CN103481850B - Emergency braking interfering system and method before collision - Google Patents

Emergency braking interfering system and method before collision Download PDF

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Publication number
CN103481850B
CN103481850B CN201310441164.3A CN201310441164A CN103481850B CN 103481850 B CN103481850 B CN 103481850B CN 201310441164 A CN201310441164 A CN 201310441164A CN 103481850 B CN103481850 B CN 103481850B
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China
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controller
distance
emergency braking
car
control
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CN201310441164.3A
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CN103481850A (en
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白傑
刘继峰
边宁
刘永宏
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东风汽车公司
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Abstract

The invention discloses the front emergency braking interfering system of a kind of collision, comprise from car state of kinematic motion sensor, environmental sensor, stop mechanism controller, engine controller, gearbox control, system switching, road conditions mode selection module, body electronics stabilizing control system, can according to road conditions pattern, hazard level judgement is carried out from car state of kinematic motion and ambient condition, and send the controller of control signal, system switching connects road conditions mode selection module, road conditions mode selection module, from car state of kinematic motion sensor and the equal connection control device of environmental sensor, the control signal mouth of controller connects the control signal input end of stop mechanism controller respectively, the control signal input end of engine controller, the control signal input end of gearbox control and the control signal input end of body electronics stabilizing control system.The present invention reduces emergency braking to the destruction of driving engine and driving system, shorten emergency stopping distance, improve vehicle safety in motion.

Description

Emergency braking interfering system and method before collision

Technical field

The present invention relates to automobile safety system technical field, refer to the front emergency braking interfering system of a kind of collision and method particularly.

Background technology

Along with the quick growth of automobile pollution, road traffic environment problem has become the major issue of national governments and social concerns.Japan's traffic accident analysis result shows in the front shock that proportion is relatively high, and the accident caused due to chaufeur error in judgement and manipulation error has accounted for 46% of total number of accident.Same Japanese traffic accident analysis result show the traffic accident of 39% be chaufeur can be correct take collision free measure, before stepping on braking, beating steering handwheel, just there occurs collision.Simultaneously due to chaufeur mistake estimate different attachment condition under the safe stopping distance of (as ice and snow road, ponding road surface, good cement concrete road etc.), cause the accident collided from car and objects ahead also to account for significant proportion.

When being in danger vehicle distance from car and front truck or preceding object thing, the chaufeur being in high-pressure state particularly new hand's chaufeur is easy to maloperation, will speed up pedal as brake pedal.In this case, for the vehicle carrying traditional pre-impact system, when pre-impact system sends the instruction of emergency braking to brake system, driving engine still can increase moment of torsion, improve rotating speed.Therefore increase the stopping distance of automobile, increase the possibility of collision, exacerbate the wearing and tearing of tire and brake clamp, exacerbate the wearing and tearing of vehicle drive system, even can destroy the driving system of vehicle when engine torque and brake torque are all very large.

Existing urgent anti-collision system comprises environmental sensor if trailer-mounted radar and/or vehicle-mounted camera, vehicle sensors are if car speed sensor etc., controller and actuating unit are as driving engine etc.Due to can not safety distance be selected, and when emergency braking, if chaufeur maloperation will speed up pedal as brake pedal, driving engine still can accelerate and increasing is turned round, this not only increases stopping distance, also increase the possibility of collision, exacerbate the wearing and tearing of tire.

Summary of the invention

Object of the present invention will provide emergency braking interfering system and method before a kind of collision exactly, this system and method can reduce emergency braking to the destruction of driving engine and car transmissions, shorten emergency stopping distance, greatly improve vehicle safety in motion.

For realizing this object, emergency braking interfering system before collision designed by the present invention, comprise from car state of kinematic motion sensor, environmental sensor, stop mechanism controller, engine controller and gearbox control, it is characterized in that: it also comprises system switching, road conditions mode selection module, body electronics stabilizing control system (ESC), can according to road conditions pattern, hazard level judgement is carried out from car state of kinematic motion and ambient condition, and send the controller of control signal, wherein, described system switching connects road conditions mode selection module, road conditions mode selection module, from the signal input part of the equal connection control device of signal output part of car state of kinematic motion sensor and environmental sensor, the control signal mouth of controller connects the control signal input end of stop mechanism controller respectively, the control signal input end of engine controller, the control signal input end of gearbox control and the control signal input end of body electronics stabilizing control system.

