CN107487322A - Adapt to the active collision avoidance method, apparatus and vehicle on sleet road surface - Google Patents

Adapt to the active collision avoidance method, apparatus and vehicle on sleet road surface Download PDF

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Publication number
CN107487322A
CN107487322A CN201610742507.3A CN201610742507A CN107487322A CN 107487322 A CN107487322 A CN 107487322A CN 201610742507 A CN201610742507 A CN 201610742507A CN 107487322 A CN107487322 A CN 107487322A
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China
Prior art keywords
signal
threshold value
road
collision
remaining time
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CN201610742507.3A
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Chinese (zh)
Inventor
周传婷
於涛
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Borgward Automotive China Co Ltd
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Borgward Automotive China Co Ltd
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Priority to CN201610742507.3A priority Critical patent/CN107487322A/en
Publication of CN107487322A publication Critical patent/CN107487322A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0953Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects

Abstract

The present disclosure discloses a kind of active collision avoidance method, apparatus for adapting to sleet road surface and vehicle, this method to comprise the following steps:Gather instantaneous distance signal, the rate signal of this car and the road conditions signal of current driving road between this track front obstacle and this car;According to the instantaneous distance signal collected and the rate signal, the relative instantaneous velocity between this track front obstacle and this car is calculated;Remaining time spacing before colliding is calculated according to the instantaneous distance signal and the relative instantaneous velocity;Braking threshold value is set according to the road conditions signal;In the case that the relation of remaining time spacing and the braking threshold value meets preparatory condition before the collision, brake signal is exported.The disclosure can solve the active collision avoidance function acquiescence vehicle of vehicle in the prior art in the i.e. high attached road traveling of good road surface, the problem of the adhesion condition on actual road surface can not being monitored and identify, so as to provide support for safe go on a journey of user.

Description

Adapt to the active collision avoidance method, apparatus and vehicle on sleet road surface
Technical field
This disclosure relates to the vehicle subsystem of different type or difference in functionality jointly controls field, in particular it relates to one Kind adapts to the active collision avoidance method, apparatus and vehicle on sleet road surface.
Background technology
In the rear-end collision multiple present age, vehicle active collision avoidance function turns into each car and reached the study hotspots of main engine plants, But the complexity and emergency of rear-end collision operating mode, determine the complexity of the function and the high request to braking ability.
Most of implementation of existing vehicle active collision avoidance function is the preposition radar or camera using vehicle, is examined The information such as the time spacing, relative velocity of this car and this track front obstacle are surveyed, speed, driver actions with reference to this car, To control, vehicle actively slows down or auxiliary driver is slowed down.Judge the side of the degree of danger of distance between front obstacle Method, mainly using following methods:By the actual measured value of time spacing compared with threshold value, the threshold value is according to car The setting of braking ability.The active collision avoidance function acquiescence vehicle that vehicle is equipped with present is high attached road traveling in good road surface, The adhesion condition on actual road surface can not be monitored and be identified.When vehicle is travelling on the Deng Difu road surfaces of sleet road surface, car It can be travelled by default setting on high attached road surface, in the case where vehicle braking performances reduce, will be unable to avoid Current vehicle With the risk of collision of front obstacle.
The content of the invention
The purpose of the disclosure is the active collision avoidance function acquiescence vehicle for vehicle in the prior art in good road surface i.e. height Attached road traveling, the problem of the adhesion condition on actual road surface can not being monitored and be identified, there is provided one kind can be set currently Road conditions are travelled to adapt to the active collision avoidance method, apparatus on sleet road surface and vehicle.
To achieve these goals, according to the disclosure in a first aspect, the disclosure provides a kind of master for adapting to sleet road surface Dynamic collision avoidance method, it is characterised in that this method comprises the following steps:
Gather instantaneous distance signal, the rate signal and current line of this car between this track front obstacle and this car Sail the road conditions signal of road;
According to the instantaneous distance signal collected and the rate signal, this track front obstacle and this car are calculated Between relative instantaneous velocity;
Remaining time spacing before colliding is calculated according to the instantaneous distance signal and the relative instantaneous velocity;
Braking threshold value is set according to the road conditions signal;
It is defeated in the case that the relation of remaining time spacing and the braking threshold value meets preparatory condition before the collision Go out brake signal.
