CN105571876B - A kind of detection method and device of vehicle braking performances - Google Patents
A kind of detection method and device of vehicle braking performances Download PDFInfo
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- CN105571876B CN105571876B CN201510917034.1A CN201510917034A CN105571876B CN 105571876 B CN105571876 B CN 105571876B CN 201510917034 A CN201510917034 A CN 201510917034A CN 105571876 B CN105571876 B CN 105571876B
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Abstract
The present invention provides a kind of detection method and device of vehicle braking performances, which comprises obtains driving parameters of the vehicle in one section of braking process；According to the driving parameters, the corresponding at least one detection parameters of the braking process are obtained；According at least one detection parameters, the corresponding brake-performance parameters of the braking process are obtained；Wherein, at least one detection parameters include one or more of following parameter: braking distance parameter, constant distance parameter and direction constancy parameter.It can be seen that, do not go out the braking ability of vehicle in the embodiment of the present invention further according to the build-in attribute theoretical calculation of vehicle, and there is provided a kind of driving parameters according to vehicle in use, detect the mode of vehicle braking performances, therefore testing result can more reflect actual use situation.
Description
Technical field
The present invention relates to field of vehicle detection, more particularly, to a kind of detection method and device of vehicle braking performances.
Background technique
Vehicle braking performances affect the security performance of vehicle, in vehicle for reflecting performance of the vehicle in braking process
Performance indicator in occupy very important status.
At present when detecting vehicle braking performances, mainly by the production firm of each vehicle, according to the build-in attribute of vehicle,
Such as power, revolving speed of vehicle etc. are calculated.Obviously, this detection mode can only theoretically calculate the braking of vehicle
Performance can not reflect the braking ability of vehicle in use.
Obviously, the braking ability of vehicle in use how is detected, is current urgent problem to be solved.
Summary of the invention
Present invention solves the technical problem that being to provide a kind of detection method and device of vehicle braking performances, vehicle is detected
Braking ability in use.
For this purpose, the technical solution that the present invention solves technical problem is:
The present invention provides a kind of detection methods of vehicle braking performances, comprising:
Obtain driving parameters of the vehicle in one section of braking process；
According to the driving parameters, the corresponding at least one detection parameters of the braking process are obtained；
According at least one detection parameters, the corresponding brake-performance parameters of the braking process are obtained；
Wherein, at least one detection parameters include one or more of following parameter: braking distance parameter, away from
From constancy parameter and direction constancy parameter, if at least one detection parameters include the braking distance parameter or institute
Constant distance parameter is stated, the driving parameters include corresponding speed of multiple moment；If at least one detection ginseng
Number includes the direction constancy parameter, and the driving parameters include corresponding yaw velocity of multiple moment.
Optionally, the acquisition process of the braking distance parameter includes:
According to corresponding speed of multiple moment, obtain driving process between the every two adjacent moment it is corresponding plus
Speed；
From the corresponding acceleration of driving process between the every two adjacent moment, the smallest acceleration of numerical value is obtained
Degree is used as minimum acceleration；
According to the minimum acceleration and preset initial speed and terminate speed, obtains equivalent braking distance；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison；Wherein, institute
It is related to the preset initial speed and end speed to state braking distance threshold value.
Optionally, the braking distance threshold value includes first distance threshold value and second distance threshold value, the second distance threshold
Value is greater than the first distance threshold value；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison, comprising:
If Se> S2, the braking distance parameter is 0；
If S1≤Se≤S2, the braking distance parameter is (S2-Se)/(S2-S1)；
If Se< S1, the braking distance parameter is 1；
Wherein, SeFor the equivalent braking distance, S1For the first distance threshold value, S2For the second distance threshold value.
Optionally, the acquisition process of the constant distance parameter includes:
Obtain vehicle corresponding equivalent braking distance in N sections of continuous braking process, N >=1, the N sections of braking
Process includes one section of braking process, and the speed difference of each section of braking process is identical；
The difference value for obtaining the corresponding equivalent braking distance, as the first difference value；
By obtaining the constant distance parameter, wherein institute for first difference value and constant distance threshold value comparison
It is related to the preset initial speed and end speed to state constant distance threshold value.
Optionally, the constant distance threshold value includes the first constant threshold and the second constant threshold, the second constant threshold
Value is greater than first constant threshold；
By obtaining the constant distance parameter for first difference value and constant distance threshold value comparison, comprising:
If σe> σ2, the constant distance parameter is 0；
If σ1≤σe≤σ2, the constant distance parameter is (σ2-σe)/(σ2-σ1)；
If σe< σ1, the constant distance parameter is 1；
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
Optionally, the acquisition process of the direction constancy parameter includes:
The difference value for obtaining corresponding yaw velocity of the multiple moment, as the second difference value；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison.
