CN104709280B - Vehicle bumper systems and method - Google Patents
Vehicle bumper systems and method Download PDFInfo
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- CN104709280B CN104709280B CN201310683472.7A CN201310683472A CN104709280B CN 104709280 B CN104709280 B CN 104709280B CN 201310683472 A CN201310683472 A CN 201310683472A CN 104709280 B CN104709280 B CN 104709280B
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- 238000000034 method Methods 0.000 title claims description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 80
- 230000006870 function Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009131 signaling function Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of vehicle bumper systems, comprising：One vehicle speed sensing unit, a ranging sensing unit, an electronics stay brake units, and a control unit.The vehicle speed sensing unit is used for the speed for sensing the vehicle.The ranging sensing unit is used for the correlation distance for sensing barrier and vehicle arround the vehicle.The control unit come one section of collision time of computing vehicle barrier with arround, and when the collision time be not more than one section of braking time, controls electronics offer in brake units vehicle brake auxiliary according to the correlation distance of the speed of vehicle, barrier and vehicle.By setting the electronics to stay brake units and the vehicle speed sensing unit of arranging in pairs or groups, the ranging sensing unit, brake auxiliary can be performed to avoid vehicle collision situation, and system setup cost can be reduced under the reversing of low speed or parking condition.
Description
Technical field
The present invention relates to a kind of CAS and method, more particularly to a kind of vehicle bumper systems and method.
Background technology
When driver is sitting in inside car, due to the angled limitation of human eye sight, can not take into account simultaneously each all around
Individual orientation, especially in parking and reversing, often because driver does not pay attention to or sight can not be taken into account simultaneously, and easily touch
The situation hit produces, therefore how to prevent that vehicle collision from being one of main goal in research of manufacturer.
The collision prevention of vehicle technology of early stage be passive security warning, when vehicle is too close to barrier, can produce warning with
Remind driver to pay attention to, be then evolved to active automatic emergency brake at present, and use water brake control system or electricity mostly
The collocation of sub- systems stabilisation (Electronic StabilityProgram, being abbreviated as ESP, also referred to as electronics VSC) away from
Used from sensor, but either water brake control system or electric stabilizing system, all with high costs and control
The problem of mode complexity.
The content of the invention
It is an object of the invention to provide a kind of vehicle bumper systems to solve the above problems.
Vehicle bumper systems of the present invention are applied to be arranged at a vehicle, and the vehicle bumper systems include：One speed sense
Unit, a ranging sensing unit are surveyed, and an electronics stays brake units.
The vehicle speed sensing unit is used for the speed for sensing the vehicle and exports a corresponding car speed signal.
The ranging sensing unit is used to sense the correlation distance of the barrier and vehicle arround the vehicle and output one is right
The ranging signal answered.
The electronics stays brake units and is used to receive a control signal and the brake of the vehicle is controlled according to the control signal
Function.
The vehicle bumper systems also include a control unit, the control unit be electrically connected the vehicle speed sensing unit,
The ranging sensing unit, and the electronics stay brake units, receive the car speed signal, the ranging signal respectively, and according to this
One section of collision time of the barrier of car speed signal, the ranging signal computing vehicle with arround, and in the collision time
During no more than one section of braking time, the control signal is exported.
Vehicle bumper systems of the present invention, the vehicle bumper systems also include a warning for electrically connecting the control unit
Unit, the control unit in the collision time no more than the braking time with one section warning the time and when, control the warning list
Member one alarm signal of output.
Vehicle bumper systems of the present invention, the control unit is according to one car in ellipse of the car speed signal computing
Moving area, formula are as follows：
ac=vcT,
bc=Wc,
Wherein, xc、ycFor the outer rim coordinate of vehicle moving area, hc、kcFor the centre coordinate of vehicle moving area, acTo be ellipse
Circle major axis, bcFor ellipse short shaft, vcFor the car speed corresponding to the car speed signal, t is one section of scheduled time, WcFor this
The width of vehicle.
