CN104875730A - Vehicle automatic brake device and method thereof - Google Patents
Vehicle automatic brake device and method thereof Download PDFInfo
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- CN104875730A CN104875730A CN201510249348.9A CN201510249348A CN104875730A CN 104875730 A CN104875730 A CN 104875730A CN 201510249348 A CN201510249348 A CN 201510249348A CN 104875730 A CN104875730 A CN 104875730A
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- vehicle
- time
- brake
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Classifications
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- 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
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- 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
- B60T2201/022—Collision avoidance systems
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- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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- 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
Abstract
The invention discloses a vehicle automatic brake device and a method thereof. The device comprises a front detection module, a rear detection module, a control module and a brake module, wherein the front detection module is used for calculating collision occurrence time (T-front) of a vehicle and a front obstacle; the rear detection module is used for calculating collision occurrence time (T-rear) of a backside vehicle and the vehicle; the control module is used for receiving a vehicle speed signal and a vehicle brake pedal signal; when the speed of the vehicle is smaller than or equal to a speed threshold value (V1), the control module is used for controlling the brake module to perform complete brake and partial brake on the vehicle according to the collision occurrence time (T-front) of the vehicle and the front obstacle calculated by the front detection module, the collision occurrence time (T-rear) of the backside vehicle and the vehicle calculated by the rear detection module and the vehicle brake pedal signal.
Description
Technical field
The present invention relates to field of motor vehicles, particularly relate to the self-actuating brake field of power actuated vehicle.
Background technology
In prior art, there are many automobile manufacturing companies to be vehicle configuration automatic brake functions, to avoid vehicle and vehicle front obstacle collide or reduce the consequence caused because colliding with preceding object thing, improve safety performance.
Described automatic brake functions refers to that vehicle normally travels when non-self-adapting cruises, and allows car retardation as self initiatively produced brake (or braking) effect when vehicle runs into certain danger situation, thus a kind of technology of raising travel safety.Rear-end collision in most cases all occurs in urban highway driving process or in low speed driving process.Driver easily because dispersion attention or speed lower and off one's guard, and to knock into the back.
In general, automatic brake functions, under certain speed, will start automatically, and by front windshield or the induction installation of vehicle front monitor upcoming traffic situation, the especially situation of (within such as 6 meters) within the scope of the certain distance of headstock front.Current vehicle brake, when stopping or having other obstacle, this cover system first can reinforcing in the brake system of vehicle self automatically, shortens braking distance to help chaufeur before making action.Further, if distance obstacle is very near, this cover system can automatic emergency brake and without the need to the operation of chaufeur.
The above-mentioned analytical calculation speed realizing the system of automatic brake functions can reach very high, such as 50 times per second.When therefore, automatic brake functions can analyze accurately according to aspects such as the Distance geometry speed of a motor vehicle, and needing brakes can avoid the generation of accident.
But this automatic brake functions, or claim initiatively brake function, can only not collide with preceding object thing by pre-anti-vehicle self on one's own initiative, or reduce the consequence caused because of collision, and rear view of vehicle can not be avoided to send a car and the risk of collision happens.
Summary of the invention
In order to solve the problems of the prior art at least partly, the invention provides a kind of safer, failure-free automatic braking device for vehicle and method thereof.
For one of object realizing the present invention, there is provided technical scheme as follows: a kind of automatic braking device for vehicle, comprise front detection module, control module and brake module, wherein front detection module comprises the front inductor of at least one detection vehicle preceding object thing, and described brake module is connected with brake and drive system for vehicle with tow.Described device also comprises rear detection module, and wherein, detection module comprises the rear inductor of at least one detection vehicle back car; Described front detection module calculates collide the time (before the T-) of vehicle and preceding object thing, and described rear detection module calculates collide the time (after the T-) of back car and vehicle; Described control module receives vehicle velocity signal and vehicle brake pedal signal, when the speed of vehicle is less than or equal to a threshold speed (V1), collide the time (after T-) and the vehicle brake pedal signal of the vehicle that described control module calculates according to described front detection module and the back car that collide the time (before the T-) of preceding object thing, described rear detection module calculate and vehicle, control brake module to vehicle brake or part brake with all strength.
Further, the first Preset Time (T1) is provided with; Collide the time (before the T-) that calculate vehicle and preceding object thing when described front detection module is less than or equal to this first Preset Time (T1), and during vehicle brake pedal attonity signal, described control module controls vehicle by brake module and carries out all one's effort brake.