Optionally, the constant angular speed threshold value includes third constant threshold and the 4th constant threshold, and the described 4th is constant
Threshold value is greater than the third constant threshold；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison, comprising:
If σw> σ4, the direction constancy parameter is 0；
If σ3≤σw≤σ4, the direction constancy parameter is (σ4-σw)/(σ4-σ3)；
If σw< σ3, the direction constancy parameter is 1；
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
The present invention provides a kind of detection devices of vehicle braking performances, comprising:
Driving parameters acquiring unit, for obtaining driving parameters of the vehicle in one section of braking process；
Detection parameters acquiring unit, for obtaining the corresponding at least one of the braking process according to the driving parameters
Detection parameters；
Performance parameter acquiring unit, for it is corresponding to obtain the braking process according at least one detection parameters
Brake-performance parameters；
Wherein, at least one detection parameters include one or more of following parameter: braking distance parameter, away from
From constancy parameter and direction constancy parameter, if at least one detection parameters include the braking distance parameter or institute
Constant distance parameter is stated, the driving parameters include corresponding speed of multiple moment；If at least one detection ginseng
Number includes the direction constancy parameter, and the driving parameters include corresponding yaw velocity of multiple moment.
Optionally, when obtaining the braking distance parameter, the detection parameters acquiring unit is specifically used for:
According to corresponding speed of multiple moment, obtain driving process between the every two adjacent moment it is corresponding plus
Speed；
From the corresponding acceleration of driving process between the every two adjacent moment, the smallest acceleration of numerical value is obtained
Degree is used as minimum acceleration；
According to the minimum acceleration and preset initial speed and terminate speed, obtains equivalent braking distance；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison；Wherein, institute
It is related to the preset initial speed and end speed to state braking distance threshold value.
Optionally, the braking distance threshold value includes first distance threshold value and second distance threshold value, the second distance threshold
Value is greater than the first distance threshold value；
It is described when by the way that the equivalent braking distance and braking distance threshold value comparison are obtained the braking distance parameter
Detection parameters acquiring unit is specifically used for:
If Se> S2, the braking distance parameter is 0；
If S1≤Se≤S2, the braking distance parameter is (S2-Se)/(S2-S1)；
If Se< S1, the braking distance parameter is 1；
Wherein, SeFor the equivalent braking distance, S1For the first distance threshold value, S2For the second distance threshold value.
Optionally, when obtaining the constant distance parameter, the detection parameters acquiring unit is specifically used for:
Obtain vehicle corresponding equivalent braking distance in N sections of continuous braking process, N >=1, the N sections of braking
Process includes one section of braking process, and the speed difference of each section of braking process is identical；
The difference value for obtaining the corresponding equivalent braking distance, as the first difference value；
By obtaining the constant distance parameter, wherein institute for first difference value and constant distance threshold value comparison
It is related to the preset initial speed and end speed to state constant distance threshold value.
Optionally, the constant distance threshold value includes the first constant threshold and the second constant threshold, the second constant threshold
Value is greater than first constant threshold；
It is described when by the way that first difference value and constant distance threshold value comparison are obtained the constant distance parameter
Detection parameters acquiring unit is specifically used for:
If σe> σ2, the constant distance parameter is 0；
If σ1≤σe≤σ2, the constant distance parameter is (σ2-σe)/(σ2-σ1)；
If σe< σ1, the constant distance parameter is 1；
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
Optionally, when obtaining the direction constancy parameter, the detection parameters acquiring unit is specifically used for:
The difference value for obtaining corresponding yaw velocity of the multiple moment, as the second difference value；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison.
Optionally, the constant angular speed threshold value includes third constant threshold and the 4th constant threshold, and the described 4th is constant
Threshold value is greater than the third constant threshold；
When by the way that second difference value and constant angular speed threshold value comparison are obtained the direction constancy parameter, institute
Detection parameters acquiring unit is stated to be specifically used for:
If σw> σ4, the direction constancy parameter is 0；
If σ3≤σw≤σ4, the direction constancy parameter is (σ4-σw)/(σ4-σ3)；
If σw< σ3, the direction constancy parameter is 1；
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
According to the above-mentioned technical solution, driving parameters of the embodiment of the present invention according to vehicle in braking process, can
Get one of braking distance parameter, constant distance parameter and direction constancy parameter or many kinds of parameters, and according to
One or more parameters are got, brake-performance parameters can be got, that is, realize the detection to braking ability.As it can be seen that this
Do not go out the braking ability of vehicle in inventive embodiments further according to the build-in attribute theoretical calculation of vehicle, and there is provided a kind of bases
The driving parameters of vehicle in use, detect the mode of vehicle braking performances, therefore testing result can more reflect actually and make
Use situation.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow diagram of embodiment of the method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of Installation practice provided in an embodiment of the present invention.
