evacuation angle is recalculated according to the information of vehicles and relative position information of update, calculate Process can refer to above-mentioned second embodiment of the present invention, and details are not described herein.

In one embodiment of the invention, it is preferable that believe according to the information of vehicles of this vehicle, the first relative position Breath, the information of vehicles of surrounding vehicles, the second relative position information adjust the step of aimed acceleration and evacuation angle of this vehicle Later, further includes: when the information of vehicles for no longer receiving surrounding vehicles and the second relative position information or be computed this vehicle with When surrounding vehicles collisionless risk, stop operation relevant to aimed acceleration and evacuation angle.

In this embodiment, it further defines and how to exit automatic evacuation, that is, stop and aimed acceleration and evacuation angle Relevant operation is spent, specifically, including stopping being computed or looked up aimed acceleration and evacuation angle, and accordingly to this The automatic evacuation control that vehicle carries out.On the one hand, the information of vehicles and second of surrounding vehicles is no longer received relatively in this vehicle When location information, it is believed that be not necessarily to evacuation, therefore exited automatic evacuation；On the other hand, it is calculated in braking process in this vehicle When obtaining itself and surrounding vehicles collisionless risk, then automatic evacuation is exited.Real-time communication state is kept between each vehicle, whole Real-time operation is carried out during a behavior act, it can be ensured that movement remains at optimization strategy.

Fig. 5 shows the schematic flow diagram of the brake control method of the 4th embodiment according to the present invention.Such as Fig. 5 institute Show, this method comprises:

S402 obtains the information of vehicles, the first relative position information of this vehicle, and by information of vehicles, first with respect to position Confidence breath is sent to surrounding vehicles；First relative position information is position of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle Confidence breath；

S404, the predeterminable area of this vehicle periphery of real-time detection is interior to whether there is mobile object, if so, S406 is gone to, If it is not, then returning to S404；

S406 calculates the evacuation angle of this vehicle, according to the orientation of mobile object to enable mobile object exit predeterminable area；

S408, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S410 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

It in this embodiment, can be to evacuation angle by monitoring the mobile object entered in the predeterminable area around vehicle body It is finely adjusted, to enable mobile object exit from predeterminable area, avoids and scratch.In structure, settable radar can also be in vehicle body Protruding parts (such as rearview mirror) range sensor is set, when there is mobile object default less than first at a distance from range sensor When value, then it is assumed that there is mobile object to enter predeterminable area, calculate evacuation angle with enable the mobile object and range sensor away from From increase, until being greater than the second preset value, wherein first pre-sets less than or equal to the second preset value.The strategy can isolated operation with It avoids scratching when driving daily, the evacuation angle of current vehicle is subject to when the distance of detection is less than the first preset value at this time Intervene, exits intervention when the distance of detection is greater than the second preset value；The strategy also can be used as the supplement of automatic avoidance strategy, with Evacuation precision is improved, obtained evacuation angle is adjusted when the distance of detection is pre-seted less than first at this time, is being detected Distance be greater than the second preset value when no longer adjustment evacuation angle.

Fig. 6 shows the schematic flow diagram of the brake control method of the 5th embodiment according to the present invention.Such as Fig. 6 institute Show, this method comprises:

S502 obtains the information of vehicles, the first relative position information of this vehicle；First relative position information is the inspection of this vehicle Location information of the surrounding vehicles measured relative to this vehicle；

S504 judges whether this vehicle enters emergency braking condition according to the information of vehicles of this vehicle, if so, going to S506, if it is not, then returning to S502；

Information of vehicles, the first relative position information are sent to surrounding vehicles by S506；

S508, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S510 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

In this embodiment, this vehicle first judges whether itself enters urgent system after the information of vehicles for getting itself Dynamic state if so, easy and surrounding vehicles, the front vehicle especially travelled in the same direction collide, therefore is sent out to surrounding vehicles Information of vehicles and the first relative position information including moving parameter information and whole-car parameters are sent, i.e., surrounding vehicles, which receive, works as front truck The information of vehicles issued under emergency braking condition and the first relative position information are the preconditions of surrounding vehicles movement, are made Surrounding vehicles are obtained just to carry out aimed acceleration when receiving information of vehicles and the first relative position information and avoid the meter of angle It calculates, facilitates reasonable distribution computing resource.In other words, except sharing this vehicle just in the communication signal of emergency braking to surrounding vehicles Outside, the information of vehicles and the first relative position information of this vehicle are gone back while transmitting, surrounding vehicles can use these information and take The measures to keep clear of optimization, to effectively avoid current vehicle, this is vital during entire evacuation.

Further, with front vehicles (i.e. this vehicle) emergency braking, and to front vehicle (the i.e. surrounding vehicle travelled in the same direction ) send its information of vehicles and the first relative position information for, when front vehicle receives front vehicles equipped with information of vehicles After the communication signal of the first relative position information, start immediately and this vehicle motion state is judged, and is having risk of collision When control the instruction itself avoided automatically: utilize the real-time of distance measuring sensor measurement emergency braking vehicle (front vehicles) and this vehicle Orientation calculates the target of this vehicle in conjunction with this vehicle speed, the moving parameter information of front truck, whole-car parameters where distance, front vehicles The evacuation angle that acceleration (acceleration that brake pedal should take braking) and steering system should be taken, adds according to obtained target Speed, evacuation angle, control itself automatic braking, turn to, to avoid front truck, to effectively avoid collision.In other words, surrounding vehicle It is determined with risk of collision after the information of vehicles for receiving this vehicle, is the execution condition that it is avoided automatically.

In one embodiment of the invention, it is preferable that moving parameter information further includes vehicle inclination angle and brake pedal row Journey.

