CN106394524B - Active braking method based on VANET wireless short-range communication - Google Patents

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

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Publication number
CN106394524B
CN106394524B CN201610959741.1A CN201610959741A CN106394524B CN 106394524 B CN106394524 B CN 106394524B CN 201610959741 A CN201610959741 A CN 201610959741A CN 106394524 B CN106394524 B CN 106394524B
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vehicle
data
gps
safe distance
road
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CN106394524A (en
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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]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an active braking method based on VANET wireless short-range communication, which comprises the following steps: obtaining the vehicle A0Vehicle speed signal V0(ii) a According to the vehicle speed signal V obtained in the step one0Calculating the acceleration of the vehicle; data G obtained from a road gradient sensor0And the influence of vehicle acceleration on the data obtained by the road slope sensor G1Obtaining a reference gradient G of the road surface2(ii) a Wherein G is2＝G0‑G1(ii) a The slip rate S of the vehicle is calculated by the wheel speed sensor signal, and the longitudinal force F of the wheel is calculated by the vertical load sensor signalxFurther comprising a vehicle slip ratio S and a wheel longitudinal force FxCalculating road adhesion coefficient mu according to wheel cylinder pressure sensor signalsmax(ii) a Step four: starting a vehicle networking module, networking with surrounding vehicles and acquiring the surrounding vehiclesVehicle data. The method can calculate more accurate safe distance in real time under the driving conditions of different road surface gradients, different road surface adhesion coefficients, different vehicle speeds and the like, and greatly improves the reliability, the safety and the stability.

Description

Active brake method based on VANET wireless short range communication
Technical field
The present invention relates to a kind of active brake methods based on VANET wireless short range communication.
Background technique
Currently, automobile is when traveling, brake is essentially all to be controlled by driver, in driver fatigue, is deserted When, it is easy to it has a car accident, knocks the barrier in front, existing electronic equipment cannot actively brake substantially, keep away Exempt from the generation of traffic accident.
Application No. is 201410677906.7 Chinese patents to disclose a kind of intelligently control of the emergency brake based on car networking Method and device processed includes GPS module, CAN bus module, wireless communication module and data processing module.It can be in vehicle With when being less than safe distance at a distance from front truck A1, barrier or pedestrian, driver can be reminded and implement to brake, but the invention There are apparent defects, i.e., 1. the invention does not account for road gradient problem, when vehicle is at lower abrupt slope, since controller calculates Safe distance out is too small, causes great security risk, and accident easily occurs when driver excessively relies on the invention；2. should Invention does not account for coefficient of road adhesion problem, cannot distinguish between the different road surfaces such as ice and snow road and dry cement, therefore in ice snow covered pavement When driving, controller calculates too small safe distance in face, causes security risk, and vehicle rear-end collision accident occurs；3. controller exists The speed of front truck is not accounted for when calculating safe distance between vehicle, and makes theory α coefficient that cannot make full use of road apart from excessive Resource causes to waste for crowded urban road resource.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, provide a kind of wirelessly short based on VANET The active brake method of Cheng Tongxin, this method can be in different road gradients, different coefficient of road adhesion, the travelings such as different speeds More accurate safe distance is calculated under situation in real time, substantially increases 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 Contain in the step of dynamic brake method, the method:
Step 1: this vehicle A is obtained0Speed signal V0；
Step 2: the speed signal V obtained according to step 10Calculate vehicle acceleration；According to road surface inclination sensor Obtained data G0The influence G of the data obtained 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: starting vehicle networking module carries out networking with surrounding vehicles, obtains surrounding vehicles data；
Step 5: according to this vehicle A0GPS data situation of change judge this vehicle A0The direction of motion；Further compare vehicle week Enclose vehicle GPS data situation, screening and this vehicle A0The consistent vehicle of the direction of motion；Further screening is apart from this vehicle A0Most Close front truck A1A vehicle next；
Step 6: this vehicle A is calculated according to GPS data0With front truck A1Spacing LGPS；
Step 7: starting radar sensor acquires the data of radar sensor, calculate with nearest barrier it is practical away from From LRA；
Step 8: judge LGPSWhether with LRAIt is equal:
If LGPSWith LRAIt is unequal, execute following steps:
According to this vehicle A0Speed signal V0This vehicle A is calculated with the data rate of changing with time of radar sensor0With it is preceding The relative velocity V of vehicle A1 or barrier1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this vehicle A0With the first safe distance L of front truck or barrierS1；
Compare actual range LRAWhether the first safe distance L is greater thanS1If: actual range LRAGreater than the first safe distance LS1, then illustrate this vehicle A0Compare safety, then continue to execute step 1, otherwise thens follow the steps nine；
If LGPSWith LRAIt is equal, then execute following steps:
Pass through the vehicle velocity V of Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this vehicle A0With front truck A1 Spacing LGPSWith the second safe distance LS0；
Compare spacing LGPSWhether the second safe distance L is greater thanS0；If spacing LGPSGreater than the second safe distance LS0Then say Bright vehicle is now relatively safer, then continues to execute step 1, otherwise then follow the steps nine；
Step 9: control vehicle makes vehicle deceleration, until spacing LGPSGreater than the second safe distance LS0Or actual range LRAGreater than the first safe distance LS1；
Step 10 back and forth carries out closed-loop control from step 1 to step 9.