Specific embodiment
Referring to Fig. 1, the present invention provides a kind of embodiments of the method for the detection method of vehicle braking performances.The present embodiment
The described method includes:
S101: driving parameters of the vehicle in one section of braking process are obtained.
In the driving process of vehicle, if detecting driver's brake pedal, by driver's brake pedal
One section of driving process is as the braking process；Or the also speed of available vehicle, braking process is judged according to speed.
A kind of mode that braking process is judged according to speed is exemplified below:
Step (1): the speed at n+1 moment of the vehicle in one section of driving process is got:
Wherein,Indicate moment tiSpeed, 0≤i≤n.Enable k=0.
Record braking start time TS=t0With end of braking moment TE=t0。
Step (2): ifThen record braking start time TS=tkWith end of braking moment TE=tk+1, hold
Row step (3) otherwise executes step (5).
Step (3): enabling k=k+1, executes step (4).
Step (4): ifThen record braking finish time TE=tk+1, (3) are returned to step, otherwise
It executes step (5).
Step (5): if TS≠TE, then moment T is enabledSTo moment TEIt for braking process, executes step (6), otherwise record braking
Start time TS=tkWith finish time TE=tk, execute step (3).
Step (6): if TE=tnThen algorithm terminates, and otherwise enables k=k+1, record braking start time TS=tkWith at the end of
Carve TE=tk, go to step the braking process that (2) execute next time and detect.
Wherein, the driving parameters may include multiple for indicating driving status of the vehicle in the braking process
Moment corresponding speed and/or yaw velocity.Yaw velocity can be measured by the gyroscope being installed on vehicle.
It it is understood that the vehicle in the embodiment of the present invention refers to motor vehicle, such as can be specially automobile.
S102: according to the driving parameters, the corresponding at least one detection parameters of the braking process are obtained.
In embodiments of the present invention, at least one detection parameters include one or more of following parameter: system
Dynamic distance parameter, constant distance parameter and direction constancy parameter.At least one detection parameters are able to reflect vehicle
In braking process, the ability of driving direction stability is stopped and/or maintained within a short period of time.Below to these types of parameter point
It does not mentionlet alone bright.
Braking distance parameter refers to the parameter for reflecting the braking distance of vehicle.The braking distance of vehicle refers to vehicle
It is travelled with certain initial speed (such as 50,000 ms/hour), certain end speed (such as 0 from starting to brake to decelerating to
Thousand ms/hour) traveling distance.The braking distance parameter can be got according to corresponding speed of multiple moment.
Constant distance parameter refers to the constant parameter of the braking distance for reflecting vehicle.The braking of vehicle away from
From constancy refer to the otherness of braking distance that vehicle generates in braking process, the smaller expression vehicle row of the otherness
The constancy for sailing the braking distance of middle performance is better.
Direction constancy parameter refers to the constant parameter for reflecting the driving direction during vehicle braking.Row
The constancy for sailing direction refers to the ability that vehicle stabilization moves forward, for example including running out the way not occurring, break away and lose
The ability of steering.Running out the way refers to steering wheel automatically to the right or the case where be deviated to the left movement, and defective steering stabilizer refers to vehicle
Axle there is a situation where sliding laterally, vehicle, which loses, turns to the feelings that the vehicle heading that refers to does not follow steering wheel rotation
Condition.The direction constancy parameter can be got according to corresponding yaw velocity of multiple moment.
If at least one detection parameters include the braking distance parameter or the constant distance parameter, the row
Sailing parameter includes corresponding speed of multiple moment；If at least one detection parameters include the direction constancy ginseng
Number, the driving parameters include corresponding yaw velocity of multiple moment.
S103: according at least one detection parameters, the corresponding brake-performance parameters of the braking process are obtained.
In the embodiment of the present invention, due to braking distance parameter, constant distance parameter and the equal energy of direction constancy parameter
Enough reflect vehicle braking performances, therefore, according at least one detection parameters, obtain brake-performance parameters, that is, realizes pair
The detection of braking ability.For example, being averaged the sum of described at least one detection parameters or at least one detection parameters
Value, as the brake-performance parameters.