Further, be provided with the second Preset Time (T2) and the 3rd Preset Time (T3), when described front detection module calculate be greater than this first Preset Time (T1) with collide the time (before the T-) of preceding object thing but be less than or equal to the second Preset Time (T2) and described after detection module calculate back car and the collision happens time (after T-) is less than or equal to the 3rd Preset Time (T3), and during vehicle brake pedal attonity signal, described control module controls vehicle by brake module and carries out part brake.
Further, collide the time (before T-) according to described vehicle and preceding object thing compares with the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), and the dynamics that described part is braked is reduced or increases.
Further, when collide the time (before the T-) of described vehicle and preceding object thing is greater than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is reduced; When collide the time (before the T-) of described vehicle and preceding object thing is less than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is increased.
Further, described front detection module calculates collide the time (before the T-) of vehicle and preceding object thing, refer to or repeated detection double according to described front inductor to vehicle movement variable quantity and the time variation amount of corresponding described double or repeated detection and the relative velocity calculated between vehicle and preceding object thing, and the distance of the vehicle detected according to described front inductor and preceding object thing calculates collide the time (before the T-) of described vehicle and preceding object thing.
Further, described rear detection module calculates collide the time (after the T-) of back car and vehicle, refer to or repeated detection double according to described rear inductor to vehicle movement variable quantity and corresponding described double or repeated detection time variation amount and calculate the relative velocity of back car and vehicle, and the distance of the back car detected according to described rear inductor and vehicle calculates collide the time (after the T-) of described back car and vehicle.
Further, when vehicle carries out all one's effort brake or part is braked, described device controls by the light of described control module to vehicle tail, sends the wigwag being different from stoplight stop lamp, to remind back car.
For realizing the object two of the present invention, there is provided technical scheme as follows: a kind of self-actuating brake method of vehicle, comprise: step one, when car speed is less than or equal to a threshold speed (V1), calculate collide the time (before the T-) of vehicle and preceding object thing.Step 2, is provided with the first Preset Time (T1); When collide the time (before the T-) of the vehicle calculated and preceding object thing is less than or equal to the first Preset Time (T1), detecting brake pedal action, as brake pedal action do not detected, controlling vehicle brake with all strength.Step 3, is provided with the second Preset Time (T2); When collide the time (before the T-) of the vehicle calculated and preceding object thing is greater than the first Preset Time (T1), and when being less than or equal to the second Preset Time (T2), calculate collide the time (after the T-) of back car and vehicle.Step 4, is provided with the 3rd Preset Time (T3); When collide the time (after the T-) of the back car calculated and vehicle is less than or equal to the 3rd Preset Time (T3), detecting brake pedal action, as brake pedal action do not detected, controlling vehicles brake.
Further, collide the time (before T-) according to described vehicle and preceding object thing compares with the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), and the dynamics that described part is braked is reduced or increases.
Further, when collide the time (before the T-) of described vehicle and preceding object thing is greater than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is reduced; When collide the time (before the T-) of described vehicle and preceding object thing is less than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is increased.
Further, collide the time (before the T-) of described calculating vehicle and preceding object thing, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of vehicle and preceding object thing, and to calculate collide the time (before the T-) of described vehicle and preceding object thing according to the distance of the vehicle detected and preceding object thing.
Further, collide the time (after the T-) of described calculating back car and vehicle, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of back car and vehicle, and to calculate collide the time (after the T-) of described back car and vehicle according to the distance of the back car detected and vehicle.
Further, when vehicle carries out all one's effort brake or part is braked, the wigwag being different from stoplight stop lamp is sent, to remind back car.
Compared with prior art, automatic braking device for vehicle of the present invention and method thereof, by in control vehicle self-actuating brake with while avoiding colliding with preceding object thing, also the collision that back car may bring is considered, and the control braking strength of intelligence, thus more safe and reliable automatic brake functions can be realized.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred implementation, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical step or parts by identical reference symbol.In the accompanying drawings:
Fig. 1 is the structural representation of dead-man's device of the present invention.
Fig. 2-Fig. 3 is the schematic flow sheet of self-actuating brake method of the present invention.
Fig. 4 a and Fig. 4 b be vehicle of the present invention in the process of moving with the state description figure of fore-aft vehicle.
Detailed description of the invention
Describe the present invention below with reference to detailed description of the invention shown in the drawings.But these embodiments do not limit the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.