Described environmental sensor is trailer-mounted radar and/or vehicle-mounted camera.

Described from car state of kinematic motion sensor by CAN bus(controller local area network) bus connection control device.

In technique scheme, it also comprises brake lamp, and the control signal mouth of described controller connects the control end of brake lamp.

Utilize an emergency braking interference method for emergency braking interfering system before above-mentioned collision, it is characterized in that, it comprises the steps:

Step 1: chaufeur is according to road surface actual conditions, operation road conditions mode selection module selects suitable safety distance pattern, when the road surface travelled is ice and snow road, be long distance mode by safety distance model selection, safety distance COEFFICIENT K corresponding to long distance mode is A; When road surface be dry cement concrete road or asphalt coating time, be short distance mode by safety distance model selection, safety distance COEFFICIENT K corresponding to short distance mode is B; When the road surface travelled be ponding road surface or dirt road time, be moderate distance pattern by safety distance model selection, safety distance COEFFICIENT K corresponding to moderate distance pattern is C; And have B < C < A;

Step 2: environmental sensor detects in real time from the distance d between car and objects ahead a, and by this distance signal transmission to controller; Detect in real time from car speed of a motor vehicle v from car state of kinematic motion sensor 0, and will from car speed of a motor vehicle v 0flow to controller; Environmental sensor detects objects ahead speed v in real time, and objects ahead speed v is flowed to controller;

Step 3: carry out following judgement and operation in the controller:

When environmental sensor detect in real time from the distance d between car and objects ahead a> k*1.5+ Δ v*1.2+k* Δ v 2when/6, controller nonintervention wagon control, from car by original mode operation; Otherwise controller sends alarm command;

When environmental sensor detect in real time from the distance d between car and objects ahead a≤ 1.5*k+k* Δ v 2when/6, controller sends alarm command, also sends the pre-supercharging instruction of brake master cylinder to stop mechanism controller simultaneously, and the pre-supercharging instruction of brake master cylinder, for eliminating the distance between brake caliper and brake disc, shortens the braking response time;

When environmental sensor detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller sends alarm command, also send braking instruction to stop mechanism controller simultaneously, send braking instruction to body electronics stabilizing control system, to engine controller send fall turn round instruction, to engine controller send do not receive increase turn round signal instruction, to send brake lamp flicker instruction to brake lamp;

Wherein, Δ v=v 0-v, v 0for from the car speed of a motor vehicle, v is objects ahead speed.

In described step 1, safety distance coefficient A corresponding to long distance mode is 2 ~ 3.

In described step 1, safety distance coefficient B corresponding to short distance mode is 1 ~ 1.3.

In described step 1, safety distance coefficient C corresponding to moderate distance pattern is 1.4 ~ 1.6.

In described step 3, when environmental sensor detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller sends downshift signal to gearbox control, controls change speed gear box downshift.

First the present invention adopts different safety distance pattern for the road surface of different adhesion value, such one side prevents in benign situation (the actual safe distance between vehicles under car and front distance are greater than this operating mode that environmental sensor detects), controller sends braking information to body electronics stabilizing control system, improves the traveling comfort of driving; Farthest ensure that again the safety of traveling on the other hand.

Secondly, when two spacings are relatively (from the distance d between car and objects ahead a≤ 1.5*k+k* Δ v 2/ 6) moment before being emergency braking time, now, eliminate distance between brake caliper and brake disc by sending the pre-supercharging instruction of brake master cylinder to stop mechanism, shorten drg response time, thus distance when reducing emergency braking, improve the safety of driving.