In this embodiment, it needs to apply brake pedal under different driving cycles due to different vehicles different Different aimed accelerations can be reached and realize braking by trampling stroke, such as when vehicle is in descent run state, ramp is got over Suddenly, i.e. vehicle inclination angle is bigger, and the brake-pedal travel needed is bigger, and for aimed acceleration as vector, absolute value is bigger, That is aimed acceleration facilitates with regard to smaller, therefore by introducing vehicle inclination angle and brake-pedal travel in moving parameter information Improve the accuracy avoided automatically.

Fig. 7 shows the schematic flow diagram of brake control method according to the sixth embodiment of the present.Such as Fig. 7 institute Show, this method comprises:

S602 obtains the information of vehicles, the first relative position information of this vehicle；First relative position information is the inspection of this vehicle Location information of the surrounding vehicles measured relative to this vehicle；

S604, according to speed and vehicle Dip countion critical acceleration and critical retardation pedal travel, or according to speed and Search corresponding critical acceleration and critical retardation pedal travel in vehicle inclination angle；

S606 judges whether that meeting vehicle acceleration simultaneously is greater than critical system less than critical acceleration and brake-pedal travel Dynamic pedal travel, if so, S608 is gone to, if it is not, then returning to S602；

Information of vehicles, the first relative position information are sent to surrounding vehicles by S608；

S610, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S612 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

In this embodiment, it specifically defines how to judge whether this vehicle enters emergency braking condition.Worked as by combining Preceding operating condition can be obtained corresponding critical acceleration and/or critical retardation pedal travel, and then by currently practical vehicle acceleration It compares compared with critical acceleration, and/or by currently practical brake-pedal travel with critical retardation pedal travel, it can be with Determine whether driver performs emergency brake operations to this vehicle, i.e. whether current vehicle enters emergency braking condition, and When vehicle acceleration is less than critical acceleration and/or brake-pedal travel greater than critical retardation pedal travel, it is judged to entering Emergency braking condition.Consider vehicle acceleration and brake-pedal travel as shown in this embodiment while can be when judgement, it can also be A consideration is selected in the two.Specifically, this vehicle detects its vehicle acceleration using acceleration transducer, while braking distance passes Sensor detection brake-pedal travel, the instantaneous velocity of above-mentioned two signal values combination vehicle, BCM (Body Control Module, Car body controller) according to the progress algorithm operation of built-in algorithm program, operation result is compared with defined parameter matrix, It include that parameters combine the multiple operating conditions to be formed in parameter matrix, each operating condition has corresponding critical acceleration and/or critical Brake-pedal travel if judging that current vehicle has met the design definition of emergency braking condition after comparing, and is carrying out urgent Braking sends the communication signal equipped with information of vehicles and the first relative position information to surrounding vehicles.Certainly, it can also be configured Model is directly to calculate critical acceleration and/or critical retardation pedal travel.

Correspondingly, this vehicle calculates target after the information of vehicles for receiving surrounding vehicles and the second relative position information and adds Also available to the vehicle inclination angle of itself when speed.Specifically, vehicle inclination angle is acquired by vehicle ramp inclination sensor.In addition, It is conceivable that ground, S604 and S610 uninevitable execution sequencing, does not receive the vehicle letter of surrounding vehicles in this vehicle When breath, the operation of S604 to S608 can be executed always；When the information of vehicles for getting surrounding vehicles and the second relative position information When, then it is switched to the operation of S610, and determine according to subsequent judgement and give the control of vehicle to vehicle or driver, Hereafter in control if it exists emergency brake operations (can be driver manual operation, can also be vehicle automatic control), together Sample sends the information of vehicles of itself to other vehicles by the operation of S604 to S608 to coordinate the Relationship Between Vessels of each vehicle.

Fig. 8 shows the schematic flow diagram of the brake control method of the 7th embodiment according to the present invention.Such as Fig. 8 institute Show, this method comprises:

S702 obtains the information of vehicles, the first relative position information of this vehicle；First relative position information is the inspection of this vehicle Location information of the surrounding vehicles measured relative to this vehicle；

S704, according to speed and vehicle Dip countion critical acceleration and critical retardation pedal travel, or according to speed and Search corresponding critical acceleration and critical retardation pedal travel in vehicle inclination angle；

S706 judges whether that meeting vehicle acceleration simultaneously is greater than critical system less than critical acceleration and brake-pedal travel Dynamic pedal travel, if so, S708 is gone to, if it is not, then returning to S702；

Information of vehicles, the first relative position information are sent to surrounding vehicles by S708；

S710 obtains the information of vehicles, the first relative position information of this vehicle in real time；

S712 sends the information of vehicles and the first relative position information of update, in real time to surrounding vehicles for surrounding vehicles Adjust aimed acceleration and evacuation angle；

S714 judges whether this vehicle exits emergency braking condition according to the information of vehicles of this vehicle, if so, going to S716, if it is not, then returning to S710；

S716 stops the operation that information of vehicles, the first relative position information are sent to surrounding vehicles；

S718, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S720 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle；

S722 receives information of vehicles, the second relative position information of surrounding vehicles real-time update；

S724, according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second phase The aimed acceleration and evacuation angle of this vehicle are adjusted to location information.

