CN102363417A - Emergency braking warning system and emergency braking warning method - Google Patents
Emergency braking warning system and emergency braking warning method Download PDFInfo
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- CN102363417A CN102363417A CN2011101743614A CN201110174361A CN102363417A CN 102363417 A CN102363417 A CN 102363417A CN 2011101743614 A CN2011101743614 A CN 2011101743614A CN 201110174361 A CN201110174361 A CN 201110174361A CN 102363417 A CN102363417 A CN 102363417A
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Abstract
The invention relates to an emergency braking warning system, which is provided with a controller and an emergency braking warning lamp. The controller comprises an acquisition unit, a speed comparison unit, a time-keeping unit and a judgement unit; the acquisition unit acquires a braking signal and a speed signal, and the speed at the moment when the braking signal becomes effective is adopted as an initial speed value; the speed comparison unit acquires the initial speed value from the acquisition unit and compares the initial speed value with an emergency braking speed threshold; when the initial speed value is greater than the threshold, the time-keeping unit gives and provides emergency braking duration for the acquisition unit, and according to the emergency braking duration, the acquisition unit monitors the speed signal and adopts the speed reaching the emergency braking duration as a final speed value; the judgement unit acquires the initial speed value, the final speed value and the emergency braking duration and determines an acceleration threshold in order to determine average acceleration and compare the average acceleration with the acceleration threshold to judge emergency braking; and the higher the initial speed value is, the shorter the emergency braking duration is and/or the lower the acceleration threshold is.
Description
Technical field
The present invention relates to a kind of vehicle security system.Particularly, the present invention relates to a kind of emergency brake warning.In addition, also relating to a kind of being used for realizes the method that the emergency brake of self-propelled vehicle is reported to the police by means of control setup and emergency brake warning light.
Background technology
Along with the raising of raising, the especially speed of a motor vehicle of the surge of self-propelled vehicle quantity and performances of motor vehicles, it is also more and more that the rear-end collision incident takes place, and this not only causes any property loss, and serious also can cause casualties.Rear crash event is mostly because the front truck emergency brake, and back car does not in time obtain alerting signal, brakes untimely and causes.Especially on express highway, be easy to cause the chain of rings to knock into the back.This at first be because, present most of automobiles adopt the mono-brake signals, promptly; It is the same in common brake during with emergency brake; Thereby can not in time arouse attention, and, can not enough reminding effects be provided to chaufeur; The brake situation that causes chaufeur can't be early and judge preceding vehicle exactly can not in time take to keep away harmful measure.In order to address this problem; In the prior art; For example among the document ZL93229130.9, the unlock signal that has proposed before brake pedal is touched, to pass through the Das Gaspedal that collected comes brakes on lamp in advance, to increase the time that can supply the pursuit-type vehicle chaufeur to judge; Yet, in this prior art, judge although the pursuit-type vehicle chaufeur has the longer time, yet its obtainable warning signal remains common stoplight stop lamp signal, thereby effect is also not obvious; And, abandon real brake signal and judge the brake situation with throttle signal, possibly there is erroneous judgement, thereby forms " emergency brake " illusion, pursuit-type vehicle is caused unnecessary interference.In addition; In the prior art, for example in document ZL200520097766.2, also advise monitoring speed of a motor vehicle variation and sending the emergency brake signal in view of the above through installing independent micro controller system additional; This emergency brake signal is sent by the LED matrix that installs additional, and this LED matrix is connected with micro controller system; Fail practical requirement yet there is defective in this scheme equally, for example, micro controller system that installs additional separately and LED matrix all fail aspect cost and the reliability satisfactory; This scheme can't adopt the corresponding judgment condition according to actual driving situation, thereby, possibly cause erroneous judgement (when not having emergency brake, sending spurious signal) or judge sluggishness (when having emergency brake tardy excessively go out signal).
Therefore, technical scheme of the prior art all can't satisfy traffic participant's actual demand.
Summary of the invention
Therefore, the objective of the invention is to, a kind of emergency brake warning that is used for self-propelled vehicle is provided; By means of this system, can utilize obtaining and handling of simple signal, realize the emergency brake warning reliably; And, can reduce significantly and realize the required cost of emergency brake warning.In addition, the object of the invention also comprises, a kind of method is provided, and is used for realizing reliably and at low cost the emergency brake warning.
