CN110329228A - The method of seamless intelligent car-backing automatic emergency brake system R-AEBS - Google Patents
The method of seamless intelligent car-backing automatic emergency brake system R-AEBS Download PDFInfo
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- CN110329228A CN110329228A CN201910446342.9A CN201910446342A CN110329228A CN 110329228 A CN110329228 A CN 110329228A CN 201910446342 A CN201910446342 A CN 201910446342A CN 110329228 A CN110329228 A CN 110329228A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
Abstract
The invention discloses the methods of seamless intelligent car-backing automatic emergency brake system R-AEBS a kind of, the method is by utilizing the Ultrasonic Range Finder for Parking and master controller clock being arranged on vehicle, the collision distance of the current vehicle barrier nearest apart from tailstock portion is measured, and calculates the reversing speed for obtaining current vehicle；According to the obtained reversing speed and collision distance, the default braking strategy to match with the reversing speed and collision distance is taken, while current vehicle executes brake operating, continues to measure corresponding collision distance using the distance measuring sensor；When the collision distance triggering brake release instruction that real-time measurement obtains, the brake release operation of vehicle is executed, and carry out secondary ranging calculating, current vehicle is controlled in the pre-determined distance apart from barrier and executes docking operation；The purpose for realizing the parking of vehicle minimum range meets the demand that vehicle is stopped close to platform library and minimum range is stopped.
Description
Technical field
The present invention relates to vehicle assistant drive technical field, in particular to a kind of seamless intelligent car-backing automatic emergency brake system
The method of system R-AEBS.
Background technique
In order to avoid the consequence that reverse collision or reducing collisions may cause, currently, on most of motor vehicles
Configured with reversing automatic breaking system；And also there is the reversing automatic breaking system sold separately for subsequent installation in the market.By
In these existing reversing automatic breaking systems, a foot brake of short distance can only be realized at lower speeds；And reality is being stopped
Che Shi is only capable of stopping by the subjective technique experience of driver；In the presence of be not able to satisfy vehicle close to platform library stop and
The demand of minimum range parking.
Summary of the invention
The present invention provides the method for seamless intelligent car-backing automatic emergency brake system R-AEBS a kind of, it is intended to reach vehicle most
The purpose of small distance parking.
The present invention provides the method for seamless intelligent car-backing automatic emergency brake system R-AEBS a kind of, the method packets
It includes:
Using the Ultrasonic Range Finder for Parking and master controller clock being arranged on vehicle, current vehicle is measured apart from tailstock portion
The collision distance of nearest barrier, and calculate the reversing speed for obtaining current vehicle；
According to the obtained reversing speed and collision distance, takes and match with the reversing speed and collision distance
Default braking strategy continues to measure corresponding touch using the distance measuring sensor while current vehicle executes brake operating
Hit distance；
When the collision distance triggering brake release instruction that real-time measurement obtains, the brake release operation of vehicle is executed, and
Secondary ranging calculating is carried out, current vehicle is controlled in the pre-determined distance apart from barrier and executes docking operation.
Further, the pre-determined distance is 0.1 meter.
Further, described using the Ultrasonic Range Finder for Parking being arranged on vehicle and master controller clock, measurement is current
The collision distance of the nearest barrier in vehicle distances tailstock portion, and calculate the reversing speed for obtaining current vehicle, comprising:
Using the Ultrasonic Range Finder for Parking being arranged on vehicle as distance measuring sensor, on the time point when front cross frame, point
The collision distance of barrier that Ce Liang be not nearest apart from tailstock portion with current vehicle, and the time of front cross frame ranging is worked as in acquisition simultaneously
Difference；
According to acquisition when the time difference of front cross frame ranging, the corresponding ultrasonic transmission rate of distance measuring sensor is obtained；
The corresponding clock frequency of the master controller clock being arranged in the ultrasonic transmission rate and vehicle that will acquire, into
Row compares；
According to the comparison result of the ultrasonic transmission rate and master controller clock frequency, current vehicle is calculated
Reversing speed.
Further, the comparison result according to the ultrasonic transmission rate and master controller clock frequency calculates
Obtain the reversing speed of current vehicle, comprising:
If the ultrasonic transmission rate is consistent with master controller clock frequency, it is determined that the reversing vehicle of the current vehicle
Speed is predetermined fixed value；
If the ultrasonic transmission rate is less than master controller clock frequency, it is determined that the reversing speed of the current vehicle
Less than the predetermined fixed value；
If the master controller clock frequency is n times of the ultrasonic transmission rate, it is calculated and described works as front truck
Reversing speed be the predetermined fixed value 1/n；Wherein, n is the integer greater than 1.