In this embodiment, defining that this vehicle sends information of vehicles and the exit criteria of the first relative position information is this Vehicle exits emergency braking condition, namely just no longer sends itself to surrounding vehicles after this vehicle restores safe driving state Information of vehicles is combined with the 5th embodiment of the invention, and surrounding vehicles exit automatic evacuation therewith.Further, with vehicle Real-time communication between is corresponding, this vehicle to whether enter emergency braking condition calculating and judgement be also in real time, such as In braking process, this vehicle determines that it is unsatisfactory for the design definition of emergency braking condition through operation, that is, exits emergency braking shape State then no longer emits the communication signal equipped with information of vehicles and the first relative position information to surrounding vehicles.In other words, for The vehicle of the communication signal equipped with information of vehicles and the first relative position information is sent, exit criteria is to exit emergency braking State is without retransmiting the communication signal；For executing the vehicle avoided automatically according to the communication signal, automatic evacuation is exited The condition of movement be Ben Che is calculated in braking process and issue possibility that the vehicle of aforementioned communication signal does not collide or Aforementioned communication signal disappears.

Fig. 9 shows the schematic flow diagram of brake control method according to first embodiment of the invention.Such as Fig. 9 institute Show, this method comprises:

S802 obtains the headstock direction that headstock direction sensor detects and the steering angle that rotation direction sensor detects, Wheel direction is calculated according to headstock direction and steering angle；

S804 obtains the speed that detects of vehicle speed sensor, the vehicle acceleration that acceleration transducer detects, ranging pass The first relative position information that sensor detects；First relative position information is the surrounding vehicles that arrive of this vehicle detection relative to this The location information of vehicle；

Information of vehicles, the first relative position information are sent to surrounding vehicles using workshop sender unit by S806；

S808, receive surrounding vehicles information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position information are computed or looked up the target of this vehicle Acceleration and evacuation angle；Second relative position information is position of this vehicle that detects of surrounding vehicles relative to surrounding vehicles Information；

S810 controls the travel speed and driving direction of this vehicle according to aimed acceleration and evacuation angle.

In this embodiment, (whole-car parameters are intrinsic ginseng to the moving parameter information for defining how to obtain in information of vehicles Number is directly obtained from database) and the first relative position information, and how to send information of vehicles and the first relative position Information.Headstock direction sensor can be compass or gyroscope, and rotation direction sensor can be clock spring, workshop sender unit Inter-vehicle communication can be achieved, entire communication process is completed between vehicle, is not required to by GPS (Global Positioning System, global positioning system) etc. third parties' auxiliary device, when avoiding vehicle in no network area, because not receiving third The location data of side, and cause rear-end collision.In no GPS covering area, by the communication between latent defect vehicle, vehicle can Automatically measures to keep clear is taken, reduces the probability of happening of major accident.

Next the braking that embodiment disclosed by the invention provides is introduced with the braking example of the fore-aft vehicle travelled in the same direction Control method.Firstly, front truck detects the speed of this vehicle using vehicle speed sensor, when detecting the braking of this vehicle using acceleration transducer Vehicle acceleration, while the stroke stepped on of brake stroke sensor detection brake pedal, and vehicle is acquired by clock spring Steering angle, by vehicle ramp inclination sensor acquire vehicle inclination angle, and then obtain vehicle moving parameter information, will transport It calculates result to be compared with defined parameter matrix, if judging, vehicle enters emergency braking condition, sends out using workshop signal Rearward all vehicles send communication signal, the moving parameter information of vehicle itself, whole-car parameters (vehicle width, vehicle commander, property to injection device Can parameter etc.) and the first relative position information, above-mentioned signal value calculated in conjunction with instantaneous vehicle speed and BCM built-in algorithm program Method operation.After front vehicle receives front truck communication signal, this vehicle motion state is judged immediately, and utilizes distance measuring sensor Relative position and distance of the measurement with front emergency braking vehicle, in conjunction with front truck moving parameter information, this vehicle speed and other phases Induction signal, which calculates brake pedal and steering system, should take the operational motion of which kind of degree that could effectively avoid collision, and sentence as met Fixed condition then carries out automatic braking according to optimization avoidance strategy.In addition, above-mentioned action process is real-time communication state, thus On-position can be adjusted at any time, not only avoided collision but also guarantee to influence passenger minimum.Brake control method provided by the invention can In minimal communications range, most full signal acquisition is carried out, effective optimization scheme execution is carried out to vehicle automatically, is facilitated auxiliary It helps driver to send the dangerous driving states of front truck, enables rear car identify front truck driving states in time, and then take corresponding system automatically Dynamic measure, guarantee driving safety reduce the injury of car accident on lane.

The embodiment of second aspect of the present invention provides a kind of brake control.

Figure 10 shows the schematic block diagram of brake control according to first embodiment of the invention.Such as Figure 10 institute Show, brake control 100 includes:

Information reading module 102, for obtaining the information of vehicles, the first relative position information of this vehicle；First opposite position Confidence breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Communication module 104, for the information of vehicles of this vehicle, the first relative position information to be sent to surrounding vehicles；With And receive information of vehicles, the second relative position information of surrounding vehicles；Second relative position information is what surrounding vehicles detected Location information of this vehicle relative to surrounding vehicles；

Computing module 106, for receiving information of vehicles, the second relative position letter of surrounding vehicles in communication module 104 When breath, believed according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position Breath is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module 108, for controlling the travel speed and traveling side of this vehicle according to aimed acceleration and evacuation angle To.