According to an aspect of the present invention, this emergency brake warning has control setup and emergency brake warning light,
This control setup comprises:
Collecting unit, this collecting unit are gathered brake signal and GES and also this brake signal are come into force the value of GES of moment as speed of a motor vehicle initial value;
Speed of a motor vehicle comparing unit, this speed of a motor vehicle comparing unit is connected with this collecting unit, obtains this speed of a motor vehicle initial value from this collecting unit, and this speed of a motor vehicle initial value and predetermined emergency brake threshold speed are compared;
Timing unit, this timing unit is connected with this speed of a motor vehicle comparing unit, and when this speed of a motor vehicle initial value during greater than this emergency brake threshold speed, the given brake of this timing unit continues duration;
Wherein, This timing unit is connected with this collecting unit and the lasting duration that should brake provides to this collecting unit, and the value that this collecting unit is monitored this GES according to the lasting duration of this brake and the time length that will brake reaches the GES that is collected when this brake continues duration is as speed of a motor vehicle end value;
And this control setup also comprises judging unit, and it is connected with timing unit with collecting unit and is connected with said emergency brake warning light, and this judging unit obtains speed of a motor vehicle initial value and confirms acceleration rate threshold from this collecting unit; In addition; This judging unit also obtains speed of a motor vehicle end value and obtains brake from timing unit from this collecting unit and continues duration; And; Continue the average acceleration during duration is confirmed the lasting duration of this brake based on this speed of a motor vehicle initial value, speed of a motor vehicle end value and brake, when this average acceleration during greater than this acceleration rate threshold, this judging unit is controlled to send the emergency brake alerting signal this emergency brake warning light;
Wherein, timing unit is arranged so that the high more lasting duration that then should brake of speed of a motor vehicle initial value is more little, and/or, judging unit is arranged so that high more then this acceleration rate threshold of speed of a motor vehicle initial value is more little.
In emergency brake warning according to the present invention, used brake signal and GES as the incoming signal of judging simultaneously, thereby guaranteed; Only brake consciously, or rather, when carrying out sudden stop consciously, just send alerting signal to pursuit-type vehicle at chaufeur; That is to say; Even (occur in the very short time period owing to this speed of a motor vehicle in short-term descends, thereby its acceleration/accel maybe be quite big because the speed of a motor vehicle decline in short-term that road conditions are disturbed or the vehicle speed measurement directional error is caused has produced bigger acceleration/accel; But the actual speed of a motor vehicle descends little), can not send flase alarm yet.Avoided the interference of flase alarm thus reliably, prevented owing to flase alarm causes the overstretched and tired of pursuit-type vehicle chaufeur so that when emergency brake occurring really, reacts untimely to pursuit-type vehicle.
In addition, brake signal and GES are in the self-propelled vehicle can be simply and the parameter of confirming extremely reliably, and this has guaranteed further that apply the brakes signal and GES are judged and can realize high judged result reliability.
Moreover; The calculated amount required to the processing of brake signal and GES is very little, thereby, when guaranteeing high reliability, alleviated the computation burden of control setup greatly; This has reduced the cost that is used to calculate required control setup on the one hand; Guaranteed the height real-time of calculating and judging on the other hand, and in the self-propelled vehicle of running at high speed, the real-time of this height is significant for guaranteeing travel safety.
Simultaneously, adopt the driving situation of certain emergency brake threshold speed when braking tentatively to judge, thus, when the speed of a motor vehicle is low, guarantee not send the emergency brake alerting signal; This helps reducing the computation burden of warning on the one hand, has reduced the interference to pursuit-type vehicle on the other hand.This especially because, when the speed of a motor vehicle was low, even braking strength is bigger, the chaufeur of pursuit-type vehicle also had sufficient time to carry out corresponding operating according to the stoplight stop lamp signal of front truck, the emergency brake alerting signal is unnecessary in this case.
Outstanding advantage according to emergency brake warning of the present invention especially also is, not only can send the emergency brake alerting signal to pursuit-type vehicle, and can on appropriate time point, send this emergency brake alerting signal according to corresponding driving situation; This means on the one hand, can (not that is to say, before not confirming the emergency brake situation) prematurely and send alerting signal; Mean that on the other hand sending of alerting signal can be not late excessively, so that pursuit-type vehicle has not had the enough time to react when knowing this emergency brake alerting signal; This especially realizes through following measure in the present invention; Promptly; Confirm that according to the GES of the moment that collects brake signal the brake of judging emergency brake continues duration; And/or, confirm to be used to judge the acceleration rate threshold of emergency brake according to the GES of the moment that collects brake signal.The speed of a motor vehicle of the moment that begins to brake is high more, then can supply the chaufeur use of pursuit-type vehicle then short more with the time of reacting, and in this case, suitably shortens the lasting duration of brake and helps improving safety.In addition, the speed of a motor vehicle is high more, then possibly cause the risk of rear-end collision just high more; Thereby; Judge whether to exist the standard of " emergency brake " correspondingly also stricter, therefore, a kind of preferred embodiment according to the present invention is stipulated; The come into force speed of a motor vehicle of moment of brake signal is high more, and the acceleration rate threshold that is adopted is more little.
According to an embodiment of the present, brake continue duration and/or acceleration rate threshold can with brake signal come into force moment the speed of a motor vehicle variation and change continuously;
According to another kind of embodiment of the present invention, brake continue duration and/or acceleration rate threshold can with brake signal come into force moment the speed of a motor vehicle variation and from a plurality of discrete values, choose, thereby, guaranteeing further to reduce calculated amount under the prerequisite of required precision.
