CN107264523B - Control method for vehicle and system - Google Patents
Control method for vehicle and system Download PDFInfo
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- CN107264523B CN107264523B CN201710446105.3A CN201710446105A CN107264523B CN 107264523 B CN107264523 B CN 107264523B CN 201710446105 A CN201710446105 A CN 201710446105A CN 107264523 B CN107264523 B CN 107264523B
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
-
- 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
- B60W2520/28—Wheel speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
-
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
Abstract
The present invention proposes a kind of control method for vehicle and system, wherein method includes: the maximum deceleration that obtains road surface locating for current vehicle and can be provided；Obtain include relative velocity between target vehicle and current vehicle and/or when away from the first data；Wherein, target vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle；Determine whether target vehicle is in on-position according to the first data；When target vehicle is in on-position, desired deceleration needed for obtaining current vehicle；According to maximum deceleration and desired deceleration, judge current vehicle with the presence or absence of the risk that knocks into the back；When existing, when knocking into the back risk, control current vehicle is with maximum deceleration retarding braking and steering.This method is using the maximum deceleration that road surface locating for current vehicle can be provided and required desired deceleration as a foundation for judging whether there is the risk that knocks into the back, it solves and does not consider that condition is adhered on road surface in existing ACC control process, lead to the problem that control effect is poor, safety is low.
Description
Technical field
The present invention relates to Vehicle Engineering more particularly to a kind of control method for vehicle and systems.
Background technique
Currently, pure electric automobile reduces discharge, reduces oil leakage bring water pollution compared with orthodox car.
Therefore pure electric automobile is more and more popular with consumers.
Self-adaption cruise system (Adaptive Cruise Control, abbreviation ACC) controls the safety traffic of vehicle, can
Effectively to alleviate the driving fatigue of driver, the safety traffic of vehicle ensure that.In vehicle travel process, when with front truck
The distance between it is too small when, ACC can by with anti-blocking brake system, engine control system coordination, keep wheel suitable
Work as braking, and decline the output power of engine, so that vehicle and front vehicles remain safe distance.Currently, adaptive
It answers cruise system to apply on conventional fuel oil automobile more, and is seldom applied on pure electric automobile.
The control ability of ACC is often influenced by road surface attachment condition.It is especially low attached in sand ground, muddy ground, snowfield etc.
Under pavement conditions, when front vehicles carry out emergency brake, since the adhesive force that road surface is capable of providing is limited, in the activation of ACC
Under the conditions of, it may appear that current vehicle brake weight is insufficient, to cause the risk that knocks into the back, thus can reduce control effect, and then reduces
The safety of automobile.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of control method for vehicle, to realize according to locating for vehicle
Desired deceleration needed for maximum deceleration and vehicle that road surface can be provided judges that vehicle with the presence or absence of the risk that knocks into the back, is used for
It solves not accounting for attachment condition in road surface in existing automobile control method, causes control effect poor, the low problem of vehicle safety.
Second object of the present invention is to propose a kind of vehicle control system.
Third object of the present invention is to propose a kind of controller of vehicle.
Fourth object of the present invention is to propose a kind of computer program product.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of control method for vehicle, comprising: obtain current
The maximum deceleration that road surface locating for vehicle can be provided；Obtain include relative velocity between target vehicle and current vehicle and/
Or when away from the first data；Wherein, target vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle；Root
Determine whether target vehicle is in on-position according to the first data；When target vehicle is in on-position, current vehicle is obtained
Required desired deceleration；According to maximum deceleration and desired deceleration, judge current vehicle with the presence or absence of the risk that knocks into the back；When depositing
When knocking into the back risk, current vehicle is controlled with maximum deceleration retarding braking and steering.
The control method for vehicle of the embodiment of the present invention, the maximum deceleration that can be provided by obtaining road surface locating for current vehicle
Degree, and including between target vehicle and current vehicle relative velocity and/or when away from the first data, it is true according to the first data
Whether the vehicle that sets the goal is in on-position, and when target vehicle is in on-position, target needed for obtaining current vehicle subtracts
Speed, and according to maximum deceleration and desired deceleration, current vehicle is judged with the presence or absence of the risk that knocks into the back, when in the presence of the risk that knocks into the back
When, current vehicle is controlled with maximum deceleration retarding braking and steering.In the present embodiment, increase root on ACC original function
Judge that vehicle whether there is the function for the risk that knocks into the back according to road surface attachment condition.It, will be current when front vehicles are in on-position
Desired deceleration needed for maximum deceleration and current vehicle that road surface locating for vehicle can be provided, chases after as judging whether there is
One foundation of a tail wind danger, solve do not accounted in existing ACC control process road surface attachment condition, cause control effect it is poor,
The low problem of safety, improves automobile control effect and safety.
In addition, the control method for vehicle of the embodiment of the present invention, also has following additional technical characteristic:
In one embodiment of the invention, the maximum deceleration that road surface locating for current vehicle can be provided is obtained, comprising:
Obtain the coefficient of road adhesion on current vehicle road surface；Maximum deceleration is obtained according to coefficient of road adhesion.