The brake control 100 that embodiment disclosed by the invention provides enables vehicle be provided simultaneously with to surrounding vehicles and sends The information that self information and reception surrounding vehicles are sent is to control the function of itself avoiding automatically, specifically, communication module 102 The information of vehicles that read module 104 obtains and the first relative position information of itself and surrounding vehicles are sent to surrounding vehicles, Receive simultaneously information of vehicles that surrounding vehicles are sent and the second relative position information (can be what surrounding vehicles directly transmitted, Can be what surrounding vehicles were sent by third-party server, such as cloud server), computing module 106 can be opposite according to first Location information, the second relative position information determine and send information of vehicles, the vehicle of the second relative position information and this vehicle reality The surrounding vehicles detected corresponding relationship (determine send information of vehicles, the vehicle of the second relative position information is around vehicle In which)；Determine send information of vehicles, the second relative position information vehicle and this vehicle is actually detected arrive around After corresponding relationship between vehicle, it is to have sent information to oneself positioned at the vehicle of which position that this vehicle, which is known that,.Work as calculating When module 106 predicts colliding with the vehicle for sending information, automatic evacuation condition is just met, and then according to this vehicle Information of vehicles, the first relative position information, surrounding vehicles information of vehicles, be computed or looked up this vehicle aimed acceleration and Angle is avoided to get to braking strategy is optimized, 108 active of control module operates vehicle, to save pilot steering When from receiving information, judgement, executing time for entirely acting, race against time to reach perfect evacuation effect, can after risk releases Operating rights is returned into driver.Wherein, computing module 106 can calculate aimed acceleration and evacuation according to the information currently obtained Angle can also calculate corresponding aimed acceleration and evacuation angle under a large amount of different operating conditions, when executing this method every time in advance Aimed acceleration and evacuation angle are directly gone out according to the information searching currently obtained, can further shorten the reaction time, raising is kept away Allow precision and safety.

It is to be appreciated that this vehicle and surrounding vehicles are relative concept rather than absolute probability herein, observation view is embodied The difference at angle.It is provided simultaneously with using the vehicle of the present apparatus and sends information to surrounding vehicles and receive the information of surrounding vehicles and realize The function that this vehicle avoids automatically.In other words, surrounding vehicles receive the information of vehicles of this vehicle transmission, the first relative position letter After breath, equally automatic evacuation can be realized according to the realization logic of this vehicle.

Figure 11 shows the schematic block diagram of the brake control of second embodiment according to the present invention.Such as Figure 11 institute Show, brake control 200 includes:

Information reading module 202, for obtaining the information of vehicles, the first relative position information of this vehicle；First opposite position Confidence breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Communication module 204, for the information of vehicles of this vehicle, the first relative position information to be sent to surrounding vehicles；With And receive information of vehicles, the second relative position information of surrounding vehicles；Second relative position information is what surrounding vehicles detected Location information of this vehicle relative to surrounding vehicles；

Computing module 206, for receiving information of vehicles, the second relative position letter of surrounding vehicles in communication module 204 When breath, believed according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position Breath is computed or looked up the aimed acceleration and evacuation angle of this vehicle, and computing module includes: that relationship determines submodule 208, is used for According to the first relative position information, the second relative position information, the vehicle for sending information of vehicles, the second relative position information is determined With the corresponding relationship of surrounding vehicles；Computational submodule 210, for information of vehicles, the first relative position information according to this vehicle Or the information of vehicles of second relative position information, surrounding vehicles is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module 212, for controlling the travel speed and traveling side of this vehicle according to aimed acceleration and evacuation angle To.

In this embodiment, specifically define that computing module 206 includes that relationship determines submodule 208 and computational submodule 210.Vehicle can obtain the azimuth-range where more trolleys around simultaneously when obtaining relative position information, and due to the vehicle The location information of acquisition and the corresponding relationship of surrounding vehicles can not be directly determined, therefore the whole location informations that will acquire issue week The every trolley enclosed, and by relationship determine submodule 208 compare the first relative position information and the second relative position information with Confirm the vehicle for sending information to this vehicle is which platform in surrounding vehicles.For example, as shown in figure 3, what this vehicle was got First relative position information is the azimuth-range that surrounding vehicles A, B, C, D are respectively relative to this vehicle are as follows: A (0 degree, 30 meters), B (90 degree, 40 meters), C (120 degree, 35 meters), D (270 degree, 50 meters), when this vehicle receives the vehicle that around a certain vehicle is sent Information and the second relative position information, and the second relative position information be the vehicle periphery vehicle A, C and this vehicle relative to The location information of the vehicle, specifically: when A (307 degree, 50 meters), C (210 degree, 20 meters), this vehicle (270 degree, 40 meters), due to In first relative position information and the second relative position information orientation it is opposite and apart from identical location information be respectively (90 degree, 40 meters) and (270 degree, 40 meters), then this vehicle can determine that the vehicle is the vehicle B at 40 meters of this right ahead.Really The target that computational submodule 210 is computed or looked up this vehicle further according to the information of vehicles and relative position information of the two after fixed accelerates Degree and evacuation angle, can make calculated result accurate.The vehicle of information, therefore relative position information are sent due to having had been acknowledged herein Both information corresponding with the vehicle in the first relative position information can be used, can also be used in the second relative position information with the vehicle Corresponding information, either-or.

In one embodiment of the invention, it is preferable that information reading module is also used to obtain the vehicle of this vehicle in real time Information, the first relative position information；Communication module is also used to send the information of vehicles and the first phase of update in real time to surrounding vehicles To location information, for surrounding vehicles adjustment aimed acceleration and evacuation angle.

In this embodiment, once sending information of vehicles and the first relative position information, communication module be maintained for Surrounding vehicles send the information of vehicles and the first relative position information of update in real time, i.e. communication between vehicle is real-time perfoming, Surrounding vehicles can adjust aimed acceleration and evacuation angle in static preceding whole service state for this vehicle in real time, to keep away This vehicle is allowed, to effectively avoid collision.Specifically, computing module and control module are believed in response to the vehicle that surrounding vehicles are sent Breath and the second relative position information assist this vehicle braking, in the state of control module auxiliary braking, information reading module after Continuation of insurance holds the information of vehicles for obtaining this vehicle in real time and the first relative position information and is sent to surrounding vehicles by communication module.