According to another embodiment of the present invention, adopt first pattern according to the timing that the lasting duration of brake carries out, promptly; The time that links up and brake and continued for single between institute's timing, this means, if during braking; Brake pedal is released; Then timing is interrupted, and when stepping on down brake pedal once more, restarts timing.
According to also a kind of embodiment of the present invention; Second pattern is adopted in timing according to the lasting duration of brake carries out; That is, be the aggregated duration of brake signal between institute's timing, that is to say; Even for example cause the touch on the brake action of pedal of chaufeur to interrupt in short-term because road jolts during the brake, timing does not stop yet.When condition of road surface was relatively poor, second pattern was especially favourable.
According to another embodiment of the present invention, can discern condition of road surface and correspondingly automatically carry out the switching between first pattern and second pattern by means of the sensor (for example vibration sensor or normal acceleration sensor) of self-propelled vehicle.
According to a kind of preferred embodiment of the present invention; This control setup is the car body controller of this self-propelled vehicle, and/or, left steering lamp that this emergency brake warning light is this self-propelled vehicle and right steering lamp; When sending this emergency brake alerting signal, this left steering lamp and right steering lamp glimmer synchronously.
The car body controller that adopts self-propelled vehicle then is no longer necessary for and realizes the emergency brake warning and install independent control setup additional, the micro controller system of for example using always in the prior art as control setup.This has reduced hardware cost on the one hand, has given full play to the high advantage of car body controller fiduciary level of former car on the other hand.The control setup that installs additional separately can make the user that its confidence level is produced doubt owing to have many uncertain factors in the processes such as its manufacturing, debugging, assembling inevitably; The car body controller of former car then obviously has higher confidence level; Because emergency brake warning function and personal safety as well as the property safety are closely bound up, thereby employing car body controller according to the present invention is not used the person more easily and accepts and really higher reliability can be provided as the design plan of control setup is obvious.The left steering lamp of employing self-propelled vehicle and right steering lamp have cost-cutting and the remarkable advantage that improves fiduciary level equally as the emergency brake warning light.This is because for example, employing need not to carry out extra signal wire (SW) fully and is connected with supply line according to this scheme of the present invention.In addition; This scheme also has the clear and definite advantage of transmission information implication, breaks down and when promptly parking in the roadside, the left steering lamp of flicker is used to inform the chaufeur of vehicle at the back with the right steering lamp simultaneously at self-propelled vehicle; Fault (" emergency ") has appearred in this self-propelled vehicle, notes dodging; Thus, when the left and right sides steering indicating light that glimmers with identical or close mode and common stoplight stop lamp worked simultaneously, the pursuit-type vehicle chaufeur can recognize immediately that the fwd self-propelled vehicle is " brake " and have " emergency ".Even the chaufeur of pursuit-type vehicle is unfamiliar with according to emergency brake warning device of the present invention, also can promptly associate above-mentioned implication; On the contrary; The common implication of setting up separately in the prior art of emergency brake warning light is indeterminate; This is not only bad for the chaufeur of warning pursuit-type vehicle; And possibly run counter to desire, cause the pursuit-type vehicle chaufeur approaching more to see this signal lamp clearly to this " peculiar " signal lamp generation curiosity even intention; Perhaps, the emergency brake warning light of setting up separately of the prior art has to give the alarm with a plurality of characters (for example " emergency brake "), yet; This mode makes read out instrument complicate and the cost rising on the one hand; On the other hand, when the situation is critical, the pursuit-type vehicle chaufeur may not be seen these a plurality of characters rapidly clearly; This possibly cause it to have little time to take counter-measure, causes potential risks.
According to another aspect of the present invention, this brake signal is provided by the BK Brake Switch of the brake pedal of self-propelled vehicle, and/or, this GES is provided by brake control system.
Preferably, this GES is provided by ABS system or ESP system, and preferably, this ABS system or ESP system are connected with this control setup through the CAN bus.
Usually set up the BK Brake Switch that has normally closed contact and open contact on the brake pedal of self-propelled vehicle.In this case, when brake pedal was operated, normally closed contact was opened and while open contact closure, produces brake signal thus and is passed to collecting unit.Change through two level when being produced by the switching of two contacts and to detect, guaranteed the detecting reliability of brake signal effectively, the mistake that possibly exist under the situation of only having avoided a contact is detected is surveyed.
In order further to simplify structure according to emergency brake warning of the present invention, stipulate according to a preferred embodiment of the present invention, directly obtain GES from motor-rehicle braking system.Preferably, for example ABS system or ESP system link to each other and receive GES in real time the brake system of the collecting unit of control setup through CAN bus and self-propelled vehicle.Through this measure, saved acceleration pick-up or speed sensor and the corresponding wiring of special setting, and the transmission performance that makes full use of the CAN bus has guaranteed the real-time of GES.