According to the above-mentioned technical solution, driving parameters of the embodiment of the present invention according to vehicle in braking process, can
Get one of braking distance parameter, constant distance parameter and direction constancy parameter or many kinds of parameters, and according to
One or more parameters are got, brake-performance parameters can be got, that is, realize the detection to braking ability.As it can be seen that this
Do not go out the braking ability of vehicle in inventive embodiments further according to the build-in attribute theoretical calculation of vehicle, and there is provided a kind of bases
The driving parameters of vehicle in use, detect the mode of vehicle braking performances, therefore testing result can more reflect actually and make
Use situation.
The method of the embodiment of the present invention, can be used in the driving process of vehicle, for example, vehicle it is every traveling one section away from
From being detected according to braking process therein, to provide vehicle braking performances in real time.
The optional acquisition modes of every kind of detection parameters are provided separately below.
(1) braking distance parameter
In embodiments of the present invention, the braking distance parameter can be distinguished according to multiple moment in the braking process
Corresponding speed and preset initial speed and end speed are got.For example, the acquisition process may include: S201-
S204。
S201: according to the corresponding speed of multiple moment in the driving parameters, the every two adjacent moment is obtained
Between the corresponding acceleration of driving process.
Wherein, it when obtaining the acceleration, can be obtained according to one or more hypothesized models, such as can benefit
The acceleration is obtained with even deceleration model.
For example, the driving parameters include n+1 moment corresponding speed, n >=1:
Wherein,Indicate moment tiSpeed, 0≤i≤n,
Using even deceleration model, the corresponding acceleration of driving process between the every two adjacent moment can be according to following
Formula calculates:
Wherein, aiIndicate two adjacent moment tiAnd ti-1Between driving process corresponding to acceleration, Δ ti=ti-
tI-1,I=1,2 ..., n。It should be noted that aiFormula in, if Δ tiUnit be the second,Unit be thousand ms/hour, need
It will be on the right of formula multiplied by coefficient
S202: from the corresponding acceleration of driving process between the every two adjacent moment, it is minimum to obtain numerical value
Acceleration as minimum acceleration.
For example, minimum acceleration amin=min [a1,a2,…,an]。
In embodiments of the present invention, due toTherefore all aiIt is negative value, therefore,
In entire braking process, the smallest aiCorresponding braking process has optimal braking ability, therefore the embodiment of the present invention
It is middle using the optimal corresponding acceleration of braking ability, calculate equivalent braking distance.
S203: according to the minimum acceleration and preset initial speed and terminate speed, obtain equivalent braking distance
Se。
Wherein, equivalent braking distance S is being obtainedeWhen, it can be obtained according to one or more hypothesized models, such as can
To obtain equivalent braking distance S using even deceleration modele。
For example, the equivalent braking distance S obtained using even deceleration modeleSpecifically:
Wherein,v0For preset initial speed, vtFor preset end speed.
S204: by obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison.
In the embodiment of the present invention, the braking distance threshold value and the preset initial speed v0With preset end speed
vtCorrelation, the braking distance threshold value can specifically be set based on experience value, can also be set according to statistical value, example
A large amount of braking distance is such as counted, according to the distribution of a large amount of braking distance, sets braking distance threshold value.
Wherein, braking distance threshold value may include first distance threshold value S1With second distance threshold value S2, second distance threshold value S2
Greater than first distance threshold value S1。
Braking distance parameter δdAre as follows:
Wherein, braking distance parameter δdIt is bigger, indicate that vehicle braking performances are better.If initial speed is 50,000 ms/hour, knot
Beam speed is 0,000 ms/hour, then first distance threshold value S1It can be 20 meters, second distance threshold value S2It can be 200 meters.
As can be seen that is calculated in the embodiment of the present invention is not actual range of the vehicle in braking process, but root
According to acceleration of the vehicle in practical braking process, and combine preset initial speed and terminate speed calculate equivalent braking away from
From to realize the unification to the standard of braking distance, that is to say, that can be according to either segment braking process (to braking
There is no limit for initial speed and end speed in journey), it can calculate the unified braking distance parameter of standard.
It should be noted that the braking distance parameter can also through the above way other than mode calculate, this hair
It to this and is not limited in bright embodiment.
(2) constant distance parameter
In the embodiment of the present invention, the acquisition process of the constant distance parameter may include: S301-S303.
S301: it is N sections described that vehicle corresponding equivalent braking distance, N >=1 in N sections of continuous braking process are obtained
Braking process includes the one section of braking process obtained in S101, and the speed difference of each section of braking process is identical.
In the embodiment of the present invention, the equivalent braking distance of each section of braking process can be according to multiple points in each section of braking process
Not corresponding speed and preset initial speed and end speed obtain.For example, can be obtained by way of S201-S203
The corresponding equivalent braking distance of one section of braking process is got, and can be got based on the mode similar with S201-S203
Other corresponding equivalent braking distances of each section of braking process.
