CN106864437A - A kind of emergency brake of vehicle system and its control method - Google Patents
A kind of emergency brake of vehicle system and its control method Download PDFInfo
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- CN106864437A CN106864437A CN201710158935.6A CN201710158935A CN106864437A CN 106864437 A CN106864437 A CN 106864437A CN 201710158935 A CN201710158935 A CN 201710158935A CN 106864437 A CN106864437 A CN 106864437A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000003993 interaction Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 2
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
Present invention is disclosed a kind of emergency brake of vehicle system, image acquisition units and radar collecting unit export gathered vehicle front obstacle signal to Decision Control unit, the Decision Control unit outputs control signals to execution unit, and the execution unit includes Throttle Opening Control subelement and braking control subunit.The present invention is blended by vision and laser radar technique, so that vehicle, the detection of personnel, track it is more accurate, and the safety problem under various weather conditions is more preferably ensured, traffic accident is reduced, security is improve and is mitigated the stress of driver, system can at high speeds realize automatic cruising function, and actively implement braking in the case where causing danger, when collide danger when, take brake hard, can simultaneously solve automatic navigation of vehicle and collision problem.
Description
Technical field
The present invention relates to active safety technologies field, and in particular to a kind of tight with the automatic cruising of vision based on laser radar
Anxious brakes.
Background technology
According to investigations, 90% traffic accident causes because driver attention does not concentrate, and is equipped with AEB systems
The vehicle of (Autonomous Emergency Braking automatic breaking systems) can reduce by 27% accident rate, and can be bright
It is aobvious to reduce accident casualty, lift vehicle safety.European Union NCAP announces since 2014, to list AEB systems in automobile
In security rating bonus point.But current AEB systems are between reply city low speed, city in quick and pedestrian protecting, it is difficult to can
The operation leaned on so that the reliability of system is difficult to ensure that.
The content of the invention
The technical problems to be solved by the invention are to realize that a kind of system operation is safe and stable, reliable, can be low in city
Solve the risk that vehicle and front truck collide between speed, city in quick and pedestrian protecting very well, and realize at high speeds
The emergency brake of vehicle system of automatic cruising function.
To achieve these goals, the technical solution adopted by the present invention is：A kind of emergency brake of vehicle system, IMAQ
Unit and radar collecting unit export gathered vehicle front obstacle signal to Decision Control unit, the Decision Control list
Unit outputs control signals to execution unit, and the execution unit includes Throttle Opening Control subelement and braking control subunit.
Described image collecting unit includes camera, the Yi Jijie of collection vehicle image information in front on fixed room mirror
Receive the graphics processing unit of camera image signal, described image processing unit output preceding object thing distance and barrier classification letter
Number to Decision Control unit.
The radar collecting unit includes the laser radar being fixed in vehicle front bumper and receives laser radar letter
Number radar signal processing unit, radar signal processing unit output preceding object thing distance and barrier rate signal are extremely
Decision Control unit.
The laser radar is fixed on front bumper centre position, and the road clearance of the laser radar is 40-60cm,
The radar wave axis of the laser radar and vehicle axis parallel.
The emergency brake of vehicle system is provided with the power subsystem powered for Decision Control unit, and installs in-car and determine
The man-machine interaction unit of plan control unit communication, the man-machine interaction unit includes display subelement, alarm part-unit and order
Input subelement.
The Decision Control unit obtains Vehicular status signal by vehicle CAN bus, and the Vehicular status signal includes
Car external environment signal, current vehicle speed signal and brake unit alarm signal.
A kind of control method based on described emergency brake of vehicle system：
Step 1, system start；
Step 2, image acquisition units and radar collecting unit simultaneously, in real time obtain preceding object thing distance signal S1, and
Signal S1 is delivered to Decision Control unit；
The signal S1 that step 3, movement images collecting unit and radar collecting unit are obtained, if error is in setting range
Perform next step, the return to step 2 if error is outside setting range；
Step 4, by S1 with setting safe distance S be compared, if S1 be more than or equal to S if return to step 2, if S1 is less than
Then Decision Control unit sends commands to execution unit execution emergency brake of vehicle to S.
When travel speed of driving a vehicle reaches more than default automatic cruising speed, if driver unclamps throttle, system control
Vehicle enters cruise mode, and the cruise mode keeps current vehicle speed, and circulates execution step 2 to step 4.
The safe distance S is multiplied by environmental coefficient for dynamic definition value, and the dynamic definition value is with preceding object thing speed
Degree increases and increases, while increasing with current vehicle speed and increasing, system obtains preceding object thing according to radar collecting unit, and
The current vehicle speed signal acquisition current safety that CAN is obtained is apart from S；The environmental coefficient by car external environment signal deciding, if
Car external environment is that then environmental coefficient is 1 to safe condition, and environmental coefficient is more than 1, the car if car external environment is non-secure states
External environment signal is obtained by system by CAN.