According to another aspect of the present invention; This control setup also comprises stop element; In the brake signal moment of failure; The given brake of this stop element was lost efficacy and is continued duration and lost efficacy according to this brake to continue duration and pick up counting, if the recruitment of the value of GES was stepped on down greater than predetermined value and/or Das Gaspedal during should the lasting duration of brake inefficacy, then this stop element (for example through the emergency brake warning light is controlled) stops this emergency brake alerting signal.
Guaranteed that through this measure after the emergency brake alerting signal came into force, warning began the driving situation is monitored to confirm that this alerting signal should survivally still should be cancelled immediately.Especially; Because external disturbance, for example road bump possibly cause brake pedal resilience unintentionally; Therefore; Stipulating according to the present invention, is not just to stop alarm signal in the brake signal moment of failure, actv. or significantly rise whether occur but begin to monitor the speed of a motor vehicle from the brake signal moment of failure.What this speed of a motor vehicle went up characterizing usually chaufeur stops to brake and recovering again the wish of normal driving, in other words, shows that the emergency brake situation no longer exists.Stop the emergency brake alerting signal on this basis, make the sending and stop all can to reflect really current actual driving situation of alerting signal, thereby information accurately is provided for the chaufeur of pursuit-type vehicle.This has also been avoided the emergency brake alerting signal effectively frequent come into force repeatedly and stops, thereby has avoided the pursuit-type vehicle chaufeur is caused interference.
According to another aspect of the present invention; This control setup also comprises stop element; This stop element (for example stops this emergency brake alerting signal when receiving the manual control signal; Through the emergency brake warning light is controlled so that it stops flicker), wherein, the operating personal of manual control signal through this self-propelled vehicle produces the manipulation that malfunction shutdown light switch and/or steering indicating light driving lever are carried out.
A kind of preferred embodiment according to the present invention is stipulated, can stop the emergency brake alerting signal through manual mode, and for example, chaufeur can stop this alerting signal through pushing the malfunction shutdown switch or stirring the steering indicating light driving lever.Under the prerequisite that the emergency brake situation no longer exists; Chaufeur has sufficient time to carry out aforesaid operations; Thereby guaranteed; Even the automatic hold function of alerting signal lost efficacy, also can come manually cancellation alerting signal through shirtsleeve operation, avoid the warning that the pursuit-type vehicle chaufeur is made the mistake.
According to a further aspect of the invention, provide a kind of being used for to realize the method that the emergency brake of self-propelled vehicle is reported to the police by means of control setup and emergency brake warning light, this method comprises the steps:
Gather brake signal and GES and also the come into force value of GES of moment of this brake signal is made as speed of a motor vehicle initial value;
This speed of a motor vehicle initial value and emergency brake threshold speed are compared;
When this speed of a motor vehicle initial value during greater than the emergency brake threshold speed, a given brake continues duration;
Continue that duration is monitored this GES and the value of the GES that the time length that will brake is collected when reaching the lasting duration of this brake is made as the last value of the speed of a motor vehicle according to this brake;
Confirm acceleration rate threshold according to speed of a motor vehicle initial value; And, continue duration based on this speed of a motor vehicle initial value, speed of a motor vehicle end value and brake and confirm the average acceleration during this brake continues duration; When this average acceleration during greater than this acceleration rate threshold, this control setup is controlled to send the emergency brake alerting signal this emergency brake warning light;
Wherein, this speed of a motor vehicle initial value is high more, and the lasting duration that then should brake is more little, and/or, this acceleration rate threshold is more little.
Obviously; In a kind of preferred embodiment according to the method for the invention, can stipulate that equally this control setup is the car body controller of this self-propelled vehicle; And/or; Left steering lamp that this emergency brake warning light is this self-propelled vehicle and right steering lamp, when sending this emergency brake alerting signal, this left steering lamp and right steering lamp glimmer synchronously.
Another preferred embodiment is according to the method for the invention also stipulated; This brake signal is provided by the BK Brake Switch of the brake pedal of self-propelled vehicle, and/or, this GES is provided by brake control system; Preferably; This GES is provided by ABS system or ESP system, and this ABS system or ESP system are connected with this control setup through the CAN bus.
Another preferred embodiment is according to the method for the invention also stipulated, can aforesaid mode manually or automatically stop the emergency brake alerting signal.
Thus, equally advantageously realized in the method according to the invention and the above-mentioned similar advantage of being illustrated to emergency brake warning device according to the present invention of advantage.
In addition, according to another aspect of the present invention, a kind of self-propelled vehicle is provided also, this self-propelled vehicle has aforesaid according to emergency brake warning of the present invention.Thus, this self-propelled vehicle has especially high preventing collision safety.
