CN102991483A - System and method for intelligent braking of vehicle under driverless control - Google Patents
System and method for intelligent braking of vehicle under driverless control Download PDFInfo
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- CN102991483A CN102991483A CN201210506000XA CN201210506000A CN102991483A CN 102991483 A CN102991483 A CN 102991483A CN 201210506000X A CN201210506000X A CN 201210506000XA CN 201210506000 A CN201210506000 A CN 201210506000A CN 102991483 A CN102991483 A CN 102991483A
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Abstract
The invention discloses a system and a method for the intelligent braking of a vehicle under a driverless control. The system comprises a vehicle running state sensor for detecting whether the vehicle is in a running state, a driver state monitoring device for monitoring whether the driver sits on a driving seat, an executive device for providing a brake pressure for the braking of the vehicle, and a vehicle intelligent control device. The method comprises the following steps that: the vehicle intelligent control device judges whether the vehicle is under the driverless control by analyzing the detected vehicle speed information and driver state information, and then controls the executive device to perform a corresponding control operation. Therefore, the problem of occurrence of an accident caused by the fact that the driver leaves or makes an operation mistake is solved.
Description
Technical field
The present invention relates to the automobile brake design, particularly relate to Intelligent vehicle brake system and method under a kind of unmanned state.
Background technology
Leave position of driver at chaufeur, be that vehicle is in lower time of unmanned state, vehicle may move unexpectedly, and sloping phenomenon etc. appears slipping in run impact obstacle or the vehicle of continuing that vehicle might occur in the ramp, and this might cause traffic accidents.
Although occur the brake system of some automatic driving vehicles or vehicle parking brake etc. in the prior art, but in control process, the state of chaufeur is not carried out association, vehicle can not in time be braked and be controlled: 1) such as the vehicle accident in following situation, chaufeur is forced to leave or when throwing away steering position, namely chaufeur is in when being forced to leave steering position under the emergency situations; 2) leave steering position in the ramp when chaufeur, and do not have the enough parking brake power of pull-up, during the unconscious slide of vehicle slope.So for fear of because the leaving or the generation of the traffic accident that negligence of operation causes of chaufeur, brake system needs Real-Time Monitoring chaufeur and state of motion of vehicle, in time vehicle is applied braking.
Summary of the invention
The purpose of this invention is to provide Intelligent vehicle brake system and method under a kind of unmanned state, by analyzing and testing to speed information and driver status information judge whether vehicle is in unmanned motoring condition, control accordingly again, solve because the leaving or problem that negligence of operation etc. causes accident to occur of chaufeur.
To achieve these goals, the invention provides the Intelligent vehicle brake system under a kind of unmanned state, comprising:
Whether the state of motion of vehicle sensor is in motoring condition for detection of vehicle;
The driver status monitoring device is used for monitoring driving person and whether is in operator's saddle;
Executive device is for the braking of vehicle provides brake-pressure;
The Vehicular intelligent control setup based on the feedback information of described state of motion of vehicle sensor and driver status monitoring device, is controlled described executive device.
Alternatively, in the above-mentioned device, described state of motion of vehicle sensor is wheel speed sensors and longitudinal acceleration sensor.
Alternatively, in the above-mentioned device, described driver status monitoring device is machine vision sensor.
Alternatively, in the above-mentioned device, described executive device is electronic stability controlling system.
Alternatively, in the above-mentioned device, described Intelligent vehicle brake system also comprises Intelligent brake control system switch and the warning device that is connected with the Vehicular intelligent control setup.
The invention provides the Vehicular intelligent braking method under a kind of unmanned state, described method comprises that step is as follows:
A, by state of motion of vehicle sensor Real-Time Monitoring state of motion of vehicle, and corresponding states be converted into signal input to the Vehicular intelligent control setup;
Simultaneously, by the state of driver status monitoring device Real-Time Monitoring chaufeur, and corresponding states is converted into signal inputs to the Vehicular intelligent control setup;
B, described Vehicular intelligent control setup are processed described state of motion of vehicle signal and described driver status signal, when judging that chaufeur leaves steering position and vehicle and is kept in motion, described Vehicular intelligent control setup is to the executive device input control signal;
C, described executive device increase brake-pressure, control vehicle parking or deceleration.
Alternatively, in the above-mentioned method, among the described step a, described state of motion of vehicle sensor is wheel speed sensors and longitudinal acceleration sensor.
Alternatively, in the above-mentioned device, among the described step a, described driver status monitoring device is machine vision sensor.
Alternatively, in the above-mentioned method, among the described step b, described executive device is electronic stability controlling system.
