CN104477152B - Safe travelling method and device - Google Patents
Safe travelling method and device Download PDFInfo
- Publication number
- CN104477152B CN104477152B CN201410801937.9A CN201410801937A CN104477152B CN 104477152 B CN104477152 B CN 104477152B CN 201410801937 A CN201410801937 A CN 201410801937A CN 104477152 B CN104477152 B CN 104477152B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- current time
- locking
- distance threshold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiments of the invention provide a kind of safe travelling method and device, the problem of travel safety has much room for improvement in the prior art is improved.Methods described includes：The control device obtains the running information at the vehicle current time that the harvester is collected in real time, and the running information includes the road speed at the vehicle current time and the distance with vehicle body surrounding objects；According to the road speed and the positive braking distance at the vehicle current time of acquisition, the safe distance threshold value at the vehicle current time is drawn；Judge whether the distance of the vehicle current time and vehicle body surrounding objects reaches the safe distance threshold value at current time, be to control the vehicle to perform brake operation.Using this method, the safety and reliability of driving can be significantly improved, it is easy to implement, it is easy to popularization and application.
Description
Technical field
The present invention relates to security and guard technology, in particular to a kind of safe travelling method and device.
Background technology
With the popularization of vehicle, how to ensure that traffic safety turns into the major issue of today's society, in the prior art, hand over
The generation of interpreter's event is mostly because vehicle bumps against with surrounding objects.
Inventor has found occur crash and be primarily due to driver error under study for action, fails to accurately hold vehicle
With people around, car, thing distance so that it is unexpected to take place frequently.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of safe travelling method and device, existing to improve
Driver fails to accurately hold vehicle and people around, car, the distance of thing in technology so that the problem of surprisingly taking place frequently.
To achieve these goals, the technical scheme that the embodiment of the present invention is used is as follows：
In a first aspect, the embodiments of the invention provide a kind of safe travelling method, applied to vehicle control system, the car
Control system includes the positive braking distance that vehicle is previously provided with harvester and control device, the control device,
Methods described includes：
The control device obtains the running information at the vehicle current time that the harvester is collected, institute in real time
State road speed of the running information including the vehicle current time and the distance with vehicle body surrounding objects；
According to the road speed and the positive braking distance at the vehicle current time of acquisition, show that the vehicle is worked as
The safe distance threshold value at preceding moment；
Judge the vehicle current time and vehicle body surrounding objects distance whether reach the safety at current time away from
From threshold value, it is to control the vehicle to perform brake operation.
In above method step, (emergency brake) the safe distance threshold value at vehicle current time is obtained according to running information,
Control device can send control instruction automatically, when the distance of vehicle and surrounding objects reaches emergency brake safe distance threshold value certainly
Dynamic control brake apparatus completes brake operation, is arranged such, the accuracy of security management and control and intelligent when substantially increasing driving,
Manually-operated error is reduced, traffic safety accident is strangled before generation, the security of driving can be effectively improved.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating vehicle control system also includes display device, and methods described also includes：By the vehicle current time drawn safety away from
Sent in real time from threshold value to the display device.
The safe distance threshold value at vehicle current time is sent to display device in real time and shown so that driver can
" true " emergency brake safe distance of vehicle and surrounding objects is obtained in real time, it is to avoid because with the thing caused by " sensation " driving
Therefore occur.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute
State first safe distance threshold value and the vehicle and vehicle body of the safe distance threshold value including the vehicle with vehicle front object
Second safe distance threshold value of rear object, it is described to judge whether the vehicle current time and the distance of vehicle body surrounding objects reach
It is to control the vehicle to perform brake operation to the safe distance threshold value at current time, including：
Obtain the distance and the vehicle and the distance of vehicle body rear object of the vehicle and vehicle front object；
Judge whether the vehicle current time and the distance of vehicle front object reach the first safe distance threshold value,
And whether reach the second safe distance threshold value with the distance of vehicle body rear object；If the vehicle current time and vehicle body
The distance of objects in front reaches the first safe distance threshold value or the vehicle current time and the vehicle body rear at current time
The distance of object reaches the second safe distance threshold value at current time, then controls the vehicle to perform brake operation.
In the embodiment of the present invention, vehicle can be controlled to perform different operating to ensure the security of traveling according to different situations,
It is intelligent higher.
With reference in a first aspect, the first or second of possible embodiment of first aspect, the embodiment of the present invention are provided
The third possible embodiment of first aspect, wherein, the running information also includes the direction of traffic of the vehicle, institute
Stating the distance of vehicle and vehicle body surrounding objects is also included in the distance of the vehicle and vehicle body both sides object, the control device also
Effective locking distance threshold of the vehicle and vehicle body both sides object is previously provided with, methods described also includes：
According to the road speed and direction of traffic at the vehicle current time of acquisition, and effective locking is apart from threshold
Value, draws the locking distance threshold at the vehicle current time；
Judge whether the vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, be then
The direction locking system of the vehicle is controlled to reaching that the direction of the locking distance threshold carries out locking.
In above-mentioned steps, the locking distance threshold at vehicle current time is obtained according to running information, control device can be automatic
Send control instruction, when the distance of vehicle and either side object reaches locking distance threshold, can to the side to carrying out locking,
So that driver can not operate steering wheel to the side again so that vehicle can not be offset to the side again, so as to effectively ensure that vehicle
Safe distance is kept with both sides object, the accident odds such as scratch, shock is substantially reduced.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, it is described whether the distance for judging the vehicle current time and vehicle body both sides object reaches
Locking distance threshold is the direction locking system for controlling the vehicle to reaching that the direction of the locking distance threshold is locked
Only, including：
Judge whether the vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, be then
The direction locking system of the vehicle is controlled to reaching that the direction of the locking distance threshold carries out locking；
After direction progress locking of the direction locking system of the vehicle to reaching the locking distance threshold is controlled,
The road speed and direction of traffic of the vehicle, and effective locking distance threshold are obtained, when judgement obtains the vehicle
When being more than the locking distance threshold with the distance of vehicle body both sides object, the direction locking system of the vehicle is controlled to release lock
Only.