Again, when two spacings reach danger range (from the distance d between car and objects ahead a≤ 2+k* Δ v 2/ 6), controller controls emergency brake of vehicle, in emergency braking process, controller sends braking instruction to body electronics stabilizing control system, sends to fall turn round instruction, send not receive increase the signal turned round to driving engine to driving engine, such design can avoid the stopping distance brought by chaufeur maloperation to increase, meanwhile, the destruction because maloperation produces driving engine and driving system can also be avoided.

Finally, in emergency braking process, inform front vehicle by the mode lighting brake lamp, improve the safety of main car.

Accompanying drawing explanation

Fig. 1 is the structural representation of structure division of the present invention.

Wherein, 1-system switching, 2-road conditions mode selection module, 3-from car state of kinematic motion sensor, 4-environmental sensor, 5-controller, 6-stop mechanism controller, 7-engine controller, 8-gearbox control, 9-body electronics stabilizing control system, 10-brake lamp.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:

Emergency braking interfering system before collision shown in Fig. 1, comprise from car state of kinematic motion sensor 3, environmental sensor 4, stop mechanism controller 6, engine controller 7 and gearbox control 8, it is characterized in that: it also comprises system switching 1, road conditions mode selection module 2, body electronics stabilizing control system 9, can according to road conditions pattern, hazard level judgement is carried out from car state of kinematic motion and ambient condition, and send the controller 5 of control signal, wherein, described system switching 1 connects road conditions mode selection module 2, road conditions mode selection module 2, from the signal input part of the equal connection control device 5 of signal output part of car state of kinematic motion sensor 3 and environmental sensor 4, the control signal mouth of controller 5 connects the control signal input end of stop mechanism controller 6 respectively, the control signal input end of engine controller 7, the control signal input end of gearbox control 8 and the control signal input end of body electronics stabilizing control system 9.

In technique scheme, described environmental sensor 4 is trailer-mounted radar and/or vehicle-mounted camera.

In technique scheme, described from car state of kinematic motion sensor 3 by CAN bus bus connection control device 5.

In technique scheme, it also comprises brake lamp 10, and the control signal mouth of described controller 5 connects the control end of brake lamp 10.

Utilize an emergency braking interference method for the front emergency braking interfering system of collision, it comprises the steps:

Step 1: chaufeur is according to road surface actual conditions, operation road conditions mode selection module 2 selects suitable safety distance pattern, when the road surface travelled is ice and snow road, because coefficient of road adhesion is very little, at this moment in order to ensure that safety distance model selection should be long distance mode by the safety of driving, safety distance COEFFICIENT K corresponding to long distance mode is A; When road surface is cement concrete road or the asphalt coating of drying, because coefficient of road adhesion is relatively large, emergency stopping distance diminishes, following distance can reduce under ensureing the prerequisite of driving safety by place, be short distance mode by safety distance model selection, safety distance COEFFICIENT K corresponding to short distance mode is B; When the road surface travelled is ponding road surface or dirt road (coefficient of road adhesion is between the cement concrete road or asphalt coating of ice and snow road and drying), be moderate distance pattern by safety distance model selection, safety distance COEFFICIENT K corresponding to moderate distance pattern is C; And have B < C < A;

Step 2: environmental sensor 4 detects in real time from the distance d between car and objects ahead a, and by this distance signal transmission to controller 5; Detect from car speed of a motor vehicle v in real time from car state of kinematic motion sensor 3 0, and will from car speed of a motor vehicle v 0flow to controller 5; Environmental sensor 4 detects objects ahead speed v in real time, and objects ahead speed v is flowed to controller 5;

Step 3: carry out following judgement and operation in the controller 5:

When environmental sensor 4 detect in real time from the distance d between car and objects ahead a> k*1.5+ Δ v*1.2+k* Δ v 2when/6, controller 5 nonintervention wagon control, from car by original mode operation; Otherwise controller 5 sends alarm command;

When environmental sensor 4 detect in real time from the distance d between car and objects ahead a≤ 1.5*k+k* Δ v 2when/6, controller 5 sends alarm command, also sends the pre-supercharging instruction of brake master cylinder to stop mechanism controller 6 simultaneously, and the pre-supercharging instruction of brake master cylinder, for eliminating the distance between brake caliper and brake disc, shortens the braking response time;

