CN107031398A - Automobile brake system and brake method - Google Patents
Automobile brake system and brake method Download PDFInfo
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- CN107031398A CN107031398A CN201611047539.8A CN201611047539A CN107031398A CN 107031398 A CN107031398 A CN 107031398A CN 201611047539 A CN201611047539 A CN 201611047539A CN 107031398 A CN107031398 A CN 107031398A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
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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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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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
- 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
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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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
Abstract
The present invention provides a kind of automobile brake system and brake method, including image acquisition and processing unit, gathers vehicle front view data within the vision and exports Lout after calculating the position of front obstacle；Speed data collection unit, collects the current speed per hour of automobile and exports Vout；Processing unit, the output data for receiving image acquisition and processing unit and speed data collection unit judges whether output signal D with preset value progress contrast；Motor unit, including gas pedal, brake pedal, brake system and oil supply system, gas pedal trample so that automobile acceleration when output signal JY, output signal S when brake pedal is trampled；CPU, receive signal D, signal S, signal JY, signal WY and output signal control brake system and oil supply system, when receiving signal D, CPU controls oil supply system when receiving signal JY so that car remains a constant speed or fuel cut-off system and starts brake system.
Description
Technical field
The present invention relates to automotive field, more particularly to automobile brake system and brake method.
Background technology
With the increasingly popularization of automobile, because the traffic accident that automobile is caused rises year by year.
In accident common at present, due to new hand's experience not enough, in case of emergency, miss to step on phenomenon of taking throttle as brake and make
Into injures and deaths large percentage.
Therefore, Publication No. CN102582429B patent discloses a kind of automobile brake override device, including throttle is stepped on
Plate, brake pedal, it is characterised in that also including connecting rod and support, connecting rod two ends are connected with gas pedal and brake pedal respectively,
Set in the middle part of connecting rod at fulcrum and rotate ball, it is flexibly connected with support.
The content of the invention
It is an object of the invention to provide a kind of automobile brake system, when touching on the brake by mistake, personal damage can be reduced, is improved
Security.
The present invention above-mentioned technical purpose technical scheme is that：A kind of automobile brake system, bag
Include
Image acquisition and processing unit, gathers vehicle front view data within the vision and calculates behind the position of front obstacle
Export Lout；
Speed data collection unit, collects the current speed per hour of automobile and exports Vout；
Processing unit, the output data for receiving image acquisition and processing unit and speed data collection unit is contrasted with preset value, when
When Lout >=l, Vout >=v during output signal D, wherein v is preset value speed, and l is the pre-determined distance of barrier and car；
Motor unit, including gas pedal, brake pedal, brake system and oil supply system, gas pedal is trampled so that automobile adds
Output signal JY when fast, gas pedal sends signal WY when trampling maintenance car speed, output signal S when brake pedal is trampled；
CPU, receives signal D, signal S, signal JY, signal WY and output signal control brake system and fuel feeding system
System, when receiving signal D, CPU fuel cut-off system and starts brake system when receiving signal JY.
It is preferred that, described image acquisition process unit includes image collecting device and image processing apparatus, image collector
CCD camera or CMOS camera are set to, the CCD camera or CMOS camera are three, are arranged at before vehicle body, and three
Individual camera is arranged on same straight line parallel to the ground.
It is preferred that, speed data collection unit includes velocity sensor, filter circuit and the microprocessor being in series, velocity pick-up
Device is used to perceive speed, and the GES of collection is filtered processing, data signal is converted into through microprocessor by filter circuit
After be output to processing unit.
It is preferred that, brake system is ABS brake system.
It is preferred that, the processing unit and CPU are CPU.
It is safer another object of the present invention is to improve a kind of brake method.