In the embodiment of the present invention, the locking distance threshold at vehicle each moment can be calculated, after locking action executing,
If locking situation is released, locking can be released in time, it is ensured that the security of driver's operation and flexibility, meet actual demand.
Inventor has found that vehicle in the process of moving, is most easily anticipated when running into the situation for needing emergency brake under study for action
Outside, now, control device start that brake to vehicle stops that vehicle run apart from length for traffic safety can be ensured
Key factor, the braking quality of different vehicle is different, and control device starts brake to vehicle and stops what vehicle was run
It is also different apart from length, abrasion or the stain influence positive braking distance on surface due to road, through research, if can be in control dress
Under the basis for putting control vehicle emergency brake, further the frictional force of increase vehicle, can greatly reduce startup brake to vehicle
The distance that vehicle is run is stopped, travel safety is significantly improved,, preferably will control in the embodiment of the present invention based on this
Device connects a retractor device, retractor device one end is fixed on the chassis of vehicle, the other end connects a friction plate, so set
Postpone, in normal operation, retractor device is in contraction state, and friction plate is close to vehicle chassis, do not contacted with ground, will not be right
The normal operation of vehicle causes to hinder, and when control device detects and need to start brake apparatus progress emergency brake, can open simultaneously
Dynamic retractor device, makes retractor device be in extended configuration, now, friction plate will be contacted directly with ground, further increase vehicle
Frictional force so that vehicle stops as early as possible under brake apparatus, the collective effect of friction plate, so as to effectively shorten startup brake
The distance that vehicle is run is stopped to vehicle, the security of driving is improved.
The structure of retractor device has a variety of, as long as stretching, extension, contraction can be realized in the presence of central controller, herein
More explanations are not made.In the embodiment of the present invention, the connected mode of following several friction plates and vehicle is listed：
The first, is provided with propons and back axle on the chassis of vehicle, retractor device is two, be separately fixed at propons, after
On bridge, friction plate is connected to the one end of two retractor devices away from propons, back axle.
Second, propons and back axle are installed on the chassis of vehicle, retractor device is three, and one of retractor device is consolidated
It is scheduled on propons, two other retractor device is fixed on back axle, friction plate is triangular structure, three summits point of friction plate
The one end of three retractor devices away from propons, back axle is not fixed on.
Retractor device is set to three, one on propons, two on back axle, friction plate is triangle, three summits point
An Zhuan not be on three retractor devices, the friction plate structure of triangular structure is more stable, and it has been investigated that, this kind of structure institute
The frictional force of offer is bigger, can significantly improve retardation efficiency.In order to further improve the stability of friction plate structure, preferably will
Friction plate is designed as isosceles triangular structure, the drift angle of friction plate is fixed on the retractor device of propons, two base angles are distinguished
It is fixed on two retractor devices of back axle.
In order to ensure the stability of vehicle, it is to avoid friction plate causes skew to vehicle center, it is ensured that the security of driving, this
In inventive embodiments, the axletree line by friction plate relative to vehicle is symmetrical arranged.Wherein, axletree line is by vehicle the same side phase
The midpoint of adjacent two wheels, and the line between two vertical lines of longitudinal plane of symmetry of vehicle, briefly, just refer to vehicle
Line of the front axle center to rear shaft center.
Second aspect, the embodiments of the invention provide a kind of controller for safety driving bus, applied to vehicle control system, institute
Stating vehicle control system includes harvester and the control device, and the control device includes：
Memory cell, the positive braking distance for prestoring vehicle；
Acquiring unit, the running information for obtaining the vehicle current time that the harvester is collected in real time,
The running information includes the road speed at the vehicle current time and the distance with vehicle body surrounding objects；
Computing unit, for the road speed at the vehicle current time that is obtained according to the acquiring unit and described is deposited
The positive braking distance of storage unit storage, draws the safe distance threshold value at the vehicle current time；
Judging unit, for judging whether the vehicle current time and the distance of vehicle body surrounding objects reach the calculating
The safe distance threshold value at the current time that unit is drawn, is to control the vehicle to perform brake operation.
In above-mentioned control device, the running information that computing unit is obtained according to acquiring unit obtains vehicle current time
(emergency brake) safe distance threshold value, judging unit sends control instruction automatically, and control vehicle carries out brake operation, so set
Put, the accuracy of security management and control and intelligent when substantially increasing driving reduces manually-operated error, by traffic safety thing
Therefore strangle before generation, the security of driving can be effectively improved.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating vehicle control system also includes display device, and the control device also includes transmitting element, for the computing unit to be obtained
The safe distance threshold value at the vehicle current time gone out is sent to the display device in real time.
The safe distance threshold value at vehicle current time is sent to display device and shown by transmitting element in real time so that driven
The person of sailing can obtain " true " distance of vehicle and surrounding objects in real time, it is to avoid the accident hair caused by being driven with " sensation "
It is raw.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of second of second aspect, wherein, institute
State first safe distance threshold value and the vehicle and vehicle body of the safe distance threshold value including the vehicle with vehicle front object
Second safe distance threshold value of rear object, the judging unit is used to judge the vehicle current time and vehicle body surrounding objects
Distance whether reach the safe distance threshold value at the current time that the computing unit is drawn, be to control the vehicle to hold
Row brake operation, including：
Obtain the distance and the vehicle and the distance of vehicle body rear object of the vehicle and vehicle front object；
Judge whether the vehicle current time and the distance of vehicle front object reach the first safe distance threshold value,
And whether reach the second safe distance threshold value with the distance of vehicle body rear object；If the vehicle current time and vehicle body
The distance of objects in front reaches the first safe distance threshold value or the vehicle current time and the vehicle body rear at current time
The distance of object reaches the second safe distance threshold value at current time, then controls the vehicle to perform brake operation.