In the step 4, if S1 sends alarm by Decision Control unit simultaneously less than S；If in system operation, continuously
Setting value is exceeded by the cycle-index of step 3 return to step 2, is then closed system and is alarmed.
The present invention is blended by vision and laser radar technique so that vehicle, the detection of personnel, tracking are more accurate, with
And the safety problem under various weather conditions is more preferably ensured, reduces traffic accident, improve security and mitigate driving
The stress of person, system can at high speeds realize automatic cruising function, and actively implement system in the case where causing danger
It is dynamic, when collide danger when, take brake hard, can simultaneously solve automatic navigation of vehicle and collision problem.
Brief description of the drawings
The mark in the content and figure of every width accompanying drawing expression in description of the invention is briefly described below：
Fig. 1 is emergency brake of vehicle system block diagram；
Fig. 2 is emergency brake of vehicle system scheme of installation；
Mark in above-mentioned figure is：10th, emergency brake of vehicle system；11st, Decision Control unit；12nd, IMAQ list
Unit；121st, camera；122nd, graphics processing unit；13rd, radar collecting unit；131st, laser radar；132nd, Radar Signal Processing list
Unit；14th, man-machine interaction unit；15th, power supply unit；20th, execution unit；30th, vehicle-state.
Specific embodiment
As shown in figure 1, emergency brake of vehicle system 10 includes emergency brake of vehicle system 10, Decision Control unit 11, figure
As collecting unit 12, radar collecting unit 13, man-machine interaction unit 14, power supply unit 15 and execution unit 20.Image is adopted
Collection unit 12 is used to obtain the video or image information of this front side and treatment obtains front vehicles and people of this car in track
Member's information.Radar collecting unit 13 is used to detect distance, the velocity information of this front side barrier.Man-machine interaction unit 14 is realized
The opening and closing of system, and show information warning.Decision Control unit 11 receives image acquisition units 12, radar collecting unit
Performing module, performing module control braking and throttle are exported after the information of 13 outputs and treatment；Exported by human-computer interaction interface
Corresponding alarm signal.Here blended with vision and the technology of laser radar 131 so that vehicle, the detection of personnel, tracking are more accurate
Really, the safety problem and under various weather conditions is preferably ensured.
Image acquisition units 12 include camera 121, graphics processing unit 122, and camera 121 is used to obtain regarding for this front side
Frequency or image information, graphics processing unit 122 is processed video or image information, and the signal after treatment is delivered to certainly
Plan control unit 11, image acquisition units 12 can be identified to vehicle, personnel in this track, improve drive safety
Anticipation, by the identification to preceding object thing, can aid in controlling the pedestrian protection (gas such as on protecgulum on some vehicles
Capsule), when colliding, only when it is pedestrian to recognize collision obstacle, just open pedestrian protection, it is to avoid open by mistake and open gas
Capsule, reduces the maintenance cost after vehicle collision.
Radar collecting unit 13 includes laser radar 131, radar signal processing unit 132, and laser radar 131 is arranged on this
Chinese herbaceous peony protects middle position and ground clearance is 40-60cm, and the transmitting laser beam of laser radar 131 is flat perpendicular to the insurance of this Chinese herbaceous peony
Face；Radar signal processing unit 132 to the lightwave signal that laser radar 131 is received process and obtains this described front side
The distance of barrier, velocity information.This front side barrier is detected by radar collecting unit 13, more can be accurately
Determine the front truck target of this car, once front truck target selection is very accurate, then can more preferable pre- anticollision danger.
Human-computer interaction interface can be turned on and off system by button, the display of information warning be mainly LED, sound or
Icon information gives and warns.Decision Control unit 11 obtains the signal of vehicle-state 30 by vehicle CAN bus, and vehicle-state 30 is believed
Number include car external environment signal, current vehicle speed signal and brake unit alarm signal.Power supply unit 15 is decision controller
Other electronic components with system are powered.
Execution unit 20 includes Throttle Opening Control subelement and braking control subunit, and Throttle Opening Control subelement is to be mainly used to
Control the part of throttle size.Braking control subunit is the part for being mainly used to control brake force size.
Control method based on above-mentioned emergency brake of vehicle system 10：
Step 1, system start；
Step 2, image acquisition units 12 and radar collecting unit 13 simultaneously, in real time obtain preceding object thing distance signal
S1, and signal S1 is delivered to Decision Control unit 11；
The signal S1 that step 3, movement images collecting unit 12 and radar collecting unit 13 are obtained, if error is in setting range
Next step is inside then performed, the return to step 2 if error is outside setting range；
Step 4, by S1 with setting safe distance S be compared, if S1 be more than or equal to S if return to step 2, if S1 is less than
Then Decision Control unit 11 sends commands to the execution emergency brake of vehicle of execution unit 20 to S.