A kind of brake method, comprises the following steps：
A1, vehicle front view data within the vision is constantly gathered by image acquisition and processing unit and preceding object is calculated
Lout is exported behind the position of thing；By speed data collection unit, constantly collect the current speed per hour of automobile and export Vout；
B1, output data and the preset value progress pair by processing unit reception image acquisition and processing unit and speed data collection unit
Than, as Lout >=l, Vout >=v during output signal D, otherwise not output signal；
C1,1) in the case where CPU is not received by signal D, and when receiving signal JY, control oil supply system
Carry out increase fuel delivery；In the case where CPU is not received by signal D, and when receiving signal JW, control is supplied
Oil system maintains fuel delivery；When CPU is not received by signal D, signal JY, signal JW, control oil supply system is closed
Close；In the case where CPU is not received by signal D, and when receiving signal S, control brake system is stopped
Car, otherwise brake system closing；
2) in the case where CPU receives signal D, and when receiving signal JY, close oil supply system and start and stop
Car system；In the case where CPU receives signal D, and when receiving signal JW, control oil supply system, which is reduced, to be supplied
Oil mass；Signal D is received in CPU, when being not received by signal JY, signal JW, control oil supply system is closed；
In the case that CPU receives signal D, and when receiving signal S, control brake system is braked, and is otherwise braked
System is closed.
In summary, the invention has the advantages that：The present invention receives signal simultaneously when receiving signal D
During JY, control oil supply system is stopped, and controls brake system to be braked, so as to ensure the security of human pilot, puts down
Automobile normal work when often.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment;
Fig. 2 is the brake system flow chart of embodiment;
Fig. 3 is Fig. 2 A portions enlarged drawing；
Fig. 4 is Fig. 2 B portions enlarged drawing；
Fig. 5 is the circuit diagram of filter circuit.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification without creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected in the right of invention by Patent Law.
A kind of automobile brake system, including
Image acquisition and processing unit, gathers vehicle front view data within the vision and calculates behind the position of front obstacle
Export Lout；
Speed data collection unit, collects the current speed per hour of automobile and exports Vout；
Processing unit, the output data for receiving image acquisition and processing unit and speed data collection unit is contrasted with preset value, when
When Lout >=l, Vout >=v during output signal D, wherein v is preset value speed, and l is the pre-determined distance of barrier and car；
Motor unit, including gas pedal, brake pedal, brake system and oil supply system, gas pedal is trampled so that automobile adds
Output signal JY when fast, gas pedal sends signal WY when trampling maintenance car speed, output signal S when brake pedal is trampled；
CPU, receives signal D, signal S, signal JY, signal WY and output signal control brake system and fuel feeding system
System, when receiving signal D, CPU fuel cut-off system and starts brake system when receiving signal JY.
Further through the internal bus of automobile between each unit, such as CAN BUS or LIN BUS are interconnected.
Image acquisition and processing unit includes image collecting device and image processing apparatus, and image collecting device can be selected
(i.e. complementary mos device is imaged for CCD camera (i.e. charge coupling device camera) or CMOS camera
Head).CCD camera and CMOS camera are two kinds of the most frequently used at present digital cameras, and CCD is promising numerous small photoelectricity two
The solid-state electronic photosensitive imaging part that pole pipe and decoding addressing circuit are constituted.Cmos device has reading capability, excellent immediately
It is the integrated performance of function (easily integrated with A/D change-over circuits, digital signal processing circuit etc. together with, low manufacture cost), relatively low
The advantages of for consumption and operating voltage, image processing apparatus is CPU.
Speed data collection unit includes velocity sensor, filter circuit and the microprocessor being in series, and velocity sensor is used for
Speed is perceived, the GES of collection is filtered processing by filter circuit, exported after being converted into data signal through microprocessor
To processing unit.The electricity for including operational amplifier U1 such as Fig. 5, filter circuit, being connected with operational amplifier U1 reverse input ends
Resistance R, the electric capacity C being connected between operational amplifier U1 output ends and reverse input end, operational amplifier U1 input in the same direction
Hold connection+8V voltage signals, its output end connection microprocessor.Automatic brake controller is ABS control devices, ABS controls
Device is in the car as automobile braking device.