It should be appreciated by those skilled in the art that the block representation presented in Figure of description realizes the indicative icon of structure of the present invention.Similarly, should be appreciated that, any diagram of circuit presented in Figure of description etc. represent the actual various process that can be performed by various computing machine or treater, and no matter whether clearly show this type of computing machine or treater in the drawings.
As shown in Fig. 1, Fig. 4 a and Fig. 4 b, automatic braking device for vehicle 100 of the present invention, comprises front detection module 11, rear detection module 12, control module 13 and brake module 14.Wherein, described front detection module 11 comprises the front inductor (not shown) of the preceding object thing 300 of at least one detection vehicle 200, and described rear detection module 12 comprises the rear inductor (not shown) of the back car 400 of at least one detection vehicle 200.Described brake module 14 is connected with brake and drive system for vehicle with tow.Described control module 13 is connected with front detection module 11, rear detection module 12 and brake module 14.
Described preceding object thing 300 comprises driving vehicle, unpowered vehicle, pedestrian or other obstacles etc.Hereafter mainly to be described for vehicle.
Described front inductor or described rear inductor, comprising: laser sensor, ultrasonic transduter or other sensors for finding range.Described front inductor is arranged on front part of vehicle, specifically can be arranged on after Windshield or be arranged at the air-inlet grille position etc. in bonnet of motor car front.And described rear inductor can be arranged on after rear seat windscreen, luggage of vehicle postoperculum or rear bumper first-class.
Further, described front detection module 11 according to the testing result of described front inductor, before calculating vehicle 200 and the time T-that collides of preceding object thing 300.Preferably, before described front detection module 11 calculates the time T-that collides of vehicle 200 and preceding object thing 300, refer to or repeated detection double according to described front inductor to vehicle 200 displacement variable and corresponding double or repeated detection to time variation amount and calculate the relative velocity of vehicle 200 and preceding object thing 300, and the distance of the preceding object thing 300 detected according to described front inductor and vehicle 200, before calculating described vehicle 200 and the time T-that collides of preceding object thing 300.
Further, described rear detection module 12 according to the testing result of described rear inductor, after calculating back car 400 and the time T-that collides of vehicle 200.Preferably, after described rear detection module 12 calculates the time T-that collides of back car 400 and vehicle 200, refer to or repeated detection double according to described rear inductor to vehicle 200 displacement variable and corresponding double or repeated detection time variation amount and calculate the relative velocity of back car 400 and vehicle 200, and after the vehicle 200 detected according to described rear inductor and the distance of back car 400 calculate described back car 400 and the time T-that collides of vehicle 200.
Alternatively, have the spacing of a lot of measuring and calculating vehicle and the technology of measuring and calculating collision time in the prior art, such as Volvo and benz have active breaking systems.
Further, described control module 13 is connected with vehicle, receives vehicle velocity signal and vehicle brake pedal signal.When the speed of vehicle 200 is less than or equal to the threshold speed V1 of a setting, before the vehicle 200 that described control module 13 calculates according to described front detection module 11 and the time T-that collides of preceding object thing 300, after the back car 400 that calculates of described rear detection module 12 and the time T-that collides of vehicle 200 and vehicle brake pedal signal, control brake or the part brake with all strength of described brake module 14 pairs of vehicles 200.In one embodiment, described threshold speed V1 scope, between 20,000 ms/h to 40,000 ms/h, is preferably 30,000 ms/h.
Shown in composition graphs 4a, in one embodiment, described device 100 is provided with the first preset time T 1.When being less than or equal to this first preset time T 1 before the time T-that collides that described front detection module 11 calculates vehicle 200 and preceding object thing 300 and described control module 13 receives the signal of vehicle brake pedal attonity, described control module 13 by the brake with all strength of brake module 14 pairs of vehicles 200, thus avoids vehicle 200 and preceding object thing 300 to collide.
Continue shown in composition graphs 4b, in another embodiment, described device 100 is provided with the second preset time T 2 and the 3rd preset time T 3.When being greater than this first preset time T 1 before the time T-that collides that described front detection module 11 calculates vehicle 200 and preceding object thing 300 but being less than or equal to the second preset time T 2, and described rear detection module 12 calculates back car 400 and vehicle 200 and collides after time T-and be less than or equal to the 3rd preset time T 3, and described control module 13 is when receiving the signal of vehicle brake pedal attonity, described control module 13 is by brake module 14 pairs of vehicle 200 parts brakes.Described part brake refers to and is ensureing under the prerequisite that vehicle 200 does not collide with preceding object thing 300, do not use brake with all strength, reserve certain braking distance (or braking time) to back car 400 with this, thus can effectively reduce at vehicle 200 to prevent from colliding with preceding object thing 300 risk of carrying out braking and causing back car 400 and vehicle 200 to collide afterwards.