In the embodiment of the present invention, judging unit can reach safe distance threshold value in the distance of vehicle and front or behind object
When, control vehicle performs brake operation to ensure the security of traveling, intelligent higher.
With reference to second aspect, the first or second of possible embodiment of second aspect, the embodiment of the present invention are provided
The third possible embodiment of second aspect, wherein, the running information also includes the direction of traffic of the vehicle, institute
Stating the distance of vehicle and vehicle body surrounding objects also includes the distance of the vehicle and vehicle body both sides object, and the memory cell is also used
In the effective locking distance threshold for prestoring the vehicle and vehicle body both sides object；
The computing unit is additionally operable to, according to the road speed and direction of traffic at the vehicle current time of acquisition, with
And effective locking distance threshold, draw the locking distance threshold at the vehicle current time；
The judging unit is additionally operable to, and judges whether the vehicle current time and the distance of vehicle body both sides object reach institute
Locking distance threshold is stated, is, the direction locking system of the vehicle is controlled to reaching that the direction of the locking distance threshold is carried out
Locking.
In said apparatus, the running information that computing unit is obtained according to acquiring unit obtain the locking at vehicle current time away from
From threshold value, judging unit sends control instruction automatically, when the distance of vehicle and either side object reaches locking distance threshold, meeting
To the side to carry out locking so that driver can not again to the side operate steering wheel so that vehicle can not again to the side offset,
So as to effectively ensure that vehicle and both sides object keep safe distance, the several of the accidents such as scratch, shock generation are substantially reduced
Rate.
With reference to the third possible embodiment of second aspect, the embodiments of the invention provide the 4th of second aspect kind
Possible embodiment, wherein, the judging unit is specifically for judging the vehicle current time and vehicle body both sides object
Whether distance reaches the locking distance threshold, is the direction locking system for controlling the vehicle to reaching the locking distance
The direction of threshold value carries out locking；
After direction progress locking of the direction locking system of the vehicle to reaching the locking distance threshold is controlled,
The road speed and direction of traffic of the vehicle, and effective locking distance threshold are obtained, when judgement obtains the vehicle
When being more than the locking distance threshold with the distance of vehicle body both sides object, the direction locking system of the vehicle is controlled to release lock
Only.
In the embodiment of the present invention, computing unit can be calculated the locking distance threshold at vehicle each moment, dynamic in locking
After performing, if locking situation is released, locking can be released in time, it is ensured that the security of driver's operation and flexibility, meet reality
Border demand.
In the embodiment of the present invention, (emergency brake) the safe distance threshold value at vehicle current time is obtained according to running information,
When reaching the emergency brake safe distance threshold value, control device can send control instruction automatically, automatically control vehicle and stopped
Car, is arranged such, the accuracy of security management and control and intelligent when substantially increasing driving, reduces manually-operated error, will
Traffic safety accident is strangled before generation, can effectively improve the security of driving.
The embodiment of the present invention is skillfully constructed, easy to implement, with prominent substantive distinguishing features and marked improvement, is adapted to big rule
Mould popularization and application.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet that the embodiment of the present invention 1 is provided；
Fig. 2 shows a kind of system block diagram that the embodiment of the present invention 2 is provided；
Fig. 3 shows a kind of structured flowchart that the embodiment of the present invention 2 is provided.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Embodiment 1
Through research, when vehicle is run, the carelessness of driver and the mistake estimation to vehicular safety distance are to cause to drive a vehicle
The key factor that accident occurs, inventor it has been investigated that, even if driver learns this safe distance, many drivers is chase after
Road speed is sought, can take chances, take measures not in time, when it really takes measures, thing can not be often prevented
Therefore occur, based on this, as shown in figure 1, automatically controlling vehicle (operation system according to safe distance the embodiment of the invention discloses one kind
System) perform brake instruction, it is to avoid the safe travelling method that vehicle bumps against with surrounding objects.
The safe travelling method is applied to vehicle control system, and the vehicle control system includes harvester and control is filled
Put, the positive braking distance of vehicle is previously provided with the control device, methods described includes：
Step S100：Control device obtains the running information at the vehicle current time that harvester is collected in real time；
Wherein, running information includes the road speed at vehicle current time and the distance with vehicle body surrounding objects；Driving speed
Degree can be obtained by velocity sensor, also can directly obtain the speed in vehicle, the distance of vehicle and vehicle body surrounding objects can lead to
Range unit acquisition is crossed, for example：Vehicle body is gathered according to ultrasonic equipment, laser radar range equipment, infrared distance measuring equipment etc.
Ambient signals.
Step S101：According to the road speed and positive braking distance at the vehicle current time of acquisition, calculate vehicle and work as
The safe distance threshold value at preceding moment；
Wherein, safety traffic braking distance standard value when positive braking is apart from as vehicle release, the car of different automobile types
Same speed positive braking distance it is different, same vehicle is also different in the positive braking distance of friction speed, but they
Basic brake principle almost, for example：The positive braking distance of certain car is to maintain safe distance as the one thousandth of speed, such as speed
For 50km/h, positive braking distance is the 5m that maintains safe distance, and speed is 120km/h, and positive braking distance is the 12m that maintains safe distance.