In one embodiment of the invention, it is preferable that communication module is also used to receive the vehicle of surrounding vehicles real-time update Information, the second relative position information；Computing module be also used to the information of vehicles according to this vehicle, the first relative position information, The information of vehicles of surrounding vehicles, the second relative position information adjust the aimed acceleration and evacuation angle of this vehicle.

In this embodiment, correspondingly with previous embodiment, when communication module receives the vehicle of surrounding vehicles real-time update When information and the second relative position information, computing module can also readjust aimed acceleration and evacuation angle.Specifically, it adjusts When whole aimed acceleration and evacuation angle, it is equivalent to and target is recalculated according to the information of vehicles and relative position information of update adds Speed and evacuation angle, calculating process can refer to above-mentioned second embodiment of the present invention, and details are not described herein.

In one embodiment of the invention, it is preferable that computing module and control module are also used to work as communication module no longer When receiving the information of vehicles of surrounding vehicles or being computed this vehicle and surrounding vehicles collisionless risk, stopping and aimed acceleration Operation relevant with evacuation angle.

In this embodiment, further define computing module and how control module exit automatic evacuation, that is, stop with Aimed acceleration operation relevant with evacuation angle, specifically, including that computing module stops to aimed acceleration and evacuation angle The automatic evacuation control of degree being computed or looked up and control module accordingly carries out this vehicle.On the one hand, communication module not When receiving the information of vehicles and the second relative position information of surrounding vehicles again, it is believed that be not necessarily to evacuation, therefore exited and keep away automatically It allows；On the other hand, when in this vehicle, this vehicle and surrounding vehicles collisionless risk is calculated in computing module in braking process, Then exit automatic evacuation.Real-time communication state is kept between each vehicle, computing module carries out in real time during entire behavior act Operation, it can be ensured that movement remains at optimization strategy.

Figure 12 shows the schematic block diagram of the brake control of third embodiment according to the present invention.Such as Figure 12 institute Show, brake control 300 includes:

Information reading module 302, for obtaining the information of vehicles, the first relative position information of this vehicle；First opposite position Confidence breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Detection module 304, for whether there is mobile object in the predeterminable area of this vehicle periphery of real-time detection；

Computing module 306, for detecting in predeterminable area there are when mobile object, according to movement when detection module 304 The orientation of object calculates the evacuation angle of this vehicle, to enable mobile object exit predeterminable area；

Communication module 308, for the information of vehicles of this vehicle, the first relative position information to be sent to surrounding vehicles；With And receive information of vehicles, the second relative position information of surrounding vehicles；Second relative position information is what surrounding vehicles detected Location information of this vehicle relative to surrounding vehicles；

Computing module 306 is also used to receive information of vehicles, the second relative position letter of surrounding vehicles in communication module 308 When breath, believed according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position Breath is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module 310, for controlling the travel speed and traveling side of this vehicle according to aimed acceleration and evacuation angle To.

In this embodiment, by setting detection module 304 to monitor the movement entered in the predeterminable area around vehicle body Object is finely adjusted, to enable mobile object from predeterminable area in combination with 310 pairs of evacuation angles of computing module 306 and control module In exit, avoid and scratch.In structure, settable radar can also be arranged distance in the protruding parts (such as rearview mirror) of vehicle body and pass Sensor, when detection module 304 detects mobile object at a distance from range sensor less than the first preset value, then it is assumed that have Mobile object enters predeterminable area, and computing module 306 calculates evacuation angle to enable the mobile object at a distance from range sensor Increase, until being greater than the second preset value, wherein first pre-sets less than or equal to the second preset value.The strategy can isolated operation with Daily to avoid scratching when driving, computing module 306 and control module 310 detect distance less than in detection module 304 at this time The evacuation angle of current vehicle is intervened when one preset value, detects that distance is greater than the second preset value in detection module 304 When exit intervention；The strategy also can be used as the supplement of automatic avoidance strategy, and to improve evacuation precision, computing module 306 exists at this time Detection module 304 is detected and is adjusted when distance is pre-seted less than first to obtained evacuation angle, is examined in detection module 304 It measures no longer adjustment when distance is greater than the second preset value and avoids angle.

Figure 13 shows the schematic block diagram of the brake control of the 4th embodiment according to the present invention.Such as Figure 13 institute Show, brake control 400 includes:

Information reading module 402, for obtaining the information of vehicles, the first relative position information of this vehicle；First opposite position Confidence breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Judgment module 404 judges whether this vehicle enters emergency braking condition for the information of vehicles according to this vehicle；

Communication module 406 is when being, by the information of vehicles of this vehicle, first for the judging result in judgment module 404 Relative position information is sent to surrounding vehicles；Communication module 406 is also used to receive the information of vehicles of surrounding vehicles, the second opposite position Confidence breath；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；

Computing module 408, for receiving information of vehicles, the second relative position letter of surrounding vehicles in communication module 406 When breath, believed according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position Breath is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module 410, for controlling the travel speed and traveling side of this vehicle according to aimed acceleration and evacuation angle To.

In this embodiment, this vehicle is after the information of vehicles that information reading module 402 gets itself, first by judgement mould Block 404 judges whether itself enters emergency braking condition, if so, easy and surrounding vehicles, the rear especially travelled in the same direction Vehicle collides, therefore communication module 406 sends the information of vehicles including moving parameter information and whole-car parameters to surrounding vehicles With the first relative position information, i.e. surrounding vehicles receive the information of vehicles and first that current vehicle issues under emergency braking condition Relative position information is the precondition of surrounding vehicles movement, so that surrounding vehicles are receiving information of vehicles and the first opposite position Just aimed acceleration is carried out when confidence ceases and avoids the calculating of angle, facilitates reasonable distribution computing resource.In other words, mould is communicated The vehicle letter of this vehicle is gone back while being transmitted to block 406 in addition to sharing communication signal of this vehicle just in emergency braking to surrounding vehicles Breath and the first relative position information, surrounding vehicles can use these information and take the measures to keep clear of optimization, to effectively keep away Allow current vehicle, this is vital during entire evacuation.