Further, the Ultrasonic Range Finder for Parking being arranged on the vehicle is corresponding, and there are four distance measuring sensors, set utilizing
When the distance measuring sensor set carries out range operation, on current this frame corresponding time point, scanning survey and work as front truck one by one
The collision distance of the barrier nearest apart from tailstock portion, obtains four distance measuring sensors corresponding measured value d1, d2, d3
And d4；
On the next frame corresponding time point that this current frame is located next to, continue scanning survey one by one and current vehicle away from
The collision distance of the barrier nearest from tailstock portion, obtain four distance measuring sensors corresponding measured value D1, D2, D3 and
D4；
According to two groups of obtained measured value d1, d2, d3, d4 and D1, D2, D3, D4, default braking strategy table is searched；
If the measured value is fallen into the corresponding braking section of the default braking strategy table, according to default braking strategy
Execute vehicle breaking operation.
It is further, described to take the default braking strategy to match with the reversing speed and collision distance, comprising:
According to the reversing speed and collision distance being calculated, default braking strategy table is searched；
If there are one of them parameters to fall into the default braking strategy table pair in the reversing speed or collision distance
In the range of answering, then obtains and fall into the default braking strategy that the parameter of range matches and execute；
If the reversing speed and collision distance binomial parameter are each fallen in range corresponding to the default braking strategy table,
It then chooses and the matched default braking strategy of binomial parameter and executes.
Further, the trigger condition for taking default braking strategy further include:
When using distance measuring sensor ranging, if the time difference of two frame ranging datas falls into preset range, triggering is equipped in advance
Dynamic strategy, and take the default braking strategy to match with the time difference of the ranging data.
Further, the default braking strategy includes:
Preset different TTC or braking distance value；
According to the different TTC or braking distance value of default setting, the corresponding different braking strategy of configuration.
It is further, described to take the default braking strategy to match with the reversing speed and collision distance, comprising:
Step 1: calculating the index score for M different data for including in standard database using mathematic(al) representation (1):
Wherein, it is stored with the standard database in the emergency braking system, includes the M in the standard database
Different data includes in every data: reversing speed, collision distance, surface humidity, road category these indexs respectively correspond
Value, and every data marks a kind of braking strategy, it is assumed that has contained all braking strategies in the M data；
In the mathematic(al) representation (1), FiFor the index score of the i-th data, V0iFor speed of moving backward in the i-th data
Size, lkiFor the road category of the i-th data, if the road category is cement road, the lkiValue is 3, if the road
Road type is asphalt road, then the lkiValue is 2, if the road category is muddy and ruthed lane, the lkiValue is 1.5, if the road
Road type is not any one of cement road, asphalt road, muddy and ruthed lane, then the lkiValue is 2.5；kdiFor vehicle in the i-th data
The width of tire, jdiFor the foot pad matching degree of vehicle in the i-th data, if just without foot pad or foot pad and vehicle
With then foot pad matching degree jdiValue is 2, the too small then foot pad matching degree jd of foot padiValue is 1.5, the excessive then foot pad of the foot pad
With degree jdiValue is 1；sdiFor the humidity on the road surface in the i-th data, ytiTire pressure for vehicle tyre in the i-th data is big
It is small, ydiFor the brake sheet hardness of the vehicle in the i-th data, MiFor the gross mass of vehicle in the i-th data, S0iFor i-th number
Collision distance in, X are that the mathematic(al) representation (1) integrates X, and e is natural constant,Expression pair
One function containing X is integrated, and the value of X is 0 to V0 when integrali, i=1,2,3......M；
Step 2: the index score of M data brings number into the corresponding standard database of the current vehicle that will acquire
It learns expression formula (2), calculates the index score of current vehicle:
In the mathematic(al) representation (2), F is the index score of current vehicle, and V0 is the big of current vehicle reversing speed
Small, lk is present road type, and kd is the width of the tire of current vehicle, and jd is the foot pad matching degree of current vehicle, and sd is to work as
The humidity on preceding road surface, yt are the tire pressure size of the tire of current vehicle, and yd is the brake sheet hardness of current vehicle, and M is to work as front truck
Gross mass, S0 is collision distance；
Step 3: obtaining default braking strategy using mathematic(al) representation (3):
N=argmin (| F-F1|,|F-F2|,|F-F3|,……,|F-FM|)；
In the mathematic(al) representation (3), N by solution preset storage location corresponding to braking strategy, and N≤M,
Argmin is the corresponding storage location of minimum value, then the braking strategy that N data is marked in the standard database is
The default braking strategy that current vehicle correspondence need to be taken.