Corresponding equivalent braking distance is specifically as follows in N sections of braking process:
[Se1,Se2,…,SeN]
Wherein, SeiIndicate the corresponding equivalent braking distance of i-th section of braking process, 1≤i≤N.
S302: the difference value of the corresponding equivalent braking distance is obtained, as the first difference value σe。
Wherein, the first difference value can specifically be indicated by way of standard deviation, be divided for example, obtaining in N sections of braking process
The standard deviation of not corresponding equivalent braking distance, as first difference value.First difference value σeCalculation formula can be with are as follows:
Wherein,
S303: by obtaining the constant distance parameter for first difference value and constant distance threshold value comparison.
In the embodiment of the present invention, the constant distance threshold value is related to the preset initial speed and end speed.Institute
Stating constant distance threshold value can specifically be set based on experience value, can also be set according to statistical value, such as statistics is big
The difference value of the braking distance parameter of amount, according to the distribution of a large amount of difference value, set distance constant threshold.
Wherein, the constant distance threshold value may include the first constant threshold σ1With the second constant threshold σ2, the second constant threshold
Value σ2Greater than the first constant threshold σ1。
Constant distance parameter δeAre as follows:
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
Wherein, constant distance parameter δeIt is bigger, indicate that vehicle braking performances are better.First constant threshold σ1With the second perseverance
Determine threshold value σ2It can be according to first distance threshold value S1With second distance threshold value S2It determines.For example, first distance threshold value S1It is 20 meters,
Second distance threshold value S2It is 200 meters, then the first constant threshold σ1It can be 50 meters, the second constant threshold σ2It can be 500 meters.
As can be seen that the constant distance parameter in the embodiment of the present invention is corresponding equivalent according to each section of braking process
Braking distance obtains, rather than is obtained according to active braking distance, it is achieved that the unification for constant standard of adjusting the distance,
That is, it is possible to can calculate the unified constant distance parameter of standard according to any N sections of continuous braking process.
It should be noted that the constant distance parameter can also through the above way other than mode calculate, this
It to this and is not limited in inventive embodiments.
(3) direction constancy parameter
In the embodiment of the present invention, the acquisition process of the direction constancy parameter may include: S401 and S402.
S401: obtaining the difference value of corresponding yaw velocity of multiple moment, as the second difference value σw。
For example, the driving parameters include n+1 moment corresponding yaw velocity, n >=1:
Wherein,Indicate moment tiYaw velocity, 0≤i≤n.
Second difference value can specifically be indicated by way of standard deviation, for example, obtaining n+1 moment corresponding cross
The standard deviation of pivot angle speed, as second difference value.Second difference value σwCalculation formula can be with are as follows:
S402: by obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison.
The constant angular speed threshold value can specifically be set based on experience value, can also be set according to statistical value
It is fixed, such as the difference value of a large amount of yaw velocity is counted, according to the distribution of a large amount of difference value, set constant angular speed threshold
Value.
Wherein, the constant angular speed threshold value may include third constant threshold σ3With the 4th constant threshold σ4, the 4th is constant
Threshold value σ4Greater than third constant threshold σ3。
Direction constancy parameter δbAre as follows:
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
Wherein, direction constancy parameter δbIt is bigger, indicate that vehicle braking performances are better.Third constant threshold σ3Can be
0rad/s (Radian per second), the 4th constant threshold σ4It can be 0.8rad/s.
As can be seen that the direction constancy parameter in the embodiment of the present invention is determined according to the difference value of yaw velocity, it is real
The unification to the constant standard in direction is showed, that is to say, that can be according to either segment braking process (to first in braking process
There is no limit for beginning speed and end speed), it can calculate the unified direction constancy parameter of standard.
It should be noted that the direction constancy parameter can also through the above way other than mode calculate, this
It to this and is not limited in inventive embodiments.
Calculated braking distance parameter δ through the above wayd, constant distance parameter δeWith direction constancy parameter δb
It is the numerical value between 0-1, it therefore, can be by the average value of the summation of these three parameters or these three parameters, as final
Brake-performance parameters.
The present invention also provides Installation practices corresponding with above method embodiment, are specifically described below.
Referring to Fig. 2, the present invention provides a kind of Installation practices of the detection device of vehicle braking performances.
The embodiment of the present invention device includes: driving parameters acquiring unit 201, detection parameters acquiring unit 202 and performance
Parameter acquiring unit 203.
Driving parameters acquiring unit 201, for obtaining driving parameters of the vehicle in one section of braking process.
In the driving process of vehicle, if detecting driver's brake pedal, by driver's brake pedal
One section of driving process is as the braking process；Or the also speed of available vehicle, braking process is judged according to speed.