In one embodiment of the invention, the coefficient of road adhesion on current vehicle road surface is obtained, comprising: front truck is worked as in acquisition
Driving wheel and driven wheel wheel speed information；The vehicle speed information of current vehicle is calculated according to wheel speed information；According to wheel speed information
And vehicle speed information, the slip rate of driving wheel is calculated；According to the mass center acceleration of current vehicle and the slip rate of driving wheel, really
Determine coefficient of road adhesion.
In one embodiment of the invention, maximum deceleration is obtained according to coefficient of road adhesion, comprising: obtain locating road
The grade information in face and the weight of current vehicle；According to grade information and weight, current vehicle is obtained relative to locating road surface
Vertical stress component；According to vertical stress component and coefficient of road adhesion, maximum deceleration is obtained.
In one embodiment of the invention, according to maximum deceleration and desired deceleration, judge whether current vehicle is deposited
In the risk that knocks into the back, comprising: desired deceleration to be compared with maximum deceleration；If desired deceleration is greater than maximum deceleration
Degree then determines there is the risk that knocks into the back.
In one embodiment of the invention, determine whether target vehicle is in on-position according to the first data, comprising:
By relative velocity compared with the relative velocity of previous moment；When relative velocity is less than the relative velocity of previous moment, mesh is determined
Mark vehicle is in on-position；Alternatively, when by when first away from second with previous moment away from compared with；If away from less than when first
Away from determining that target vehicle is in on-position when two.
In one embodiment of the invention, continue road pavement attachment coefficient to be detected；Judge that the road surface detected is attached
The corresponding danger classes of coefficient whether decline；If danger classes declines, target vehicle is reselected in locating lane
It is followed.
In one embodiment of the invention, during controlling current vehicle steering, obtain what preparation turned in real time
Image information in target lane；Judged in target lane according to described image information with the presence or absence of side vehicle；Wherein side
Vehicle is the vehicle that the distance between current vehicle is lower than preset threshold；If there are side vehicle in described image information,
It then controls current vehicle and issues warning information.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of vehicle control system, comprising: ACU is used for
Obtain the maximum deceleration that road surface locating for current vehicle can be provided；Data acquisition device, for obtain include target vehicle with
Relative velocity between current vehicle and/or when away from the first data；Wherein, target vehicle be positioned at current vehicle front and
The vehicle nearest apart from current vehicle；ACC, for determining whether target vehicle is in on-position according to the first data, in mesh
When mark vehicle is in on-position, desired deceleration needed for obtaining current vehicle, and subtracted according to maximum deceleration and target
Speed, judge current vehicle with the presence or absence of knocking into the back risk, and judge to exist knock into the back risk when, control the ESP of current vehicle
It is turned to the EPS of maximum deceleration retarding braking and control current vehicle；ESP, for the instruction according to ACC, front truck is worked as in control
With maximum deceleration retarding braking；EPS controls steering mechanism and is turned to for the instruction according to ACC.
The vehicle control system of the embodiment of the present invention obtains the maximum that road surface locating for current vehicle can be provided by ACU
Deceleration, obtained by data acquisition device include relative velocity between target vehicle and current vehicle and/or when away from the
One data, ACC determine whether target vehicle is in on-position according to the first data, when target vehicle is in on-position,
Desired deceleration needed for obtaining current vehicle, and according to maximum deceleration and desired deceleration, judge whether current vehicle is deposited
In the risk that knocks into the back, when risk is knocked into the back in presence, the ESP of current vehicle is controlled with maximum deceleration retarding braking and is controlled current
The EPS of vehicle is turned to.In the present embodiment, increase on ACC original function and judge that vehicle is according to road surface attachment condition
The no function of there is the risk that knocks into the back.When front vehicles are in on-position, road surface locating for current vehicle can be provided most
Desired deceleration needed for big retarding degree and current vehicle is solved as a foundation for judging whether there is the risk that knocks into the back
Attachment condition in road surface is not accounted in existing ACC control process, is led to the problem that control effect is poor, safety is low, is improved vapour
Vehicle control effect and safety.
In addition, the vehicle control system of the embodiment of the present invention, also has following additional technical characteristic:
In one embodiment of the invention, system is adhered on ACU, the road surface specifically for obtaining road surface locating for current vehicle
Number, and maximum deceleration is obtained according to coefficient of road adhesion.
In one embodiment of the invention, ESP, specifically for obtaining the driving wheel of current vehicle and the wheel speed of driven wheel
Information, the vehicle speed information of current vehicle is calculated according to wheel speed information, and wheel speed information and vehicle speed information are issued ACU；ACU, tool
Body is used to the slip rate of driving wheel be calculated, according to the mass center acceleration of current vehicle according to wheel speed information and vehicle speed information
With the slip rate of driving wheel, coefficient of road adhesion is determined.
In one embodiment of the invention, ACU, specifically for obtaining the grade information and current vehicle on locating road surface
Weight obtains vertical stress component of the current vehicle relative to locating road surface, according to vertical stress component and road according to grade information and weight
Face attachment coefficient, obtains maximum deceleration.
In one embodiment of the invention, ACC, specifically for desired deceleration is compared with maximum deceleration,
If desired deceleration is greater than maximum deceleration, determine there is the risk that knocks into the back.
In one embodiment of the invention, ACC, specifically with relative velocity compared with the relative velocity of previous moment, when
When relative velocity is less than the relative velocity of previous moment, determine that target vehicle is in on-position；Alternatively, by when first away from it is preceding
One moment second when away from comparing, if when first away from less than second when away from determining that target vehicle is in on-position.