Further, the brake release operation for executing vehicle, comprising:
It controls the current vehicle and brake operating is released by delay switch；
Brake operating is released by plucking to reverse gear alternatively, controlling the current vehicle.
A kind of method of seamless intelligent car-backing automatic emergency brake system R-AEBS of the present invention can achieve as follows
The utility model has the advantages that
By measuring current vehicle apart from vehicle using the Ultrasonic Range Finder for Parking and master controller clock being arranged on vehicle
The collision distance of the nearest barrier in tail portion, and calculate the reversing speed for obtaining current vehicle；According to the obtained reversing vehicle
Speed and collision distance take the default braking strategy to match with the reversing speed and collision distance, execute in current vehicle
While brake operating, continue to measure corresponding collision distance using the distance measuring sensor；When the collision that real-time measurement obtains
When distance triggering brake release instruction, the brake release operation of vehicle is executed, and carries out secondary ranging calculating, apart from barrier
Pre-determined distance in control current vehicle execute docking operation；The purpose for realizing the parking of vehicle minimum range, meets vehicle
The demand with minimum range parking is stopped close to platform library.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Pointed content is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical solution of the present invention is described further.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of stream of embodiment of the method for the seamless intelligent car-backing automatic emergency brake system R-AEBS of the present invention
Journey schematic diagram.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
The present invention provides the methods of seamless intelligent car-backing automatic emergency brake system R-AEBS a kind of, it is intended to reach vehicle
The purpose of minimum range parking meets vehicle close to platform library and stops the needs of stopping with minimum range.
As shown in Figure 1, Fig. 1 is a kind of reality of the method for the seamless intelligent car-backing automatic emergency brake system R-AEBS of the present invention
Apply the flow diagram of mode；A kind of method of seamless intelligent car-backing automatic emergency brake system R-AEBS of the present invention can be implemented
For step S10-S30 described below:
Step S10, using the Ultrasonic Range Finder for Parking and master controller clock being arranged on vehicle, measure current vehicle away from
The collision distance of the barrier nearest from tailstock portion, and calculate the reversing speed for obtaining current vehicle；
In the embodiment of the present invention, sensed using the Ultrasonic Range Finder for Parking of vehicle itself setting as the ranging of R-AEBS
Device, by above-mentioned distance measuring sensor, on the time point when front cross frame, measurement and current vehicle are apart from tailstock portion nearest respectively
The collision distance of barrier, and the time difference of front cross frame ranging is worked as in acquisition simultaneously；Meanwhile utilizing the acquisition of above-mentioned distance measuring sensor
When the master controller clock being arranged on the time difference of front cross frame ranging and R-AEBS system, the reversing vehicle of current vehicle is calculated
Speed.
In one embodiment, it is contemplated that reversing is put in storage the actual conditions of this concrete application scene, if will stop
Parking stall periphery has parked vehicles or barrier, then pay the utmost attention to current vehicle and parked vehicles and/or barrier it
Between collision distance；If the parking stall that will be stopped has been stopped in parking lot, and around the parking stall that will be stopped without any
By vehicle and barrier, then the parking indication wire for forming the tailstock portion in the parking stall region that will be stopped is paid the utmost attention to.
Step S20, it according to the obtained reversing speed and collision distance, takes and the reversing speed and collision distance
The default braking strategy to match continues to measure while current vehicle executes brake operating using the distance measuring sensor
Corresponding collision distance；
According to obtained above-mentioned reversing speed and collision distance, default braking strategy table is searched, and according to lookup result, is adopted
Take the default braking strategy to match with the reversing speed and collision distance.
In the embodiment of the present invention, stopping brake strategy matches with reversing speed and collision distance, and is pre-configured with and deposits
Storage is in above-mentioned default braking strategy table.For example, preset different sections reversing speed and different section collision away from
From it being matched from different stopping brake strategies respectively, and above-mentioned reversing speed and collision distance are stopped with what is matched
Vehicle braking strategy is stored in together in corresponding braking strategy table；When needed, it is directly looked into according to collision distance and reversing speed
The above-mentioned default braking strategy table for being pre-configured with and storing is looked for, can be obtained and above-mentioned collision distance and/or reversing speed phase
The stopping brake strategy matched；When needed, the above-mentioned stopping brake strategy to match is directly executed.
In view of the applicable scene and specific requirements (such as user demand and actual scene demand) of stopping brake strategy, press
According to actual conditions, above-mentioned default braking strategy table is updated.