Because the detection frequency of described automatic braking device for vehicle 100 is very high, such as, can reach 50 times/second or more, the braking strength of therefore described part brake can realize in real time.Compare according to the difference after the time T-that collides with the difference of the first preset time T 1 and the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 and the time T-that collides of preceding object thing 300, the dynamics that described part is braked is reduced or increases.In one embodiment, to collide the difference after time T-when being greater than the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 with the time T-that collides of preceding object thing 300 with the difference of the first preset time T 1, that is: ((before T-)-T1) > (T3-(after T-)), the dynamics of described part brake reduces.To collide the difference after time T-when being less than the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 with the time T-that collides of preceding object thing 300 with the difference of the first preset time T 1, that is: ((before T-)-T1) < (T3-(after T-)), the dynamics of described part brake increases.
In a preferred example, described first preset time T 1 is set to 0.6 second, and the second preset time T 2 is set to 1.6 seconds, and the 3rd preset time T 3 is set to 0.6 second.In this example embodiment, further, consider that back car 400 may be the not good vehicle of large truck or other braking qualities, for the sake of security, described 3rd Preset Time can be set to be greater than 0.6 second.Really, in other examples, according to the self-condition of vehicle and technical development (especially the braking quality of vehicle), and the first different preset time T 1, second preset time T 2 and the 3rd preset time T 3 can be selected.Can be expected that, following become better and better along with the braking quality of vehicle, described first preset time T 1, second preset time T 2 and the 3rd preset time T 3 can be shortened gradually.
Further, in the respective embodiments described above, when vehicle 200 carries out all one's effort brake or part is braked, described device 100 also controls by the light of described control module 13 pairs of vehicle tails, send the wigwag being different from stoplight stop lamp, to remind the chaufeur of back car 400 to brake, such as, control stoplight stop lamp and glimmer by certain rule, special high-risk safety lamp is set and controls its flicker etc.Certainly, alternatively, the sound also by controlling vehicle 200 realizes the object of reminding.When vehicle 200 chaufeur takes brake, stoplight stop lamp can light, chaufeur takes brake not necessarily emergency situation, and automatic brake functions starts, explain the situation urgent, therefore in the case, except stoplight stop lamp lights, by being different from the wigwag of stoplight stop lamp, come to remind back car 400 further.
Shown in composition graphs 2 and Fig. 3, the self-actuating brake method of vehicle of the present invention, comprising:
Step one, when car speed is less than or equal to a threshold speed V1, before calculating the time T-that collides of vehicle and preceding object thing.
Step 2, is provided with the first preset time T 1; When being less than or equal to the first preset time T 1 before the time T-that collides of the vehicle calculated and preceding object thing, detecting brake pedal action, as do not detected brake pedal action, controlling vehicle 200 brake with all strength.Step 3, is provided with the second preset time T 2; When collide the time (before the T-) of the vehicle calculated and preceding object thing is greater than the first Preset Time (T1), and when being less than or equal to the second preset time T 2, after calculating the time T-that collides of back car and vehicle; And
Step 4, is provided with the 3rd preset time T 3; When being less than or equal to the 3rd preset time T 3 after the time T-that collides of the back car calculated and vehicle, detect brake pedal action; As do not detected brake pedal action, control vehicles brake, thus ensureing, under the prerequisite that vehicle 200 does not collide with preceding object thing 300, can effectively prevent again back car 400 and vehicle 200 from colliding.
Because the detection frequency of described vehicle self-actuating brake method is very high, can reach 50 times/second or more, the braking strength of therefore described part brake can realize in real time.Compare according to the difference after the time T-that collides with the difference of the first preset time T 1 and the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 and the time T-that collides of preceding object thing 300, the dynamics that described part is braked is reduced or increases.In one embodiment, to collide the difference after time T-when being greater than the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 with the time T-that collides of preceding object thing 300 with the difference of the first preset time T 1, that is: ((before T-)-T1) > (T3-(after T-)), the dynamics of described part brake reduces.To collide the difference after time T-when being less than the 3rd preset time T 3 and described back car 400 and vehicle 200 before described vehicle 200 with the time T-that collides of preceding object thing 300 with the difference of the first preset time T 1, that is: ((before T-)-T1) < (T3-(after T-)), the dynamics of described part brake increases.