Only determine that traveling is that target vehicle may have error in the vehicle of this front side by radar collecting unit 13,
In order to ensure safety, image acquisition units 12 are also determined to the position of target vehicle here.By image acquisition units 12,
Both radar collecting units 13 are judged target vehicle simultaneously, and both are judged respectively, are compared after judgement, if both
Result it is identical, then illustrate target vehicle identification it is very accurate；If both results are differed, illustrate that target vehicle may
Identification mistake, at this time in order to safe and reliable, it is necessary to re-start identification to target vehicle.
When Decision Control unit 11 performs step 4, only obtain that the Real-time Collection of radar collecting unit 13 calculates with front truck
Apart from S1, the distance between Ben Che and target vehicle S1 are compared with safe distance S；If S1 ＜ S, Decision Control unit 11 is defeated
Go out information warning to man-machine interaction unit 14, and send commands to execution unit 20；By above-mentioned steps, it is ensured that Ben Che with
The distance between front truck is the distance of safety, it is to avoid front truck bring to a halt caused by traffic accident, improve the peace driven of driver
Quan Xing.
In running, S1 sends alarm by Decision Control unit 11 simultaneously less than S in step 4；If system operation
In, setting value is continuously exceeded by the cycle-index of step 3 return to step 2, then close system and alarm, now there may be wherein
One collecting unit failure or the system failure, to avoid mistake from performing braking instruction, set this alarming step, so as to ensure system
Reliability of operation.
In order to more accurately control braking opportunity, safe distance S is multiplied by environmental coefficient, dynamic definition for dynamic definition value
Value increases as preceding object thing speed increases, while increase with current vehicle speed and increase, can be with one safety of pre-production
Apart from table or curve, vehicle obtains current dynamic definition value according to current operating conditions in real time, and environmental coefficient is by car outer shroud
Border signal deciding, environmental coefficient is 1 if car external environment is safe condition, the environmental coefficient if car external environment is non-secure states
More than 1 (such as 1.2), safe condition is then fine day, and non-security shape is then sleet sky, so as to increase safe distance in sleet sky, is protected
The enough braking distances of card.
This external system has cruise function concurrently, when driving travel speed reaches more than default automatic cruising speed (as setting is patrolled
Speed of a ship or plane degree is 60km/h) when, Decision Control unit 11 is by the collection to the cell signal of vehicle-state 30, if throttle is decontroled,
Just automatically into cruise mode.Vehicle under automatic cruising state, real-time detection front vehicles and personnel.Meeting safety
In the case of realize cruise, when front vehicles less than cruise speed when, system by execution unit 20 control vehicle speed
Degree and safe distance, are the interventions that can be braked automatically when safe distance is unsatisfactory for, when have collision it is dangerous when, can perform tight
Anxious braking.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented and do not receive aforesaid way
Limitation, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and design of the invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of emergency brake of vehicle system, it is characterised in that：What image acquisition units and the output of radar collecting unit were gathered
Vehicle front obstacle signal is to Decision Control unit, and the Decision Control unit outputs control signals to execution unit, described
Execution unit includes Throttle Opening Control subelement and braking control subunit.
2. emergency brake of vehicle system according to claim 1, it is characterised in that：Described image collecting unit includes fixing
The graphics processing unit of the camera of collection vehicle image information in front and reception camera image signal, institute on room mirror
State graphics processing unit output preceding object thing distance and barrier sorting signal to Decision Control unit.
3. emergency brake of vehicle system according to claim 2, it is characterised in that：The radar collecting unit includes fixing
The radar signal processing unit of laser radar and reception laser radar signal in vehicle front bumper, the radar letter
Number processing unit output preceding object thing distance and barrier rate signal are to Decision Control unit.
4. emergency brake of vehicle system according to claim 3, it is characterised in that：The laser radar is fixed on preceding insurance
Thick stick centre position, and the road clearance of the laser radar is 40-60cm, the radar wave axis of the laser radar and vehicle
Axis parallel.
5. the emergency brake of vehicle system according to any one of claim 1-4, it is characterised in that：The vehicle is promptly made
Dynamic system is provided with the power subsystem powered for Decision Control unit, and installs the in-car man-machine friendship with Decision Control unit communication
Mutual unit, the man-machine interaction unit includes display subelement, alarm part-unit and order input subelement.
6. emergency brake of vehicle system according to claim 5, it is characterised in that：The Decision Control unit passes through vehicle
CAN obtains Vehicular status signal, and the Vehicular status signal includes that car external environment signal, current vehicle speed signal and braking are single
First alarm signal.