While current vehicle executes brake operating, it is corresponding to continue measurement current vehicle using the distance measuring sensor
Collision distance simultaneously calculates corresponding reversing speed in real time.
Step S30, when the collision distance triggering brake release instruction that real-time measurement obtains, the brake release of vehicle is executed
Operation, and secondary ranging calculating is carried out, current vehicle is controlled in the pre-determined distance apart from barrier executes docking operation.
While vehicle executes brake operating, the collision distance that real-time measurement obtains, and touched what real-time measurement obtained
When hitting distance triggering brake release instruction, the brake release operation of vehicle is executed.It, can be according to specific in the embodiment of the present invention
The characteristic information of the vehicles itself such as application scenarios, specific vehicle model and user demand, brake contact instruction is arranged
Trigger condition；It is in safety zone etc. for example, collision distance is greater than preset threshold or collision distance.
In brake contact instruction triggers and while execute brake contact operation, distance measuring sensor is utilized to carry out secondary ranging
It calculates, is based on real time distance calculated result, control current vehicle executes stop in the pre-determined distance apart from tailstock portion barrier
Operation.In one embodiment, when vehicle parking, pre-determined distance of the vehicle tail apart from barrier is 0.1 meter.
In the embodiment of the present invention, the brake release operation for executing vehicle can be implemented according to following technological means:
For example, releasing brake operating by delay switch by controlling the current vehicle；Alternatively, control is described current
Vehicle releases brake operating etc. by plucking to reverse gear.
In one embodiment, it is obtained using the Ultrasonic Range Finder for Parking and master controller clock, calculating that are arranged on vehicle
The reversing speed of current vehicle is taken, can be implemented according to following technological means:
It is adopted on the time point when front cross frame using the Ultrasonic Range Finder for Parking being arranged on vehicle as distance measuring sensor
Collection works as the time difference of front cross frame ranging；It is collected when the time difference of front cross frame ranging according to the distance measuring sensor of setting, it can be with
The corresponding ultrasonic radar transmission signal rate i.e. ultrasonic transmission rate of distance measuring sensor is calculated；What be will acquire is described super
The corresponding clock frequency of the master controller clock being arranged in sonic transmissions rate and vehicle, is compared；According to the ultrasonic wave
The reversing speed of current vehicle is calculated in the comparison result of transmission rate and master controller clock frequency.
Further, in one embodiment, according to the ratio of the ultrasonic transmission rate and master controller clock frequency
Pair as a result, the reversing speed of current vehicle is calculated, can implement according to following technological means:
If the ultrasonic transmission rate is consistent with master controller clock frequency, it is determined that the reversing vehicle of the current vehicle
Speed is predetermined fixed value；
If the ultrasonic transmission rate is less than master controller clock frequency, it is determined that the reversing speed of the current vehicle
Less than the predetermined fixed value；
If the master controller clock frequency is n times of the ultrasonic transmission rate, it is calculated and described works as front truck
Reversing speed be the predetermined fixed value 1/n；Wherein, n is the integer greater than 1.
For example, in a specific application scenarios, if the twice ultrasonic radar transmission letter of master controller clock frequency
Number rate, then the reversing speed that current vehicle is calculated is the 1/2 of fixed value, and so on, it can be calculated and work as front truck
Reversing speed.In one embodiment, according to the characteristic information of the vehicles such as the concrete model of vehicle itself and vehicle
It is specific to stop demand, 8km/h or so is set by the corresponding predetermined fixed value of vehicle backing speed.
In one embodiment, the preconfigured default braking strategy table are as follows: previously according to the experimental data of magnanimity
With collision distance that empirical value is configured and corresponding braking strategy matching list, contain in the default braking strategy table:
Under different reversing speeds, for different collision distances respectively arranged different TTC or braking distance value, thus corresponding
Different braking strategies.Wherein, in one embodiment, under default reversing speed and collision distance, the TTC or braking
Distance value can also correspond to a value range, for example, TTC value between 0.5~2.5, braking distance value is 0.5~100
Between.
Further, in an application scenarios of the invention, the value of the TTC or braking distance can pass through following meter
Calculation method determines.
The value preset range for determining TTC or braking distance first has to analyze this distance to include reaction distance and reality
Braking distance, for active braking distance, once it is determined that precondition is accomplished fact, so, should according to reaction away from
From determining final braking distance.The factor that reaction distance can most be influenced is the self-condition of driver (such as illness, drink
Wine is taken drugs, fatigue driving, normal driving, mood etc.), and can also have corresponding connection between every factor, in addition, also
There are the influence of some uncertain factors (such as ground unevens etc.).