Processing unit and CPU are CPU (central processing units).
The principle of automobile automatic brake system is：CCD camera or CMOS camera are generally located at around vehicle body, it is excellent
It is that CCD camera or CMOS camera are three to select scheme, is arranged at before vehicle body, and three cameras be arranged in it is flat with ground
On capable same straight line, the principle felt using trinocular vision measures distance of the image away from vehicle body and the angle with vehicle body.
So-called three visions are exactly to place three video cameras on the same line, and every video camera the longitudinal axis all with
The straight line is vertical.Video signal is believed by being just converted into composite video signal or component video after camera
Number, these signals are directly connected in the CPU with video interface, and these vision signals directly can be converted to numeral by this CPU
Image, this kind of CPU is a lot, can be serial using the OMAP of Texas Instruments, ANYKA AK3210 series etc..
Assuming that image Is on the basis of the image of shot by camera on centre position, other two shootings positioned at both sides
The image that machine is correspondingly shot is IL, IR.It is relative with point of the datum line on the benchmark image Is on Bi at any time
Horizontal parallax dRi, the dRi answered can be tried to achieve from stereo pairs.Parallax dLi, dRi and the datum line pass apart from BLi, BRi
System can be verified by following formula：
(dRi-ε)≤dLi*BRi/BLi≤(dRi+ε)
(dLi-ε)≤dRi*BLi/BRi≤(dLi+ε)
Wherein ε is the resolution ratio of image.Meeting the parallax di of above formula relation point can be obtained by following formula：
Di=dLi+dRi
After specify that the relative installation of three cameras, it is possible to determine parallax dRi, dRi.
In the matching of method is felt with trinocular vision, parallax information can be obtained with above-mentioned formula, reliability is obtained very high
Information.
The distance between observed by stereoscopic vision, can obtain with barrier, video camera is installed in vehicle front, if installing high
Spend for H, vehicle width is that the ground immediately below W, camera is origin O, and short transverse is set to Z axis, the perpendicular ground with Z axis
O-XY is the plane of running car.It is x, Y picture point p (x, Y) for coordinate in the picture, if with trinocular vision feel side
It is d that method, which calculates obtained parallax, then the relation of the locus of corresponding obstacle object point P (X, Y, Z) can simply be counted by following formula
Calculate：
Wherein, B is that trinocular vision feels ground reference linear distance, and f is the focal length of video camera, and R is table
Show the transformation matrix of camera direction.The image information of barrier out of the visual field, deflection θ can be obtained and apart from L by following formula
θ=arctan (X/Y)
。
But whether perform that self-actuating brake control should also determine that video camera photographed is barrier.In mobile environment
The barrier driven can be turned into, be defined as in limited distance L (parallax d ≠ 0), the coordinate value of point Z spatially compares vapour
The height H of car is low, and automobile itself has no ability to the object of leap.In order to correctly identify wheeled region and barrier
Hinder thing, using the parallax for the boundary point for meeting following formula, the method for detecting barrier：
In above formula, I (x, Y) is the distributed function of image, and δ is threshold value when extracting boundary point.Felt using trinocular vision
Stereo matching and choose appropriate threshold value, it is possible to obtain the parallax information with high reliability.
Because the parallax information of boundary point is discrete data, so the data for being sent to expression barrier in central processing unit are also
Discrete.In these data, because the influence of noise can have some uncertain data, the acquisition of this information of adjusting the distance
Can have a significant impact.In order to reduce these influences, it can make with the following method to delete uncertain data.Tried to achieve by visual information
Barrier data due to image resolution ratio ε influence, deflection error Δ θ and range error Δ L (d) can be produced
If barrier data are obtained by the part comprising multiple boundary points, the range delta that can be calculated by following equation is located at
In S, it is assumed that barrier has continuity, then it can estimate and certainly exist multiple barrier data：
Here, when making the pretreatment of obstacle information, if if the barrier data less than two are only existed in Δ S,
This barrier data is considered as uncertain data deletion.After the pretreatment of obstacle information, resulting data are just recognized
Position actual barrier data.But it is due to that after sliding-model control, gap occurs between barrier data.Thus gap
Influence can make the range information calculated produce error, so we will also be generated to barrier according to following processing sequence
Boundary line, it is possible to try to achieve the regional extent of wheeled.