The calculation of safe distance threshold value has a variety of, for example：The positive braking safe distance of vehicle and objects in front can
Drawn by below equation：S2=s+ (v-s)+(v1-s)+(v2-s), wherein, s2 be present speed need positive braking away from
It is that new car dispatches from the factory the positive braking distances of present speed standard road conditions from, s, v is effectively stopping for the different load-carryings of same speed road conditions
Car distance, v1 is the positive braking distance of a certain gradient, and v2 is positive braking distance of the vehicle after a certain stage vehicle abrasion,
Because of road and vehicle condition reason, s2 is not necessarily very accurate, s values can be tuned up a bit, with guarantee driving safety, but drive
Flexibility can be affected because of the increase of s values.If installing friction plate telescoping mechanism on chassis, s2 positive braking can be shortened
Distance, so can guarantee driving safety and the flexibility driven；In another example：Control device can be carried out to the brake data of vehicle
Record and count, the brake data (can be obtained by data sharing) with the vehicle vehicle identical remaining vehicle are obtained, by this
Brake data before vehicle under current road speed are analyzed, and obtain the safe distance threshold value under current road speed；
Again for example：Corresponding threshold value can be analyzed by big data, be directly inputted during by dispatching from the factory in control device, or voluntarily defeated by user
Enter.
Step S102：Judge whether the distance of the vehicle current time and vehicle body surrounding objects reaches the institute at current time
State safe distance threshold value；
Step S103：It is to control the vehicle to perform brake operation；
Step S104：Otherwise it is failure to actuate.
When vehicle judges to show that vehicle current time and the distance of vehicle body surrounding objects reach safe distance threshold value, control
Device directly controls vehicle to perform brake instruction, and control vehicle is braked, it is to avoid vehicle bumps against with surrounding objects, without driving
Member's operation, can improve the promptness and accuracy of emergency processing, reduce manually-operated uncontrollability, can significantly improve row
Car safety.
The condition that control vehicle carries out brake operation has a variety of, can be in the following ways according to different situations：
Obtain the distance and vehicle and the distance of vehicle body rear object of vehicle and vehicle front object；When judging that vehicle is current
Whether the distance carved with vehicle front object reaches the first safe distance threshold value, and is with the distance of vehicle body rear object
It is no to reach the second safe distance threshold value；If the distance of vehicle current time and vehicle front object reaches the of current time
One safe distance threshold value or the distance of vehicle and vehicle body rear object reach the second safe distance threshold value at current time, then control
The brake gear of vehicle performs brake operation.
If performing brake, explain the situation very critical, in order to ensure the promptness of brake, control device can
The electric oil pump of vehicle is controlled to open, the electric oil pump of control is toward injection brake fluid in brake house steward, to quickly complete emergency brake, it is to avoid
Accident occurs.
It should be noted that, in actual use, the alarm threshold value more than (emergency brake) safe distance threshold value is preferably provided with,
When the distance of vehicle and object is in alarm threshold value but is less than safe distance threshold value, warning device is alarmed, and prompting is driven
The person of sailing performs the operation such as braking, deceleration, if driver's carelessness error, is not carried out brake operating, causes distance to reach and (promptly stop
Car) safe distance threshold value, then braking device is automatically controlled by control device and complete emergency brake, this dual threshold, dual fail-safe
Mode, can substantially ensure that the security of driving.
Similarly, alarm threshold value is equally applicable to reverse travel operation, and rear has object to knock into the back and reached necessarily during vehicle forward
Accelerated or lane change by warning reminding driver during value, emergency processing, if driver neglect, corresponding operating is not carried out, then by
Control device is performed automatically, and vehicle and rear object are maintained at into safe distance, to ensure the security of vehicle operation.
Wherein, the distance of vehicle front, rear and object can set distance-measuring equipment to obtain by respectively at vehicle front, rear
；Vehicle and the computational methods of the safe distance threshold value of front vehicle (object) have a variety of, with vehicle front object safety away from
From computational methods it is similar, explanation is not repeated herein；Surpass in vehicle current time and vehicle front, the distance of rear object
When crossing safe distance threshold value, operated by driver, can more improve the flexibility of operation, make driver according to the present situation, foundation
Experience sweetly disposition, breaks away from " predicament ".Traveling can effectively be ensured by performing different operating according to different situations in a manner described
Security.
According to the method described above, control device can obtain vehicle current time (emergency brake) safety according to running information
Distance threshold, sends control instruction automatically, is stopped automatically when the distance of vehicle and surrounding objects reaches safe distance threshold value
Car, it is to avoid vehicle and surrounding objects bump against, and are arranged such, the accuracy of security management and control and intelligent when substantially increasing driving,
Manually-operated error is reduced, traffic safety accident is strangled before generation, the security of driving can be effectively improved.
In order that driver can obtain " true " distance of vehicle and surrounding objects in real time, it is to avoid because driving institute with " sensation "
The accident caused occurs, and in the embodiment of the present invention, control device is also by the safe distance threshold value at the vehicle current time calculated
The display device sent in real time into control system is shown.According to actual conditions, warning device also can be set, vehicle with
When the distance of surrounding objects exceedes safe distance threshold value, the warning device is controlled to alarm.
When driving, between vehicle and front and back object keep safe distance be to ensure that traffic safety it is important because
Element, inventor's research finds that vehicle is also to ensure that the another key factor of traffic safety with both sides object holding safe distance, this
One of which is provided in inventive embodiments controls the distance of vehicle and both sides object to be maintained at the realization side of safe distance threshold value
Formula：
Running information also includes being previously provided with the vehicle and vehicle body two in the direction of traffic of the vehicle, control device
Effective locking distance threshold of side object；According to the road speed and direction of traffic at the vehicle current time of acquisition, and effectively
Distance threshold, calculates the locking distance threshold at vehicle current time；Judge vehicle current time and vehicle body both sides object away from
From whether locking distance threshold is reached, it is that the direction locking system of control vehicle is to reaching that the direction of locking distance threshold is carried out
Locking；Obtain the road speed and direction of traffic at vehicle another moment, and coverage threshold value, judge vehicle another moment and
Whether the distance of vehicle body both sides object reaches locking distance threshold, is to keep lockup state, otherwise controls the directional lock of vehicle
Locking apparatus releases locking.