Calculate p-th of person's development time Tp:
Wherein: TpFor p-th of person's development time,For i-th factor, n is i-th factor one
Shared n kind, Ad (ki,kj) be i-th factor and jth item factor correlation degree, QjFor the pass of i-th factor and jth item factor
Connection degree is to influence caused by i-th factor, QiI-th factor is represented to influence caused by p-th of people, σ is uncertain
Factor, t are current time.
To i-th kind of situation, the data according to given by Ministry of Communications are analyzed, and may finally fit one about reaction
The expression formula of time and i-th kind of situation.But with the variation of time, i-th kind of situation can also change therewith, may be with
The time passage occur decaying, increase, concussion situations such as.Therefore, the range of reaction distance should be chosen in these cases
Between maximum value and minimum value, so that it is determined that the preset range of TTC or braking distance value.
The case where for decaying over time and increasing, every factor data is (such as investigation drug addict by inquiry
With after drug abuse over time, the variation of reaction sensitivity), therefrom fit every factor declining with time change
Subtract or Growth Function.It is thrown first except the factor that function shakes is changed over time, then by these decaying or Growth Function generation
Return to reaction time function TpIn, it obtains:
Wherein, Tp1(t-ti) factor is represented with the reaction time after the decaying or growth of time change, tiRepresent i-th
The initial time that factor occurs, tjThe initial time of jth item factor generation is represented, t is current time, Bi(t-ti) be i-th because
Decaying or Growth Function of the element with time change, Bj(t-tj) be jth item factor with the decaying of time change or increase letter
Number, the data between [l, m] are to exclude to change over time other than the factor that function shakes, and change over time decaying or increasing
The set of long all factors.
To this function Tp1(t-ti), its maximum of T is sought about tp1(t-ti)maxWith minimum value Tp1(t-ti)min, then grind
Studying carefully the factor over time, there is a situation where shake.
For the factor over time there is a situation where shaking, we can be fitted the data of investigation
Afterwards, it is unfolded using the generalized fourier series that Bessel function is base, is finally launched into fundamental wave and a series of higher hamonic waves
SIN function, be the preset range of value due to analysis, so amplitude maximum item and minterm in these waveforms should be chosen
Conduct goal in research.It is as follows:
Wherein, Tp2(t-ti) represent the reaction time after all factors are shaken with time change, Fi maxIt is i-th
The concussion of item factor carries out the coefficient maximum value after the generalized fourier series that Bessel function is base is unfolded, Fj maxIt is
The concussion of j factors carries out the coefficient maximum value after the generalized fourier series that Bessel function is base is unfolded, Di(t-ti)
For the concussion function that i-th factor changes over time, Dj(t-tj) it is the concussion function that jth item factor changes over time, J (t-
ti) it is that i-th factor carries out namely i-th, base Bessel function after generalized fourier series is unfolded, J (t-tj)
Jth item factor carries out the Bessel function of the base after generalized fourier series is unfolded i.e. jth item, Fi minIt is i-th
The concussion of factor carries out the coefficient minimum value after the generalized fourier series that Bessel function is base is unfolded, Fj minFor jth
The concussion of item factor carries out the coefficient minimum value after the generalized fourier series that Bessel function is base is unfolded, Tp2(t-
ti)maxThe maximum value in the reaction time after being shaken for all factors with time change, Tp2(t-ti)minFor it is all because
Element shaken with time change after reaction time minimum value.
By the factor with the decaying or growth of time change, generation concussion is changed over time with the factor and is integrated,
And after having work insurance to consider, being multiplied with the travel speed of current automobile and adding braking distance finally obtains TTC or braking distance
The preset range of value are as follows:
[V*(Tp1(t-ti)min+Tp2(t-ti)min)+S, V* (Tp1(t-ti)max+Tp2(t-ti)max)+S]
Wherein, V is present speed, and S is braking distance.
In one embodiment, distance measuring sensor there are four the Ultrasonic Range Finder for Parking being arranged on the vehicle is corresponding,
When carrying out range operation using four distance measuring sensors of setting, on current this frame corresponding time point, scanning is surveyed one by one
The collision distance of amount and the current vehicle barrier nearest apart from tailstock portion, obtains the corresponding measurement of four distance measuring sensors
Value d1, d2, d3 and d4；
On the next frame corresponding time point that this current frame is located next to, continue scanning survey one by one and current vehicle away from
The collision distance of the barrier nearest from tailstock portion, obtain four distance measuring sensors corresponding measured value D1, D2, D3 and
D4；
According to two groups of obtained measured value d1, d2, d3, d4 and D1, D2, D3, D4, default braking strategy table is searched；
If the measured value is fallen into the corresponding braking section of the default braking strategy table, according to default braking strategy
Execute vehicle breaking operation；And during executing vehicle breaking operation, described work as is detected using the distance measuring sensor
When the measured value and reversing speed of vehicle in front change, the default braking strategy table is searched again, and according to lookup
As a result, executing the corresponding braking strategy of the lookup result.