Description of drawings
By drawing embodiments of the invention are explained below.Wherein:
Fig. 1 has shown the system chart of one embodiment of the invention;
Fig. 2 has shown the system chart of another embodiment of the present invention;
Fig. 3 a and Fig. 3 b have shown the judgement scheme drawing of further embodiment of this invention.
The specific embodiment
Fig. 1 has shown the system chart of the emergency brake warning device of an embodiment of the present invention.
As shown in Figure 1, comprise car body controller BCM, brake control system 205 and brake pedal 201 according to the emergency brake warning device of an embodiment of the present invention.Car body controller BCM monitors the driving situation.In the automobile in modern times, brake pedal 201 control BK Brake Switchs 202, BK Brake Switch 202 is generally double contact switch.When stepping on brake pedal 201, the normally closed contact of BK Brake Switch 202 is opened and open contact is closed simultaneously.Car body controller BCM gathers the state variation of BK Brake Switch 202, confirms the brake of chaufeur.Wherein, change through two level when being produced by the switching of two contacts and to detect, guaranteed the detecting reliability of brake signal effectively, the mistake that possibly exist under the situation of only having avoided a contact is detected is surveyed.
Detection in that the level through two contacts changes confirms that chaufeur carries out conscious brake simultaneously, and car body controller BCM gathers current GES and judges in view of the above.Preferably for example ABS or ESP provide and especially preferably are received through the CAN bus this GES by brake control system 205.If the received speed of a motor vehicle in this moment is greater than the emergency brake threshold speed of setting then car body controller BCM starts the T time regularly; Otherwise the T time does not regularly start and car body controller BCM proceeds above-mentioned monitoring.The emergency brake threshold speed can be fixed value and can test according to car load and demarcate or confirm according to laws and regulations requirement, for example can be 96km/h.Preferably, the emergency brake threshold speed is a variable value, its can be corresponding to actual state and from predetermined characteristics family of curves value.Starting " the T time regularly " meaning does, in certain brake continues duration T, the speed of a motor vehicle is monitored, and this brake continues duration T and can be fixed value, for example 1s.Preferably, this brake continue duration T can be corresponding to actual state and from predetermined characteristics family of curves value, just as following will the detailed description in detail.
Start the T time regularly after, if brake pedal 201 is in the state of stepping on and the T time is timed to always, then according to T in the time speed of a motor vehicle change calculations go out automobile mean deceleration accekeration during this period of time.If the mean deceleration accekeration in the T time is thought that then automobile is in the emergency brake state, otherwise is judged to be non-emergent braking state greater than preset value.Preset value can be fixed value and can test according to car load and demarcate, for example can be 4.9 m/s
2Preferably, it can be variable value equally, that is, value corresponding to actual state and from predetermined characteristics family of curves will be just as following will the detailed description in detail.
After car body controller BCM judged that automobile is in the emergency brake state, control left and right sides steering indicating light was lighted with CF flicker synchronously.This CF carries out suitable value in the scope of rules and regulations, observably cause the attention of pursuit-type vehicle chaufeur and can transmit clear and definite information to it guaranteeing.For example, flicker cycle is that 353ms is bright, and 353ms goes out.Thus, can transmit the clear and definite information of implication according to scheme of the present invention.According to the rules standard of modern automobile, break down and when promptly parking, utilize the left steering lamp of flicker simultaneously and right steering lamp to inform the chaufeur of vehicle at the back at self-propelled vehicle in the roadside, fault has appearred in this self-propelled vehicle, notes dodging; Thus; The left and right sides steering indicating light that will glimmer synchronously according to the emergency brake signal that scheme of the present invention adopted combines with common stoplight stop lamp; Arouse attention through dynamic demonstration on the one hand, clearly transmit following information on the other hand: the fwd self-propelled vehicle is " brake " and have " emergency ".
According to another embodiment of the present invention, brake control system 205 obtains vehicle speed value by means of car speed sensor 204; Obviously, this vehicle speed value can adopt other known mode to obtain equally, for example, obtains by means of gps signal where necessary.
According to another embodiment of the present invention, car body controller BCM is connected with left and right sides steering indicating light 206, and under the control of car body controller BCM, left and right sides steering indicating light 206 glimmers or stops flicker.Can be provided with equally, thereby the emergency brake signal is closed in the flicker that stops left and right sides steering indicating light 206 with manual mode through switch 207.