In one embodiment of the invention, ACU is also used to continue road pavement attachment coefficient and is detected；ACC is also used
Whether decline in the corresponding danger classes of coefficient of road adhesion that judgement detects, if danger classes declines, in locating vehicle
Target vehicle is reselected in road to be followed.
In one embodiment of the invention, ACC is also used to obtain in real time during controlling current vehicle steering
Prepare the image information in the target lane turned to, is judged in target lane according to image information with the presence or absence of side vehicle；Its
Middle side vehicle is the vehicle that the distance between current vehicle is lower than preset threshold, if there are side vehicles in image information
, then pass through the BCM and/or ICM sending warning information on current vehicle.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of controller of vehicle, including memory and
Processor, wherein processor is run by reading the executable program code stored in memory and executable program code
Corresponding program, for executing control method for vehicle described in first aspect embodiment.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of computer program product, when computer journey
When instruction in sequence product is executed by processor, control method for vehicle described in first aspect embodiment is executed.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which is characterized in that realizes that first aspect is implemented when the computer program is executed by processor
Control method for vehicle described in example.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of structural schematic diagram of vehicle control system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another vehicle control system provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of control method for vehicle provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another control method for vehicle provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the control method for vehicle and system of the embodiment of the present invention are described.
The control ability of ACC on vehicle is often influenced by road surface attachment condition.For example, in sand ground, muddy ground, snow
Under the low attached pavement conditions such as ground, when front vehicles carry out emergency brake, since the adhesive force that road surface is capable of providing is limited, even if
Under the control of ACC, it also will appear current vehicle brake deficiency, to cause the risk that knocks into the back, thus control effect can be reduced, into
And reduce the safety of automobile.
For the above problem, the embodiment of the present invention installs ACC additional on pure electric automobile, and on ACC original function,
It increases and judges that vehicle whether there is the function for the risk that knocks into the back according to road surface attachment condition, propose a kind of vehicle control system, with
Whether desired deceleration needed for realizing the maximum deceleration and vehicle that the road surface according to locating for vehicle can be provided, judge vehicle
In the presence of the risk that knocks into the back, road surface attachment condition is not accounted for for solving existing automotive control system, causes its control effect poor, vapour
The low problem of vehicle safety.
Fig. 1 is a kind of structural schematic diagram of vehicle control system provided in an embodiment of the present invention.
As shown in Figure 1, the vehicle control system includes: coefficient of road adhesion identification controller (Adhesion
Coefficient Control Unit, abbreviation ACU) 110, data acquisition device 120, ACC 130, electronic stability system
(Electronic Stability Program, abbreviation ESP) 140, electric boosting steering system (Electric Power
Steering, abbreviation EPS) 150.
ACU 110 is for obtaining the maximum deceleration that road surface locating for current vehicle can be provided.
During current vehicle is in drive mode, ACU 110 can be passed by the wheel wheel speed being arranged on wheel
Sensor gets the wheel speed information of wheel, can calculate vehicle speed information based on wheel speed information.Further, 110 basis of ACU
The mass center acceleration of the current vehicle of wheel speed information, vehicle speed information and acceleration transducer acquisition, available current vehicle
The maximum deceleration that locating road surface can be provided.
Data acquisition device 120 be used for obtains including between target vehicle and current vehicle relative velocity and/or when away from
The first data.Wherein, target vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle；When away from referring to
In the case that current vehicle is travelled according to present speed in the vehicle platoon travelled on same lane, current vehicle can be chased after
Time needed for upper target vehicle.
ACC 130 is used to determine whether target vehicle is in on-position according to the first data, is in and makes in target vehicle
When dynamic state, desired deceleration needed for obtaining current vehicle, and according to maximum deceleration and desired deceleration, judgement is current
Vehicle with the presence or absence of knocking into the back risk, and judge to exist knock into the back risk when, control the ESP 140 of current vehicle with maximum deceleration
Spend retarding braking and steering.
ESP 140 is used for the instruction according to ACC 130, and control current vehicle with maximum deceleration retarding braking and controls
EPS150 is turned to.
EPS 150, according to the instruction of ACC 130, the steering mechanism for controlling current vehicle is turned to.
The vehicle control system of the embodiment of the present invention obtains the maximum that road surface locating for current vehicle can be provided by ACU
Deceleration, obtained by data acquisition device include relative velocity between target vehicle and current vehicle and/or when away from the
One data, ACC determine whether target vehicle is in on-position according to the first data, when target vehicle is in on-position,
Desired deceleration needed for obtaining current vehicle, and according to maximum deceleration and desired deceleration, judge whether current vehicle is deposited
In the risk that knocks into the back, when exist knock into the back risk when, control the ESP of current vehicle with maximum deceleration retarding braking and control EPS into
Row turns to.In the present embodiment, increase on ACC original function and judge vehicle with the presence or absence of the wind that knocks into the back according to road surface attachment condition
The function of danger.When front vehicles are in on-position, by maximum deceleration that road surface locating for current vehicle can be provided and work as
Desired deceleration needed for vehicle in front solves existing ACC and controlled as a foundation for judging whether there is the risk that knocks into the back
Attachment condition in road surface is not accounted in journey, is led to the problem that control effect is poor, safety is low, is improved automobile control effect and peace
Quan Xing.