Alternatively, described the step of setting braking threshold value, includes:
According to the maximum deceleration A under the current road conditions of road conditions signal acquisition;
According to equation below, braking threshold T is set:
ΔVmax=A × T;
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
The relation according to remaining time spacing before the collision and the braking threshold value, export the step of brake signal Suddenly include:
When remaining time is smaller than braking threshold value before the collision, brake pedal signal is gathered;
In the case where the brake pedal signal is not enough to reach maximum deceleration A, exports and carried out with maximum deceleration A The brake signal of deceleration.
Alternatively, described the step of setting braking threshold value, includes:
According to the maximum deceleration A of complete braking under the current road conditions of road conditions signal acquisition and the deceleration of partial brake Spend A1;
Full application of brake threshold T 1 and partial brake threshold T 2 are set up, it is met following condition:
ΔVmax=A × T1+A1 × (T2-T1);
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
The relation according to remaining time spacing before the collision and the braking threshold value, export the step of brake signal Suddenly include:
When remaining time is smaller than braking threshold T 1 and partial brake threshold T 2 completely before the collision, collection braking Pedal signal;
Before the collision remaining time be smaller than partial brake threshold T 2 and more than completely braking threshold T 1 and In the case that the brake pedal signal is not enough to reach the deceleration A1 of the partial brake, exports and subtracted with partial brake target The brake signal that speed is slowed down;
Remaining time spacing is no more than braking threshold value completely before the collision and the brake pedal signal is not enough to In the case of reaching the maximum deceleration A braked completely, the braking slowed down with complete braking target deceleration is exported Signal.
Alternatively, methods described also includes:
Early warning threshold value is set according to the road conditions signal, wherein, the early warning threshold value is more than the braking threshold value;
In the case that remaining time is smaller than the early warning threshold value before the collision, pre-warning signal is exported.
Alternatively, in the case that the remaining time before the collision is smaller than the early warning threshold value, output early warning letter Number the step of include:
Before the collision remaining time be smaller than the early warning threshold value and not less than braking threshold value in the case of, output Primary pre-warning signal;
Remaining time is smaller than in the case of braking threshold value before the collision, exports urgent pre-warning signal.
Alternatively, methods described is calculated before colliding described according to the instantaneous distance signal with the relative instantaneous velocity After the step of remaining time spacing, in addition to:
Early warning threshold value is set according to the road conditions signal, wherein, the early warning threshold value is more than the braking threshold value;
Remaining time is smaller than early warning threshold value and more than overtaking other vehicles in the case of threshold value before the collision, recipient To disk angular signal and accelerator pedal signal;
Judge whether vehicle overtakes other vehicles according to the received steering wheel angle signal and the accelerator pedal signal It is intended to;
The relation according to remaining time spacing before the collision and the braking threshold value, export the step of brake signal Suddenly include:
In the case where intention is not overtaken other vehicles in judgement, just according to remaining time spacing before the collision and the braking thresholding The relation of value, export brake signal.
According to the second aspect of the disclosure, the disclosure provides a kind of active collision avoidance device for adapting to sleet road surface, the device Including:
First signal acquisition module, for gathering the instantaneous distance signal between this track front obstacle and this car, sheet The rate signal of car and the road conditions signal of current driving road;
First computing module, for according to the instantaneous distance signal and the rate signal collected, calculating this car Relative instantaneous velocity between road front obstacle and this car;
Second computing module, it is remaining before colliding for being calculated according to the instantaneous distance signal and the relative instantaneous velocity Time spacing;
Threshold value setup module is braked, for setting braking threshold value according to the road conditions signal;
First output module, the relation for the remaining time spacing before the collision and the braking threshold value meet pre- If in the case of condition, export brake signal.
Alternatively, the braking threshold value setup module includes:
First deceleration acquisition submodule, for according to the maximum deceleration A under the current road conditions of road conditions signal acquisition;
First braking threshold value acquisition submodule, for setting braking threshold T according to equation below:
ΔVmax=A × T;
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
First output module includes following submodule:
First signal acquisition submodule, when being smaller than braking threshold value for remaining time before the collision, collection braking Pedal signal;
First signal output submodule, for being not enough to the situation for reaching maximum deceleration A in the brake pedal signal Under, export the brake signal to be slowed down with maximum deceleration A.