Further, in the step nine, number is sent to instrument board control unit by vehicle internal data CAN bus According to control work light flashing；Data, control hair are sent to control unit of engine by vehicle internal data CAN bus Motivation reduces injection valve oil spout duty ratio, reduces fuel supply volume；Stablized by vehicle internal data CAN bus to chassis electrical Procedure control unit and/or braking anti-lock control unit send data, and control motor vehicle braking system works, and make vehicle Slow down, until spacing LGPSGreater than the second safe distance LS0Or actual range LRAGreater than the first safe distance LS1。
Further, in the step one, setting system ECU passes through vehicle internal data CAN bus to anti-braking Dead system or vehicle dynamic stability programming system obtain speed signal V0.
After above-mentioned technical proposal, the present invention has the following beneficial effects:
1. the fully automated work of active brake method, does not need artificially to be intervened；
2. the method for the present invention makes vehicle intercommunication using VANET wireless short range communication, surrounding vehicles information is obtained, is obtained Speed, the geographical location GPS to needs obtain road gradient and meter using road surface inclination sensor and coefficient of road adhesion module The data that coefficient of road adhesion needs are calculated, coefficient of road adhesion μm ax are obtained using control algolithm, so as to distinguish different slopes The road surface of degree, 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, dry water Road face, dried asphalt road etc. make controller calculate more accurate safe distance in real time, make active brake gear can be with It works under different road gradients, different coefficient of road adhesion, the driving conditions such as different speeds, substantially increases reliability, peace Full property and stability.
2. can prompt when vehicle is in unsafe condition driver, the vigilant of driver is improved, is avoided Traffic accident；
3. it can actively brake when vehicle is in emergency, the generation to avoid traffic accident.
Detailed description of the invention
Fig. 1 is the flow chart of the active brake method of the invention based on VANET wireless short range communication.
Specific embodiment
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing 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, the step of the method in contain Have:
Step 1: this vehicle A is obtained0Speed signal V0；
Step 2: the speed signal V obtained according to step 10Calculate vehicle acceleration；According to road surface inclination sensor Obtained data G0The influence G of the data obtained 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: starting vehicle networking module carries out networking with surrounding vehicles, obtains surrounding vehicles data；
Step 5: according to this vehicle A0GPS data situation of change judge this vehicle A0The direction of motion；Further compare vehicle week Enclose vehicle GPS data situation, screening and this vehicle A0The consistent vehicle of the direction of motion；Further screening is apart from this vehicle A0Most Close front truck A1A vehicle next；
Step 6: this vehicle A is calculated according to GPS data0With front truck A1Spacing LGPS；
Step 7: starting radar sensor acquires the data of radar sensor, calculate with nearest barrier it is practical away from From LRA；
Step 8: judge LGPSWhether with LRAIt is equal:
If LGPSWith LRAIt is unequal, illustrate that front truck is offline vehicle, is unable to networking vehicle or other types of obstructions, The running data of front truck or other types of obstructions is determined by radar sensor data at this time, executes following steps:
According to this vehicle A0Speed signal V0This vehicle A is calculated with the data rate of changing with time of radar sensor0With it is preceding The relative velocity V of vehicle A1 or barrier1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this vehicle A0With the first safe distance L of front truck or barrierS1；
Compare actual range LRAWhether the first safe distance L is greater thanS1If: actual range LRAGreater than the first safe distance LS1, then illustrate this vehicle A0Compare safety, then continue to execute step 1, otherwise thens follow the steps nine；
If LGPSWith LRAIt is equal, illustrate that front truck is online vehicle.The running data of front truck is determined by network data at this time, The data of radar sensor are auxiliary data；Network data includes speed, engine than the data more horn of plenty of radar sensor The running conditions of vehicle such as operating condition, gearbox operating condition, can the more accurate safe distance for calculating vehicle with the data.Radar passes The data of sensor always compared with the calculated data of GPS, once the two data are unequal, turn at once as auxiliary data Enter another operating mode, increase safe distance, guarantees safety, then execute following steps:
Pass through the vehicle velocity V of Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this vehicle A0With front truck A1 Spacing LGPSWith the second safe distance LS0；
Compare spacing LGPSWhether the second safe distance L is greater thanS0；If spacing LGPSGreater than the second safe distance LS0Then say Bright vehicle is now relatively safer, then continues to execute step 1, otherwise then follow the steps nine；
Step 9: control vehicle makes vehicle deceleration, until spacing LGPSGreater than the second safe distance LS0Or actual range LRAGreater than the first safe distance LS1；
Step 10 back and forth carries out closed-loop control from step 1 to step 9.