For an embodiment in clear explanation, illustrated below with reference to Fig. 2 by a specific embodiment proposed by the present invention
Vehicle control system.
As shown in Fig. 2, the vehicle control system can be divided into three layers: sensing layer, decision-making level, execution level.
Wherein, sensing layer include for identification the ACU of coefficient of road adhesion, be installed on it is preposition at air-inlet grille before vehicle
Radar probe, the forward sight camera being installed in inside rear-view mirror, the side view camera for being installed on two side vehicle door side faces, wheel wheel speed
Sensor etc..
Decision-making level includes ACC 130, the main control function for realizing vehicle control system.
Execution level includes ESP 140, car body controller (Body Control module, abbreviation BCM), combination instrument control
Device (Instrument Control Management, abbreviation ICM) processed, EPS150 etc..
The specific work process of the vehicle control system is as follows:
During current vehicle is in drive mode, the wheel speed information of wheel wheel speed sensors acquisition wheel is simultaneously sent to
After ESP140, ESP 140 obtains the driving wheel of current vehicle and the wheel speed information of driven wheel, front truck is worked as according to the calculating of wheel speed information
Vehicle speed information, and wheel speed information and vehicle speed information are passed through into controller local area network (Controller Area
Network, abbreviation CAN) bus is sent to ACU 110.
The slip rate of driving wheel is calculated according to wheel speed information and vehicle speed information in ACU 110, wherein the cunning of driving wheel
Shifting rate refers to slides ratio shared by ingredient in wheel movement, for characterizing adherence properties.The calculation method of the slip rate of driving wheel,
As shown in formula one.
Formula one:
Wherein, s is the slip rate of driving wheel, and u is speed, uwFor wheel velocity.
The mass center acceleration for the current vehicle that ACU 110 is acquired further according to the slip rate and acceleration transducer of driving wheel,
Road surface types are identified in such a way that two dimension is tabled look-up and obtain accurate coefficient of road adhesion.
Later, ACU 110 obtains the weight of current vehicle and the road gradient information of acceleration transducer acquisition, such as road surface
Vertical point of current vehicle relative to locating road surface is obtained and according to the weight of grade information and vehicle with the angle of horizontal plane
Power obtains maximum deceleration further according to vertical stress component and coefficient of road adhesion, and is sent to ACC 130 by CAN bus.
Meanwhile data acquisition device 120, target vehicle is acquired by preposition radar probe and forward sight camera and works as front truck
Relative velocity between, when away from etc., to obtain the first data, and the first data are sent to ACC 130.
After ACC 130 receives the first data, determine whether target vehicle is in on-position according to the first data.At this
In one embodiment of invention, it can be judged by the relative velocity of current vehicle and target vehicle.It specifically, will be current
The relative velocity at moment is compared with the relative velocity of previous moment, when relative velocity is less than the relative velocity of previous moment
When, it can determine that target vehicle is in on-position, when relative velocity is greater than the relative velocity of previous moment, can determine mesh
Mark vehicle is in acceleration mode.
In another embodiment, can by when away from being judged.Specifically, by when the first of current time away from
When the second of previous moment away from compared with, if when first away from less than second when away from illustrating between current vehicle and target vehicle
Distance reduce, then can determine that target vehicle is in on-position.
It is of course also possible to be judged in conjunction with above two mode, to improve the accuracy of judgement.Packet of the embodiment of the present invention
It includes but is not limited to the above-mentioned method for judging target vehicle and whether being in on-position.
When target vehicle is in on-position, desired deceleration needed for ACC 130 obtains current vehicle, target deceleration
The calculation method of degree, as shown in formula two.
Formula two:
Wherein, V1For the instantaneous velocity of current vehicle, V2For the instantaneous velocity of target vehicle, Δ t is predetermined period, and a is meter
The desired deceleration of obtained current vehicle.
ACC 130 receives the maximum deceleration that ACU 110 is sent, and compares the big of maximum deceleration and desired deceleration
It is small.If desired deceleration is greater than maximum deceleration, due to being limited by road surface, even if subtracting in the maximum that road surface can be provided
In the case that speed is less than desired deceleration, current vehicle can only also slow down according to maximum deceleration, will lead in this way
Current vehicle can not stop before knocking into the back.When controlling the ESP 140 of current vehicle with maximum deceleration retarding braking, in order to
It avoids knocking into the back, the EPS 150 by controlling current vehicle is turned to, instruction of the EPS 150 according to ACC 130, control
Steering mechanism turns to.If desired deceleration is less than maximum deceleration, the ESP 140 of current vehicle is controlled with target deceleration
Degree carries out follow the bus braking in current lane.
Since deceleration is vector, in embodiments of the present invention, when comparing maximum deceleration and desired deceleration, compare
It is the order of magnitude of the two.For example, desired deceleration, which is greater than maximum deceleration, refers to that the absolute value of desired deceleration is greater than most
The absolute value of big retarding degree.