Figure 14 shows the schematic block diagram of the brake control of the 5th embodiment according to the present invention.Such as Figure 14 institute Show, brake control 500 includes:

Information reading module 502, for obtaining the information of vehicles, the first relative position information of this vehicle；First opposite position Confidence breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Judgment module 504 judges whether this vehicle enters emergency braking condition for the information of vehicles according to this vehicle, sentences Disconnected module 504 includes: critical value computational submodule 506 and judging submodule 508, and critical value computational submodule 506 is used for basis Speed and vehicle Dip countion critical acceleration and/or critical retardation pedal travel, or phase is searched according to speed and vehicle inclination angle The critical acceleration and/or critical retardation pedal travel answered；Judging submodule 508 is faced for judging whether vehicle acceleration is less than Whether boundary's acceleration and/or brake-pedal travel are greater than critical retardation pedal travel, when the judgment result is yes, determine this vehicle Into emergency braking condition；

Communication module 510 is when being, by the information of vehicles of this vehicle, for the judging result in judging submodule 508 One relative position information is sent to surrounding vehicles；Communication module 510 is also used to receive the information of vehicles of surrounding vehicles, second relatively Location information；Second relative position information is location information of this vehicle that detects of surrounding vehicles relative to surrounding vehicles；

Computing module 512, for receiving information of vehicles, the second relative position letter of surrounding vehicles in communication module 510 When breath, believed according to the information of vehicles of this vehicle, the first relative position information, the information of vehicles of surrounding vehicles, the second relative position Breath is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module 514, for controlling the travel speed and traveling side of this vehicle according to aimed acceleration and evacuation angle To.

In this embodiment, specifically define that judgment module 504 includes critical value computational submodule 506 and judging submodule 508.By combining, corresponding critical acceleration is can be obtained in current working to critical value computational submodule 506 and/or critical retardation is stepped on Plate stroke, and then judging submodule 508 compares currently practical vehicle acceleration with critical acceleration, and/or will be current Actual brake-pedal travel can determine whether driver performs tightly this vehicle compared with critical retardation pedal travel Whether anxious brake operating, i.e. current vehicle enter emergency braking condition, and are less than critical acceleration in vehicle acceleration, and/or When brake-pedal travel is greater than critical retardation pedal travel, it is judged to entering emergency braking condition.It can consider simultaneously when judgement Vehicle acceleration and brake-pedal travel can also select a consideration in the two.Specifically, this vehicle utilizes acceleration transducer Its vehicle acceleration is detected, while brake stroke sensor detects brake-pedal travel, the wink of above-mentioned two signal values combination vehicle Shi Sudu, judgment module 504 carry out algorithm operation according to built-in algorithm program, by operation result and defined parameter matrix into Row compares, and includes that parameters combine the multiple operating conditions to be formed in parameter matrix, each operating condition have corresponding critical acceleration and/ Or critical retardation pedal travel, if compare after judge that current vehicle has met the design definition of emergency braking condition, and into Row emergency braking sends the communication signal equipped with information of vehicles and the first relative position information to surrounding vehicles.Certainly, Model be can configure directly to calculate critical acceleration and/or critical retardation pedal travel by critical value computational submodule 506.

Correspondingly, this vehicle calculates target after the information of vehicles for receiving surrounding vehicles and the second relative position information and adds Also available to the vehicle inclination angle of itself when speed.Specifically, vehicle inclination angle is acquired by vehicle ramp inclination sensor.In addition, It is conceivable that the execution sequencing that ground, judgment module 504 and computing module 512 be not inevitable, does not receive week in this vehicle When enclosing the information of vehicles of vehicle, judgment module 504 is run；When communication module 510 gets the information of vehicles and of surrounding vehicles When two relative position informations, then computing module 512 is activated, and determine according to subsequent judgement and give the control of vehicle to vehicle Or driver, if judgment module 504 determines that there are emergency brake operations (can be the manual behaviour of driver in control hereafter Make, can also be the automatic control of vehicle), it is same that communication module 510 is activated to send the information of vehicles of itself to other vehicles to assist Adjust the Relationship Between Vessels of each vehicle.

In one embodiment of the invention, it is preferable that judgment module is also used to be judged according to the information of vehicles of this vehicle Whether this vehicle exits emergency braking condition；Communication module is also used to determine that this vehicle exits emergency braking condition when judgment module When, stop the operation that information of vehicles, the first relative position information are sent to surrounding vehicles.

In this embodiment, define that communication module sends information of vehicles and the exit criteria of the first relative position information is Judgment module determines that this vehicle exits emergency braking condition, namely after this vehicle restores safe driving state just no longer around Vehicle sends the information of vehicles of itself, combines with the 4th embodiment of the invention, surrounding vehicles exit automatic evacuation therewith. Further, the real-time communication between vehicle is corresponding, judgment module to whether enter emergency braking condition calculating and sentence Disconnected to be also in real time, such as in braking process, judgment module determines that it is unsatisfactory for the design definition of emergency braking condition through operation, Emergency braking condition is exited, then communication module no longer emits to surrounding vehicles and believes equipped with information of vehicles and the first relative position The communication signal of breath.In other words, for send the communication signal equipped with information of vehicles and the first relative position information vehicle, Its exit criteria is to exit emergency braking condition without retransmiting the communication signal；For being kept away automatically according to communication signal execution The vehicle allowed, the condition for exiting automatic evacuation movement is that Ben Che is calculated in computing module in braking process and sending is aforementioned The possibility or aforementioned communication signal that the vehicle of communication signal does not collide disappear.