In the step nine, (1) sends data to instrument board control unit by vehicle internal data CAN bus, Work light flashing is controlled, indicates that active breaking systems are intervening vehicle operation；(2) total by vehicle internal data CAN Line sends data to control unit of engine, and control engine reduces injection valve oil spout duty ratio, reduces fuel supply volume；(3) It is sent out by vehicle internal data CAN bus to chassis electrical stability program control unit and/or braking anti-lock control unit Data are sent, control motor vehicle braking system works, and makes vehicle deceleration, until spacing LGPSGreater than the second safe distance LS0Or Actual range LRAGreater than the first safe distance LS1, pid control algorithm, fuzzy algorithmic approach can be used in (3) of step 9, certainly Other algorithms can also be used.
In the step one, setting system ECU passes through vehicle internal data CAN bus to anti-blocking brake system (ABS) or vehicle dynamic stability programming system (ESP) obtains speed signal V0.
For example, when vehicle present speed be 80 kilometers/hour, this vehicle A0Through VANET wireless short range communication module with before 2 vehicle of face is communicated, and the GPS information and Network ID of 2 vehicle of front, further, this vehicle A are obtained0Active brake control Device is according to this vehicle A0It identifies with the GPS information and Network ID of preceding 2 vehicle from this vehicle A0Nearest vehicle, further relatively GPS Measure this vehicle A0With from this vehicle A0The distance between nearest vehicle LGPSWith the data L measured by range sensorRACarry out pair Than 1. if LGPSWith LRAIt is identical, illustrate this vehicle A0There is no other vehicles or barrier for being unable to networking between the front truck of networking Hinder object.Further, obtaining front truck present speed is 75 kilometers/hour, and obtaining road gradient by road surface inclination sensor is 5 °, base Coefficient of road adhesion μ is identified in μ-s modelmax, further, according to preceding vehicle speed, rear vehicle speed, road gradient, road surface attachment system Number μmaxCalculate the second safe distance L of current 2 vehicleS0For 54m, if LGPSGreater than LS0That is 54m, then braking system is not taken Any movement；If LGPSLess than LS, then braking system takes movement, makes vehicle deceleration or parking, until LGPSMore than or equal to LS Or stop, the effective action indicator light on Vehicular instrument panel can flash.2. if LGPSWith LRAIt is not identical, illustrate this vehicle A0With There are other vehicles or barrier for being unable to networking between the front truck of networking.Obtaining road gradient by road surface inclination sensor is 5 °, coefficient of road adhesion μ is identified based on μ-s modelmax, further, according to this vehicle speed, road gradient, coefficient of road adhesion μmaxCalculate the safe distance L of current 2 vehicle or vehicle and barrierSFor 60m, if LRAGreater than LS1That is 60m, then braking system System does not take any movement；If LRALess than LS1, then braking system takes movement, makes vehicle deceleration or parking, until LRAIt is greater than Or it is equal to LS1Or stop, the effective action indicator light on Vehicular instrument panel can flash.