Further, when described method is also included in and vehicle 200 is carried out to all one's effort brake or partly brakes, the light of vehicle tail is controlled, send the wigwag being different from stoplight stop lamp, to remind the chaufeur of back car 400, such as, control vehicle 200 stoplight stop lamp and glimmer by certain rule, special high-risk safety lamp is set and controls its flicker etc.Certainly, alternatively, the sound also by controlling vehicle 200 realizes the object of reminding.
Before the time T-that collides of the described vehicle that calculates and preceding object thing, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of vehicle and preceding object thing, and according to detect calculate the time T-that collides of described vehicle and preceding object thing with the distance of preceding object thing before.
After the time T-that collides of the described back car that calculates and vehicle, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of back car and vehicle, and according to detect calculate the time T-that collides of described back car and vehicle with the distance of back car after.
In one embodiment, described threshold speed V1 scope, between 20,000 ms/h to 40,000 ms/h, is preferably 30,000 ms/h.
In a preferred example, described first preset time T 1 is set to 0.6 second, and the second preset time T 2 is set to 1.6 seconds, and the 3rd preset time T 3 is set to 0.6 second.In this example embodiment, further, consider that back car 400 may be the not good vehicle of large truck or other braking qualities, for the sake of security, described 3rd Preset Time can be set to be greater than 0.6 second.Really, in other examples, according to the self-condition of vehicle and technical development (especially the braking quality of vehicle), and the first different preset time T 1, second preset time T 2 and the 3rd preset time T 3 can be selected.Can be expected that, in future, along with the braking quality of vehicle is become better and better, described first preset time T 1, second preset time T 2 and the 3rd preset time T 3 can be shortened gradually.
Compared with prior art, automatic braking device for vehicle 100 of the present invention and method thereof, by in control vehicle self-actuating brake with while avoiding colliding with preceding object thing, also the collision that back car may bring is considered, and the control braking strength of intelligence, thus more safe and reliable automatic brake functions can be realized.
The above-mentioned description about automatic braking device for vehicle and vehicle self-actuating brake method can illustrate each other.In this manual, a large amount of details is described.But, should be appreciated that embodiments of the invention can be implemented when not having these details.In certain embodiments, be not shown specifically known method, structure and technology, not make reader obscure the understanding of the principle to this specification sheets.
It will be understood by those skilled in the art that and can the module in the device in each embodiment adaptively be changed, and they are arranged in one or more devices different from this embodiment.Some block combiner in embodiment can be become a module or unit or assembly, multiple submodule or subelement or sub-component can also be put them into.Except the situation that feature and/or process are mutually repelled, any combination can be adopted, to method any disclosed in this specification sheets in steps or all modules of any device combine.Unless expressly stated otherwise, each feature disclosed in this specification sheets can by providing identical, equivalent or similar object alternative features replaces.
Claims (14)
1. an automatic braking device for vehicle, comprise front detection module, control module and brake module, wherein front detection module comprises the front inductor of at least one detection vehicle preceding object thing, described brake module is connected with brake and drive system for vehicle with tow, it is characterized in that: described device also comprises rear detection module, wherein, detection module comprises the rear inductor of at least one detection vehicle back car; Described front detection module calculates collide the time (before the T-) of vehicle and preceding object thing, and described rear detection module calculates collide the time (after the T-) of back car and vehicle; Described control module receives vehicle velocity signal and vehicle brake pedal signal, when the speed of vehicle is less than or equal to a threshold speed (V1), collide the time (after T-) and the vehicle brake pedal signal of the vehicle that described control module calculates according to described front detection module and the back car that collide the time (before the T-) of preceding object thing, described rear detection module calculate and vehicle, control brake module and carry out all one's effort brake to vehicle or part is braked.
2. dead-man's device as claimed in claim 1, is characterized in that: be provided with the first Preset Time (T1); Collide the time (before the T-) that calculate vehicle and preceding object thing when described front detection module is less than or equal to this first Preset Time (T1), and during vehicle brake pedal attonity signal, described control module controls vehicle by brake module and carries out all one's effort brake.
3. dead-man's device as claimed in claim 2, it is characterized in that: be provided with the second Preset Time (T2) and the 3rd Preset Time (T3), when described front detection module calculate be greater than this first Preset Time (T1) with collide the time (before the T-) of preceding object thing but be less than or equal to the second Preset Time (T2) and described after detection module calculate back car and the collision happens time (after T-) is less than or equal to the 3rd Preset Time (T3), and during vehicle brake pedal attonity signal, described control module controls vehicle by brake module and carries out part brake.