Wherein, the driving parameters may include multiple for indicating driving status of the vehicle in the braking process
Moment corresponding speed and/or yaw velocity.Yaw velocity can be measured by the gyroscope being installed on vehicle.
Detection parameters acquiring unit 202, for obtaining the braking process corresponding at least one according to the driving parameters
Kind detection parameters.
In embodiments of the present invention, at least one detection parameters include one or more of following parameter: system
Dynamic distance parameter, constant distance parameter and direction constancy parameter.At least one detection parameters are able to reflect vehicle
In braking process, the ability of driving direction stability is stopped and/or maintained within a short period of time.
If at least one detection parameters include the braking distance parameter or the constant distance parameter, the row
Sailing parameter includes corresponding speed of multiple moment；If at least one detection parameters include the direction constancy ginseng
Number, the driving parameters include corresponding yaw velocity of multiple moment.
Performance parameter acquiring unit 203, for it is corresponding to obtain the braking process according at least one detection parameters
Brake-performance parameters.
In the embodiment of the present invention, due to braking distance parameter, constant distance parameter and the equal energy of direction constancy parameter
Enough reflect vehicle braking performances, therefore, according at least one detection parameters, obtain brake-performance parameters, that is, realizes pair
The detection of braking ability.For example, being averaged the sum of described at least one detection parameters or at least one detection parameters
Value, as the brake-performance parameters.
The described device of the embodiment of the present invention can work in the driving process of vehicle, such as every one section of the traveling of vehicle
Distance is detected according to braking process therein, to provide vehicle braking performances in real time.
Optionally, detection parameters acquiring unit 202 is specifically used for right respectively according to multiple moment in the braking process
The speed and preset initial speed and end speed answered obtain the braking distance parameter.For example, when obtaining the braking
When distance parameter, detection parameters acquiring unit 202 is specifically used for: according to corresponding speed of multiple moment, obtaining every two
The corresponding acceleration of driving process between at the time of adjacent is obtained wherein can use even deceleration model；From described every
In the corresponding acceleration of driving process between two adjacent moment, obtains the smallest acceleration of numerical value and accelerate as minimum
Degree；According to the minimum acceleration and preset initial speed and terminate speed, equivalent braking distance is obtained, wherein can be with
It is obtained using even deceleration model；By obtaining the braking for the equivalent braking distance and braking distance threshold value comparison
Distance parameter；Wherein, the braking distance threshold value is related to the preset initial speed and end speed.
Wherein, the braking distance threshold value may include first distance threshold value and second distance threshold value, the second distance
Threshold value is greater than the first distance threshold value.When by the way that the equivalent braking distance and braking distance threshold value comparison are obtained the system
When dynamic distance parameter, detection parameters acquiring unit 202 is specifically used for:
If Se> S2, the braking distance parameter is 0；
If S1≤Se≤S2, the braking distance parameter is (S2-Se)/(S2-S1)；
If Se< S1, the braking distance parameter is 1；
Wherein, SeFor the equivalent braking distance, S1For the first distance threshold value, S2For the second distance threshold value.
Optionally, when obtaining the constant distance parameter, detection parameters acquiring unit 202 is specifically used for:
Obtain vehicle corresponding equivalent braking distance in N sections of continuous braking process, N >=1, the N sections of braking
Process includes one section of braking process, and the speed difference of each section of braking process is identical, the equivalent braking distance of each section of braking process
According to corresponding speeds multiple in each section of braking process and preset initial speed and speed acquisition can be terminated；It obtains
The difference value for taking the corresponding equivalent braking distance, as the first difference value；By by first difference value with away from
Compare from constant threshold, obtains the constant distance parameter wherein, the constant distance threshold value and the preset initial vehicle
Speed is related to speed is terminated.
Wherein, the constant distance threshold value may include the first constant threshold and the second constant threshold, and described second is constant
Threshold value is greater than first constant threshold.When by the way that first difference value and constant distance threshold value comparison are obtained the distance
When constancy parameter, detection parameters acquiring unit 202 is specifically used for:
If σe> σ2, the constant distance parameter is 0；
If σ1≤σe≤σ2, the constant distance parameter is (σ2-σe)/(σ2-σ1)；
If σe< σ1, the constant distance parameter is 1；
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
Optionally, when obtaining the direction constancy parameter, detection parameters acquiring unit 202 is specifically used for:
The difference value for obtaining corresponding yaw velocity of the multiple moment, as the second difference value；By by institute
The second difference value and constant angular speed threshold value comparison are stated, the direction constancy parameter is obtained.