The difference of above-mentioned 2 kinds of situations is safe distance difference.There is no barrier between 1st kind of 2 vehicle of situation, 2 vehicles can be with Communication, makes theory α coefficient distance between 2 vehicles become smaller, makes full use of road.Have between 2nd kind of 2 vehicle of situation barrier or it is other not The vehicle that can be communicated, makes this vehicle A0Theory α coefficient distance becomes larger between barrier or other vehicles that cannot be communicated.Above 2 kinds Situation all makes vehicle improve safety.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effects carry out It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this Invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair Within bright protection scope.

Claims (3)

1. a kind of active brake method based on VANET wireless short range communication, it is characterised in that contain in the step of the method:
Step 1: this vehicle A is obtained0Speed signal V0；
Step 2: the speed signal V obtained according to step 10Calculate vehicle acceleration；It is obtained according to road surface inclination sensor Data G0The influence G of the data obtained with vehicle acceleration road pavement Slope Transducer1, obtain the reference gradient G on road surface2；Its In, G2=G0-G1；
Step 3: vehicle slip rate S is calculated according to wheel wheel speed sensor signal, according to wheel vertical load sensor signal Calculate wheel longitudinal force Fx, further according to vehicle slip rate S, wheel longitudinal force FxWith wheel Wheel cylinder pressure sensors signal Calculate coefficient of road adhesion μmax；
Step 4: starting vehicle networking module carries out networking with surrounding vehicles, obtains surrounding vehicles data；
Step 5: according to this vehicle A0GPS data situation of change judge this vehicle A0The direction of motion；Further compare vehicle periphery vehicle GPS data situation of change, screening and this vehicle A0The consistent vehicle of the direction of motion；Further screening is apart from this vehicle A0Nearest Front truck A1A vehicle next；
Step 6: this vehicle A is calculated according to GPS data0With front truck A1Spacing LGPS；
Step 7: starting radar sensor acquires the data of radar sensor, calculates the actual range with nearest barrier LRA；
Step 8: judge LGPSWhether with LRAIt is equal:
If LGPSWith LRAIt is unequal, execute following steps:
According to this vehicle A0Speed signal V0This vehicle A is calculated with the data rate of changing with time of radar sensor0With front truck A1 Or the relative velocity V of barrier1With absolute velocity V2；Wherein, V2=V0+V1, V2、V0And V1It is vector；
According to V0、V1、V2、G2、μmaxCalculate this vehicle A0With front truck A1Or the first safe distance L of barrierS1；
Compare actual range LRAWhether the first safe distance L is greater thanS1If: actual range LRAGreater than the first safe distance LS1, then Illustrate this vehicle A0Compare safety, then continue to execute step 1, otherwise thens follow the steps nine；
If LGPSWith LRAIt is equal, then execute following steps:
Pass through the vehicle velocity V of Network Data Capture front truck3, coefficient of road adhesion, road gradient, calculate this vehicle A0With front truck A1Vehicle Away from LGPSWith the second safe distance LS0；
Compare spacing LGPSWhether the second safe distance L is greater thanS0；If spacing LGPSGreater than the second safe distance LS0Then illustrate vehicle It is now relatively safer, then step 1 is continued to execute, otherwise thens follow the steps nine；
Step 9: control vehicle makes vehicle deceleration, until spacing LGPSGreater than the second safe distance LS0Or actual range LRAIt is greater than First safe distance LS1；
Step 10 back and forth carries out closed-loop control from step 1 to step 9.
2. the active brake method according to claim 1 based on VANET wireless short range communication, it is characterised in that: in institute In the step of stating nine, data are sent to instrument board control unit by vehicle internal data CAN bus, control work light dodges It is bright；Data are sent to control unit of engine by vehicle internal data CAN bus, control engine reduces injection valve oil spout and accounts for Empty ratio reduces fuel supply volume；By vehicle internal data CAN bus to chassis electrical stability program control unit and/or Braking anti-lock control unit sends data, and control motor vehicle braking system works, and makes vehicle deceleration, until spacing LGPSGreatly In the second safe distance LS0Or actual range LRAGreater than the first safe distance LS1。
3. the active brake method according to claim 1 based on VANET wireless short range communication, it is characterised in that: in institute In the step of stating one, setting system ECU is steady to anti-blocking brake system or vehicle dynamic by vehicle internal data CAN bus Determine programming system and obtains speed signal V0。
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CN111301435A (en) * 2019-12-23 2020-06-19 长安大学 Safe distance prompting device and method for vehicles in narrow road section
CN111276009B (en) * 2020-02-28 2021-09-28 长安大学 System and method for reminding front and rear vehicles of out-of-control truck on long downhill section
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