In order to improve the safety when turning to, during controlling current vehicle steering, ACC 130 can pass through side view
Camera obtains the image information in the target lane for preparing to turn to, in real time to judge to be in target lane according to image information
It is no that there are side vehicles.Wherein, side vehicle is the vehicle that the distance between current vehicle is lower than preset threshold, preset threshold
It can be configured according to actual needs.
If BCM and ICM of the ACC 130 on current vehicle send early warning letter there are side vehicle in image information
Breath.After BCM receives warning information, hazard warning light is opened, ICM plays urgent early warning voice, realizes through vision and listens
The mode of feel reminds the driver of current vehicle using whistle mode, reminds side vehicle evacuation, avoids that traffic accident occurs,
Improve safety when steering.
It in order to further improve the security, can be according to practical test as a result, pre-establishing coefficient of road adhesion and danger etc.
The corresponding relationship of grade.During target vehicle braking, the ACU 110 of current vehicle persistently detects coefficient of road adhesion, and
It is sent to ACC 130.ACC 130 obtains current road item by the corresponding relationship of inquiry coefficient of road adhesion and danger classes
The corresponding danger classes of part, to judge whether the corresponding danger classes of coefficient of road adhesion detected declines.If danger etc.
Grade decline, then reselect target vehicle in locating lane and followed.If pavement conditions are not improved, ACC 130
Determine danger classes upgrading, then controls current vehicle and continue to turn to.
The vehicle control system that the embodiment of the present invention proposes, it is contemplated that real-time coefficient of road adhesion improves vehicle control
The control effect of system processed, judge current vehicle and target vehicle exist knock into the back risk when, turned in time, so as to
The existing risk that knocks into the back, improves vehicle when preventing caused by being underestimated due to road pavement adhesion condition to lose control of one's vehicle
Safety.
In order to achieve the above object, the embodiment of the present invention also proposes a kind of control method for vehicle.
Fig. 3 is a kind of flow chart of control method for vehicle provided by the embodiment of the present invention.
As shown in figure 3, the control method for vehicle includes:
S301 obtains the maximum deceleration that road surface locating for current vehicle can be provided.
It in an embodiment of the present invention, can be opposite by the coefficient of road adhesion and current vehicle on road surface locating for current vehicle
Vertical stress component in locating road surface obtains the maximum deceleration that locating road surface can be provided.
Specifically, believed first according to the wheel speed of the driving wheel of the current vehicle of wheel wheel speed sensors acquisition and driven wheel
Breath, calculates the vehicle speed information of current vehicle.Then, according to wheel speed information and vehicle speed information, the slip rate of driving wheel is calculated.
The mass center acceleration of the current vehicle of slip rate and acceleration transducer acquisition further according to driving wheel, passes through two-dimentional inquiry mode
It identifies road surface types and determines coefficient of road adhesion.
Meanwhile the grade information on road surface is obtained by acceleration transducer, such as the angle on road surface and horizontal plane, according to acquisition
Grade information and current vehicle weight, calculate vertical stress component of the current vehicle relative to locating road surface.
Finally, road surface locating for current vehicle, which is calculated, can be provided most according to coefficient of road adhesion and vertical stress component
Big retarding degree.
S302, obtain include relative velocity between target vehicle and current vehicle and/or when away from the first data.
Wherein, target vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle.
In embodiments of the present invention, it can be adopted by the preposition radar probe at air-inlet grille before being mounted on, forward sight camera
Collect relative velocity between target vehicle and current vehicle, when away from etc. the first data.
S303 determines whether target vehicle is in on-position according to the first data.
In one embodiment of the invention, can be judged by the relative velocity of current vehicle and target vehicle.
Specifically, the relative velocity at current time is compared with the relative velocity of previous moment, when relative velocity be less than it is previous when
When the relative velocity at quarter, it can determine that target vehicle is in on-position, when relative velocity is greater than the relative velocity of previous moment
When, it can determine that target vehicle is in acceleration mode.
In another embodiment, can by when away from being judged.Specifically, by when the first of current time away from
When the second of previous moment away from compared with, if when first away from less than second when away from illustrating between current vehicle and target vehicle
Distance reduce, then can determine that target vehicle is in on-position.
It is of course also possible to be judged in conjunction with above two mode, to improve the accuracy of judgement.Packet of the embodiment of the present invention
It includes but is not limited to the above-mentioned method for judging target vehicle and whether being in on-position.
S304, when target vehicle is in on-position, desired deceleration needed for obtaining current vehicle.
Wherein, the calculation method of desired deceleration is as shown in the formula two in above-described embodiment, and details are not described herein.
S305 judges current vehicle with the presence or absence of the risk that knocks into the back according to maximum deceleration and desired deceleration.
If desired deceleration is greater than maximum deceleration, it is possible to determine that current vehicle and target vehicle have the risk that knocks into the back.
That is, needing to slow down according to desired deceleration, just current vehicle can be made to stop before the target vehicle that knocks into the back.But due to
It is limited by road surface, even if in the case where the maximum deceleration that road surface can be provided is less than desired deceleration, current vehicle
Also can only slow down according to maximum deceleration, will lead to current vehicle in this way can not stop before knocking into the back.
Since deceleration is vector, in embodiments of the present invention, when comparing maximum deceleration and desired deceleration, compare
It is the order of magnitude of the two.For example, desired deceleration, which is greater than maximum deceleration, refers to that the absolute value of desired deceleration is greater than most
The absolute value of big retarding degree.