A) if the width W of the gap-ratio automobile between barrier data is narrow, impassable data processing is just made.
B) along any direction can driving distance be defined to it is most short apart from barrier in barrier data in this direction
Distance.
C) by A), B) after processing obtained by the expression range points that can walk connected with straight line, the company formed
The dirigible distance that line is defined as on the boundary line of barrier, any direction is limited within obstacles borders line.
The position of barrier specifically can also be determined with reference to the method for robot probe's barrier.
Processing unit, receives output data and the preset value progress pair of image acquisition and processing unit and speed data collection unit
Than, as Lout >=l, Vout >=v during output signal D, otherwise not output signal D,
When CPU receives signal D, and when receiving signal JY, control oil supply system is stopped, and controls to stop
Car system is braked；
In the case where CPU receives signal D, and signal S is received, control brake system is braked.
A kind of brake method, comprises the following steps：
A1, vehicle front view data within the vision is constantly gathered by image acquisition and processing unit and preceding object is calculated
Lout is exported behind the position of thing；By speed data collection unit, constantly collect the current speed per hour of automobile and export Vout；
B1, processing unit, the output data for receiving image acquisition and processing unit and speed data collection unit are contrasted with preset value,
As Lout >=l, Vout >=v during output signal D, otherwise not output signal；
C1,1) in the case where CPU is not received by signal D, and when receiving signal JY, control oil supply system
Carry out increase fuel delivery；In the case where CPU is not received by signal D, and when receiving signal JW, control is supplied
Oil system maintains fuel delivery to cause automobile to keep speed constant；Signal D, signal JY, letter are not received by CPU
During number JW, control oil supply system is closed；In the case where CPU is not received by signal D, and receive signal S
When, control brake system is braked, and otherwise brake system is closed；
2) in the case where CPU receives signal D, and when receiving signal JY, close oil supply system and start and stop
Car system；In the case where CPU receives signal D, and when receiving signal JW, control oil supply system, which is reduced, to be supplied
Oil mass causes car deceleration；Signal D is received in CPU, when being not received by signal JY, signal JW, fuel feeding is controlled
System is closed；In the case where CPU receives signal D, and when receiving signal S, control brake system is stopped
Car, otherwise brake system closing.
Signal JY, signal JW and signal S can only have one simultaneously.
Claims (6)
1. a kind of automobile brake system, it is characterised in that：Including
Image acquisition and processing unit, gathers vehicle front view data within the vision and calculates behind the position of front obstacle
Export Lout；
Speed data collection unit, collects the current speed per hour of automobile and exports Vout；
Processing unit, the output data for receiving image acquisition and processing unit and speed data collection unit is contrasted with preset value, when
When Lout >=l, Vout >=v during output signal D, wherein v is preset value speed, and l is the pre-determined distance of barrier and car；
Motor unit, including gas pedal, brake pedal, brake system and oil supply system, gas pedal is trampled so that automobile adds
Output signal JY when fast, gas pedal sends signal WY when trampling maintenance car speed, output signal S when brake pedal is trampled；
CPU, receives signal D, signal S, signal JY, signal WY and output signal control brake system and fuel feeding system
System, when receiving signal D, CPU fuel cut-off system and starts brake system when receiving signal JY.
2. automobile brake system according to claim 1, it is characterized in that：Described image acquisition process unit is adopted including image
Acquisition means and image processing apparatus, image collector are set to CCD camera or CMOS camera, the CCD camera or CMOS
Camera is three, is arranged at before vehicle body, and three cameras are arranged on same straight line parallel to the ground, image procossing
Device is CPU.