Alternatively, in the above-mentioned method, described Intelligent vehicle brake system also comprises Intelligent brake control system switch and the warning device that is connected with the Vehicular intelligent control setup; In described step b, described Vehicular intelligent control setup is to the executive device input control signal time, and also input control signal is to warning device synchronously, and described warning device is reported to the police, and reminds pedestrian and vehicle in time to dodge.
There is following useful technique effect at least in the present invention:
1), in brake system of the present invention and the method, the Vehicular intelligent control setup can be by analyzing the feedback information of state of motion of vehicle sensor and driver status monitoring device, judge whether vehicle is in unmanned motoring condition, control again executive device and increase brake-pressure, control vehicle parking or deceleration solve because the leaving or problem that negligence of operation etc. causes accident to occur of chaufeur;
2), brake system of the present invention and method degree of automation be high, response need not manual operation fast, does not affect normal driving;
3), state of motion of vehicle sensor of the present invention adopts wheel speed sensors and longitudinal acceleration sensor commonly used on the vehicle, saves cost, and so that the detection of information is more accurate, it is quicker to transmit;
4), driver status monitoring device of the present invention adopts machine vision sensor, is so that the detection of information is more accurate, it is quicker to transmit equally;
5), executive device of the present invention adopts electronic stability controlling system, so that response is quicker and reliability is high;
6), Vehicular intelligent control setup of the present invention also is connected with Intelligent brake control system switch and warning device, the Intelligent brake control system switch has increased the stability of this brake system, and warning device can more observably be reminded pedestrian and vehicle, has further increased safety performance.
Description of drawings
Fig. 1 is the structural representation of intelligent braking system of the present invention;
Fig. 2 is than the more detailed structural representation of Fig. 1;
Fig. 3 is the diagram of circuit of intelligent brake method of the present invention;
Wherein:
1-state of motion of vehicle sensor, the 101-wheel speed sensors, the 102-longitudinal acceleration sensor, 2-driver status monitoring device, 201-machine vision sensor, 3-Vehicular intelligent control setup, the 4-executive device, the 401-electronic stability controlling system, 5-Intelligent brake control system switch, 6-warning device.
The specific embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention is clearer, below in conjunction with accompanying drawing specific embodiment is described in detail.
Such as Fig. 1 and Fig. 2, the embodiment of the invention provides the Intelligent vehicle brake system under a kind of unmanned state, comprising:
Whether state of motion of vehicle sensor 1 is in motoring condition for detection of vehicle.
Driver status monitoring device 2 is used for monitoring driving person and whether is in operator's saddle.
Vehicular intelligent control setup 3 based on the feedback information of described speed of a motor vehicle state of kinematic motion sensor 1 and driver status monitoring device 2, is controlled described executive device 4.
Brake system of the present invention and method degree of automation are high, and response need not manual operation fast, does not affect normal driving.Vehicular intelligent control setup 3 can be by analyzing the feedback information of speed of a motor vehicle state of kinematic motion sensor 1 and driver status monitoring device 2, judge whether vehicle is in unmanned motoring condition, control again executive device 4 and increase brake-pressure, control vehicle parking or deceleration solve because the leaving or problem that negligence of operation etc. causes accident to occur of chaufeur.
Among the embodiment of system of the present invention, described Vehicular intelligent control setup 3 or be called the Vehicular intelligent control system, it can be custom-designed device, namely can receive and process the information of state of motion of vehicle sensor 1 and driver status monitoring device 2, and executive device 4 controlled get final product; In addition, can also to be integrated in specially vehicle electronic control unit be on the automobile ECU to Vehicular intelligent control setup 3.
Described state of motion of vehicle sensor 1 can be multiple detecting device or sensor, adopts wheel speed sensors 101 and longitudinal acceleration sensor 102 commonly used on the vehicle in this example, saves cost, and so that the detection of information is more accurate, it is quicker to transmit; Wherein wheel speed sensors 101 generally is to install 1 at each wheel, 4 altogether, is used for measuring vehicle wheel rotational speed and rotary speed information is passed to Vehicular intelligent control setup 3; Longitudinal acceleration sensor 102 can be experienced the automobile longitudinal directional acceleration and be converted into signal and is delivered to Vehicular intelligent control setup 3.
Described driver status monitoring device 2 can adopt machine vision sensor 201 for multiple in this example, so that the detection of information is more accurate, it is quicker to transmit; Wherein machine vision sensor 201 is extensively applied to a lot of places, its principle is after capturing the chaufeur image, the benchmark image of storing in image and the internal memory is compared, make analysis, again the result is converted into signal and is delivered to Vehicular intelligent control setup 3.