Alternatively, the braking threshold value setup module includes following submodule:
Second deceleration acquisition submodule, for according to the complete braking under the current road conditions of road conditions signal acquisition most Big retarding degree A and partial brake deceleration A1;
Second braking threshold value sets submodule, for setting up full application of brake threshold T 1 and partial brake threshold T 2, It is set to meet following condition:
ΔVmax=A × T1+A1 × (T2-T1);
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
First output module includes following submodule:
Secondary signal gathers submodule, is smaller than braking threshold T 1 and part completely for remaining time before the collision When braking threshold T 2, brake pedal signal is gathered;
Secondary signal output sub-module, the secondary signal output sub-module are configured to:
Before the collision remaining time be smaller than partial brake threshold T 2 and more than completely braking threshold T 1 and In the case that the brake pedal signal is not enough to reach the deceleration A1 of the partial brake, exports and subtracted with partial brake target The brake signal that speed is slowed down;
Remaining time spacing is no more than braking threshold value completely before the collision and the brake pedal signal is not enough to In the case of reaching the maximum deceleration A braked completely, the braking slowed down with complete braking target deceleration is exported Signal.
Alternatively, described device also includes:
Threshold value setup module, for setting early warning threshold value according to the road conditions signal, wherein, the early warning threshold value More than the braking threshold value;
Pre-warning signal output module, in the case of being smaller than the early warning threshold value for remaining time before the collision, Export pre-warning signal.
Alternatively, the pre-warning signal output module is configured to:
Before the collision remaining time be smaller than the early warning threshold value and not less than braking threshold value in the case of, output Primary pre-warning signal;
Remaining time is smaller than in the case of braking threshold value before the collision, exports urgent pre-warning signal.
Alternatively, described device also includes:
Early warning threshold value setup module, for setting early warning threshold value according to the road conditions signal, wherein, the early warning door Limit value is more than the braking threshold value;
3rd signal receiving module, for before the collision remaining time be smaller than early warning threshold value and more than overtaking other vehicles In the case of threshold value, steering wheel angular signal, accelerator pedal signal and brake pedal signal are received;
Judge module, for judging car according to the received steering wheel angle signal, the accelerator pedal signal Whether overtake other vehicles intention;
Wherein, first output module is configured to:
In the case where intention is not overtaken other vehicles in judgement, just according to remaining time spacing before the collision and the braking thresholding The relation of value, export brake signal.
According to the third aspect of the disclosure, the disclosure provides a kind of vehicle, and the vehicle includes:
A kind of active collision avoidance device on described adaptation sleet road surface;
Pavement behavior sets device, for setting the pavement behavior of current driving road, and exports pavement behavior signal and arrives First signal acquisition module;
Wheel speed sensors, for obtaining the instantaneous velocity signal of current vehicle, and by the instantaneous velocity signal output To the first signal acquisition receiving module;
Radar sensor, for obtaining the instantaneous distance signal in front of this current track between palpus collision avoidance vehicle and this car, And by the instantaneous distance signal output to the first signal acquisition module;
Brake pedal sensor, the first letter is output to for receiving brake pedal signal, and by the brake pedal signal Number acquisition module;
Brakes, for performing brake signal.
Alternatively, the vehicle also includes:
Accelerator pedal sensor, the second letter is output to for obtaining accelerator pedal signal, and by the accelerator pedal signal Number acquisition module;
Steering wheel angle sensor, arrived for obtaining steering wheel angle signal, and by the steering wheel angle signal output Secondary signal acquisition module;
Signal prompt device, for prompting the cue.
Alternatively, the vehicle also includes:
Electronic stability program system, for receiving brake signal and controlling brakes to perform brake signal.