When environmental sensor 4 detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller 5 sends alarm command, also send braking instruction to stop mechanism controller 6 simultaneously, send braking instruction to body electronics stabilizing control system 9, to engine controller 7 send fall turn round instruction, to engine controller 7 send do not receive increase turn round signal instruction, to send brake lamp 10 to brake lamp 10 and to glimmer instruction; Now, stop mechanism is braked vehicle, and body electronics stabilizing control system 9 ensures that body gesture is stablized, and driving engine reduces moment of torsion, and the action that Das Gaspedal is refueled ignored by driving engine, and brake lamp glimmers.Significantly can shorten braking distance by aforesaid operations, meanwhile, if brake mistake is stepped on into throttle by chaufeur, the speed of a motor vehicle also can not increase, and further reduces the possibility collided; Meanwhile, it also avoid because maloperation is to the destruction of driving engine and driving system;

Wherein, Δ v=v 0-v, v 0for from the car speed of a motor vehicle (m/s), v is objects ahead speed (m/s).

In the step 1 of technique scheme, safety distance coefficient A corresponding to long distance mode is 2 ~ 3, is preferably 2.5.In described step 1, safety distance coefficient B corresponding to short distance mode is 1 ~ 1.3, is preferably 1.In described step 1, safety distance coefficient C corresponding to moderate distance pattern is 1.4 ~ 1.6, is preferably 1.5.

In the step 3 of technique scheme, when environmental sensor 4 detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller 5 sends downshift signal to gearbox control 8, controls change speed gear box downshift, reduces the speed of a motor vehicle further.Increase the safety of emergency brake of vehicle.

The content that this specification sheets is not described in detail belongs to the known prior art of professional and technical personnel in the field.

Claims (8)