Vehicle bumper systems of the present invention, the control unit are mobile status in the barrier corresponding to the ranging signal
When, it is as follows in oval barrier moving area, formula according to the ranging signal computing one：
ab=vbT,
bb=Wb,
Wherein, xb、ybFor the outer rim coordinate of barrier moving area, hb、kbFor the centre coordinate of barrier moving area, ab
For transverse, bbFor ellipse short shaft, vbFor the barrier translational speed corresponding to the ranging signal, t is one section of scheduled time,
WbFor the width of the barrier.
Vehicle bumper systems of the present invention, the control unit is according to the vehicle moving area and the barrier moving area
Whether the computing vehicle can collide the barrier, and the computing collision time, and whether the computing vehicle can collide the barrier
Formula is as follows：
Judge that the vehicle will collide the barrier when m is not more than 1.
Vehicle bumper systems of the present invention, the vehicle moving area of the control unit institute computing can move with the vehicle
Path and change, vehicle in reversing when path formula it is as follows：
Wherein, xr、yrFor the vehicle coordinate changed over time, xr0、yr0For initial vehicle coordinate, VL、VRThe respectively car
Left rear wheel, the wheel speed of off hind wheel, Δ T is sample time, and θ is the steering angle of the vehicle.
Vehicle bumper systems of the present invention, the formula for the distance that the vehicle is travelled in the braking time are：
Wherein, amFor brake deceleration degree, t_delay is braking action time delay.
It is an object of the invention to provide a kind of vehicle anti-collision method.
Vehicle anti-collision method of the present invention comprises the steps of：
(A) sense car speed and export a car speed signal, sense barrier arround the vehicle and vehicle
Correlation distance simultaneously exports a corresponding ranging signal.
(B) during one section of collision of the barrier according to the car speed signal, the ranging signal computing vehicle with arround
Between.
(C) when the collision time is not more than one section of braking time, an electronics is controlled to stay brake units to control the car
Brake function.
Vehicle anti-collision method of the present invention, is also comprised the steps of：
(D) in the collision time no more than the braking time with one section warning the time and when, export an alarm signal.
Vehicle bumper systems of the present invention, in step (B), according to the car speed signal computing, one is in oval
Vehicle moving area, formula are as follows：
ac=vcT,
bc=Wc,
Wherein, xc、ycFor the outer rim coordinate of vehicle moving area, hc、kcFor the centre coordinate of vehicle moving area, acTo be ellipse
Circle major axis, bcFor ellipse short shaft, vcFor the car speed corresponding to the car speed signal, t is one section of scheduled time, WcFor this
The width of vehicle.
Vehicle bumper systems of the present invention, it is to move shape in the barrier corresponding to the ranging signal in step (B)
It is as follows in oval barrier moving area, formula according to the ranging signal computing one during state：
ab=vbT,
bb=Wb,
Wherein, xb、ybFor the outer rim coordinate of barrier moving area, hb、kbFor the centre coordinate of barrier moving area, ab
For transverse, bbFor ellipse short shaft, vbFor the barrier translational speed corresponding to the ranging signal, t is one section of scheduled time,
WbFor the width of the barrier.
Vehicle bumper systems of the present invention, in step (B), according to the vehicle moving area and the barrier turnover zone
Whether the domain operation vehicle can collide the barrier, and the computing collision time, and whether the computing vehicle can collide the barrier
Formula it is as follows：
Judge that the vehicle will collide the barrier when m is not more than 1.
Vehicle bumper systems of the present invention, in step (B), the vehicle moving area of institute's computing can move with the vehicle
Path and change, vehicle in reversing when path formula it is as follows：
Wherein, xr、yrThe coordinate changed over time for vehicle, xr0、yr0For the initial coordinate of vehicle, VL、VRThe respectively car
Left rear wheel, the wheel speed of off hind wheel, Δ T is sample time, and θ is the steering angle of the vehicle.
Vehicle bumper systems of the present invention, in step (C), the public affairs for the distance that the vehicle is travelled in the braking time
Formula is：
Wherein, amFor brake deceleration degree, t_delay is braking action time delay.