7. a kind of control method of the emergency brake of vehicle system based on any one of claim 1-6, it is characterised in that：
Step 1, system start；
Step 2, image acquisition units and radar collecting unit simultaneously, in real time obtain preceding object thing distance signal S1, and will letter
Number S1 is delivered to Decision Control unit；
The signal S1 that step 3, movement images collecting unit and radar collecting unit are obtained, performs if error is in setting range
Next step, the return to step 2 if error is outside setting range；
Step 4, by S1 with setting safe distance S be compared, if S1 be more than or equal to S if return to step 2, if S1 be less than S if
Decision Control unit sends commands to execution unit and performs emergency brake of vehicle.
8. control method according to claim 7, it is characterised in that：When driving travel speed reaches default automatic cruising car
During the fast above, if driver unclamps throttle, system control vehicle enters cruise mode, and the cruise mode keeps current vehicle
Speed, and circulate execution step 2 to step 4.
9. the control method according to claim 7 or 8, it is characterised in that：The safe distance S is multiplied by for dynamic definition value
Environmental coefficient, the dynamic definition value increases as preceding object thing speed increases, while increase with current vehicle speed and increase,
System obtains preceding object thing, and the current vehicle speed signal acquisition current safety that CAN is obtained according to radar collecting unit
Apart from S；By car external environment signal deciding, environmental coefficient is 1 to the environmental coefficient if car external environment is safe condition, if outside car
Environment is that then environmental coefficient is more than 1 to non-secure states, and the car external environment signal is obtained by system by CAN.
10. control method according to claim 9, it is characterised in that：In the step 4, if S1 is less than S simultaneously by decision-making
Control unit sends alarm；If in system operation, continuously exceeding setting value by the cycle-index of step 3 return to step 2, then
Closing system is simultaneously alarmed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710158935.6A CN106864437A (en) | 2017-03-17 | 2017-03-17 | A kind of emergency brake of vehicle system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710158935.6A CN106864437A (en) | 2017-03-17 | 2017-03-17 | A kind of emergency brake of vehicle system and its control method |
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| CN201710158935.6A Pending CN106864437A (en) | 2017-03-17 | 2017-03-17 | A kind of emergency brake of vehicle system and its control method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108614566A (en) * | 2018-06-20 | 2018-10-02 | 北京智行者科技有限公司 | A kind of operating method of parallel driving |
| CN108831144A (en) * | 2018-07-05 | 2018-11-16 | 北京智行者科技有限公司 | A kind of collision avoiding processing method |
| CN109572642A (en) * | 2018-11-07 | 2019-04-05 | 北京海纳川汽车部件股份有限公司 | Control method, device and the vehicle with it of vehicle braking |
| CN109747646A (en) * | 2017-11-08 | 2019-05-14 | 长城汽车股份有限公司 | A kind of control method for vehicle and device |
| CN109765571A (en) * | 2018-12-27 | 2019-05-17 | 合肥工业大学 | A kind of vehicle barrier detection system and method |
| CN110667575A (en) * | 2019-09-29 | 2020-01-10 | 奇瑞汽车股份有限公司 | Intersection emergency braking system and control method |
| CN110843775A (en) * | 2019-11-30 | 2020-02-28 | 的卢技术有限公司 | Obstacle identification method and system based on pressure sensor |
| CN111506087A (en) * | 2020-05-21 | 2020-08-07 | 安徽江淮汽车集团股份有限公司 | Self-adaptive car following method, device, equipment and storage medium for automatic driving car |
| CN112498115A (en) * | 2020-12-07 | 2021-03-16 | 中国第一汽车股份有限公司 | Braking energy recovery method, braking energy recovery device and vehicle |
| CN113306405A (en) * | 2020-02-26 | 2021-08-27 | 北京新能源汽车股份有限公司 | Energy recovery method and device, vehicle and equipment |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747646A (en) * | 2017-11-08 | 2019-05-14 | 长城汽车股份有限公司 | A kind of control method for vehicle and device |
| CN108614566A (en) * | 2018-06-20 | 2018-10-02 | 北京智行者科技有限公司 | A kind of operating method of parallel driving |
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| CN109572642A (en) * | 2018-11-07 | 2019-04-05 | 北京海纳川汽车部件股份有限公司 | Control method, device and the vehicle with it of vehicle braking |
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| CN113306405A (en) * | 2020-02-26 | 2021-08-27 | 北京新能源汽车股份有限公司 | Energy recovery method and device, vehicle and equipment |
| CN111506087A (en) * | 2020-05-21 | 2020-08-07 | 安徽江淮汽车集团股份有限公司 | Self-adaptive car following method, device, equipment and storage medium for automatic driving car |
| CN112498115A (en) * | 2020-12-07 | 2021-03-16 | 中国第一汽车股份有限公司 | Braking energy recovery method, braking energy recovery device and vehicle |
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Application publication date: 20170620 |