1. one kind utilizes the emergency braking interference method of the front emergency braking interfering system of collision, before this collision, emergency braking interfering system comprises from car state of kinematic motion sensor (3), environmental sensor (4), stop mechanism controller (6), engine controller (7) and gearbox control (8), it also comprises system switching (1), road conditions mode selection module (2), body electronics stabilizing control system (9), can according to road conditions pattern, hazard level judgement is carried out from car state of kinematic motion and ambient condition, and send the controller (5) of control signal, wherein, described system switching (1) connects road conditions mode selection module (2), road conditions mode selection module (2), from the signal input part of the equal connection control device (5) of signal output part of car state of kinematic motion sensor (3) and environmental sensor (4), the control signal mouth of controller (5) connects the control signal input end of stop mechanism controller (6) respectively, the control signal input end of engine controller (7), the control signal input end of gearbox control (8) and the control signal input end of body electronics stabilizing control system (9),
It is characterized in that: the emergency braking interference method utilizing emergency braking interfering system before above-mentioned collision, comprises the steps:
Step 1: chaufeur is according to road surface actual conditions, suitable safety distance pattern is selected in operation road conditions mode selection module (2), when the road surface travelled is ice and snow road, be long distance mode by safety distance model selection, safety distance COEFFICIENT K corresponding to long distance mode is A; When road surface be dry cement concrete road or asphalt coating time, be short distance mode by safety distance model selection, safety distance COEFFICIENT K corresponding to short distance mode is B; When the road surface travelled be ponding road surface or dirt road time, be moderate distance pattern by safety distance model selection, safety distance COEFFICIENT K corresponding to moderate distance pattern is C; And have B < C < A;
Step 2: environmental sensor (4) detects in real time from the distance d between car and objects ahead a, and by this distance signal transmission to controller (5); Detect from car speed of a motor vehicle v in real time from car state of kinematic motion sensor (3) 0, and will from car speed of a motor vehicle v 0flow to controller (5); Environmental sensor (4) detects objects ahead speed v in real time, and objects ahead speed v is flowed to controller (5);
Step 3: carry out following judgement and operation in controller (5):
When environmental sensor (4) detect in real time from the distance d between car and objects ahead a> k*1.5+ Δ v*1.2+k* Δ v 2when/6, controller (5) nonintervention wagon control, from car by original mode operation; Otherwise controller (5) sends alarm command;
When environmental sensor (4) detect in real time from the distance d between car and objects ahead a≤ 1.5*k+k* Δ v 2when/6, controller (5) sends alarm command, also send the pre-supercharging instruction of brake master cylinder to stop mechanism controller (6), the pre-supercharging instruction of brake master cylinder, for eliminating the distance between brake caliper and brake disc, shortens the braking response time simultaneously;
When environmental sensor (4) detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller (5) sends alarm command, also send braking instruction to stop mechanism controller (6) simultaneously, send braking instruction to body electronics stabilizing control system (9), to engine controller (7) send fall turn round instruction, to engine controller (7) send do not receive increase turn round signal instruction, to send brake lamp (10) flicker instruction to brake lamp (10);
Wherein, Δ v=v 0-v, v 0for from the car speed of a motor vehicle, v is objects ahead speed.
2. the emergency braking interference method utilizing the front emergency braking interfering system of collision according to claim 1, is characterized in that: described environmental sensor (4) is trailer-mounted radar and/or vehicle-mounted camera.
3. according to claim 1ly utilize the emergency braking interference method of emergency braking interfering system before collision, it is characterized in that: described from car state of kinematic motion sensor (3) by CAN bus bus connection control device (5).
4. the emergency braking interference method utilizing the front emergency braking interfering system of collision according to claim 1, it is characterized in that: it also comprises brake lamp (10), the control signal mouth of described controller (5) connects the control end of brake lamp (10).
5. according to claim 1ly utilize the emergency braking interference method of emergency braking interfering system before collision, it is characterized in that: in described step 1, safety distance coefficient A corresponding to long distance mode is 2 ~ 3.
6. according to claim 1ly utilize the emergency braking interference method of emergency braking interfering system before collision, it is characterized in that: in described step 1, safety distance coefficient B corresponding to short distance mode is 1 ~ 1.3.
7. according to claim 1ly utilize the emergency braking interference method of emergency braking interfering system before collision, it is characterized in that: in described step 1, safety distance coefficient C corresponding to moderate distance pattern is 1.4 ~ 1.6.
8. according to claim 1ly utilize the emergency braking interference method of emergency braking interfering system before collision, it is characterized in that: in described step 3, when environmental sensor (4) detect in real time from the distance d between car and objects ahead a≤ 2+k* Δ v 2when/6, controller (5) sends downshift signal to gearbox control (8), controls change speed gear box downshift.
CN201310441164.3A 2013-09-25 2013-09-25 Emergency braking interfering system and method before collision CN103481850B (en)

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CN105346528B (en) * 2015-10-28 2018-05-18 东风汽车公司 Forward direction collision-proof method and system based on electro-hydraulic brake
CN105172791A (en) * 2015-10-30 2015-12-23 东风汽车公司 Smart self-adaptive cruise control method
CN105346529B (en) * 2015-11-05 2019-03-08 东风汽车公司 A kind of intelligence automatic emergency brake system and method
CN105644557A (en) * 2015-12-30 2016-06-08 苏州安智汽车零部件有限公司 Braking and steering assisting system and method considering collision avoidance intention of driver
CN105620474B (en) * 2016-01-26 2019-02-19 吉林大学 A kind of four-wheel wheel hub driving electric car active barrier-avoiding method with multi-mode
CN105739491B (en) * 2016-02-04 2018-06-15 北京联合大学 A kind of electric intelligent vehicle based on brake regulation is double to drive double-control system and control method
CN105946768A (en) * 2016-06-15 2016-09-21 北京汽车股份有限公司 Intelligent car distance visual reminding system and car
CN107600070B (en) * 2017-08-30 2019-12-13 北京新能源汽车股份有限公司 Control method and device of automatic emergency braking system, controller and automobile

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