The beneficial effects of the present invention are：By setting the electronics to stay brake units and the vehicle speed sensing unit of arranging in pairs or groups, should
Ranging sensing unit, if driving is divert one's attention or meets with emergency, it can be braked under the reversing of low speed or parking condition
Auxiliary can reduce system setup cost, the complexity in the control of reduction system to avoid vehicle collision situation.
Brief description of the drawings
Fig. 1 is the block schematic diagram of a preferred embodiment of vehicle bumper systems of the present invention；
Fig. 2 is a schematic diagram, illustrates the vehicle moving area and an obstacle of institute's computing in the preferred embodiment
Thing moving area；
Fig. 3 is a schematic diagram, illustrates the preferred embodiment in one alarm signal of output and self-stopping time；
Fig. 4 is a schematic diagram, illustrates the vehicle moving area meeting of a control unit institute computing of the preferred embodiment
Change with the path of vehicle movement；
Fig. 5 is a schematic diagram, illustrates the scene that the preferred embodiment is applicable；And
Fig. 6 is a flow chart of vehicle anti-collision method of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in detail.
Refering to Fig. 1 and Fig. 2, the preferred embodiment of vehicle bumper systems of the present invention is applied to be arranged at a vehicle 9, the car
CAS includes：One electronics of ranging sensing unit 3, one of vehicle speed sensing unit 2, one stays brake units 4
(ElectronicParkingBrake, being abbreviated as an EPB), alarm unit 5, and a control unit 6.
The vehicle speed sensing unit 2 is used for the speed for sensing the vehicle 9 and exports a corresponding car speed signal.
Correlation distance and output one of the barrier 8 that the ranging sensing unit 3 is used to sense arround the vehicle 9 with vehicle 9
Radar (Radar) or light can be used to reach for ranging signal, the ranging sensing unit 3 corresponding to individual
(LightDetectionAndRanging, be abbreviated as LiDAR, also known as unloaded laser ranging technology) implements, but is alternatively it
He can sense the technology of object distance, however it is not limited to this.
The electronics stays brake units 4 and is used to receive a control signal and the brake of the vehicle 9 is controlled according to the control signal
Car function.
Refering to Fig. 1, Fig. 2 and Fig. 3, the control unit 6 is electrically connected the vehicle speed sensing unit 2, the ranging sensing unit
3rd, the electronics stays brake units 4, and the alarm unit 5, receives the car speed signal, the ranging signal respectively, and according to this
One section of collision time of car speed signal, the ranging signal computing vehicle 9 and barrier 8, and it is little in the collision time
The control signal is exported when one section of braking time to control the brake function of the vehicle 9.
In the present embodiment, the control unit 6 warns the time in the collision time no more than the braking time and one section
With and when being more than the braking time, control the alarm unit 5 to export an alarm signal to remind driver to pay attention to, in the collision
Time then exports the control signal and carries out self-actuating brake when being not more than the braking time, but can also be not more than in the collision time and be somebody's turn to do
Braking time and the warning time and when persistently control the alarm unit 5 to export the alarm signal to remind driver to pay attention to,
It is not limited to this.
Wherein, the braking time can be according to the car speed and the brake deceleration of vehicle 9 corresponding to the car speed signal
Degree calculates, and its formula is as follows：vc
(formula 1)
Wherein, vcFor the car speed corresponding to the car speed signal, amFor brake deceleration degree, the vehicle 9 is in the brake
The formula for the distance that time is travelled is：
(formula 2)
Wherein, t_delay is braking action time delay.
Refering to Fig. 1 and Fig. 2, in the present embodiment, the control unit 6 application ellipse formula and according to the car speed signal
Computing one is as follows in oval vehicle moving area, formula：
(formula 3)
ac=vcT (formula 4)
bc=Wc(formula 5)
Wherein, xc、ycFor the outer rim coordinate of vehicle moving area, hc、kcFor the centre coordinate of vehicle moving area, acTo be ellipse
Circle major axis, bcFor ellipse short shaft, vcFor the car speed corresponding to the car speed signal, t is one section of scheduled time, WcFor this
The width of vehicle 9.