Further, in one embodiment of the invention, described according to lookup result, take with the reversing speed and
The default braking strategy that collision distance matches, comprising:
According to the reversing speed and collision distance being calculated, default braking strategy table is searched；
If there are one of them parameters to fall into the default braking strategy table pair in the reversing speed or collision distance
In the range of answering, then obtains and fall into the default braking strategy that the parameter of range matches and execute；
If the reversing speed and collision distance binomial parameter are each fallen in range corresponding to the default braking strategy table,
It then chooses and the matched default braking strategy of binomial parameter and executes.
Further, in one embodiment, the time difference of two frame rangings can also be used as default braking strategy wherein
One trigger condition；For example, when carrying out the measurement of collision distance using distance measuring sensor, if the time difference of two frame ranging datas falls
Enter preset range, then triggers default braking strategy, and take the default braking plan to match with the time difference of the ranging data
Slightly.
It is in one embodiment, described to take the default braking strategy to match with the reversing speed and collision distance,
Include:
Step 1: calculating the index score for M different data for including in standard database using mathematic(al) representation (1):
Wherein, it is stored with the standard database in the emergency braking system, includes the M in the standard database
Different data includes in every data: reversing speed, collision distance, surface humidity, road category these indexs respectively correspond
Value, and every data marks a kind of braking strategy, it is assumed that has contained all braking strategies in the M data；
In the mathematic(al) representation (1), FiFor the index score of the i-th data, V0iFor speed of moving backward in the i-th data
Size, lkiFor the road category of the i-th data, if the road category is cement road, the lkiValue is 3, if the road
Road type is asphalt road, then the lkiValue is 2, if the road category is muddy and ruthed lane, the lkiValue is 1.5, if the road
Road type is not any one of cement road, asphalt road, muddy and ruthed lane, then the lkiValue is 2.5；kdiFor vehicle in the i-th data
The width of tire, jdiFor the foot pad matching degree of vehicle in the i-th data, if just without foot pad or foot pad and vehicle
With then foot pad matching degree jdiValue is 2, the too small then foot pad matching degree jd of foot padiValue is 1.5, the excessive then foot pad of the foot pad
With degree jdiValue is 1；sdiFor the humidity on the road surface in the i-th data, ytiTire pressure for vehicle tyre in the i-th data is big
It is small, ydiFor the brake sheet hardness of the vehicle in the i-th data, MiFor the gross mass of vehicle in the i-th data, S0iFor i-th number
Collision distance in, X are that the mathematic(al) representation (1) integrates X, and e is natural constant,It indicates
The value of X is 0 to V0 when integrating, and integrating to a function containing Xi, i=1,2,3......M；
Using the mathematic(al) representation (1), each data in standard database all can be seemed into milli by multiple
It is that the index of onrelevant is changed into a score as a result, data and current vehicle in standard database is facilitated to compare, from
And it can accurately take the default braking strategy to match with the reversing speed and collision distance.
Step 2: the index score of M data brings number into the corresponding standard database of the current vehicle that will acquire
It learns expression formula (2), calculates the index score of current vehicle:
In the mathematic(al) representation (2), F is the index score of current vehicle, and V0 is the big of current vehicle reversing speed
Small, lk is present road type, and kd is the width of the tire of current vehicle, and jd is the foot pad matching degree of current vehicle, and sd is to work as
The humidity on preceding road surface, yt are the tire pressure size of the tire of current vehicle, and yd is the brake sheet hardness of current vehicle, and M is to work as front truck
Gross mass, S0 is collision distance；
Using the mathematic(al) representation (2), available index corresponding with data in the standard database
Value, while the finger target value is changed into a score, to facilitate subsequent calculations as a benchmark and determination is equipped in advance
Dynamic strategy improves intelligence and accuracy that default braking strategy is chosen.
Step 3: obtaining default braking strategy using mathematic(al) representation (3):
N=argmin (| F-F1|,|F-F2|,|F-F3|,……,|F-FM|)；(3)
In the mathematic(al) representation (3), N by solution preset storage location corresponding to braking strategy, and N≤M,
Argmin is the corresponding storage location of minimum value, then the braking strategy that N data is marked in the standard database is
The default braking strategy that current vehicle correspondence need to be taken.