The locking distance threshold at vehicle current time is obtained according to running information, control device can send control automatically and refer to
Order, can be to the side to carrying out locking so that driver when the distance of vehicle and either side object reaches locking distance threshold
Steering wheel can not be operated to the side again, that is, cause vehicle not offset again to the side, effectively ensure that vehicle and both sides object are equal
Safe distance is kept, the accident odds such as scratch, shock is substantially reduced, the locking distance threshold at vehicle each moment is entered
Row is calculated, after locking action executing, if locking situation is released, locking can be released in time, it is ensured that the safety of driver's operation
Property and flexibility.
In addition, in order to ensure the accuracy of safe distance threshold value setting, when setting safe distance, preferably by vehicle load,
The information such as road conditions are taken into account, and safe distance threshold value and locking distance threshold are adjusted according to different load-carryings, the gradient, example
Such as：Under same speed, load-carrying, distance threshold during descending is naturally larger than distance threshold during upward slope；Same speed, different load-carryings
Under, load-carrying is heavier, and distance threshold is bigger.
Wherein, vehicle load can be obtained by pressure sensor, electrometer treasure etc., and the gradient can be obtained by Slope Transducer
.
In said system, range unit can be measured to the headstock of vehicle and the distance of objects in front, speed measuring device meeting
Road speed to vehicle is measured, and control device obtains speed measuring device, Weight detecting device, the detection of slope detection device
Data, COMPREHENSIVE CALCULATING goes out currently (urgent) safe distance threshold value.When implementing, by the intelligent control to control device, it can show
The security for improving driving is write, for example：As long as the situation of apparatus above vehicle not road occupying, it is possible to avoid getting into an accident, if
Sensoring is set in control device, the safe distance threshold value of other side's current vehicle speed can be received, if one-way
Two to driving, can be by receiving the safe distance threshold value of other side, the safe distance threshold of adjustment (increase) current vehicle speed needs
Value.Other side, which will not also get into an accident, all not to be seen to row in one-way road even if two drivers, two to the tight of driving
The coverage brought to a halt is equal to the safe distance threshold value sum of two cars.Control device is according to other side's safe distance threshold of acquisition
Value, adjusts the safe distance threshold value of oneself, if reach (urgent) safe distance threshold value, and driver does not control brake, control
Device can control brake apparatus to stop in emergency rapidly.In order to improve traffic safety, when implementing, alarm threshold value is preferably provided with,
Driving is reached before safe distance threshold value, will first reach alarm threshold value, and control device can first alarm driver progress
Braking, if the driver side of being not carried out automatic start brake apparatus, in this way, when can greatly improve driving the accuracy of security management and control and
It is intelligent, manually-operated error is reduced, traffic safety accident is strangled before generation, the security of driving is significantly improved.
Embodiment 2
Through research, when vehicle is run, mistake estimation of the driver to vehicular safety distance is to cause driving accident
Key factor, inventor it has been investigated that, even if driver learns this safe distance, many drivers is pursue driving speed
Degree, can take chances, take measures not in time, when it really takes measures, accident, base can not be often prevented
In this, stopped as shown in Fig. 2 automatically controlling vehicle (operating system) execution according to safe distance the embodiment of the invention discloses one kind
Car is instructed, it is to avoid the controller for safety driving bus that vehicle bumps against with surrounding objects.
The control device be applied to vehicle control system, the vehicle control system include harvester, display device and
The control device, the control device includes：Memory cell 201, the positive braking distance for prestoring vehicle, in advance
Store effective locking distance threshold of the vehicle and vehicle body both sides object；Acquiring unit 200, for obtaining the collection in real time
The running information at the vehicle current time that device is collected, the running information includes the driving at the vehicle current time
Speed, vehicle load, road grade, the direction of traffic of vehicle and the distance with vehicle body surrounding objects, vehicle and vehicle body ambient
The distance of body includes the distance and vehicle and vehicle front, the distance of rear object of vehicle and vehicle body both sides object；Computing unit
204, for the road speed and the memory cell 201 at the vehicle current time obtained according to the acquiring unit 200
The positive braking distance of storage, draws the safe distance threshold value at the vehicle current time, according to the vehicle of acquisition
The road speed and direction of traffic at current time, and effective locking distance threshold, draw the vehicle current time
Locking distance threshold；Judging unit 202, for judging whether the vehicle current time and the distance of vehicle body surrounding objects reach
The safe distance threshold value at the current time that the computing unit 204 is calculated, is to control the vehicle to perform brake behaviour
Make, judge whether the vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, be to control
The direction locking system of the vehicle is to reaching that the direction of the locking distance threshold carries out locking, when the acquisition vehicle is another
The road speed and direction of traffic at quarter, and the coverage threshold value, judge the vehicle another moment and vehicle body both sides thing
Whether the distance of body reaches the locking distance threshold, is to keep lockup state, otherwise controls the direction locking of the vehicle
Device releases locking；Transmitting element 203, for described in vehicle current time for calculating the computing unit 204
Safe distance threshold value is sent to the display device in real time.