As shown in Figure 2, according to another embodiment of the invention, the emergency brake warning has control setup 3 and emergency brake warning light 6,
This control setup 3 comprises: collecting unit 31, and speed of a motor vehicle comparing unit 32 and timing unit 33, wherein, this collecting unit 31 is gathered brake signal B and GES V and also this brake signal B is come into force the value of GES V of moment as speed of a motor vehicle initial value Vst; This speed of a motor vehicle comparing unit 32 is connected with this collecting unit 31, obtains this speed of a motor vehicle initial value Vst from this collecting unit 31, and this speed of a motor vehicle initial value Vst and emergency brake threshold speed Sv are compared; This timing unit 33 is connected with this speed of a motor vehicle comparing unit 32, and as this speed of a motor vehicle initial value Vst during greater than this emergency brake threshold speed Sv, these timing unit 33 given brakes continue duration T; And; Wherein, This timing unit 33 is connected with this collecting unit 31 and the lasting duration T that should brake provides to this collecting unit 31, and the value that this collecting unit 31 is monitored this GES V according to the lasting duration T of this brake and the time length that will brake reaches the GES V that is collected when this brake continues duration T is as speed of a motor vehicle end value Ved; And; This control setup 3 also comprises judging unit 34; Judging unit 34 is connected with collecting unit 31, timing unit 33 and is connected with emergency brake warning light 6, and this judging unit 34 obtains speed of a motor vehicle initial value Vst and confirms acceleration rate threshold Sa from this collecting unit 31; In addition; This judging unit 34 also obtains speed of a motor vehicle end value Ved and obtains brake from timing unit 33 from this collecting unit 31 and continues duration T; And; Continue the average acceleration a_mean during duration T confirms the lasting duration T of this brake based on this speed of a motor vehicle initial value Vst, speed of a motor vehicle end value Ved and brake, as this average acceleration a_mean during greater than this acceleration rate threshold Sa, 34 pairs of these emergency brake warning lightes 6 of this judging unit are controlled to send the emergency brake alerting signal; Wherein, timing unit 33 is arranged so that speed of a motor vehicle initial value Vst is high more, and the lasting duration T that then should brake is more little, and/or, judging unit 34 is arranged so that Sa is more little for high more then this acceleration rate threshold of speed of a motor vehicle initial value Vst.
According to a kind of preferred embodiment of the present invention, the car body controller BCM that adopts self-propelled vehicle is as control setup 3.According to a kind of preferred embodiment of the present invention, the left steering lamp of self-propelled vehicle and right steering lamp are glimmered synchronously, thereby serve as emergency brake warning light 6.
Thus, compare, reduced hardware cost and improved the fiduciary level of control setup with micro controller system commonly used in the prior art.In addition, need not to carry out extra signal wire (SW) is connected with supply line.
According to another aspect of the present invention, this brake signal B is provided by the BK Brake Switch of the brake pedal of self-propelled vehicle, this BK Brake Switch can as among the above-mentioned embodiment should be double contact switch, perhaps also can be the switch of other suitable type.According to another aspect of the present invention, this GES V is provided by brake control system.Preferably, this GES V is provided by ABS system or ESP system.In the vehicle in modern times, all be equipped with the ABS system usually, even be equipped with the ESP system.Thus, according to this embodiment, can need not fringe cost and obtain GES reliably.Preferably, this ABS system or ESP system are connected with this control setup 3 through the CAN bus.
According to an embodiment of the present, emergency brake alerting signal can stop by automatic or manual.
For realizing stopping automatically; A kind of preferred embodiment according to the present invention is stipulated; This control setup 3 comprises stop element 39, and in brake signal B moment of failure, these stop element 39 given brakes were lost efficacy and continued duration T_nb and continue duration T_nb according to this brake inefficacy to pick up counting; When the recruitment of the value of GES V was greater than predetermined value during lasting duration T_nb was lost efficacy in this brake, this stop element 39 stopped this emergency brake alerting signal.
For example, the lasting duration T_nb of brake inefficacy is 2s.When brake pedal 201 from unclamping the 2s counted in the time, car body controller BCM detects the speed of a motor vehicle have been increased more than the 1km/h in this 2s, then automatic guidance stops the emergency brake alerting signal.
According to a kind of preferred embodiment of the present invention; Also be provided with such stop element 39; It can receive the manual control signal and stop this emergency brake alerting signal; Wherein, the manual control signal for example the operating personal through this self-propelled vehicle the manipulation that malfunction shutdown light switch and/or steering indicating light driving lever are carried out is produced.
For example; Continue a period of time in alerting signal, behind the for example 4s, can be through pressing malfunction shutdown light switch once (under the situation of its current ON of being in state) or twice (under the situation of its current OFF of being in state) and manually stop the emergency brake alerting signal.