Wherein, the constant angular speed threshold value may include third constant threshold and the 4th constant threshold, and the described 4th is permanent
Threshold value is determined greater than the third constant threshold.When by will second difference value and constant angular speed threshold value comparison acquisition described in
When the constancy parameter of direction, detection parameters acquiring unit 202 is specifically used for:
If σw> σ4, the direction constancy parameter is 0；
If σ3≤σw≤σ4, the direction constancy parameter is (σ4-σw)/(σ4-σ3)；
If σw< σ3, the direction constancy parameter is 1；
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
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, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (14)
1. a kind of detection method of vehicle braking performances characterized by comprising
Vehicle in actual use, every traveling a distance obtains row of the vehicle in braking process wherein in real time
Sail parameter；
According to the driving parameters, the corresponding at least one detection parameters of the braking process are obtained；
According at least one detection parameters, the corresponding brake-performance parameters of the braking process are obtained；
Wherein, at least one detection parameters include one or more of following parameter: braking distance parameter, distance are permanent
Qualitative parameter and direction constancy parameter, if it is described at least one detection parameters include the braking distance parameter or it is described away from
From constancy parameter, the driving parameters include corresponding speed of multiple moment；If at least one detection parameters packet
The direction constancy parameter is included, the driving parameters include corresponding yaw velocity of multiple moment；
The braking distance parameter, the constant distance parameter and the direction constancy parameter are the unified ginseng of standard
Number, the braking distance parameter are obtained according to equivalent braking distance, and the equivalent braking distance is according to vehicle in braking process
Minimum acceleration, preset initial speed and preset end speed calculate, the constant distance parameter is according to each section
The corresponding equivalent braking distance of braking process obtains, and the direction constancy parameter is obtained according to the difference value of yaw velocity
It takes.
2. the method according to claim 1, wherein the acquisition process of the braking distance parameter includes:
According to corresponding speed of multiple moment, the corresponding acceleration of driving process between the every two adjacent moment is obtained
Degree；
From the corresponding acceleration of driving process between the every two adjacent moment, obtains the smallest acceleration of numerical value and make
For minimum acceleration；
According to the minimum acceleration and the preset initial speed and the preset end speed, equivalent system is obtained
Dynamic distance；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison；Wherein, the system
Dynamic distance threshold is related to the preset initial speed and the preset end speed.
3. according to the method described in claim 2, it is characterized in that, the braking distance threshold value includes first distance threshold value and
Two distance thresholds, the second distance threshold value are greater than the first distance threshold value；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison, comprising:
If Se> S2, the braking distance parameter is 0；
If S1≤Se≤S2, the braking distance parameter is (S2-Se)/(S2-S1)；
If Se< S1, the braking distance parameter is 1；
Wherein, SeFor the equivalent braking distance, S1For the first distance threshold value, S2For the second distance threshold value.
4. method according to claim 1 or 2, which is characterized in that the braking process includes N sections and continuously braked
The speed difference of journey, each section of braking process is identical, N >=1；The acquisition process of the constant distance parameter includes:
Obtain vehicle corresponding equivalent braking distance in described N sections continuous braking process；
The difference value for obtaining the corresponding equivalent braking distance, as the first difference value；
By obtaining the constant distance parameter for first difference value and constant distance threshold value comparison, wherein it is described away from
It is related to the preset initial speed and the preset end speed from constant threshold.
5. according to the method described in claim 4, it is characterized in that, the constant distance threshold value includes the first constant threshold and the
Two constant thresholds, second constant threshold are greater than first constant threshold；
By obtaining the constant distance parameter for first difference value and constant distance threshold value comparison, comprising:
If σe> σ2, the constant distance parameter is 0；
If σ1≤σe≤σ2, the constant distance parameter is (σ2-σe)/(σ2-σ1)；
If σe< σ1, the constant distance parameter is 1；
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
6. the method according to claim 1, wherein the acquisition process of the direction constancy parameter includes:
The difference value for obtaining corresponding yaw velocity of the multiple moment, as the second difference value；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison.