Using above-mentioned technical proposal, can be accurately obtained by a standard database by simply calculating
Current vehicle corresponds to required default braking strategy in any case；And the braking strategy not only with reversing speed, collision
Distance is related, further comprise the environmental factors such as the corresponding road category of current vehicle, pavement humidity and vehicle tyre width and
The vehicles oneself factor such as tire pressure size, so that it is more accurate to calculate the default braking strategy obtained, while determination is described pre-
If braking strategy is resulting by calculating, therefore also has more objectivity.
The method of seamless intelligent car-backing automatic emergency brake system R-AEBS of the invention passes through super using what is be arranged on vehicle
Sound wave reversing radar and master controller clock, the collision distance of the measurement current vehicle barrier nearest apart from tailstock portion, and
Calculate the reversing speed for obtaining current vehicle；According to the obtained reversing speed and collision distance, take and the reversing vehicle
The default braking strategy that speed and collision distance match is passed while current vehicle executes brake operating using the ranging
Sensor continues to measure corresponding collision distance；When the collision distance triggering brake release instruction that real-time measurement obtains, vehicle is executed
Brake release operation, and carry out secondary ranging calculating, current vehicle controlled in the pre-determined distance apart from barrier and is executed
Docking operation；The purpose for realizing the parking of vehicle minimum range meets vehicle and stops and minimum range parking close to platform library
Demand.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of seamless intelligent car-backing automatic emergency brake system R-AEBS, which is characterized in that the described method includes:
Using the Ultrasonic Range Finder for Parking and master controller clock being arranged on vehicle, it is nearest apart from tailstock portion to measure current vehicle
Barrier collision distance, and calculate obtain current vehicle reversing speed；
According to the obtained reversing speed and collision distance, takes and preset with what the reversing speed and collision distance matched
Braking strategy, while current vehicle executes brake operating, using the distance measuring sensor continue to measure corresponding collision away from
From；
When the collision distance triggering brake release instruction that real-time measurement obtains, the brake release operation of vehicle is executed, and carry out
Secondary ranging calculates, and current vehicle is controlled in the pre-determined distance apart from barrier and executes docking operation.
2. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as described in claim 1, which is characterized in that institute
Stating pre-determined distance is 0.1 meter.
3. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In, it is described using the Ultrasonic Range Finder for Parking being arranged on vehicle and master controller clock, current vehicle is measured apart from tailstock portion
The collision distance of nearest barrier, and calculate the reversing speed for obtaining current vehicle, comprising:
It is surveyed respectively on the time point when front cross frame using the Ultrasonic Range Finder for Parking being arranged on vehicle as distance measuring sensor
The collision distance of amount and the current vehicle barrier nearest apart from tailstock portion, and the time difference of front cross frame ranging is worked as in acquisition simultaneously；
According to acquisition when the time difference of front cross frame ranging, the corresponding ultrasonic transmission rate of distance measuring sensor is obtained；
The corresponding clock frequency of the master controller clock being arranged in the ultrasonic transmission rate and vehicle that will acquire, is compared
It is right；
According to the comparison result of the ultrasonic transmission rate and master controller clock frequency, the reversing of current vehicle is calculated
Speed.
4. the method for quick, intelligent reversing automatic emergency brake system R-AEBS as claimed in claim 3, which is characterized in that institute
The comparison result according to the ultrasonic transmission rate and master controller clock frequency is stated, the reversing vehicle of current vehicle is calculated
Speed, comprising:
If the ultrasonic transmission rate is consistent with master controller clock frequency, it is determined that the reversing speed of the current vehicle is
Predetermined fixed value；
If the ultrasonic transmission rate is less than master controller clock frequency, it is determined that the reversing speed of the current vehicle is less than
The predetermined fixed value；
If the master controller clock frequency is n times of the ultrasonic transmission rate, the current vehicle is calculated
Speed of moving backward is the 1/n of the predetermined fixed value；Wherein, n is the integer greater than 1.
5. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In the Ultrasonic Range Finder for Parking being arranged on the vehicle is corresponding, and there are four distance measuring sensors, in the distance measuring sensor using setting
When carrying out range operation, on current this frame corresponding time point, one by one scanning survey and current vehicle apart from tailstock portion most
The collision distance of close barrier obtains four distance measuring sensors corresponding measured value d1, d2, d3 and d4；
On the next frame corresponding time point that this current frame is located next to, continue one by one scanning survey and current vehicle apart from vehicle
The collision distance of the nearest barrier in tail portion obtains four distance measuring sensors corresponding measured value D1, D2, D3 and D4；
According to two groups of obtained measured value d1, d2, d3, d4 and D1, D2, D3, D4, default braking strategy table is searched；
If the measured value is fallen into the corresponding braking section of the default braking strategy table, executed according to default braking strategy
Vehicle breaking operation.
6. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In described to take the default braking strategy to match with the reversing speed and collision distance, comprising:
According to the reversing speed and collision distance being calculated, default braking strategy table is searched；
If there are one of them parameter, to fall into the default braking strategy table corresponding in the reversing speed or collision distance
In range, then obtains and fall into the default braking strategy that the parameter of range matches and execute；
If the reversing speed and collision distance binomial parameter are each fallen in range corresponding to the default braking strategy table, select
It takes and the matched default braking strategy of binomial parameter and executes.
7. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 6, which is characterized in that institute
State the trigger condition for taking default braking strategy further include:
When using distance measuring sensor ranging, if the time difference of two frame ranging datas falls into preset range, default braking plan is triggered
Slightly, and the default braking strategy to match with the time difference of the ranging data is taken.
8. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In the default braking strategy includes:
Preset different TTC or braking distance value；
According to the different TTC or braking distance value of default setting, the corresponding different braking strategy of configuration.
9. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In described to take the default braking strategy to match with the reversing speed and collision distance, comprising:
Step 1: calculating the index score for M different data for including in standard database using mathematic(al) representation (1):
Wherein, it is stored with the standard database in the emergency braking system, in the standard database not comprising the M item
Same data include in every data: reversing speed, collision distance, surface humidity, these indexs of road category are corresponding
Value, and every data marks a kind of braking strategy, it is assumed that all braking strategies have been contained in the M data；
In the mathematic(al) representation (1), FiFor the index score of the i-th data, V0iFor the big of speed of moving backward in the i-th data
It is small, lkiFor the road category of the i-th data, if the road category is cement road, the lkiValue is 3, if the road kind
Class is asphalt road, then the lkiValue is 2, if the road category is muddy and ruthed lane, the lkiValue is 1.5, if the road kind
Class is not any one of cement road, asphalt road, muddy and ruthed lane, then the lkiValue is 2.5；kdiFor vehicle wheel in the i-th data
The width of tire, jdiFor the foot pad matching degree of vehicle in the i-th data, if just being matched without foot pad or foot pad and vehicle
Foot pad matching degree jdiValue is 2, the too small then foot pad matching degree jd of foot padiValue is 1.5, the excessive then foot pad matching degree of the foot pad
jdiValue is 1；sdiFor the humidity on the road surface in the i-th data, ytiFor the tire pressure size of vehicle tyre in the i-th data, ydi
For the brake sheet hardness of the vehicle in the i-th data, MiFor the gross mass of vehicle in the i-th data, S0iFor in the i-th data
Collision distance, X are that the mathematic(al) representation (1) integrates X, and e is natural constant,It indicates to one
Function containing X is integrated, and the value of X is 0 to V0 when integrali, i=1,2,3......M；
Step 2: the index score of M data brings mathematical table into the corresponding standard database of the current vehicle that will acquire
Up to formula (2), the index score of current vehicle is calculated:
In the mathematic(al) representation (2), F is the index score of current vehicle, and V0 is the size of current vehicle reversing speed, lk
For present road type, kd is the width of the tire of current vehicle, and jd is the foot pad matching degree of current vehicle, and sd is current road
Humidity, yt be current vehicle tire tire pressure size, yd be current vehicle brake sheet hardness, M be current vehicle it is total
Quality, S0 are collision distance；
Step 3: obtaining default braking strategy using mathematic(al) representation (3):
N=argmin (| F-F1|,|F-F2|,|F-F3|,……,|F-FM|)；
In the mathematic(al) representation (3), N by solution preset storage location corresponding to braking strategy, and N≤M, argmin
For the corresponding storage location of minimum value, then the braking strategy that N data is marked in the standard database is to work as front truck
The default braking strategy that correspondence need to be taken.
10. the method for seamless intelligent car-backing automatic emergency brake system R-AEBS as claimed in claim 1 or 2, feature exist
In the brake release operation for executing vehicle, comprising:
It controls the current vehicle and brake operating is released by delay switch；
Brake operating is released by plucking to reverse gear alternatively, controlling the current vehicle.
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Cited By (1)
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| CN112046298A (en) * | 2020-08-11 | 2020-12-08 | 宁波智翔信息技术有限公司 | Reverse protection method based on truck |
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