In one embodiment of the invention, it is preferable that information reading module is specifically used for obtaining headstock direction sensor The steering angle that the headstock direction detected and rotation direction sensor detect calculates wheel side according to headstock direction and steering angle To being also used to obtain vehicle acceleration, distance measuring sensor that the speed, acceleration transducer that vehicle speed sensor detects detect The first relative position information detected；Communication module is also used to utilize workshop sender unit by information of vehicles, the first phase Surrounding vehicles are sent to location information.

In this embodiment, define how information reading module obtains the moving parameter information (vehicle in information of vehicles Parameter is intrinsic parameter, is directly obtained from database) and the first relative position information and communication module how to send vehicle Information and the first relative position information.Headstock direction sensor can be compass or gyroscope, and rotation direction sensor can be clock Spring, workshop sender unit can realize that inter-vehicle communication, entire communication process are completed between vehicle, be not required to by GPS Third parties' auxiliary devices such as (Global Positioning System, global positioning systems), avoids vehicle in no network area When domain, because not receiving third-party location data, and rear-end collision is caused.In no GPS covering area, pass through latent defect vehicle Communication between, vehicle can take measures to keep clear automatically, reduce the probability of happening of major accident.

The embodiment of third aspect present invention provides a kind of braking control system, and system includes: distance measuring sensor, is used for Detect first relative position information of the surrounding vehicles relative to this vehicle；And the control for brake dress as described in above-mentioned any embodiment It sets, thus has whole technical effects of the brake control, details are not described herein.

Further, braking control system further includes the headstock direction sensor in the headstock direction for detecting, is used for The rotation direction sensor (wheel direction can be calculated according to headstock direction and steering angle) for detecting steering angle, for detecting speed Vehicle speed sensor, for detecting the acceleration transducer of vehicle acceleration, for sending the workshop sender unit of information.

The embodiment of fourth aspect present invention provides a kind of vehicle, including the control for brake system as described in above-described embodiment System, thus have whole technical effects of the braking control system, details are not described herein.

As shown in figure 15, the embodiment of fifth aspect present invention provides a kind of brake control apparatus 1, comprising: memory 12, it is configured to storage executable instruction；Processor 14 is configured to execute the instruction of storage to realize such as above-mentioned any embodiment institute The step of stating method, thus have whole technical effects of the brake control method, details are not described herein.

Specifically, above-mentioned processor 14 may include central processing unit (CPU) or specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement implementation of the present invention One or more integrated circuits of example.

Memory 12 may include the mass storage for data or instruction.For example it rather than limits, memory 12 may include hard disk drive (Hard Disk Drive, HDD), floppy disk drive, flash memory, CD, magneto-optic disk, tape or logical With the combination of universal serial bus (Universal Serial Bus, USB) driver or two or more the above.It is closing In the case where suitable, memory 12 may include the medium of removable or non-removable (or fixed).In a suitable case, memory 12 can be inside or outside synthesized gateway disaster tolerance equipment.In a particular embodiment, memory 12 is nonvolatile solid state storage Device.In a particular embodiment, memory 12 includes read-only memory (ROM).In a suitable case, which can be mask ROM, programming ROM (PROM), erasable PROM (EPROM), the electric erasable PROM (EEPROM), electrically-alterable ROM of programming (EAROM) or the combination of flash memory or two or more the above.

The embodiment of sixth aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer journey Sequence is realized when computer program is executed by processor such as the step of above-mentioned any embodiment the method, thus has the braking Whole technical effects of control method, details are not described herein.

Computer readable storage medium may include any medium for capableing of storage or transmission information.Computer-readable storage The example of medium include electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via the calculating of internet, Intranet etc. Machine network is downloaded.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, embodiment disclosed by the invention can have various modifications and variations.All within the spirits and principles of the present invention, Any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims

1. a kind of brake control method characterized by comprising

Obtain the information of vehicles, the first relative position information of this vehicle, and by the information of vehicles, first relative position Information is sent to surrounding vehicles；First relative position information is the surrounding vehicles that arrive of this vehicle detection relative to this vehicle Location information；

Receive surrounding vehicles the information of vehicles, the second relative position information when, according to the vehicle of this vehicle believe Breath, the information of vehicles of first relative position information, surrounding vehicles, second relative position information are computed or looked up The aimed acceleration and evacuation angle of this vehicle；Second relative position information is that this vehicle that surrounding vehicles detect is opposite In the location information of surrounding vehicles；

According to the aimed acceleration and the evacuation angle, the travel speed and driving direction of this vehicle are controlled.

2. brake control method according to claim 1, which is characterized in that the information of vehicles includes the current fortune of vehicle Dynamic parameter information；The moving parameter information includes speed, vehicle acceleration, headstock direction, wheel direction.

3. brake control method according to claim 2, which is characterized in that the information of vehicles further includes the vehicle of vehicle Parameter；The whole-car parameters include the dimensional parameters of vehicle.

4. brake control method according to claim 2, which is characterized in that first relative position information includes: week Each vehicle is enclosed relative to the azimuth-range where this vehicle；Second relative position information includes: this vehicle relative to week Enclose the azimuth-range where vehicle.