According to another embodiment of the present invention, provide a kind of being used for to realize the method that the emergency brake of self-propelled vehicle is reported to the police by means of control setup and emergency brake warning light, this method comprises the steps:
Gather brake signal and GES and also the come into force value of GES of moment of this brake signal is made as speed of a motor vehicle initial value Vst;
This speed of a motor vehicle initial value Vst and emergency brake threshold speed Sv are compared;
As this speed of a motor vehicle initial value Vst during greater than emergency brake threshold speed Sv, a given brake continues duration T;
Continue that duration T monitors this GES V and the value of the GES V that the time length that will brake is collected when reaching the lasting duration T of this brake is made as the last value Ved of the speed of a motor vehicle according to this brake;
Vst confirms acceleration rate threshold Sa according to speed of a motor vehicle initial value; And, continue duration T based on this speed of a motor vehicle initial value Vst, speed of a motor vehicle end value Ved and brake and confirm the average acceleration a_mean during this brake continues duration T; As this average acceleration a_mean during greater than this acceleration rate threshold Sa, 3 pairs of these emergency brake warning lightes 6 of this control setup are controlled to send the emergency brake alerting signal;
Wherein, Vst is high more for this speed of a motor vehicle initial value, and the lasting duration T value of then should braking is more little, and/or, this acceleration rate threshold Sa value is more little.
At emergency brake warning device according to the present invention with in according to emergency brake alarm method of the present invention; Just as shown in Fig. 3 a, the lasting duration T of brake can get a fixed value, for example 1s according to demarcation; To this, for example can be referring to the solid line among Fig. 3 a 501; In a kind of preferred implementation, can obtain about continuing the value curve of duration through modes such as for example experiments in advance, it for example illustrates through the long and short dash line among Fig. 3 a 502.Thus, realized coupling, promptly to practical driving condition; Speed of a motor vehicle initial value Vst is high more, then can supply the chaufeur use of pursuit-type vehicle then short more with the time of reacting, therefore; It is less correspondingly to make brake continue duration T value, can supply to judge so that stay the more time.Can imagine equally, this value curve is piecewise function curve but not the continuous curve shown in the long and short dash line 502, thus, has realized compromise preferably between the calculated amount in above-mentioned coupling and reducing to riving condition.
Equally; According to another embodiment; What also can imagine is, as shown in Fig. 3 b, in emergency brake warning device according to the present invention and method; Also desirable fixed value of acceleration rate threshold (for example referring to solid line 601) or the value that changes with speed of a motor vehicle initial value, the value (not shown) that for example changes with speed of a motor vehicle initial value continually varying value (for example referring to long and short dash line 602) or segmentation.Can stipulate that for example in 96 ~ 160km/h scope, then acceleration rate threshold is 5.4m/s as if speed of a motor vehicle initial value
2, greater than 160km/h, for example in 161 ~ 224km/h scope, then acceleration rate threshold is 4.9m/s as if speed of a motor vehicle initial value
2, obtain the value that changes with the segmentation of speed of a motor vehicle initial value thus, thereby the coupling of riving condition is being realized good trading off with reducing between the calculated amount.
In addition, according to another aspect of the present invention, a kind of self-propelled vehicle is provided also, this self-propelled vehicle has aforesaid according to emergency brake warning of the present invention.Therefore, this self-propelled vehicle can in time give a warning to pursuit-type vehicle by means of above-mentioned emergency brake alarm method.Thus, this self-propelled vehicle according to the present invention has especially high preventing collision safety.
Should be pointed out that above-mentioned various characteristics of the present invention can be employed with independently or being bonded to each other.Above instance provides to explain mode of the present invention, and is not intended to limit the present invention.The scope that patents protection of the present invention is defined by the claims, and comprises other instance that those skilled in the art can expect.If these other instances have the structural member as broad as long with the literal language of claim; If perhaps they comprise the equivalent structure property element that the unsubstantiality difference is arranged with the literal language of claim, then these other instance intentions are in the scope of claim.
Claims (10)
1. an emergency brake warning that is used for self-propelled vehicle is characterized in that, said emergency brake warning has control setup (3) and emergency brake warning light (6),
Said control setup (3) comprising:
Collecting unit (31), said collecting unit (31) are gathered brake signal (B) and GES (V) and said brake signal (B) are come into force the value of GES (V) of moment as speed of a motor vehicle initial value (Vst);
Speed of a motor vehicle comparing unit (32), said speed of a motor vehicle comparing unit (32) be connected with said collecting unit (31), obtain said speed of a motor vehicle initial value (Vst) and said speed of a motor vehicle initial value (Vst) and predetermined emergency brake threshold speed (Sv) are compared from said collecting unit (31);
Timing unit (33), said timing unit (33) is connected with said speed of a motor vehicle comparing unit (32), and when said speed of a motor vehicle initial value (Vst) during greater than said emergency brake threshold speed (Sv), the given brake of said timing unit (33) continues duration (T);
Wherein, Said timing unit (33) is connected with said collecting unit (31) and said brake is continued duration (T) to be provided to said collecting unit (31), and the value that said collecting unit (31) is monitored said GES (V) according to the lasting duration (T) of this brake and the time length that will brake reaches the GES (V) that is collected when said brake continues duration (T) is as speed of a motor vehicle end value (Ved);
And; Said control setup (3) also comprises judging unit (34); Said judging unit (34) is connected with said collecting unit (31) and timing unit (33) and is connected with said emergency brake warning light (6); And said judging unit (34) obtains speed of a motor vehicle initial value (Vst) and confirms acceleration rate threshold (Sa) from said collecting unit (31); In addition; Said judging unit (34) also obtains speed of a motor vehicle end value (Ved) and obtains brake from timing unit (33) from said collecting unit (31) and continues duration (T); And; Based on the average acceleration (a_mean) during said speed of a motor vehicle initial value (Vst), the last value of the speed of a motor vehicle (Ved) and the next definite lasting duration (T) that should brake of the lasting duration (T) that brakes; When said average acceleration (a_mean) during greater than said acceleration rate threshold (Sa), said judging unit (34) is controlled to send the emergency brake alerting signal said emergency brake warning light (6);
Wherein, said timing unit (33) is arranged to, and it is more little that the high more then said brake of said speed of a motor vehicle initial value (Vst) continues duration (T), and/or, judging unit (34) is arranged to, and the high more then said acceleration rate threshold of said speed of a motor vehicle initial value (Vst) (Sa) is more little.