Wherein, safety traffic braking distance standard value when positive braking is apart from as vehicle release, the car of different automobile types
Same speed positive braking distance it is different, same vehicle is also different in the positive braking distance of friction speed, but they
Basic brake principle almost, for example：The positive braking distance of certain car is to maintain safe distance as the one thousandth of speed, such as speed
For 50km/h, positive braking distance is the 5m that maintains safe distance, and speed is 120km/h, and positive braking distance is the 12m that maintains safe distance.
The calculation of safe distance threshold value has a variety of, the safe distance threshold in performance different each stages that it needs of vehicle
Value is different, and it can obtain positive braking distance in the case of each by putting into practice, by different positive braking distance thresholds come
Safe distance threshold value is set, in order to further improve security, the alarm threshold value more than safe distance threshold value also can be set, in car
Alarmed when being up to safe distance threshold value (braking distance), prompting driver carries out associative operation in time.
The condition that control vehicle carries out brake operation has a variety of, can be in the following ways according to different situations：
Obtain the distance and vehicle and the distance of vehicle body rear object of vehicle and vehicle front object；When judging that vehicle is current
Whether the distance carved with vehicle front object reaches the first safe distance threshold value, and is with the distance of vehicle body rear object
It is no to reach the second safe distance threshold value；If the distance of vehicle current time and vehicle front object reaches the of current time
One safe distance threshold value or the distance of vehicle and vehicle body rear object reach the second safe distance threshold value at current time, then control
The brake gear of vehicle performs brake operation.
If performing brake gear, explain the situation very critical, in order to ensure the promptness of brake, control device can
The electric oil pump of vehicle is controlled to open, the electric oil pump of control is toward injection brake fluid in brake house steward, to quickly complete emergency brake, it is to avoid
Accident occurs.
Wherein, front, rear distance can set distance-measuring equipment to obtain by respectively at vehicle front, rear；Vehicle is with after
The computational methods of the safe distance threshold value of square vehicle (object) have a variety of, the computational methods with the safe distance of vehicle front object
It is similar, explanation is not repeated herein；Exceed safe distance threshold in vehicle current time and vehicle front, the distance of rear object
During value, operated by driver, can more improve the flexibility of operation, make driver according to the present situation, empirically sweetly disposition,
Break away from " predicament ".The security of traveling can effectively be ensured by performing different operating according to different situations in a manner described.
The technique effect and preceding method embodiment phase of the device that the embodiment of the present invention is provided, its realization principle and generation
Together, to briefly describe, device embodiment part does not refer to part, refers to corresponding contents in preceding method embodiment.
As shown in figure 3, the embodiment of the present invention additionally provides a kind of structural representation of control device, including：Processor
400, memory 404, bus 402 and communication interface 403, the processor 400, communication interface 403 and memory 404 are by total
Line 402 is connected；.
Wherein, memory 404 may include high-speed random access memory (RAM：Random Access Memory),
Non-labile memory (non-volatile memory), for example, at least one magnetic disk storage may also also be included.It is logical
At least one communication interface 403 (can be wired or wireless) is crossed to realize between the system network element and at least one other network element
Communication connection, internet, wide area network, LAN, Metropolitan Area Network (MAN) etc. can be used.
Processor 400 is used to perform the executable module in memory 404, such as computer program 401；Processor 400
Data flow is received by communication interface 403；
Bus 402 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, number
According to bus, controlling bus etc..For ease of representing, only represented in Fig. 3 with a four-headed arrow, it is not intended that only one total
Line or a type of bus.
Wherein, memory 404 is used for storage program 401, and the processor 400 performs institute after execute instruction is received
Program 401 is stated, the method performed by device that the process that foregoing any embodiment of the embodiment of the present invention is disclosed is defined can be applied
Realized in processor 400, or by processor 400.
In the specific implementation, program 401 can include program code, described program code include computer-managed instruction and
Algorithm etc.；
Processor 400 is probably a kind of IC chip, the disposal ability with signal.It is above-mentioned in implementation process
Each step of method can be completed by the integrated logic circuit of the hardware in processor 400 or the instruction of software form.On
The processor 400 stated can be general processor, including central processing unit (Central Processing Unit, referred to as
CPU), network processing unit (Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), it is special
Integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other PLDs, discrete gate or transistor
Logical device, discrete hardware components.It can realize or perform disclosed each method, step and the logic in the embodiment of the present invention
Block diagram.General processor can be microprocessor or the processor can also be any conventional processor etc..With reference to this hair
The step of method disclosed in bright embodiment, can be embodied directly in hardware decoding processor and perform completion, or be handled with decoding
Hardware and software module combination in device perform completion.Software module can be located at random access memory, flash memory, read-only storage,
In the ripe storage medium in this area such as programmable read only memory or electrically erasable programmable memory, register.This is deposited
Storage media is located at memory 404, and processor 400 reads the information in memory 404, and the step of the above method is completed with reference to its hardware
Suddenly.