Barrier 8 is illustrated with human body on the move in Fig. 2, in barrier 8 corresponding to the ranging signal be mobile shape
During state, the control unit 6 is public using ellipse formula and according to one barrier moving area in ellipse of the ranging signal computing
Formula is as follows：
(formula 6)
ab=vbT (formula 7)
bb=Wb(formula 8)
Wherein, xb、ybFor the outer rim coordinate of barrier moving area, hb、kbFor the centre coordinate of barrier moving area, ab
For transverse, bbFor ellipse short shaft, vbFor the translational speed of barrier 8 corresponding to the ranging signal, t is one section of scheduled time,
WbFor the width of the barrier 8.
Whether the control unit 6 can collide according to the vehicle moving area and the barrier moving area computing vehicle 9
The barrier 8, and the computing collision time, wherein, the formula whether the computing vehicle 9 can collide the barrier 8 is as follows：
(formula 9)
When m is not more than 1, that is, represent that vehicle moving area can intersect with the oval housing of barrier moving area, also
It is to say that the vehicle 9 will collide the barrier 8.
Refering to Fig. 1 and Fig. 4, when vehicle 9 is turned to, the vehicle moving area of 6 computings of the control unit also can be with
The path of the vehicle 9 movement and change, be vehicle 9 shown in Fig. 4 left curved three kinds in the right curved, reversing of reversing straight trip, reversing
Possible path is illustrated, and elliptic region represents the barrier 8, the vehicle 9 in time t respectively0~t3Barrier moving area and car
Moving area, wherein, path formula of the vehicle 9 when reversing is as follows：
(formula 10)
(formula 11)
Wherein, xr、yrFor the coordinate of vehicle 9 changed over time, xr0、yr0For the initial coordinate of vehicle 9, VL、VRRespectively should
The left rear wheel of vehicle 9, the wheel speed of off hind wheel, Δ T are sample time, and θ is the steering angle of the vehicle 9.
Refering to Fig. 1, Fig. 3 and Fig. 4, when driver is stopped or is moved backward, the control unit 6 can sense according to the ranging
The position for the barrier 8 arround ranging signal computing vehicle 9 that unit 3 is exported, when barrier 8 is mobile status, is then transported
Calculate the barrier moving area, and the car speed signal exported according to the angle of turn of vehicle 9 and the vehicle speed sensing unit 2
Carry out the computing vehicle moving area, and judge whether vehicle 9 and the barrier 8 can produce collision, can produce and collide after several seconds,
And the braking time needed for according to current speed, as shown in Figures 3 and 4, if initial time point is t0, and the control unit 6
If the lasting reversing of velocity estimated vehicle 9 according to the distance of the vehicle 9 and the barrier 8, the speed of the vehicle 9, the barrier 8 is left
It is curved, in time point t3Shi Huiyou produces the possibility of collision, then the control unit 6 is in time point t1Start that the alarm unit 5 can be controlled
The alarm signal is exported to remind driver to pay attention to, if driver does not change the direction of vehicle 9 or touched on the brake yet, and causes generation to be touched
The possibility hit is not eliminated, then the control unit 6 is in time point t2Self-actuating brake is proceeded by, exports the control signal so that should
Electronics stays the brake function that brake units 4 control vehicle 9, in this way, can then divert one's attention in driving or in emergency circumstances can still maintain capable
Car safety.
Refering to Fig. 5, the situation schematic diagram being applicable by the present embodiment, as seen from Figure 5, either parallel parking, reversing
Storage, or during reversing traveling, be all suitable for the application of the present embodiment and occurred with collision free situation.
The advantages of the present embodiment, can be summarized as follows by the explanation more than：
First, can by setting the electronics to stay brake units 4 and the vehicle speed sensing unit 2 of arranging in pairs or groups, the ranging sensing unit 3
To sense the position of the barrier 8 arround vehicle 9 speed itself, and sensing vehicle 9 and state, can low speed reversing or stop
Under car situation, when driving is divert one's attention or has emergency, warning drivers, brake miscellaneous function is provided, or perform brake and move
To make, the situation for effectively avoiding vehicle 9 from colliding occurs, and it is the outfit gradually popularized on current vehicle 9 that electronics, which stays brake units 4,
Brake units 4 are stayed by using the electronics brake miscellaneous function is provided, braked, compared with carrying out pre- brake or providing part
Water brake control system or electric stabilizing system are used in prior art, system setup cost can be reduced, and reduce system
Complexity in control.