Pass through above-mentioned technical proposal, the active collision avoidance method, apparatus and vehicle that adapt to sleet road surface that the disclosure provides, energy The road conditions of enough current driving roads of monitoring in real time, are obtained in current driving road so as to the road conditions according to current driving road On maximum deceleration, and the relation of remaining time spacing and the braking threshold value meets the situation of preparatory condition before the collision Under, export brake signal.So, the active collision avoidance function that the disclosure can solve vehicle in the prior art gives tacit consent to vehicle good Road surface is high attached road traveling, the problem of the adhesion condition on actual road surface can not being monitored and be identified, so as to for user's Safety trip provides support.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow of the method for the active collision avoidance for adapting to sleet road surface provided according to a kind of embodiment of the disclosure Figure;
Fig. 2 is the output of the method for the active collision avoidance for adapting to sleet road surface provided according to disclosure another embodiment The flow chart of the step of brake signal;
Fig. 3 is the output of the method for the active collision avoidance for adapting to sleet road surface provided according to disclosure another embodiment The flow chart of the step of brake signal;
Fig. 4 is the flow of the method for the active collision avoidance for adapting to sleet road surface provided according to disclosure another embodiment Figure;
Fig. 5 is the flow of the method for the active collision avoidance for adapting to sleet road surface provided according to disclosure another embodiment Figure;
Fig. 6 is the flow of the method for the active collision avoidance for adapting to sleet road surface provided according to disclosure another embodiment Figure;
Fig. 7 is to provide a kind of structure for the active collision avoidance device for adapting to sleet road surface according to a kind of embodiment of the disclosure Block diagram;
Fig. 8 is to provide a kind of system for the active collision avoidance device for adapting to sleet road surface according to the another embodiment of the disclosure The block diagram of dynamic threshold value setup module and the first output module;
Fig. 9 is to provide a kind of system for the active collision avoidance device for adapting to sleet road surface according to the another embodiment of the disclosure The block diagram of dynamic threshold value setup module and the first output module;
Figure 10 is to provide a kind of active collision avoidance device for adapting to sleet road surface according to the another embodiment of the disclosure Structured flowchart;
Figure 11 is to provide a kind of active collision avoidance device for adapting to sleet road surface according to the another embodiment of the disclosure Structured flowchart;
Figure 12 is that the annexation in the vehicle provided according to a kind of embodiment of the disclosure between each device is illustrated Figure;
Figure 13 is that the annexation in the vehicle provided according to the another embodiment of the disclosure between each device is shown It is intended to;
Figure 14 is that the annexation in the vehicle provided according to the another embodiment of the disclosure between each device is shown It is intended to.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
According to the disclosure in a first aspect, the disclosure provides a kind of method for the active collision avoidance for adapting to sleet road surface.Fig. 1 institutes Show, be the flow chart of the method for the active collision avoidance for adapting to sleet road surface provided according to a kind of embodiment of the disclosure.Such as Fig. 1 institutes Show, the described method comprises the following steps:
In step s 11, instantaneous distance signal, the speed letter of this car between this track front obstacle and this car are gathered Number and current driving road road conditions signal;
In step s 12, according to the instantaneous distance signal collected and the rate signal, calculate in front of this track Relative instantaneous velocity between barrier and this car;
In step s 13, remaining time is calculated before colliding according to the instantaneous distance signal and the relative instantaneous velocity Spacing;
In step S14, braking threshold value is set according to the road conditions signal;
In step S15, the relation of remaining time spacing and the braking threshold value meets default bar before the collision In the case of part, brake signal is exported.
Pass through above-mentioned technical proposal, the disclosure can monitor the condition of road surface of current driving in real time, according to current shape road The road conditions on road set threshold value, so as to which the relation satisfaction of remaining time spacing and the braking threshold value before the collision is default In the case of condition, brake signal is exported.When user's traveling is travelling on the low attached road surface such as sleet, real-time road can be monitored Condition, to avoid giving tacit consent to always vehicle in high attached road traveling, so as to produce the risk gone on a journey safely.
Alternatively, as shown in Fig. 2 in step S14, described the step of setting braking threshold value, includes:
In step S241, according to the maximum deceleration A under the current road conditions of road conditions signal acquisition;
In step S242, braking threshold T is set according to equation below:
ΔVmax=A × T;
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
In step S15, the relation according to remaining time spacing before the collision and the braking threshold value, output The step of brake signal, includes:
In step S251, when remaining time is smaller than braking threshold value before the collision, brake pedal signal is gathered;
In step S252, in the case where the brake pedal signal is not enough to reach maximum deceleration A, export with most The brake signal that big retarding degree A is slowed down.
Pass through above-mentioned technical proposal, can be by obtaining the road conditions of current driving road, so as to obtain in current driving road The method of maximum deceleration A under the road conditions of road sets braking threshold value, before the collision remaining time be smaller than braking threshold value In the case of, brake pedal signal is monitored, brake signal can be exported in the case of user's brake force deficiency, improve and use The security of family traveling, meanwhile, in the case of higher than threshold value, the brake pedal signal of user can not be monitored, Brake signal can not be exported, improves the comfortableness that user uses.
