CN105946765A - Automobile collision avoidance control method - Google Patents
Automobile collision avoidance control method Download PDFInfo
- Publication number
- CN105946765A CN105946765A CN201610502041.XA CN201610502041A CN105946765A CN 105946765 A CN105946765 A CN 105946765A CN 201610502041 A CN201610502041 A CN 201610502041A CN 105946765 A CN105946765 A CN 105946765A
- Authority
- CN
- China
- Prior art keywords
- automobile
- distance
- speed
- control method
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
Abstract
The invention provides an automobile collision avoidance control method which comprises the following steps: 1) arranging a distance measuring unit on an automobile for measuring a distance S between the automobile and an automobile ahead the travelling direction of the automobile, and delivering the distance S to a control unit; 2) arranging a speed measuring unit on the automobile for measuring relative speed V2 between the automobile and the automobile ahead the travelling direction of the automobile, and transmitting the relative speed V2 to the control unit; 3) receiving the information by the control unit, setting a safety distance between the automobile and the automobile ahead as S1, outputting a brake signal by the control unit and controlling the automobile to brake if V2 is greater than 0 and S is less than or equal to S1. The automobile collision avoidance control method can carry out safe automobile collision avoidance control within a shorter distance, and is more suitable for an intelligent driving mode or an unmanned driving mode.
Description
Technical field
The present invention relates to automobile technical field, in particular it relates to a kind of automobile collision preventing control method.
Background technology
Rear-end collision is the vehicle accident often occurred on highway, can not stop immediately when its major reason is to run into fortuitous event.Knock into the back refer to the vehicle of same lanes trail and during row, the behavior that rear car front bumps against with the front truck tailstock.It is smaller than minimum safe spacing and driver's delay of response mainly due to follow-up or brakes performance is bad caused.
Research finds, driver, from seeing that situation needs a period of time to touching on the brake, cries the response time during this period of time；Within the response time, automobile to keep former speed advance one segment distance, and this segment distance is reaction distance；From touching on the brake, car stops, and automobile also to advance a segment distance, and this segment distance is braking distance.
CN200810094275.0 discloses a kind of automobile collision preventing control method, and the method includes the steps of: A: range finder (10) gathers the distance L information between automobile and other object, and is delivered to controller (30)；B: velometer (20) gathers the relative velocity V information between automobile and other object, and is delivered to controller (30)；L information adjusted the distance by C: controller (30) and relative velocity V information processes, and outputs control signals to alarm set (40), and alarm set (40) is pointed out or reports to the police.In this control method, controller (30) will carry out process apart from L information and relative velocity V information and obtain time T information, and time T is compared with preset value T1, as T ＜ T1, output control signals to alarm set (40), specifically, preset value T1 ＞ (T2+T3), wherein T2 is automobile by the shortest required when V drops to zero for speed braking time, and T3 is the required short reaction time that takes measures after human pilot receives warning.Be distance by the time conversion of preset value T1, then the distance preset is: take measures after automobile is received warning by the shortest braking distance+human pilot that speed is required when V drops to zero required short reaction distance.Comparatively speaking, this control method reminds driver to avoid car accident when reaching above-mentioned distance, owing to this is apart from relatively long, is relatively suitable for the pattern that prompting is driven manually.If the intelligent driving used or unmanned pattern, this control method is long due to the distance reminding brake, it will affect intelligent driving or unmanned mode control efficiency.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of automobile collision preventing control method, the method can carry out safe automobile collision preventing in shorter distance and control.
The purpose of the present invention is achieved through the following technical solutions:
A kind of automobile collision preventing control method, comprises the steps:
1) on automobile, it is provided with range cells, measures automobile and distance S between the front automobile of vehicle traveling direction, and be delivered to control unit；
2) being provided with the unit that tests the speed on automobile, the unit that tests the speed measures automobile and the relative velocity V2 between the front automobile of vehicle traveling direction, and is delivered to control unit；
3) control unit receives above-mentioned information, sets safe distance between automobile and front automobile as S1, and during such as V2 ＞ 0 and S≤S1, control unit output brake signal also controls automobile brake and brakes.