Described executive device 4 can as long as can initiatively increase system or the mechanism of brake-pressure, adopt the ESC that response is quicker and reliability is high for multiple equally in this example, namely electronic stability controlling system 401; ESC is the active safety technology that a kind of auxiliary driver controls vehicle, it uses the intention that senior sensing technology is judged driver's travel direction, when vehicle begins deviating road, system starts intervening measure, one or more wheels are implemented braking force, reduce the intervention of engine valve, vehicle is led back to correct line, and mainly apply to the characteristics that it can implement to one or more wheels braking force in this example.
Described Intelligent vehicle brake system also comprises Intelligent brake control system switch 5 and the warning device 6 that is connected with Vehicular intelligent control setup 3, can open or close this intelligent braking system by manual regulation Intelligent brake control system switch 5, increased this brake system stability in use, and warning device 6 can more observably be reminded pedestrian and vehicle, has further increased safety performance.
Be the diagram of circuit of intelligent brake method of the present invention such as Fig. 3, the embodiment of the invention provides the braking method of the Vehicular intelligent under a kind of unmanned state, and described method comprises that step is as follows:
A, by speed of a motor vehicle state of kinematic motion sensor 1 Real-Time Monitoring state of motion of vehicle, and the above-mentioned state that monitors be converted into respective signal input to Vehicular intelligent control setup 3;
Simultaneously, by the state of driver status monitoring device 2 Real-Time Monitoring chaufeurs, and the state of above-mentioned monitoring is converted into respective signal inputs to Vehicular intelligent control setup 3;
B, 3 pairs of described state of motion of vehicle signals of described Vehicular intelligent control setup and described driver status signal are processed, when judging that chaufeur leaves steering position and vehicle and is kept in motion, described Vehicular intelligent control setup 3 is given executive device 4 input control signals;
C, described executive device 4 increase brake-pressure, control vehicle parking or deceleration.
Among the embodiment of the inventive method, among the described step a, described speed of a motor vehicle state of kinematic motion sensor 1 is wheel speed sensors 101 and longitudinal acceleration sensor 102; Described driver status monitoring device 2 is machine vision sensor 201; Among the described step b, described executive device 4 is electronic stability controlling system 401.
The present invention is by machine vision sensor, and the state of Real-Time Monitoring chaufeur, and this signal inputed to chaufeur diagnosis unit in the Vehicular intelligent control setup 3 through complicated data handling procedure, judges whether chaufeur departs from or leave steering position; Simultaneously by 4 wheel speed sensors 101 and longitudinal acceleration sensor 102, the Real-Time Monitoring state of motion of vehicle, and this signal inputed in the Vehicular intelligent control setup 3 through corresponding data handling procedure, judge with this whether vehicle locates on the go.
Described Intelligent vehicle brake system also comprises Intelligent brake control system switch 5 and the warning device 6 that is connected with Vehicular intelligent control setup 3; In described step b, when described Vehicular intelligent control setup 3 is given executive device 4 input control signal, also synchronously input control signal to warning device 6, described warning device 6 is reported to the police, the voice suggestion vehicle is kept in motion, so that pedestrian and vehicle are in time dodged, reduce the traffic accident probability of occurrence.
In above-mentioned b step process, if described Vehicular intelligent control setup 3 judges that chaufeur did not leave steering position when vehicle was kept in motion, judge that namely vehicle belongs to normal operating condition, then Vehicular intelligent control setup 3 is not done other controls, namely do not give executive device 4 instructions, continue to receive and process the detection information of described speed of a motor vehicle state of kinematic motion sensor 1 and driver status monitoring device 2, normal vehicle operation.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the Intelligent vehicle brake system under the unmanned state is characterized in that, comprising:
Whether state of motion of vehicle sensor (1) is in motoring condition for detection of vehicle;
Driver status monitoring device (2) is used for monitoring driving person and whether is in operator's saddle;
Executive device (4) is for the braking of vehicle provides brake-pressure;
Vehicular intelligent control setup (3) based on the feedback information of described state of motion of vehicle sensor (1) and driver status monitoring device (2), is controlled described executive device (4).
2. the Intelligent vehicle brake system under the unmanned state according to claim 1 is characterized in that, described state of motion of vehicle sensor (1) is wheel speed sensors (101) and longitudinal acceleration sensor (102).
3. the Intelligent vehicle brake system under the unmanned state according to claim 1 is characterized in that, described driver status monitoring device (2) is machine vision sensor (201).
4. the Intelligent vehicle brake system under the unmanned state according to claim 1 is characterized in that, described executive device (4) is electronic stability controlling system (401).