3. automobile brake system according to claim 1, it is characterized in that：The speed that speed data collection unit includes being in series is passed
Sensor, filter circuit and microprocessor, velocity sensor are used to perceive speed, and filter circuit is filtered the GES of collection
Ripple processing, processing unit is output to after being converted into data signal through microprocessor.
4. automobile brake system according to claim 1, it is characterized in that：Brake system is ABS brake system.
5. automobile brake system according to claim 1, it is characterized in that：The processing unit and CPU are
CPU。
6. a kind of brake method, it is characterised in that comprise the following steps：
A1, vehicle front view data within the vision is constantly gathered by image acquisition and processing unit and preceding object is calculated
Lout is exported behind the position of thing；By speed data collection unit, constantly collect the current speed per hour of automobile and export Vout；
B1, output data and the preset value progress pair by processing unit reception image acquisition and processing unit and speed data collection unit
Than, as Lout >=l, Vout >=v during output signal D, otherwise not output signal；
C1,1) in the case where CPU is not received by signal D, and when receiving signal JY, control oil supply system
Carry out increase fuel delivery；In the case where CPU is not received by signal D, and when receiving signal JW, control is supplied
Oil system maintains fuel delivery；When CPU is not received by signal D, signal JY, signal JW, control oil supply system is closed
Close；In the case where CPU is not received by signal D, and when receiving signal S, control brake system is stopped
Car, otherwise brake system closing；
2) in the case where CPU receives signal D, and when receiving signal JY, close oil supply system and start and stop
Car system；In the case where CPU receives signal D, and when receiving signal JW, control oil supply system, which is reduced, to be supplied
Oil mass；Signal D is received in CPU, when being not received by signal JY, signal JW, control oil supply system is closed；
In the case that CPU receives signal D, and when receiving signal S, control brake system is braked, and is otherwise braked
System is closed.
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| CN201611047539.8A CN107031398A (en) | 2016-11-23 | 2016-11-23 | Automobile brake system and brake method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611047539.8A CN107031398A (en) | 2016-11-23 | 2016-11-23 | Automobile brake system and brake method |
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| CN107031398A true CN107031398A (en) | 2017-08-11 |
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| CN201611047539.8A Pending CN107031398A (en) | 2016-11-23 | 2016-11-23 | Automobile brake system and brake method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108437794A (en) * | 2018-03-20 | 2018-08-24 | 重庆电讯职业学院 | A kind of automobile speed limit system |
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
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| CN1944124A (en) * | 2005-10-09 | 2007-04-11 | 比亚迪股份有限公司 | Automobile automatic brake system and method based on image processing |
| CN201932003U (en) * | 2010-11-27 | 2011-08-17 | 潘旭 | Speed measuring auxiliary braking system |
| CN203318174U (en) * | 2013-06-06 | 2013-12-04 | 雷建设 | Vehicular rear-end collision prevention device |
| CN205256312U (en) * | 2015-07-17 | 2016-05-25 | 洛阳师范学院 | Throttle becomes safe control system of brake under motor vehicle emergency |
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| CN1944124A (en) * | 2005-10-09 | 2007-04-11 | 比亚迪股份有限公司 | Automobile automatic brake system and method based on image processing |
| CN201932003U (en) * | 2010-11-27 | 2011-08-17 | 潘旭 | Speed measuring auxiliary braking system |
| CN203318174U (en) * | 2013-06-06 | 2013-12-04 | 雷建设 | Vehicular rear-end collision prevention device |
| CN205256312U (en) * | 2015-07-17 | 2016-05-25 | 洛阳师范学院 | Throttle becomes safe control system of brake under motor vehicle emergency |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108437794A (en) * | 2018-03-20 | 2018-08-24 | 重庆电讯职业学院 | A kind of automobile speed limit system |
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
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