The computer program product carried out in safety-protection system that the embodiment of the present invention is provided, including store program code
Computer-readable recording medium, described program code include instruction can be used for perform previous methods embodiment described in side
Method, implements and can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
, can be with several embodiments provided herein, it should be understood that disclosed systems, devices and methods
Realize by another way.Device embodiment described above is only schematical, for example, the flow chart in accompanying drawing and
Block diagram shows the system of multiple embodiments according to the present invention, the system frame in the cards of method and computer program product
Structure, function and operation.At this point, each square frame in flow chart or block diagram can represent a module, program segment or code
A part, the part of the module, program segment or code comprising it is one or more be used to realizing as defined in logic function
Executable instruction.It should also be noted that in some realizations as replacement, the function of being marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially be performed substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, can use the special base for performing defined function or action
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (8)
1. a kind of safe travelling method, it is characterised in that applied to vehicle control system, the vehicle control system includes collection
The positive braking distance of vehicle is previously provided with device and control device, the control device, wherein, the positive braking away from
Safety traffic criterion distance value during from for vehicle release, methods described includes：
The control device obtains the running information at the vehicle current time that the harvester is collected, the row in real time
Car information includes the road speed at the vehicle current time and the distance with vehicle body surrounding objects；
According to the road speed and the positive braking distance at the vehicle current time of acquisition, when showing that the vehicle is current
The safe distance threshold value at quarter, the safe distance threshold value include the vehicle and vehicle front object the first secure threshold and
Second safe distance threshold value of the vehicle and vehicle body rear object, the calculation of the safe distance threshold value is：S2=s+
(v-s)+(v1-s)+(v2-s), wherein, s is that new car dispatches from the factory the positive braking distances of present speed standard road conditions, and v is same speed
The positive braking distance of the different load-carryings of road conditions is spent, v1 is the positive braking distance of a certain gradient, and v2 is vehicle in a certain stage car
Abrasion after positive braking distance；
The distance and the vehicle and the distance of vehicle body rear object of the vehicle and vehicle front object are obtained, the car is judged
Whether the distance of current time and vehicle front object reaches the first safe distance threshold value, and judges and vehicle body rear object
Distance whether reach the second safe distance threshold value；
If the distance of the vehicle current time and vehicle front object reaches the first safe distance threshold value at current time
Or the distance of the vehicle current time and vehicle body rear object reaches the second safe distance threshold value at current time, then controls
The electric oil pump for making the brake apparatus control vehicle of the vehicle is opened, injection brake fluid in the past brake house steward of the electric oil pump of control, with
Quickly complete emergency brake.
2. safe travelling method according to claim 1, it is characterised in that the vehicle control system also includes display dress
Put, methods described also includes：The safe distance threshold value at the vehicle current time drawn is sent in real time to the display dress
Put.
3. the safe travelling method according to claim 1~2 any one, it is characterised in that the running information is also wrapped
The direction of traffic of the vehicle is included, the distance of the vehicle and vehicle body surrounding objects also includes the vehicle and vehicle body both sides object
Distance, effective locking distance threshold of the vehicle and vehicle body both sides object, institute are also previously provided with the control device
Stating method also includes：
According to the road speed and direction of traffic at the vehicle current time of acquisition, and effective locking distance threshold,
Draw the locking distance threshold at the vehicle current time；
Judge whether the vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, be to control
The direction locking system of the vehicle is to reaching that the direction of the locking distance threshold carries out locking.
4. safe travelling method according to claim 3, it is characterised in that the judgement vehicle current time and car
Whether the distance of body both sides object reaches the locking distance threshold, is the direction locking system for controlling the vehicle to reaching
The direction of the locking distance threshold carries out locking, including：
Judge whether the vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, be to control
The direction locking system of the vehicle is to reaching that the direction of the locking distance threshold carries out locking；
After direction progress locking of the direction locking system of the vehicle to reaching the locking distance threshold is controlled, obtain
The road speed and direction of traffic of the vehicle, and effective locking distance threshold, when judgement obtains the vehicle and car
When the distance of body both sides object is more than the locking distance threshold, the direction locking system of the vehicle is controlled to release locking.
5. a kind of controller for safety driving bus, it is characterised in that applied to vehicle control system, the vehicle control system includes
Harvester and the control device, the control device include：
Memory cell, the positive braking distance for prestoring vehicle, wherein, when the positive braking distance is vehicle release
Safety traffic criterion distance value；
Acquiring unit, the running information for obtaining the vehicle current time that the harvester is collected in real time is described
Running information includes the road speed at the vehicle current time and the distance with vehicle body surrounding objects；
Computing unit, for the road speed at the vehicle current time obtained according to the acquiring unit and the storage list
The positive braking distance of member storage, draws the safe distance threshold value at the vehicle current time, the safe distance threshold value
Second safety of the first secure threshold and the vehicle and vehicle body rear object including the vehicle and vehicle front object
Distance threshold, the calculation of the safe distance threshold value is：S2=s+ (v-s)+(v1-s)+(v2-s), wherein, s is new car
The positive braking distance for present speed standard road conditions of dispatching from the factory, v is the positive braking distance of the different load-carryings of same speed road conditions, and v1 is
The positive braking distance of a certain gradient, v2 is positive braking distance of the vehicle after a certain stage vehicle abrasion；
Judging unit, for obtain the distance and the vehicle of the vehicle and vehicle front object and vehicle body rear object away from
From judging whether the vehicle current time and the distance of vehicle front object reach the first safe distance threshold value, and and car
Whether the distance of body rear object reaches the second safe distance threshold value, if the vehicle current time and vehicle front object
Distance reach current time the first safe distance threshold value or the vehicle current time and vehicle body rear object away from
From the second safe distance threshold value for reaching current time, then the brake apparatus of the vehicle is controlled to control the electric oil pump of vehicle
Open, the electric oil pump of control is toward injection brake fluid in brake house steward, to quickly complete emergency brake.
6. controller for safety driving bus according to claim 5, it is characterised in that the vehicle control system also includes aobvious
Showing device, the control device also includes transmitting element, for vehicle current time for drawing the computing unit
The safe distance threshold value is sent to the display device in real time.
7. the controller for safety driving bus according to claim 5~6 any one, it is characterised in that the running information
Also include the direction of traffic of the vehicle, the distance of the vehicle and vehicle body surrounding objects also includes the vehicle and vehicle body both sides
The distance of object, the memory cell is additionally operable to prestore effective locking of the vehicle and vehicle body both sides object apart from threshold
Value；
The computing unit is additionally operable to, according to the road speed and direction of traffic at the vehicle current time of acquisition, Yi Jisuo
Effective locking distance threshold is stated, the locking distance threshold at the vehicle current time is drawn；
The judging unit is additionally operable to, and judges whether the vehicle current time and the distance of vehicle body both sides object reach the lock
Only distance threshold is the direction locking system for controlling the vehicle to reaching that the direction of the locking distance threshold is locked
Only.