S306, when existing, when knocking into the back risk, control current vehicle is with maximum deceleration retarding braking and steering.
When the maximum deceleration that road surface can be provided is less than desired deceleration, due to being limited by pavement conditions, when
Vehicle in front can only slow down according to maximum deceleration, and at this moment current vehicle and target vehicle have the risk to knock into the back.In order to drop
The low risk that knocks into the back during controlling current vehicle with maximum deceleration retarding braking, and controls current vehicle and turns to other
Lane is knocked into the back to avoid with the target vehicle in current lane.
When desired deceleration is less than maximum deceleration, it can control current vehicle with desired deceleration, in current lane
Carry out follow the bus braking.
In order to illustrate more clearly of a upper embodiment, below with reference to Fig. 4 by taking electric car as an example, illustrate proposed by the present invention
Control method for vehicle.
As shown in figure 4, the control method for vehicle includes:
S401, entire car controller (Vehicle control Unit, abbreviation VCU) initialization.
It is powered on by connecting ON, wakes up VCU.After VCU is waken up, controller data initialization is carried out, and read electrically erasable
Except read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM)
In data.If there is irresistible failure to occur in a upper power up cycle, forbid powering on；It integrates vehicle and powers on preceding number
According to if there is lower electric fault, then VCU will forbid high pressure in system.
S402, VCU wake up each related controller.
VCU will judge vehicle mode, wherein vehicle mode includes but is not limited to remote mode, drive mode, slow
Mold filling formula, fast charge mode etc..If vehicle mode is determined as drive mode, VCU wakes up battery management system (Battery
Management System, abbreviation BMS), BCM, air-conditioner controller etc..
S403, VCU guidance vehicle power on.
VCU is powered on by each high voltage component of vehicle, to realize that vehicle powers on.
S404, radar, camera acquire data.
Based on the preposition radar probe being installed at preceding air-inlet grille, the forward sight camera acquisition being installed in inside rear-view mirror
Data, such as acquisition the distance between target vehicle and current vehicle data.
S405, obtain relative velocity, when away from.
Based on the data of step S404 acquisition, obtain relative velocity between current vehicle and target vehicle, when away from etc..
S406, MRR determine required desired deceleration, and obtain maximum deceleration.
Due to preposition millimeter wave detection radar controller (The Front Millimeter wave detection
Controller, abbreviation MRR) be ACC core controller, therefore can by MRR execute ACC function.
MRR can according to forward and backward vehicle relative velocity, when away from etc. determine target vehicle whether be in on-position, judgment method
As described in above-described embodiment, details are not described herein.When target vehicle is in on-position, target needed for determining current vehicle
Deceleration, calculation method is as shown in above-described embodiment.Meanwhile obtaining the maximum deceleration that road surface locating for current vehicle can be provided
Degree.
The calculation method of maximum deceleration, as shown in step S407-S412.
S407, the wheel speed information based on wheel wheel speed sensors acquisition driving wheel and driven wheel.
After obtaining wheel speed information, the vehicle speed information of current vehicle is calculated according to wheel speed information, and by wheel speed information and vehicle
Fast information is sent to ACU by CAN bus.
The slip rate of S408, ACU calculating driving wheel.
The slip rate of driving wheel is calculated based on wheel speed information and vehicle speed information by ACU, and calculation method is as shown in formula one.
S409 obtains mass center acceleration information based on acceleration transducer.
S410, ACU pass through two-dimentional inquiry mode and identify road surface types and obtain coefficient of road adhesion.
ACU identifies road surface according to the mass center acceleration information of acquisition and the slip rate of driving wheel, by two-dimentional inquiry mode
Type, and obtain coefficient of road adhesion.
S411 obtains grade information based on acceleration transducer.
And the grade information that will acquire is sent to ACU.
S412, ACU calculate the maximum deceleration that road surface can be provided.
ACU obtains the vertical stress component of current vehicle in conjunction with the weight of current vehicle according to the grade information of acquisition.Later,
According to vertical stress component and coefficient of road adhesion, the maximum deceleration that road surface locating for current vehicle can be provided is calculated, and will
Maximum deceleration is sent to MRR by CAN bus.
S413, MRR judge whether desired deceleration is less than maximum deceleration.
Desired deceleration needed for MRR judges current vehicle, if less than the maximum deceleration obtained from ACU.If mesh
It marks deceleration and is less than maximum deceleration, then follow the steps S415, ACC controls ESP with desired deceleration in current lane, to target
Vehicle carries out follow the bus braking.If desired deceleration is greater than maximum deceleration, S414 is thened follow the steps.
S414, MRR are controlled ESP and are turned to maximum deceleration retarding braking and control EPS.
Since the maximum deceleration that road surface can be provided is less than desired deceleration, there is the risk that knocks into the back.In order to reduce
The risk that knocks into the back MRR control ESP is braked with maximum deceleration, and is controlled EPS and turned to target lane, and current vehicle and mesh are avoided
Mark vehicle knocks into the back.
During steering, MRR can be monitored the vehicle in target lane by side view camera, if discovery side
Square vehicle then reminds driver's whistle by BCM and ICM, and specific method is shown in above-described embodiment, and details are not described herein.