nullThe automobile collision preventing control method of this programme is applicable to intelligent driving pattern or unmanned pattern，The maximum difference of this pattern and pilot steering pattern is，In pilot steering pattern，Driver obtains having the regular hour between brake signal brakes to Artificial Control，Automobile can advance a certain distance during this period of time，Referred to as reaction distance，According to general international standard，Reaction distance=V × 1000 × 2.5/3600，Wherein V is speed，According to this formula，Speed per hour 72km h travel automobile，Its reaction distance=72*1000*2.5/3600=50 rice，If front truck brake is to stopping，By automobile by speed from 72km h drop to zero time required the shortest braking distance=0.10*50+ (50*50/130)=24.23 meter，According to prior art，The distance of prompting brake is 50+24.23=74.23 rice.It practice, general speed limit 80km h through street on, the distance between the automobile of actual travel often both less than 74.23 meters, this will cause automobile constantly to remind driver to brake.Further, if using intelligent driving pattern or unmanned pattern, automobile is by control unit output brake signal and controls automobile brake brake, it is by system signal control in the middle of this, almost without the response time, therefore reaction distance is almost negligible, in this case, the existing safe distance of ratio that safe distance S1 between automobile and front automobile can be arranged is shorter, this mode is for the automobile travelled on through street, it is possible to carries out safe automobile collision preventing in shorter distance and controls.
Specifically, it is V1 that the unit that tests the speed measures the speed of automobile, and the speed of the front automobile being positioned at vehicle traveling direction is V3, V2=V1-V3, controls to the braking distance of V1 to be S2, safe distance is S3 by automobile from speed V3, S1=S2+S3,0 ＜ S3 ＜ reaction distance.
S2=0.10V2+V2*V2/130。
Reaction distance=V2 × 1000 × 2.5/3600.
The present invention compared with prior art has the following advantages and beneficial effect: the control method of the present invention can carry out safe automobile collision preventing in shorter distance and control.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
The present embodiment automobile collision preventing control method is relatively specific for intelligent driving pattern or unmanned pattern, comprises the steps:
1) on automobile, it is provided with range cells, measures automobile and distance S between the front automobile of vehicle traveling direction, and be delivered to control unit；
2) on automobile, the unit that tests the speed it is provided with, it is V1 that the unit that tests the speed measures the speed of automobile, and the speed of the front automobile being positioned at vehicle traveling direction is V3, measures automobile and the relative velocity V2 between the front automobile of vehicle traveling direction, V2=V1-V3, is delivered to control unit by above-mentioned velocity information；
3) control unit receives above-mentioned information, sets safe distance between automobile and front automobile as S1, and during such as V2 ＞ 0 and S≤S1, control unit output brake signal also controls automobile brake and brakes；Wherein, controlling to the braking distance of V1 to be S2 from speed V3 by automobile, safe distance is S3, S1=S2+S3,0 ＜ S3 ＜ reaction distance.
Specifically, S2=0.10V2+V2*V2/130.
Reaction distance=V2 × 1000 × 2.5/3600.
In the automobile collision preventing control method of this programme, S3, less than the length of existing reaction distance, enough carries out safe automobile collision preventing in shorter distance and controls.
As it has been described above, then can well realize the present invention.
Claims (4)
1. an automobile collision preventing control method, it is characterised in that comprise the steps:
1) on automobile, it is provided with range cells, measures automobile and distance S between the front automobile of vehicle traveling direction, and be delivered to control unit；
2) being provided with the unit that tests the speed on automobile, the unit that tests the speed measures automobile and the relative velocity V2 between the front automobile of vehicle traveling direction, and is delivered to control unit；
3) control unit receives above-mentioned information, sets safe distance between automobile and front automobile as S1, and during such as V2 ＞ 0 and S≤S1, control unit output brake signal also controls automobile brake and brakes.
A kind of automobile collision preventing control method the most according to claim 1, it is characterized in that, it is V1 that the unit that tests the speed measures the speed of automobile, the speed of the front automobile being positioned at vehicle traveling direction is V3, V2=V1-V3, controls to the braking distance of V1 to be S2, safe distance is S3 by automobile from speed V3, S1=S2+S3, S3 ＜ reaction distance.
A kind of automobile collision preventing control method the most according to claim 2, it is characterised in that S2=0.10V2+V2*V2/130.
A kind of automobile collision preventing control method the most according to claim 2, it is characterised in that described reaction distance=V2 × 1000 × 2.5/3600.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610502041.XA CN105946765A (en) | 2016-06-30 | 2016-06-30 | Automobile collision avoidance control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610502041.XA CN105946765A (en) | 2016-06-30 | 2016-06-30 | Automobile collision avoidance control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105946765A true CN105946765A (en) | 2016-09-21 |
Family
ID=56901976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610502041.XA Pending CN105946765A (en) | 2016-06-30 | 2016-06-30 | Automobile collision avoidance control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105946765A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591814A (en) * | 2018-12-20 | 2019-04-09 | 武汉职业技术学院 | A kind of automobile safety control method based on two-way range rate measurement |
| CN109774708A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
| US11427198B2 (en) | 2017-12-04 | 2022-08-30 | Boe Technology Group Co., Ltd. | Device and method for controlling travel of vehicle, and processor-readable storage medium |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6021375A (en) * | 1998-01-13 | 2000-02-01 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle safety running control system |
| US20040155811A1 (en) * | 2001-03-26 | 2004-08-12 | Domenico Albero | Motor vehicle driving aid system |
| US20040249546A1 (en) * | 2003-04-24 | 2004-12-09 | Frank Zielke | Automatic distance control method and system for motor vehicles |
| CN1611386A (en) * | 2003-10-30 | 2005-05-04 | 现代自动车株式会社 | Apparatus and method for preventing vehicle collision using radio communication |
| CN1676375A (en) * | 2004-07-08 | 2005-10-05 | 汕头大学 | Automobile intelligent anticollision system |
| CN101131321A (en) * | 2007-09-28 | 2008-02-27 | 深圳先进技术研究院 | Real-time safe interval measurement method and device used for vehicle anti-collision warning |
| CN101293503A (en) * | 2008-04-25 | 2008-10-29 | 奇瑞汽车股份有限公司 | Anti-collision control method for vehicle and anti-collision warning device for vehicle |
| CN101320093A (en) * | 2008-05-14 | 2008-12-10 | 奇瑞汽车股份有限公司 | Vehicle active security control system and its control method |
| CN101648521A (en) * | 2008-08-12 | 2010-02-17 | 比亚迪股份有限公司 | Self-actuating braking system and control method thereof |
| CN102036863A (en) * | 2008-05-23 | 2011-04-27 | 威伯科有限公司 | Driver assistance system |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN202389366U (en) * | 2011-11-30 | 2012-08-22 | 浙江金刚汽车有限公司 | Automotive anti-collision control system based on ultrasonic waves |
| CN102785660A (en) * | 2012-08-17 | 2012-11-21 | 毛振刚 | Vehicle collision-proof early warning device |
| CN103171554A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | System and method for controlling inter-vehicle distance using side and rear sensor |
| CN104114423A (en) * | 2012-02-14 | 2014-10-22 | 威伯科有限公司 | Method for determining an emergency braking situation of a vehicle |
| CN104960413A (en) * | 2015-07-14 | 2015-10-07 | 安徽安凯汽车股份有限公司 | Clutch pedal mechanism |
| CN105235681A (en) * | 2015-11-11 | 2016-01-13 | 吉林大学 | Vehicle rear-end collision preventing system and method based on road surface conditions |
| CN105313769A (en) * | 2015-10-14 | 2016-02-10 | 武汉理工大学 | Vehicle active forewarning method, system and device based on millimeter wave radar |
-
2016
- 2016-06-30 CN CN201610502041.XA patent/CN105946765A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6021375A (en) * | 1998-01-13 | 2000-02-01 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle safety running control system |
| US20040155811A1 (en) * | 2001-03-26 | 2004-08-12 | Domenico Albero | Motor vehicle driving aid system |
| US20040249546A1 (en) * | 2003-04-24 | 2004-12-09 | Frank Zielke | Automatic distance control method and system for motor vehicles |
| CN1611386A (en) * | 2003-10-30 | 2005-05-04 | 现代自动车株式会社 | Apparatus and method for preventing vehicle collision using radio communication |
| CN1676375A (en) * | 2004-07-08 | 2005-10-05 | 汕头大学 | Automobile intelligent anticollision system |
| CN101131321A (en) * | 2007-09-28 | 2008-02-27 | 深圳先进技术研究院 | Real-time safe interval measurement method and device used for vehicle anti-collision warning |
| CN101293503A (en) * | 2008-04-25 | 2008-10-29 | 奇瑞汽车股份有限公司 | Anti-collision control method for vehicle and anti-collision warning device for vehicle |
| CN101320093A (en) * | 2008-05-14 | 2008-12-10 | 奇瑞汽车股份有限公司 | Vehicle active security control system and its control method |
| CN102036863A (en) * | 2008-05-23 | 2011-04-27 | 威伯科有限公司 | Driver assistance system |
| CN101648521A (en) * | 2008-08-12 | 2010-02-17 | 比亚迪股份有限公司 | Self-actuating braking system and control method thereof |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN202389366U (en) * | 2011-11-30 | 2012-08-22 | 浙江金刚汽车有限公司 | Automotive anti-collision control system based on ultrasonic waves |
| CN103171554A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | System and method for controlling inter-vehicle distance using side and rear sensor |
| CN104114423A (en) * | 2012-02-14 | 2014-10-22 | 威伯科有限公司 | Method for determining an emergency braking situation of a vehicle |
| CN102785660A (en) * | 2012-08-17 | 2012-11-21 | 毛振刚 | Vehicle collision-proof early warning device |
| CN104960413A (en) * | 2015-07-14 | 2015-10-07 | 安徽安凯汽车股份有限公司 | Clutch pedal mechanism |
| CN105313769A (en) * | 2015-10-14 | 2016-02-10 | 武汉理工大学 | Vehicle active forewarning method, system and device based on millimeter wave radar |
| CN105235681A (en) * | 2015-11-11 | 2016-01-13 | 吉林大学 | Vehicle rear-end collision preventing system and method based on road surface conditions |
Non-Patent Citations (2)
| Title |
|---|
| 张兆豪;吕剑英;: "电动汽车防追尾预警刹车系统的设计" * |
| 蓝天;张学军;郑丽英;: "汽车弯道前方碰撞预警控制系统研究" * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11427198B2 (en) | 2017-12-04 | 2022-08-30 | Boe Technology Group Co., Ltd. | Device and method for controlling travel of vehicle, and processor-readable storage medium |
| CN109591814A (en) * | 2018-12-20 | 2019-04-09 | 武汉职业技术学院 | A kind of automobile safety control method based on two-way range rate measurement |
| CN109774708A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106114480A (en) | A kind of automobile safety control method based on two-way range rate measurement | |
| CN111348016B (en) | V2X-based motorcade cooperative braking method and system | |
| CN104129387B (en) | Safe distance weighs the single camera automobile anti-collision method of risk with collision time | |
| CN203093873U (en) | Automobile anti-tailgating control device | |
| CN106023652A (en) | Vehicle intersection collision early warning method | |
| CN105679093A (en) | Multi-vehicle coordination collision avoidance system and method based on vehicle-vehicle communication | |
| JP2016514643A (en) | Method and apparatus for overtaking assistant | |
| CN103587467A (en) | Dangerous-overtaking early-warning prompting method and system | |
| CN101966838B (en) | Lane departure warning system | |
| CN103213533A (en) | Automobile steering lamp automatic control system and control method | |
| CN103625463A (en) | Method and device for automatically controlling braking of vehicle | |
| CN102849006B (en) | Vehicular intelligent safety warning system | |
| CN105946765A (en) | Automobile collision avoidance control method | |
| CN103448720B (en) | Automobile flat tire anti-knock into the back control method and control setup | |
| CN102991416A (en) | Traffic safety distance control system for automobile and method thereof | |
| CN103692994A (en) | Vehicle forward radar control method and forward radar system | |
| CN111275972A (en) | Automobile lane change early warning method and device based on V2V | |
| CN203211284U (en) | Automobile rear-ending avoidance device | |
| CN205853996U (en) | A kind of safety driving distance prior-warning device | |
| CN203267899U (en) | Driving system in foggy days | |
| CN104908743A (en) | Vehicle collision prevention prewarning system and control method thereof | |
| CN203331949U (en) | Goods van driving safety bi-directional warning system | |
| CN203580760U (en) | Vehicle brake prompt device | |
| CN203759891U (en) | Pileup-preventing highway early warning system | |
| CN205059412U (en) | Alarm device that knocks into back is prevented to car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160921 |