2nd, upper in extension application, the present embodiment can be integrated with automatic parking system, parking assistance system to reach more
Add complete function, or can arrange in pairs or groups emergency braking system (AutonomousEmergencyBraking, being abbreviated as AEB) and more
Traffic safety is lifted, there are the potential advantages in marketing.
Refering to Fig. 1 and Fig. 6, the preferred embodiment of vehicle anti-collision method of the present invention applies to above-mentioned vehicle bumper systems,
This method comprises the steps of：
Step 71：Sense car speed and simultaneously export a car speed signal, sense barrier 8 arround the vehicle 9 with
The correlation distance of vehicle 9 simultaneously exports a corresponding ranging signal.
Step 72：According to one section of the barrier 8 of the car speed signal, the ranging signal computing vehicle 9 with arround
Collision time.
In step 72, the vehicle bumper systems move for one according to the car speed signal computing in oval vehicle
Region, formula is such as（Formula 3）、（Formula 4）、（Formula 5）It is shown；In the barrier 8 corresponding to the ranging signal be mobile status
When, the vehicle bumper systems are according to one barrier moving area in ellipse of the ranging signal computing, and formula is such as（Formula
6）、（Formula 7）、（Formula 8）It is shown；Whether can be touched according to the vehicle moving area and the barrier moving area computing vehicle
Hit the barrier, and whether the computing collision time, the computing vehicle can collide the formula of the barrier such as（Formula 9）It is shown, m
Judge that the vehicle will collide the barrier during no more than 1；The path that the vehicle moving area of institute's computing can move with the vehicle
And when changing, path formula of vehicle when reversing is such as（Formula 10）、（Formula 11）It is shown.Step 73：In the collision time not
More than the braking time with one section warning the time and when, export an alarm signal.
Step 74：When the collision time is not more than one section of braking time, an electronics is controlled to stay brake units 4 to control
The brake function of the vehicle 9.
In step 74, the formula for the distance that the vehicle is travelled in the braking time is such as（Formula 2）It is shown.
In summary, the present embodiment is not only it is possible to prevente effectively from phenomenon, reduction system setup cost, drop that vehicle 9 collides
Complexity in low system control, and with the potential advantages in marketing, so the purpose of the present invention can be reached really.
Claims (6)
1. a kind of vehicle bumper systems, suitable for being arranged at a vehicle, the vehicle bumper systems include：One speed sensing is single
Member, a ranging sensing unit, and an electronics stay brake units；
The vehicle speed sensing unit is used for the speed for sensing the vehicle and exports a corresponding car speed signal；
The barrier that the ranging sensing unit is used to sense arround the vehicle is corresponding with the correlation distance of vehicle and output one
Ranging signal；
It is characterized in that：
The electronics stays brake units and is used to receive a control signal and the brake function of the vehicle is controlled according to the control signal；
The vehicle bumper systems also include a control unit, and the control unit is electrically connected the vehicle speed sensing unit, the survey
Away from sensing unit, and the electronics stays brake units, receives the car speed signal, the ranging signal respectively, and according to the vehicle
One section of collision time of the barrier of speed signal, the ranging signal computing vehicle with arround, and it is little in the collision time
When one section of braking time, the control signal is exported；
The vehicle bumper systems also include an alarm unit for electrically connecting the control unit, and the control unit is in the collision time
No more than the braking time with one section warning the time and when, control the alarm unit export an alarm signal；
The control unit is as follows in oval vehicle moving area, formula according to the car speed signal computing one：
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Circle major axis, bbFor ellipse short shaft, vbFor the barrier translational speed corresponding to the ranging signal, t is one section of scheduled time, WbFor
The width of the barrier,
Whether the control unit can collide the obstacle according to the vehicle moving area and the barrier moving area computing vehicle
Thing, and the computing collision time, the formula whether the computing vehicle can collide the barrier are as follows：
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<mi>b</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mi>m</mi>
<mo>,</mo>
</mrow>
Judge that the vehicle will collide the barrier when m is not more than 1.