S416, MRR judge whether the corresponding danger classes of coefficient of road adhesion declines.
During target vehicle is turned to, ACU persistently detects coefficient of road adhesion, and MRR judges road surface attachment system
Whether the corresponding danger classes of number declines.If danger classes upgrades, continues control EPS and turned to, until replacement lane,
Decline danger classes.
S417, using the nearest front truck in target lane as target vehicle.
If danger classes declines, using the nearest front vehicles in target lane as target vehicle, carry out again
It follows.
From fig. 4, it can be seen that during vehicle control, using pavement conditions as crosswise joint logic add access control method
In, it can reduce since traction is inadequate, lead to the risk that knocks into the back caused by current vehicle brake is insufficient, improve system
Safety.
The control method for vehicle of the embodiment of the present invention, the maximum deceleration that can be provided by obtaining road surface locating for current vehicle
Degree, and including between target vehicle and current vehicle relative velocity and/or when away from the first data, it is true according to the first data
Whether the vehicle that sets the goal is in on-position, and when target vehicle is in on-position, target needed for obtaining current vehicle subtracts
Speed, and according to maximum deceleration and desired deceleration, current vehicle is judged with the presence or absence of the risk that knocks into the back, when in the presence of the risk that knocks into the back
When, current vehicle is controlled with maximum deceleration retarding braking and steering.In the present embodiment, increase root on ACC original function
Judge that vehicle whether there is the function for the risk that knocks into the back according to road surface attachment condition.It, will be current when front vehicles are in on-position
Desired deceleration needed for maximum deceleration and current vehicle that road surface locating for vehicle can be provided, chases after as judging whether there is
One foundation of a tail wind danger, solve do not accounted in existing ACC control process road surface attachment condition, cause control effect it is poor,
The low problem of safety, improves automobile control effect and safety.
In order to achieve the above object, the embodiment of the present invention proposes a kind of controller of vehicle, including memory and processor,
In, processor runs journey corresponding with executable program code by reading the executable program code stored in memory
Sequence, for executing control method for vehicle described in above-described embodiment.
In order to achieve the above object, the embodiment of the present invention also proposed a kind of computer program product, work as computer program product
In instruction when being executed by processor, execute control method for vehicle described in above-described embodiment.
In order to achieve the above object, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, thereon
It is stored with computer program, which is characterized in that the computer program realizes vehicle described in above-described embodiment when being executed by processor
Control method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (16)
1. a kind of control method for vehicle characterized by comprising
Obtain the maximum deceleration that road surface locating for current vehicle can be provided；
Obtain include relative velocity between target vehicle and current vehicle and/or when away from the first data；Wherein, the target
Vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle, is travelled on same lane when described away from referring to
Vehicle platoon in, in the case that current vehicle is travelled according to present speed, current vehicle can be caught up with needed for target vehicle
Time；
Determine whether the target vehicle is in on-position according to first data, it is described to be determined according to first data
Whether the target vehicle is in on-position, comprising: by the relative velocity compared with the relative velocity of previous moment；Work as institute
When stating relative velocity of the relative velocity less than previous moment, determine that the target vehicle is in on-position；Alternatively, will this moment
When first away from second with previous moment away from compared with；If when described first away from when being less than described second away from determining the mesh
Mark vehicle is in on-position；
When the target vehicle is in on-position, desired deceleration needed for obtaining current vehicle；
According to the maximum deceleration and the desired deceleration, judge current vehicle with the presence or absence of the risk that knocks into the back；
When existing, when knocking into the back risk, control current vehicle is with the maximum deceleration retarding braking and steering.
2. control method for vehicle according to claim 1, which is characterized in that road surface institute energy locating for the acquisition current vehicle
The maximum deceleration of offer, comprising:
Obtain the coefficient of road adhesion on road surface locating for current vehicle；
The maximum deceleration is obtained according to the coefficient of road adhesion.
3. control method for vehicle according to claim 2, which is characterized in that the road for obtaining road surface locating for current vehicle
Face attachment coefficient, comprising:
Obtain the driving wheel of current vehicle and the wheel speed information of driven wheel；
The vehicle speed information of current vehicle is calculated according to the wheel speed information；
According to the wheel speed information and the vehicle speed information, the slip rate of the driving wheel is calculated；
According to the slip rate of the mass center acceleration of current vehicle and the driving wheel, the coefficient of road adhesion is determined.
4. control method for vehicle according to claim 2, which is characterized in that described to be obtained according to the coefficient of road adhesion
The maximum deceleration, comprising:
Obtain the locating grade information on road surface and the weight of current vehicle；
According to the grade information and the weight, vertical stress component of the current vehicle relative to the locating road surface is obtained；
According to the vertical stress component and the coefficient of road adhesion, the maximum deceleration is obtained.
5. control method for vehicle according to claim 1-4, which is characterized in that described according to the maximum deceleration
Degree and the desired deceleration judge current vehicle with the presence or absence of the risk that knocks into the back, comprising:
The desired deceleration is compared with the maximum deceleration；
If the desired deceleration is greater than the maximum deceleration, determine there is the risk that knocks into the back.
6. control method for vehicle according to claim 1-4, which is characterized in that further include:
Persistently the coefficient of road adhesion is detected；
Judge whether the corresponding danger classes of the coefficient of road adhesion detected declines；
If the danger classes decline, reselects target vehicle in locating lane and is followed.