5. brake control method according to claim 2, which is characterized in that described to be believed according to the vehicle of this vehicle Breath, the information of vehicles of first relative position information, surrounding vehicles, second relative position information are computed or looked up The aimed acceleration of this vehicle and the operation for avoiding angle include:

According to first relative position information, second relative position information, determines and send the information of vehicles, described the The vehicle of two relative position informations and the corresponding relationship of surrounding vehicles；

According to the information of vehicles of this vehicle, first relative position information or second relative position information, surrounding The information of vehicles of vehicle be computed or looked up this vehicle the aimed acceleration and the evacuation angle.

6. brake control method according to claim 2, which is characterized in that it is described by the information of vehicles, described One relative position information is sent to after the operation of surrounding vehicles, further includes:

The information of vehicles, first relative position information of this vehicle are obtained in real time；

The information of vehicles and first relative position information of update are sent, in real time to surrounding vehicles for surrounding vehicles tune Whole aimed acceleration and evacuation angle.

7. brake control method according to claim 6, which is characterized in that described according to the aimed acceleration and institute After the step of stating evacuation angle, controlling the travel speed and driving direction of this vehicle, further includes:

Receive the information of vehicles, second relative position information of surrounding vehicles real-time update；

According to the information of vehicles of this vehicle, first relative position information, surrounding vehicles the information of vehicles, described Second relative position information adjust this vehicle the aimed acceleration and the evacuation angle.

8. brake control method according to claim 7, which is characterized in that believed described according to the vehicle of this vehicle Breath, the information of vehicles of first relative position information, surrounding vehicles, second relative position information adjust this vehicle The aimed acceleration and the step of the evacuation angle after, further includes:

When the information of vehicles and second relative position information that no longer receive surrounding vehicles or be computed this vehicle with When surrounding vehicles collisionless risk, stop operation relevant to the aimed acceleration and the evacuation angle.

9. brake control method according to any one of claim 1 to 8, which is characterized in that in described this vehicle of acquisition Information of vehicles, the first relative position information operation after, further includes:

It whether there is mobile object in the predeterminable area of this vehicle periphery of real-time detection；

When, there are when the mobile object, being calculated described in this vehicle according to the orientation of the mobile object in the predeterminable area Angle is avoided, to enable the mobile object exit the predeterminable area.

10. the brake control method according to any one of claim 2 to 8, which is characterized in that in described this vehicle of acquisition Information of vehicles, the first relative position information operation after, it is described by the information of vehicles, first relative position believe Breath is sent to before the operation of surrounding vehicles, further includes:

Judge whether this vehicle enters emergency braking condition according to the information of vehicles of this vehicle；

When determining that this vehicle enters the emergency braking condition, execute it is described by the information of vehicles, the first opposite position Confidence ceases the operation for being sent to surrounding vehicles.

11. brake control method according to claim 10, which is characterized in that the moving parameter information further includes vehicle Inclination angle and brake-pedal travel.

12. brake control method according to claim 11, which is characterized in that described to be believed according to the vehicle of this vehicle Ceasing the operation for judging whether this vehicle enters emergency braking condition includes:

According to the speed and the vehicle Dip countion critical acceleration and/or critical retardation pedal travel, or according to described The corresponding critical acceleration and/or the critical retardation pedal travel are searched in speed and the vehicle inclination angle；

Judge the vehicle acceleration whether be less than the critical acceleration and/or the brake-pedal travel whether be greater than it is described Critical retardation pedal travel determines that this vehicle enters the emergency braking condition when the judgment result is yes.

13. brake control method according to claim 10, which is characterized in that it is described by the information of vehicles, it is described First relative position information is sent to after the operation of surrounding vehicles, further includes:

Judge whether this vehicle exits the emergency braking condition according to the information of vehicles of this vehicle；

When determining that this vehicle exits the emergency braking condition, stop it is described by the information of vehicles, the first opposite position Confidence ceases the operation for being sent to surrounding vehicles.

14. the brake control method according to any one of claim 2 to 8, which is characterized in that

The operation of the information of vehicles for obtaining this vehicle includes: the headstock direction for obtaining headstock direction sensor and detecting The steering angle detected with rotation direction sensor calculates the wheel direction according to the headstock direction and the steering angle；

The operation that the information of vehicles, first relative position information are sent to surrounding vehicles includes: to utilize workshop The information of vehicles, first relative position information are sent to surrounding vehicles by sender unit.

15. a kind of brake control, which is characterized in that described device includes:

Information reading module, for obtaining the information of vehicles, the first relative position information of this vehicle；The first relative position letter Breath is location information of the surrounding vehicles that arrive of this vehicle detection relative to this vehicle；

Communication module, for the information of vehicles of this vehicle, first relative position information to be sent to surrounding vehicles；With And receive the information of vehicles, the second relative position information of surrounding vehicles；Second relative position information is surrounding vehicles Location information of this vehicle detected relative to surrounding vehicles；

Computing module, for receiving the information of vehicles, second relative position information of surrounding vehicles in communication module When, according to the information of vehicles of this vehicle, first relative position information, surrounding vehicles the information of vehicles, described Second relative position information is computed or looked up the aimed acceleration and evacuation angle of this vehicle；

Control module, for controlling the travel speed and traveling of this vehicle according to the aimed acceleration and the evacuation angle Direction.

16. a kind of braking control system, which is characterized in that the system comprises:

Distance measuring sensor, for detecting first relative position information of the surrounding vehicles relative to this vehicle；And

Brake control described in claim 15.

17. a kind of vehicle, which is characterized in that the vehicle includes braking control system described in claim 16.

18. a kind of brake control apparatus characterized by comprising

Memory is configured to storage executable instruction；

Processor is configured to execute the instruction of storage to realize such as the step of any one of claims 1 to 14 the method.

19. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program It realizes when being executed by processor such as the step of any one of claims 1 to 14 the method.