2. emergency brake warning according to claim 1; It is characterized in that; Said control setup (3) is the car body controller (BCM) of said self-propelled vehicle, and/or, said emergency brake warning light (6) is the left steering lamp and the right steering lamp of said self-propelled vehicle; When sending said emergency brake alerting signal, said left steering lamp and right steering lamp glimmer synchronously.
3. emergency brake warning according to claim 1 is characterized in that, said brake signal (B) is provided by the BK Brake Switch of the brake pedal of self-propelled vehicle, and/or, said GES (V) is provided by brake control system.
4. emergency brake warning according to claim 1 is characterized in that, said GES (V) is provided by ABS system or ESP system, and preferably, said ABS system or ESP system are connected with said control setup (3) through the CAN bus.
5. according to each described emergency brake warning in the claim 1 to 4; It is characterized in that; Said control setup (3) also comprises stop element (39); In brake signal (B) moment of failure; The given brake of said stop element (39) was lost efficacy and is continued duration (T_nb) and lost efficacy according to this brake to continue duration (T_nb) and pick up counting, and when the recruitment of the value of GES (V) was greater than predetermined value during lasting duration (T_nb) was lost efficacy in this brake, said stop element (39) was controlled to stop said emergency brake alerting signal said emergency brake warning light (6).
6. according to each described emergency brake warning in the claim 1 to 4; It is characterized in that; Said control setup (3) also comprises stop element (39); When said stop element (39) receives the manual control signal said emergency brake warning light (6) is controlled to stop said emergency brake alerting signal, wherein, the operating personal of manual control signal through said self-propelled vehicle produces the manipulation that malfunction shutdown light switch and/or steering indicating light driving lever are carried out.
7. one kind is used for realizing the method that the emergency brake of self-propelled vehicle is reported to the police by means of control setup and emergency brake warning light, and said method comprises the steps:
Gather brake signal and GES and the come into force value of GES of moment of said brake signal is made as speed of a motor vehicle initial value (Vst);
Said speed of a motor vehicle initial value (Vst) and predetermined emergency brake threshold speed (Sv) are compared;
When said speed of a motor vehicle initial value (Vst) during greater than emergency brake threshold speed (Sv), a given brake continues duration (T);
Value according to this brake continues that duration (T) is monitored said GES (V) and the time length that will brake reaches the GES (V) that is collected when said brake continues duration (T) is made as the last value (Ved) of the speed of a motor vehicle;
Confirm acceleration rate threshold (Sa) according to speed of a motor vehicle initial value (Vst); And, based on the average acceleration (a_mean) during said speed of a motor vehicle initial value (Vst), the last value of the speed of a motor vehicle (Ved) and the next definite lasting duration (T) that should brake of the lasting duration (T) that brakes; When said average acceleration (a_mean) during greater than said acceleration rate threshold (Sa), said control setup is controlled to send the emergency brake alerting signal said emergency brake warning light;
Wherein, said speed of a motor vehicle initial value (Vst) is high more, and it is more little that then said brake continues duration (T), and/or, (Sa) is more little for said acceleration rate threshold.
8. method according to claim 7; It is characterized in that; Said control setup is the car body controller of said self-propelled vehicle, and/or, left steering lamp that said emergency brake warning light is said self-propelled vehicle and right steering lamp; When sending said emergency brake alerting signal, said left steering lamp and right steering lamp glimmer synchronously.
9. method according to claim 7 is characterized in that, said emergency brake alerting signal can or stop with the manually operated mode with automatic mode.
10. a self-propelled vehicle has according to each described emergency brake warning in the claim 1 to 6.
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| CN 201110174361 CN102363417B (en) | 2011-06-27 | 2011-06-27 | Emergency braking warning system and emergency braking warning method |
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| CN 201110174361 CN102363417B (en) | 2011-06-27 | 2011-06-27 | Emergency braking warning system and emergency braking warning method |
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