7. according to the method described in claim 6, it is characterized in that, the constant angular speed threshold value include third constant threshold and
4th constant threshold, the 4th constant threshold are greater than the third constant threshold；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison, comprising:
If σw> σ4, the direction constancy parameter is 0；
If σ3≤σw≤σ4, the direction constancy parameter is (σ4-σw)/(σ4-σ3)；
If σw< σ3, the direction constancy parameter is 1；
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
8. a kind of detection device of vehicle braking performances characterized by comprising
Driving parameters acquiring unit, for vehicle in actual use, every traveling a distance, in real time obtain vehicle exist
Driving parameters in braking process therein；
Detection parameters acquiring unit, for obtaining the corresponding at least one detection of the braking process according to the driving parameters
Parameter；
Performance parameter acquiring unit, for obtaining the corresponding braking of the braking process according at least one detection parameters
Performance parameter；
Wherein, at least one detection parameters include one or more of following parameter: braking distance parameter, distance are permanent
Qualitative parameter and direction constancy parameter, if it is described at least one detection parameters include the braking distance parameter or it is described away from
From constancy parameter, the driving parameters include corresponding speed of multiple moment；If at least one detection parameters packet
The direction constancy parameter is included, the driving parameters include corresponding yaw velocity of multiple moment；
The braking distance parameter, the constant distance parameter and the direction constancy parameter are the unified ginseng of standard
Number, the braking distance parameter are obtained according to equivalent braking distance, and the equivalent braking distance is according to vehicle in braking process
Minimum acceleration, preset initial speed and preset end speed calculate, the constant distance parameter is according to each section
The corresponding equivalent braking distance of braking process obtains, and the direction constancy parameter is obtained according to the difference value of yaw velocity
It takes.
9. device according to claim 8, which is characterized in that when obtaining the braking distance parameter, the detection ginseng
Number acquiring unit is specifically used for:
According to corresponding speed of multiple moment, the corresponding acceleration of driving process between the every two adjacent moment is obtained
Degree；
From the corresponding acceleration of driving process between the every two adjacent moment, obtains the smallest acceleration of numerical value and make
For minimum acceleration；
According to the minimum acceleration and the preset initial speed and the preset end speed, equivalent system is obtained
Dynamic distance；
By obtaining the braking distance parameter for the equivalent braking distance and braking distance threshold value comparison；Wherein, the system
Dynamic distance threshold is related to the preset initial speed and the preset end speed.
10. device according to claim 9, which is characterized in that the braking distance threshold value include first distance threshold value and
Second distance threshold value, the second distance threshold value are greater than the first distance threshold value；
When by the way that the equivalent braking distance and braking distance threshold value comparison are obtained the braking distance parameter, the detection
Parameter acquiring unit is specifically used for:
If Se> S2, the braking distance parameter is 0；
If S1≤Se≤S2, the braking distance parameter is (S2-Se)/(S2-S1)；
If Se< S1, the braking distance parameter is 1；
Wherein, SeFor the equivalent braking distance, S1For the first distance threshold value, S2For the second distance threshold value.
11. device according to claim 8 or claim 9, which is characterized in that the braking process includes N sections and continuously braked
Journey, wherein the speed difference of each section of braking process is identical, N >=1；When obtaining the constant distance parameter, the detection parameters
Acquiring unit is specifically used for:
Obtain vehicle corresponding equivalent braking distance in described N sections continuous braking process；
The difference value for obtaining the corresponding equivalent braking distance, as the first difference value；
By obtaining the constant distance parameter for first difference value and constant distance threshold value comparison, wherein it is described away from
It is related to the preset initial speed and the preset end speed from constant threshold.
12. device according to claim 11, which is characterized in that the constant distance threshold value include the first constant threshold and
Second constant threshold, second constant threshold are greater than first constant threshold；
When by the way that first difference value and constant distance threshold value comparison are obtained the constant distance parameter, the detection
Parameter acquiring unit is specifically used for:
If σe> σ2, the constant distance parameter is 0；
If σ1≤σe≤σ2, the constant distance parameter is (σ2-σe)/(σ2-σ1)；
If σe< σ1, the constant distance parameter is 1；
Wherein, σeFor first difference value, σ1For first constant threshold, σ2For second constant threshold.
13. device according to claim 8, which is characterized in that when obtaining the direction constancy parameter, the detection
Parameter acquiring unit is specifically used for:
The difference value for obtaining corresponding yaw velocity of the multiple moment, as the second difference value；
By obtaining the direction constancy parameter for second difference value and constant angular speed threshold value comparison.
14. device according to claim 13, which is characterized in that the constant angular speed threshold value includes third constant threshold
With the 4th constant threshold, the 4th constant threshold is greater than the third constant threshold；
When by the way that second difference value and constant angular speed threshold value comparison are obtained the direction constancy parameter, the inspection
Parameter acquiring unit is surveyed to be specifically used for:
If σw> σ4, the direction constancy parameter is 0；
If σ3≤σw≤σ4, the direction constancy parameter is (σ4-σw)/(σ4-σ3)；
If σw< σ3, the direction constancy parameter is 1；
Wherein, σwFor second difference value, σ3For the third constant threshold, σ4For the 4th constant threshold.
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| CN109515444B (en) * | 2017-09-18 | 2021-02-26 | 百度在线网络技术（北京）有限公司 | Method and device for outputting driving performance index of unmanned automobile |
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