4. dead-man's device as claimed in claim 3, it is characterized in that: collide the time (before T-) according to described vehicle and preceding object thing compares with the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), and the dynamics that described part is braked is reduced or increases.
5. dead-man's device as claimed in claim 4, it is characterized in that: when collide the time (before the T-) of described vehicle and preceding object thing is greater than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is reduced; When collide the time (before the T-) of described vehicle and preceding object thing is less than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is increased.
6. as the dead-man's device of claim 1 to 5 described in any one, it is characterized in that: described front detection module calculates collide the time (before the T-) of vehicle and preceding object thing, refer to or repeated detection double according to described front inductor to vehicle movement variable quantity and the time variation amount of corresponding described double or repeated detection and the relative velocity calculated between vehicle and preceding object thing, and the distance of the vehicle detected according to described front inductor and preceding object thing calculates collide the time (before the T-) of described vehicle and preceding object thing.
7. as the dead-man's device of claim 1 to 5 described in any one, it is characterized in that: described rear detection module calculates collide the time (after the T-) of back car and vehicle, refer to or repeated detection double according to described rear inductor to vehicle movement variable quantity and corresponding described double or repeated detection time variation amount and calculate the relative velocity of back car and vehicle, and the distance of the back car detected according to described rear inductor and vehicle calculates collide the time (after the T-) of described back car and vehicle.
8. as the dead-man's device of claim 1 to 5 described in any one, it is characterized in that: when vehicle carries out all one's effort brake or part is braked, described device controls by the light of described control module to vehicle tail, send the wigwag being different from stoplight stop lamp, to remind back car.
9. a self-actuating brake method for vehicle, comprising:
Step one, when car speed is less than or equal to a threshold speed (V1), calculates collide the time (before the T-) of vehicle and preceding object thing;
Step 2, is provided with the first Preset Time (T1); When collide the time (before the T-) of the vehicle calculated and preceding object thing is less than or equal to the first Preset Time (T1), detecting brake pedal action, as brake pedal action do not detected, controlling vehicle brake with all strength;
Step 3, is provided with the second Preset Time (T2); When collide the time (before the T-) of the vehicle calculated and preceding object thing is greater than the first Preset Time (T1), and when being less than or equal to the second Preset Time (T2), calculate collide the time (after the T-) of back car and vehicle; And
Step 4, is provided with the 3rd Preset Time (T3); When collide the time (after the T-) of the back car calculated and vehicle is less than or equal to the 3rd Preset Time (T3), detecting brake pedal action, as brake pedal action do not detected, controlling vehicles brake.
10. self-actuating brake method as described in claim 9, it is characterized in that: collide the time (before T-) according to described vehicle and preceding object thing compares with the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), and the dynamics that described part is braked is reduced or increases.
11. self-actuating brake methods as claimed in claim 10, it is characterized in that: when collide the time (before the T-) of described vehicle and preceding object thing is greater than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is reduced; When collide the time (before the T-) of described vehicle and preceding object thing is less than the 3rd Preset Time (T3) and described back car and the difference of collision happens time (after T-) with the difference of the first Preset Time (T1), the dynamics of described part brake is increased.
12. self-actuating brake methods as described in any one of claim 9 to 11, it is characterized in that: collide the time (before the T-) of described calculating vehicle and preceding object thing, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of vehicle and preceding object thing, and to calculate collide the time (before the T-) of described vehicle and preceding object thing according to the distance of the vehicle detected and preceding object thing.
13. self-actuating brake methods as described in any one of claim 9 to 11, it is characterized in that: collide the time (after the T-) of described calculating back car and vehicle, refer to according to double or repeated detection to vehicle movement variable quantity and double or repeated detection time variation amount and calculate the relative velocity of back car and vehicle, and to calculate collide the time (after the T-) of described back car and vehicle according to the distance of the back car detected and vehicle.
14. self-actuating brake methods as described in any one of claim 9 to 11, is characterized in that: when vehicle carries out all one's effort brake or part is braked, send the wigwag being different from stoplight stop lamp, to remind back car.
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| CN201510249348.9A CN104875730B (en) | 2015-05-15 | 2015-05-15 | Automatic braking device for vehicle and its method |
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| CN201510249348.9A CN104875730B (en) | 2015-05-15 | 2015-05-15 | Automatic braking device for vehicle and its method |
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| CN104875730B (en) | 2018-05-08 |
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