2. vehicle bumper systems as claimed in claim 1, it is characterised in that：The vehicle moving area of the control unit institute computing
It can change with the path of vehicle movement, path formula of vehicle when reversing is as follows：
<mrow>
<msub>
<mi>x</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>&Delta;</mi>
<mi>T</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>V</mi>
<mi>L</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>R</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
<mo>+</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>r</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>,</mo>
</mrow>
<mrow>
<msub>
<mi>y</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>&Delta;</mi>
<mi>T</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>V</mi>
<mi>L</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>R</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
<mo>+</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>r</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>,</mo>
</mrow>
Wherein, xr、yrFor the vehicle coordinate changed over time, xr0、yr0For initial vehicle coordinate, VL、VRThe respectively vehicle
The wheel speed of left rear wheel, off hind wheel, △ T are sample time, and θ is the steering angle of the vehicle.
3. vehicle bumper systems as claimed in claim 2, it is characterised in that：The distance that the vehicle is travelled in the braking time
Formula be：
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>v</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
<mo>/</mo>
<msub>
<mi>a</mi>
<mi>m</mi>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>c</mi>
</msub>
<mo>&times;</mo>
<mi>t</mi>
<mo>_</mo>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>a</mi>
<mi>y</mi>
<mo>,</mo>
</mrow>
Wherein, amFor brake deceleration degree, t_delay is braking action time delay.
A kind of 4. vehicle anti-collision method, it is characterised in that：
The vehicle anti-collision method comprises the steps of：
(A) sense car speed and export a car speed signal, the barrier sensed arround the vehicle is related to vehicle
Distance simultaneously exports a corresponding ranging signal；
(B) one section of collision time of the barrier according to the car speed signal, the ranging signal computing vehicle with arround；
(C) when the collision time is not more than one section of braking time, an electronics is controlled to stay brake units to control the vehicle
Brake function；And
(D) in the collision time no more than the braking time with one section warning the time and when, export an alarm signal；
It is as follows in oval vehicle moving area, formula according to the car speed signal computing one in step (B)：
<mrow>
<mfrac>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<msub>
<mi>h</mi>
<mi>c</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<msup>
<msub>
<mi>a</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>c</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<msup>
<msub>
<mi>b</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
</mrow>
ac=vcT,
bc=Wc,
Wherein, xc、ycFor the outer rim coordinate of vehicle moving area, hc、kcFor the centre coordinate of vehicle moving area, acIt is long for ellipse
Axle, bcFor ellipse short shaft, vcFor the car speed corresponding to the car speed signal, t is one section of scheduled time, WcFor the vehicle
Width
When the barrier corresponding to the ranging signal is mobile status, according to one obstacle in ellipse of the ranging signal computing
Thing moving area, formula are as follows：
<mrow>
<mfrac>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<msub>
<mi>h</mi>
<mi>b</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<msup>
<msub>
<mi>a</mi>
<mi>b</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>b</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mrow>
<msup>
<msub>
<mi>b</mi>
<mi>b</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
</mrow>
ab=vbT,
bb=Wb,
Wherein, xb、ybFor the outer rim coordinate of barrier moving area, hb、kbFor the centre coordinate of barrier moving area, abTo be ellipse
Circle major axis, bbFor ellipse short shaft, vbFor the barrier translational speed corresponding to the ranging signal, t is one section of scheduled time, WbFor
The width of the barrier,
Whether the barrier can be collided according to the vehicle moving area and the barrier moving area computing vehicle, and computing should
Collision time,
The formula whether the computing vehicle can collide the barrier is as follows：
<mrow>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>c</mi>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<msup>
<msub>
<mi>a</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>c</mi>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<msup>
<msub>
<mi>b</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mi>m</mi>
<mo>,</mo>
</mrow>
Judge that the vehicle will collide the barrier when m is not more than 1.