8. controller for safety driving bus according to claim 7, it is characterised in that the judging unit is specifically for sentencing
Whether the disconnected vehicle current time and the distance of vehicle body both sides object reach the locking distance threshold, are to control the car
Direction locking system to reach the locking distance threshold direction carry out locking；
After direction progress locking of the direction locking system of the vehicle to reaching the locking distance threshold is controlled, obtain
The road speed and direction of traffic of the vehicle, and effective locking distance threshold, when judgement obtains the vehicle and car
When the distance of body both sides object is more than the locking distance threshold, the direction locking system of the vehicle is controlled to release locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410801937.9A CN104477152B (en) | 2014-12-20 | 2014-12-20 | Safe travelling method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410801937.9A CN104477152B (en) | 2014-12-20 | 2014-12-20 | Safe travelling method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104477152A CN104477152A (en) | 2015-04-01 |
| CN104477152B true CN104477152B (en) | 2017-09-19 |
Family
ID=52751812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410801937.9A Expired - Fee Related CN104477152B (en) | 2014-12-20 | 2014-12-20 | Safe travelling method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104477152B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480226A (en) * | 2015-12-21 | 2016-04-13 | 冯道平 | Method and device capable of preventing traffic accidents |
| CN110091871A (en) * | 2019-04-30 | 2019-08-06 | 广州小鹏汽车科技有限公司 | Control method, apparatus, medium and the control equipment of vehicle distances |
| CN110281768A (en) * | 2019-07-01 | 2019-09-27 | 大众问问(北京)信息科技有限公司 | A kind of reversing householder method, device and system |
| CN113276851A (en) * | 2021-06-24 | 2021-08-20 | 北京车和家信息技术有限公司 | Vehicle control method and device, controller and vehicle |
| CN115416629A (en) * | 2022-08-25 | 2022-12-02 | 深圳市蓝度汽车电控技术有限公司 | Vehicle braking method and device, terminal equipment and storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006010275A1 (en) * | 2005-03-03 | 2006-12-14 | Continental Teves Ag & Co. Ohg | Method and device for avoiding a collision during a lane change of a vehicle |
| CN101320093B (en) * | 2008-05-14 | 2012-07-11 | 奇瑞汽车股份有限公司 | Vehicle active security control system and its control method |
| DE112009005400B4 (en) * | 2009-11-27 | 2015-05-13 | Toyota Jidosha Kabushiki Kaisha | Collision avoidance device |
| CN101992740A (en) * | 2010-11-02 | 2011-03-30 | 上海电机学院 | Anti-collision control system and control method thereof |
| CN102431553A (en) * | 2011-10-18 | 2012-05-02 | 奇瑞汽车股份有限公司 | Active safety system and method of vehicle |
| KR101470104B1 (en) * | 2012-12-27 | 2014-12-05 | 현대자동차주식회사 | Apparatus and method for controlling crash prevention of vehicle |
| CN103253265A (en) * | 2013-05-27 | 2013-08-21 | 奇瑞汽车股份有限公司 | Active collision avoidance system and controlling method thereof |
| CN103569102B (en) * | 2013-11-08 | 2016-06-29 | 重庆长安汽车股份有限公司 | Active reversing BAS and control method |
-
2014
- 2014-12-20 CN CN201410801937.9A patent/CN104477152B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104477152A (en) | 2015-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104477152B (en) | Safe travelling method and device | |
| US10392010B2 (en) | Evacuation travel assist apparatus | |
| CN103359034B (en) | A kind of vehicle | |
| CN105984447A (en) | Machine vision based vehicle forward crash-proof automatic emergency brake system and method | |
| JP2013519592A (en) | How to automatically prevent hydroplaning | |
| Zeeman et al. | Combining speed and acceleration to detect reckless driving in the informal public transport industry | |
| CN103770781A (en) | Collision prevention system for car and control method thereof | |
| CN102627091A (en) | Method for reducing the risk of a collision between a vehicle and a first external object | |
| US10948915B2 (en) | Computer-assisted or autonomous driving vehicle incident management method and apparatus | |
| CN103249626A (en) | Method for assisting a driver of a motor vehicle | |
| CN109421680A (en) | Determine the deviation of wheel of vehicle | |
| CN111645682B (en) | Cruise control method and system and vehicle | |
| CN105522962B (en) | A kind of driving without hands behavior system for prompting | |
| CN106608258A (en) | Automatic parking system | |
| CN106470884A (en) | The determination of vehicle-state and the driver assistance when driving vehicle | |
| CN106740834B (en) | Method and device for assisting vehicle meeting | |
| CN109291872A (en) | Control method, device, equipment and the storage medium of automatic driving vehicle | |
| CN108099914A (en) | For controlling the apparatus and method of the stopping of vehicle | |
| CN107010076A (en) | Method, computer program, storage medium and electronic control unit for running vehicle | |
| US20220114815A1 (en) | Moving body collision avoidance device, collision avoidance method and electronic device | |
| WO2024099136A1 (en) | Tramcar safety protection apparatus and control method and apparatus therefor, and medium | |
| CN111796587A (en) | Automatic driving method, storage medium and electronic device | |
| CN105946578A (en) | Accelerator pedal control method and device and vehicle | |
| CN104670222B (en) | The driving path temporal voting strategy module and Ride Control System and method of sliding-modes | |
| CN115892061A (en) | V2I-based high-risk road section longitudinal decision control method, vehicle, computer and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170919 Termination date: 20181220 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |