CN106394524A - Active braking method based on VANET wireless short-range communications - Google Patents

Active braking method based on VANET wireless short-range communications Download PDF

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Publication number
CN106394524A
CN106394524A CN201610959741.1A CN201610959741A CN106394524A CN 106394524 A CN106394524 A CN 106394524A CN 201610959741 A CN201610959741 A CN 201610959741A CN 106394524 A CN106394524 A CN 106394524A
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China
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vehicle
data
car
gps
safe distance
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CN106394524B (en
Inventor
范鑫
施卫
贝绍轶
张兰春
韩冰源
赵景波
高海宇
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Jiangsu University of Technology
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Jiangsu University of Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • 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
    • 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
    • B60T2201/03—Brake assistants
    • 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
    • B60T2210/10—Detection or estimation of road conditions
    • 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
    • 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
    • B60T2210/36—Global Positioning System [GPS]

Abstract

The invention discloses an active braking method based on VANET wireless short-range communications. The active braking method comprises the following steps of: acquiring a vehicle speed signal V<0> of a vehicle A<0>; calculating a vehicle accelerated speed according to the vehicle speed signal V<0> obtained in the step 1; obtaining a reference gradient G<2> of a road surface according to data G<0> obtained by a road surface gradient sensor and the influence G<1> of the vehicle accelerated speed on the data obtained by the road surface gradient sensor, wherein G<2>=G<0>-G<1>; calculating a vehicle slip rate S through a signal of a wheel speed sensor, calculating a wheel longitudinal force F<x> through a signal of a wheel vertical load sensor, and further calculating a road surface adhesion coefficient mu<max> through the vehicle slip rate S, the wheel longitudinal force F<x> and a signal of a wheel cylinder pressure sensor; and step 4, starting a vehicle networking module, and performing networking with surrounding vehicles so as to obtain the data of the surrounding vehicles. According to the active braking method disclosed by the invention, a more accurate safety distance can be calculated in a real time manner under travelling conditions of different road surface gradients, different road surface adhesion coefficients, different vehicle speeds, and the like, and the reliability, the security and the stability are greatly improved.

Description

Active brake method based on VANET wireless short range communication
Technical field
The present invention relates to a kind of active brake method based on VANET wireless short range communication.
Background technology
At present, when travelling, brake is essentially all by driver's control to automobile, in driver fatigue, deserts When it is easy to get into an accident, knock the barrier in front, existing electronic equipment substantially can not actively be braked, keep away Exempt from the generation of traffic accident.
The Chinese patent of Application No. 201410677906.7 discloses a kind of emergency brake based on car networking and intelligently controls Method and device processed, comprises GPS module, CAN module, wireless communication module data processing module.It can be in vehicle When being less than safe distance with the distance of front vehicles, barrier or pedestrian, driver can be reminded and implement to brake, but this Bright have obvious defect, and that is, 1. this invention does not account for road gradient problem, when vehicle is on lower abrupt slope, due to controller meter The safe distance calculating is too small, causes great potential safety hazard, easily has an accident when driver too relies on this invention；② This invention does not account for coefficient of road adhesion problem it is impossible to distinguish ice and snow road road surface different from cement etc. is dried, therefore in ice and snow During road traveling, controller calculates too small safe distance, causes potential safety hazard, and vehicle rear-end collision accident occurs；3. controller Do not account for the speed of front truck when calculating safe distance between vehicle, make theory α coefficient apart from excessive it is impossible to make full use of again Road resource, causes to waste for crowded urban road resource.
Content of the invention
The technical problem to be solved is the defect overcoming prior art, provides a kind of wirelessly short based on VANET The active brake method of Cheng Tongxin, the method can be in different road gradients, different coefficients of road adhesion, and different speeds etc. travel Calculate more accurate safe distance under situation in real time, substantially increase reliability, safety and stability.
The present invention solves above-mentioned technical problem and adopts the technical scheme that：A kind of master based on VANET wireless short range communication Dynamic brake method, contains in the step of methods described：
Step one：Obtain this car A0GES V0；
Step 2：The GES V being obtained according to step one0Calculate vehicle acceleration；According to road surface inclination sensor Data G obtaining0The impact G of the data obtaining with vehicle acceleration road pavement Slope Transducer1, obtain the reference gradient on road surface G2；Wherein, G2=G0-G1；
Step 3：Vehicle slip rate S is calculated by wheel wheel speed sensor signal, by wheel vertical load sensor signal Calculate wheel longitudinal force Fx, further by vehicle slip rate S, wheel longitudinal force FxWith wheel Wheel cylinder pressure sensors signal meter Calculate coefficient of road adhesion μmax；
Step 4：Start vehicle networking module, carry out networking with surrounding vehicles, obtain surrounding vehicles data；
Step 5：According to this car A0Gps data situation of change judge this car direction of motion；Compare vehicle periphery further Vehicle GPS data situation, screening and this car A0The consistent vehicle of the direction of motion；Filter out further apart from oneself vehicle A car A before near1A car next；
Step 6：This car A is calculated according to gps data0With front truck A1Spacing LGPS；
Step 7：Start radar sensor, the data of collection radar sensor, calculate the distance with nearest barrier LRA；
Step 8：Judge LGPSWhether with LRAEqual：
If LGPSWith LRAUnequal, execute following steps：
According to this car A0GES V0Rate calculates this car A over time with the data of radar sensor0With front The relative velocity V of square vehicle or barrier1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this car A0Safe distance L with preceding vehicle or barrierS1；
Relatively actual range LRAWhether it is more than safe distance LS1：If actual range LRAMore than safe distance LS1, then illustrate This car A0Relatively safety, then continue executing with step one, on the contrary then execution step nine；
If LGPSWith LRAEqual, then execute following steps：
Vehicle velocity V by Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this car A0With above car A1Actual range LGPSWith safe distance LS0；
Relatively actual range LGPSWhether it is more than safe distance LS0；If actual range LGPSMore than safe distance LS0Then say Bright present vehicle compares safety now, then continue executing with step one, on the contrary then execution step nine；
Step 9：Vehicle is controlled to make vehicle deceleration, until actual range LGPSMore than safe distance LS0Or actual range LRAMore than safe distance LS1；
Step 10, back and forth carries out closed loop control from step one to step 9.
Further, in described step 9, number is sent to instrument board control unit by vehicle internal data CAN According to control relay indicating light flicker；Data is sent to control unit of engine by vehicle internal data CAN, controls and send out Motivation reduces injection valve oil spout dutycycle, reduces fuel supply volume；Stable to chassis electrical by vehicle internal data CAN Procedure control unit and/or braking anti-lock control unit send data, control motor vehicle braking system to be operated, make vehicle Slow down, until actual range LGPSMore than safe distance LS0Or actual range LRAMore than safe distance LS1.
Further, in described step one, setting system ECU passes through vehicle internal data CAN to ABS Dead system or vehicle dynamic stability programming system obtain GES V0.
After employing technique scheme, the present invention has following beneficial effect：
1. the fully automated work of this active brake method is it is not necessary to artificially be intervened；
2. the inventive method makes vehicle intercommunication using VANET wireless short range communication, obtains surrounding vehicles information, obtains To the speed needing, GPS geographical position, obtain road gradient and meter using road surface inclination sensor and coefficient of road adhesion module Calculate the data that coefficient of road adhesion needs, draw coefficient of road adhesion μm ax using control algolithm, such that it is able to distinguish different slopes Degree road surface, such as upward slope road surface, descending road surface；The road surface of different attachment coefficients, such as ice and snow road, wet-skid road surface, water is dried Road face, dried asphalt road etc., make controller calculate more accurate safe distance in real time, make active brake gear permissible It is operated in different road gradients, different coefficients of road adhesion, under the travel conditions such as different speeds, substantially increase reliability, peace Full property and stability.
2. when vehicle is in unsafe condition, driver can be pointed out, improve the vigilant of driver, it is to avoid The generation of vehicle accident；
3. active can be braked when vehicle is in emergency, it is to avoid the generation of vehicle accident.
Brief description
Fig. 1 is the flow chart of the active brake method based on VANET wireless short range communication of the present invention.
Specific embodiment
In order that present disclosure is easier to be clearly understood, below according to specific embodiment and combine accompanying drawing, right The present invention is described in further detail.
As shown in figure 1, a kind of active brake method based on VANET wireless short range communication, contain in the step of methods described Have：
Step one：Obtain this car A0GES V0；
Step 2：The GES V being obtained according to step one0Calculate vehicle acceleration；According to road surface inclination sensor Data G obtaining0The impact G of the data obtaining with vehicle acceleration road pavement Slope Transducer1, obtain the reference gradient on road surface G2；Wherein, G2=G0-G1；
Step 3：Vehicle slip rate S is calculated by wheel wheel speed sensor signal, by wheel vertical load sensor signal Calculate wheel longitudinal force Fx, further by vehicle slip rate S, wheel longitudinal force FxWith wheel Wheel cylinder pressure sensors signal meter Calculate coefficient of road adhesion μmax；
Step 4：Start vehicle networking module, carry out networking with surrounding vehicles, obtain surrounding vehicles data；
Step 5：According to this car A0Gps data situation of change judge this car direction of motion；Compare vehicle periphery further Vehicle GPS data situation, screening and this car A0The consistent vehicle of the direction of motion；Filter out further apart from oneself vehicle A car A before near1A car next；
Step 6：This car A is calculated according to gps data0With front truck A1Spacing LGPS；
Step 7：Start radar sensor, the data of collection radar sensor, calculate the distance with nearest barrier LRA；
Step 8：Judge LGPSWhether with LRAEqual：
If LGPSWith LRAUnequal, illustrate that above a car is offline vehicle, is unable to networking vehicle or other type barrier Hinder thing, now front truck or the running data of other types of obstructions are determined by radar sensor data, execute following steps：
According to this car A0GES V0Rate calculates this car A over time with the data of radar sensor0With front The relative velocity V of square vehicle or barrier1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this car A0Safe distance L with preceding vehicle or barrierS1；
Relatively actual range LRAWhether it is more than safe distance LS1：If actual range LRAMore than safe distance LS1, then illustrate This car A0Relatively safety, then continue executing with step one, on the contrary then execution step nine；
If LGPSWith LRAEqual, illustrate that above a car is online vehicle.Now determined the traveling of front truck by network data Data, the data of radar sensor is assistance data；Network data than the data more horn of plenty of radar sensor, comprise speed, The running conditions of vehicle such as engine operating condition, change speed gear box operating mode, can more accurately calculate the safe distance of vehicle with this data. The data of radar sensor as assistance data, all the time compared with the data that GPS calculates, once both data are unequal, Proceed to another mode of operation at once, increase safe distance it is ensured that safety, then execute following steps：
Vehicle velocity V by Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this car A0With above car A1Actual range LGPSWith safe distance LS0；
Relatively actual range LGPSWhether it is more than safe distance LS0；If actual range LGPSMore than safe distance LS0Then say Bright present vehicle compares safety now, then continue executing with step one, on the contrary then execution step nine；
Step 9：Vehicle is controlled to make vehicle deceleration, until actual range LGPSMore than safe distance LS0Or actual range LRAMore than safe distance LS1；
Step 10, back and forth carries out closed loop control from step one to step 9.
In described step 9, (1) is passed through vehicle internal data CAN and is sent data to instrument board control unit, Control relay indicating light flicker, represent that active breaking systems are intervening vehicle operation；(2) pass through vehicle internal data CAN total Line sends data to control unit of engine, controls electromotor to reduce injection valve oil spout dutycycle, reduces fuel supply volume；(3) Sent out to chassis electrical stability program control unit and/or braking anti-lock control unit by vehicle internal data CAN Send data, control motor vehicle braking system to be operated, make vehicle deceleration, until actual range LGPSMore than safe distance LS0Or Actual range LRAMore than safe distance LS1, pid control algorithm, fuzzy algorithmic approach can be adopted in (3) of step 9, certainly also may be used With using other algorithms.
In described step one, setting system ECU passes through vehicle internal data CAN to anti-blocking brake system (ABS) or vehicle dynamic stability programming system (ESP) obtain GES V0.
Such as, when vehicle present speed is 80 kilometers/hour, this car passes through VANET wireless short range communication module and above 2 Vehicle is communicated, and obtains the above GPS information of 2 cars and NID, further, the active brake controller of this car according to This car is identified from the nearest vehicle of this car with NID with the GPS information of front 2 cars, compares 2 cars that GPS records further Apart from LGPSWith data L being recorded by range sensorRAContrasted, if 1. LGPSWith LRAIdentical, illustrate this car with Other is not had to be unable to vehicle or the barrier of networking between the front truck of networking.Further, obtain front truck present speed be 75 kilometers/ Hour, road gradient is obtained by road surface inclination sensor and is 5 °, based on μ-s Model Identification coefficient of road adhesion μmax, further, According to front vehicle speed, rear vehicle speed, road gradient, coefficient of road adhesion μmaxCalculate the safe distance L of current 2 carsS0For 54m, If LGPSMore than LS0I.e. 54m, then brakes do not take any action；If LGPSLess than LS, then brakes take action, Make vehicle deceleration or parking, until LGPSMore than or equal to LSOr stop, the effective action display lamp on Vehicular instrument panel can dodge Bright.If 2. LGPSWith LRADiffer, this car is described and has had between the front truck of networking other to be unable to vehicle or the obstacles of networking Thing.Road gradient is obtained by road surface inclination sensor and is 5 °, based on μ-s Model Identification coefficient of road adhesion μmax, further, root According to this vehicle speed, road gradient, coefficient of road adhesion μmaxCalculate the safe distance L of current 2 cars or vehicle and barrierS For 60m, if LRAMore than LS1I.e. 60m, then brakes do not take any action；If LRALess than LS1, then brakes take Action, makes vehicle deceleration or parking, until LRAMore than or equal to LS1Or stop, the effective action instruction on Vehicular instrument panel Lantern festival flashes.
The difference of above-mentioned 2 kinds of situations is that safe distance is different.There is no barrier, 2 cars are permissible between 1st kind of situation 2 car Communication, makes theory α coefficient distance between 2 cars diminish, makes full use of road.There are barrier or other not between 2nd kind of situation 2 car Can communication vehicle, make theory α coefficient distance between the vehicle that Ben Che can not communicate with barrier or other become big.Above 2 kinds of feelings Condition all makes vehicle improve safety.
Particular embodiments described above, to present invention solves the technical problem that, technical scheme and beneficial effect carry out Further describe, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to this Invention, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done etc., should be included in this Within bright protection domain.

Claims (3)

1. a kind of active brake method based on VANET wireless short range communication is it is characterised in that contain in the step of methods described：
Step one：Obtain this car A0GES V0；
Step 2：The GES V being obtained according to step one0Calculate vehicle acceleration；Obtained according to road surface inclination sensor Data G0The impact G of the data obtaining with vehicle acceleration road pavement Slope Transducer1, obtain reference gradient G on road surface2；Its In, G2=G0-G1；
Step 3：Vehicle slip rate S is calculated by wheel wheel speed sensor signal, is calculated by wheel vertical load sensor signal Go out wheel longitudinal force Fx, further by vehicle slip rate S, wheel longitudinal force FxGo out with wheel Wheel cylinder pressure sensors signal of change Coefficient of road adhesion μmax；
Step 4：Start vehicle networking module, carry out networking with surrounding vehicles, obtain surrounding vehicles data；
Step 5：According to this car A0Gps data situation of change judge this car direction of motion；Compare vehicle periphery vehicle further Gps data situation of change, screening and this car A0The consistent vehicle of the direction of motion；Filter out nearest apart from oneself vehicle further An above car A1A car next；
Step 6：This car A is calculated according to gps data0With front truck A1Spacing LGPS；
Step 7：Start radar sensor, the data of collection radar sensor, calculate with nearest barrier apart from LRA；
Step 8：Judge LGPSWhether with LRAEqual：
If LGPSWith LRAUnequal, execute following steps：
According to this car A0GES V0Rate calculates this car A over time with the data of radar sensor0With front car Or barrier relative velocity V1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this car A0Safe distance L with preceding vehicle or barrierS1；
Relatively actual range LRAWhether it is more than safe distance LS1：If actual range LRAMore than safe distance LS1, then this car is described A0Relatively safety, then continue executing with step one, on the contrary then execution step nine；
If LGPSWith LRAEqual, then execute following steps：
Vehicle velocity V by Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this car A0With preceding vehicle A1 Actual range LGPSWith safe distance LS0；
Relatively actual range LGPSWhether it is more than safe distance LS0；If actual range LGPSMore than safe distance LS0Then illustrate now Vehicle compares safety now, then continue executing with step one, on the contrary then execution step nine；
Step 9：Vehicle is controlled to make vehicle deceleration, until actual range LGPSMore than safe distance LS0Or actual range LRAIt is more than Safe distance LS1；
Step 10, back and forth carries out closed loop control from step one to step 9.
2. the active brake method based on VANET wireless short range communication according to claim 1 it is characterised in that：Institute In the step 9 stated, data is sent to instrument board control unit by vehicle internal data CAN, control relay indicating light to dodge Bright；Data is sent to control unit of engine by vehicle internal data CAN, controls electromotor to reduce injection valve oil spout and account for Empty ratio, reduces fuel supply volume；By vehicle internal data CAN to chassis electrical stability program control unit and/or Braking anti-lock control unit sends data, controls motor vehicle braking system to be operated, makes vehicle deceleration, until actual range LGPSMore than safe distance LS0Or actual range LRAMore than safe distance LS1.
3. the active brake method based on VANET wireless short range communication according to claim 1 it is characterised in that：Institute In the step one stated, it is dynamically steady to anti-blocking brake system or vehicle that setting system ECU passes through vehicle internal data CAN Determine programming system and obtain GES V0.
CN201610959741.1A 2016-10-27 2016-10-27 Active brake method based on VANET wireless short range communication Active CN106394524B (en)

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Cited By (6)

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CN107719345A (en) * 2017-08-30 2018-02-23 江苏理工学院 A kind of active brake method based on car light visible light communication
CN111276009A (en) * 2020-02-28 2020-06-12 长安大学 System and method for reminding front and rear vehicles of out-of-control truck on long downhill section
CN111301435A (en) * 2019-12-23 2020-06-19 长安大学 Safe distance prompting device and method for vehicles in narrow road section
CN111497835A (en) * 2020-04-24 2020-08-07 北京智行者科技有限公司 Vehicle parallel driving and automatic anti-collision system
CN112211447A (en) * 2020-08-25 2021-01-12 金华送变电工程有限公司 Container type warehouse for storing tools and instruments on construction site
CN114655122A (en) * 2022-03-31 2022-06-24 江苏理工学院 Intelligent vehicle obstacle avoidance and emergency braking system based on laser radar

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