5. vehicle anti-collision method as claimed in claim 4, it is characterised in that：In step (B), the vehicle turnover zone of institute's computing
Domain can change with the path that the vehicle moves, and path formula of vehicle when reversing is as follows：
<mrow>
<msub>
<mi>x</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>&Delta;</mi>
<mi>T</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>V</mi>
<mi>L</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>R</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
<mo>+</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>r</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>,</mo>
</mrow>
<mrow>
<msub>
<mi>y</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>&Delta;</mi>
<mi>T</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>V</mi>
<mi>L</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>V</mi>
<mi>R</mi>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
<mo>+</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>r</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>,</mo>
</mrow>
Wherein, xr、yrThe coordinate changed over time for vehicle, xr0、yr0For the initial coordinate of vehicle, VL、VRThe respectively vehicle
The wheel speed of left rear wheel, off hind wheel, △ T are sample time, and θ is the steering angle of the vehicle.
6. vehicle anti-collision method as claimed in claim 5, it is characterised in that：In step (C), the vehicle is in the braking time
The formula of the distance travelled is：
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>v</mi>
<mi>c</mi>
</msub>
<mn>2</mn>
</msup>
<mo>/</mo>
<msub>
<mi>a</mi>
<mi>m</mi>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>)</mo>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>c</mi>
</msub>
<mo>&times;</mo>
<mi>t</mi>
<mo>_</mo>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>a</mi>
<mi>y</mi>
<mo>,</mo>
</mrow>
Wherein, amFor brake deceleration degree, t_delay is braking action time delay.
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|---|---|---|---|
| CN201310683472.7A CN104709280B (en) | 2013-12-13 | 2013-12-13 | Vehicle bumper systems and method |
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| CN201310683472.7A CN104709280B (en) | 2013-12-13 | 2013-12-13 | Vehicle bumper systems and method |
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| DE102015212250A1 (en) * | 2015-06-30 | 2017-01-05 | Conti Temic Microelectronic Gmbh | Improved calculation of time to collision for a vehicle |
| CN106427999B (en) * | 2016-10-14 | 2019-02-01 | 山东凡迈电子科技有限公司 | A kind of brake control method based on intelligent video analysis |
| CN107862903B (en) * | 2017-12-08 | 2020-03-31 | 财团法人车辆研究测试中心 | Object collision prediction method and device |
| CN109001718A (en) * | 2018-06-22 | 2018-12-14 | 安徽尼古拉电子科技有限公司 | A kind of radar range finding method based on doppler principle |
| CN111114340B (en) * | 2018-10-31 | 2021-11-02 | 宝沃汽车（中国）有限公司 | Safety control method and device for vehicle and vehicle |
| CN109901193A (en) * | 2018-12-03 | 2019-06-18 | 财团法人车辆研究测试中心 | The light of short distance barrier reaches arrangement for detecting and its method |
| CN112158181A (en) * | 2020-09-29 | 2021-01-01 | 奇瑞汽车股份有限公司 | Method and device for braking vehicle |
| CN113353069B (en) * | 2021-07-22 | 2023-03-24 | 中国第一汽车股份有限公司 | Automatic emergency braking system, and method and system for adjusting automatic emergency braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632887A (en) * | 2011-02-08 | 2012-08-15 | 沃尔沃汽车公司 | An onboard perception system |
| CN202703577U (en) * | 2012-06-21 | 2013-01-30 | 郑州宇通客车股份有限公司 | Intelligent car brake control system |
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| DE10356309A1 (en) * | 2003-11-28 | 2005-06-23 | Robert Bosch Gmbh | Method and device for warning the driver of a motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632887A (en) * | 2011-02-08 | 2012-08-15 | 沃尔沃汽车公司 | An onboard perception system |
| CN202703577U (en) * | 2012-06-21 | 2013-01-30 | 郑州宇通客车股份有限公司 | Intelligent car brake control system |
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