7. control method for vehicle according to claim 1-4, which is characterized in that further include:
During controlling current vehicle steering, the image information in the target lane for preparing to turn to is obtained in real time；
Judged in the target lane according to described image information with the presence or absence of side vehicle；Wherein the side vehicle is and works as
The distance between vehicle in front is lower than the vehicle of preset threshold；
If there are the side vehicles in described image information, controls current vehicle and issue warning information.
8. a kind of vehicle control system characterized by comprising
Coefficient of road adhesion identification controller, the maximum deceleration that can be provided for obtaining road surface locating for current vehicle；
Data acquisition device, for obtain include relative velocity between target vehicle and current vehicle and/or when away from first
Data；Wherein, the target vehicle is the front positioned at current vehicle and the vehicle nearest apart from current vehicle, away from being when described
In the case where referring to that current vehicle is travelled according to present speed in the vehicle platoon that travels on same lane, current vehicle can be with
Time needed for catching up with target vehicle；
Self-adaption cruise system, for determining whether the target vehicle is in on-position according to first data, in institute
When stating target vehicle and being in on-position, desired deceleration needed for obtaining current vehicle, and according to the maximum deceleration
With the desired deceleration, judging current vehicle, when knocking into the back risk, control is worked as with the presence or absence of knocking into the back risk, and judging to exist
The electronic stability system of vehicle in front is with the electric power steering system of the maximum deceleration retarding braking and control current vehicle
System turns to；
The self-adaption cruise system, specifically with by the relative velocity compared with the relative velocity of previous moment, when the phase
When being less than the relative velocity of previous moment to speed, determine that the target vehicle is in on-position；Alternatively, by first this moment
When away from previous moment second when away from compared with, if when described first away from when being less than described second away from determining the target carriage
Be in on-position；
The electronic stability system, for the instruction according to the self-adaption cruise system, control current vehicle with it is described most
Big retarding degree retarding braking；
The electric boosting steering system controls the steering of current vehicle for the instruction according to the self-adaption cruise system
Mechanism turns to.
9. vehicle control system according to claim 8, which is characterized in that the coefficient of road adhesion identification controller,
It is described most specifically for obtaining the coefficient of road adhesion on road surface locating for current vehicle, and according to coefficient of road adhesion acquisition
Big retarding degree.
10. vehicle control system according to claim 9, which is characterized in that the electronic stability system is specifically used for
The driving wheel of current vehicle and the wheel speed information of driven wheel are obtained, is believed according to the speed that the wheel speed information calculates current vehicle
Breath, and the wheel speed information and the vehicle speed information are issued into the coefficient of road adhesion identification controller；
The coefficient of road adhesion identification controller is specifically used for being calculated according to the wheel speed information and the vehicle speed information
The road is determined according to the slip rate of the mass center acceleration of current vehicle and the driving wheel to the slip rate of the driving wheel
Face attachment coefficient.
11. vehicle control system according to claim 9, which is characterized in that the coefficient of road adhesion identification controller,
Specifically for obtaining the locating grade information on road surface and the weight of current vehicle, according to the grade information and described heavy
Amount obtains vertical stress component of the current vehicle relative to the locating road surface, according to the vertical stress component and road surface attachment system
Number, obtains the maximum deceleration.
12. according to the described in any item vehicle control systems of claim 8-11, which is characterized in that the adaptive cruise system
System, specifically for the desired deceleration to be compared with the maximum deceleration, if the desired deceleration is greater than institute
Maximum deceleration is stated, then determines there is the risk that knocks into the back.
13. according to the described in any item vehicle control systems of claim 8-11, which is characterized in that the coefficient of road adhesion is known
Other controller is also used to persistently detect the coefficient of road adhesion；
The self-adaption cruise system, be also used to judge the corresponding danger classes of the coefficient of road adhesion that detects whether under
Drop reselects target vehicle in locating lane and is followed if the danger classes declines.
14. according to the described in any item vehicle control systems of claim 8-11, which is characterized in that the adaptive cruise system
System is also used to obtain the monitoring video in the target lane for preparing to turn to, root in real time during controlling current vehicle steering
Judge in the target lane according to the monitoring video with the presence or absence of side vehicle；Wherein the side vehicle is and current vehicle
The distance between be lower than preset threshold vehicle, if there are the side vehicles in the monitoring video, by working as front truck
Car body controller and/or combination instrument controller on issue warning information.
15. a kind of controller of vehicle, which is characterized in that including memory and processor, wherein the processor passes through reading
The executable program code stored in the memory runs program corresponding with the executable program code, for holding
Row such as control method for vehicle of any of claims 1-7.
16. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the calculating
Such as control method for vehicle of any of claims 1-7 is realized when machine program is executed by processor.
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| CN201710446105.3A CN107264523B (en) | 2017-06-14 | 2017-06-14 | Control method for vehicle and system |
| PCT/CN2017/118833 WO2018227933A1 (en) | 2017-06-14 | 2017-12-27 | Vehicle control method and system |
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| CN201710446105.3A CN107264523B (en) | 2017-06-14 | 2017-06-14 | Control method for vehicle and system |
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| CN107264523A (en) | 2017-10-20 |
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