5. the Intelligent vehicle brake system under the unmanned state according to claim 1, it is characterized in that described Intelligent vehicle brake system also comprises Intelligent brake control system switch (5) and the warning device (6) that is connected with Vehicular intelligent control setup (3).
6. the Vehicular intelligent braking method under the unmanned state is characterized in that described method comprises that step is as follows:
A, by state of motion of vehicle sensor (1) Real-Time Monitoring state of motion of vehicle, and corresponding states be converted into signal input to Vehicular intelligent control setup (3);
Simultaneously, by the state of driver status monitoring device (2) Real-Time Monitoring chaufeur, and corresponding states is converted into signal inputs to Vehicular intelligent control setup (3);
B, described Vehicular intelligent control setup (3) are processed described state of motion of vehicle signal and described driver status signal, when judging that chaufeur leaves steering position and vehicle and is kept in motion, described Vehicular intelligent control setup (3) is given executive device (4) input control signal;
C, described executive device (4) increase brake-pressure, control vehicle parking or deceleration.
7. the Vehicular intelligent braking method under the unmanned state according to claim 6 is characterized in that, among the described step a, described state of motion of vehicle sensor (1) is wheel speed sensors (101) and longitudinal acceleration sensor (102).
8. the Vehicular intelligent braking method under the unmanned state according to claim 6 is characterized in that, among the described step a, described driver status monitoring device (2) is machine vision sensor (201).
9. the Vehicular intelligent braking method under the unmanned state according to claim 6 is characterized in that, among the described step b, described executive device (4) is electronic stability controlling system (401).
10. the Vehicular intelligent braking method under the unmanned state according to claim 6, it is characterized in that described Intelligent vehicle brake system also comprises Intelligent brake control system switch (5) and the warning device (6) that is connected with Vehicular intelligent control setup (3); In described step b, when described Vehicular intelligent control setup (3) was given executive device (4) input control signal, also input control signal was to warning device (6) synchronously, and described warning device (6) is reported to the police, and reminds pedestrian and vehicle in time to dodge.
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| CN201210506000XA CN102991483A (en) | 2012-11-29 | 2012-11-29 | System and method for intelligent braking of vehicle under driverless control |
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| CN103204161A (en) * | 2013-04-11 | 2013-07-17 | 浙江吉利汽车研究院有限公司杭州分公司 | Automatic brake system and method for automobile in unmanned state |
| CN104269053A (en) * | 2014-08-29 | 2015-01-07 | 陈业军 | Intelligent traffic system and method and intelligent automobile |
| CN104527544A (en) * | 2014-12-30 | 2015-04-22 | 小米科技有限责任公司 | Vehicle control method and device |
| CN104742899A (en) * | 2013-12-27 | 2015-07-01 | 鸿富锦精密工业（深圳）有限公司 | Vehicle auxiliary system and vehicle auxiliary method |
| CN106515574A (en) * | 2016-10-25 | 2017-03-22 | 北京汽车集团有限公司 | Device and method for identifying unmanned vehicle |
| CN109689447A (en) * | 2016-09-08 | 2019-04-26 | 克诺尔商用车制动系统有限公司 | For non-driver operate the system of commercial vehicle |
| CN112265534A (en) * | 2020-10-20 | 2021-01-26 | 广东电网有限责任公司 | Vehicle cushion, forklift and vehicle braking method |
| CN112364532A (en) * | 2020-12-22 | 2021-02-12 | 同济大学 | Unmanned vehicle obstacle avoidance method based on extended hybrid Petri network model |
| CN113044007A (en) * | 2020-11-25 | 2021-06-29 | 泰州锐比特智能科技有限公司 | Automatic braking system based on swift current car detects |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103204161A (en) * | 2013-04-11 | 2013-07-17 | 浙江吉利汽车研究院有限公司杭州分公司 | Automatic brake system and method for automobile in unmanned state |
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| CN106515574B (en) * | 2016-10-25 | 2019-03-12 | 北京汽车集团有限公司 | The identity device and method of automatic driving vehicle |
| CN112265534A (en) * | 2020-10-20 | 2021-01-26 | 广东电网有限责任公司 | Vehicle cushion, forklift and vehicle braking method |
| CN113044007A (en) * | 2020-11-25 | 2021-06-29 | 泰州锐比特智能科技有限公司 | Automatic braking system based on swift current car detects |
| CN112364532A (en) * | 2020-12-22 | 2021-02-12 | 同济大学 | Unmanned vehicle obstacle avoidance method based on extended hybrid Petri network model |
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Application publication date: 20130327 |