Alternatively, as shown in figure 3, in step S14, described the step of setting braking threshold value, includes:
In step S341, according to the maximum deceleration A of the complete braking under the current road conditions of road conditions signal acquisition and The deceleration A1 of partial brake;
In step S342, full application of brake threshold T 1 and partial brake threshold T 2 are set up, it is met following condition:
ΔVmax=A × T1+A1 × (T2-T1);
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
In step S15, the relation according to remaining time spacing before the collision and the braking threshold value, output The step of brake signal, includes:
In step S350, judge whether remaining time spacing is less than partial brake threshold T 2 before colliding, before the collision Remaining time is smaller than partial brake threshold T 2 and is transferred to step S351, and otherwise, remaining time spacing is not less than before the collision In the case of partial brake threshold T 2, step S11 is transferred to;
In step S351, brake pedal signal is gathered;
In step S352, judge whether remaining time spacing is more than braking threshold T 1 completely before colliding, before the collision In the case that remaining time spacing is more than braking threshold T 1 completely, step S353 is transferred to, otherwise, before the collision between remaining time In the case of no more than complete braking threshold T 1, step S355 is transferred to;
In step S353, judge whether brake pedal signal sufficiently achieves the deceleration A1 of the partial brake, making In the case that dynamic pedal signal is not enough to reach the deceleration A1 of the partial brake, step S354 is transferred to, otherwise, is stepped in braking In the case that partitioned signal sufficiently achieves the deceleration A1 of the partial brake, step S11 is transferred to;
In step S354, the brake signal to be slowed down with the deceleration A1 of partial brake is exported;
In step S355, judge whether brake pedal signal sufficiently achieves the deceleration A braked completely, braking Pedal signal is not enough in the case of reaching the deceleration A braked completely, step S356 is transferred to, otherwise, in brake pedal In the case that signal sufficiently achieves the deceleration A braked completely, step S356 is transferred to, which part braking threshold value is big In braking threshold value completely;
In step S356, brake signal that the deceleration A that exports to brake completely is slowed down.
In the above-mentioned technical solutions, by setting two braking threshold values, i.e. partial brake threshold value and completely braking door Limit value, for time spacing before different collisions, implement different deceleration monitorings, during so as to for before different collisions Between spacing export different brake signal.In the above-mentioned technical solutions, in the case of current brake relatively safety, export with The brake signal that the deceleration of partial brake is braked, it can improve what user used while user security braking is ensured Convenience and comfortableness.
Alternatively, it is the active collision avoidance for adapting to sleet road surface provided according to another embodiment of the disclosure shown in Fig. 4 The flow chart of method.As shown in figure 4, methods described also includes:
In step S41, braking threshold value, early warning threshold value are set according to the road conditions signal, wherein, the early warning door Limit value is more than the braking threshold value;
In step S42, judge whether remaining time spacing is less than the early warning threshold value before colliding, it is remaining before the collision In the case that time is smaller than the early warning threshold value, step S43 is transferred to, otherwise, remaining time spacing is not small before the collision In the case of the early warning threshold value, step S11 is transferred to;
In step S43, pre-warning signal is exported.
Wherein, the braking threshold value is according to set by the maximum deceleration A of the vehicle under current driving road conditions:
ΔVmax=A × T;
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
The early warning threshold value is according between the barrier in front of the vehicle and Current vehicle under current driving road conditions The comparison that the possibility braked is set in distance and vehicle traveling safely, be more conform with the early warning thresholding of human comfort Value.
The pre-warning signal can be prompting sound signal or instruction modulating signal or prompt message.
In the above-mentioned technical solutions, the disclosure is provided with early warning threshold value, it is dangerous it is relatively small in the case of, can be with Occur prompting in present road traveling to user, prompt user currently to carry out brake operating, facilitate the operability of user.
Alternatively, it is the active collision avoidance for adapting to sleet road surface provided according to another embodiment of the disclosure shown in Fig. 5 The flow chart of method.As shown in figure 5, in step S43, the step of exporting pre-warning signal, includes:
In step S430, judge whether remaining time spacing is less than braking threshold value before colliding, when remaining before the collision Between be smaller than brake threshold value in the case of, be transferred to step S431, otherwise, before the collision remaining time spacing not less than braking In the case of threshold value, step S432 is transferred to;
In step S431, primary pre-warning signal is exported;
In step S432, urgent pre-warning signal is exported.
Wherein, the primary pre-warning signal, can be pre-warning signal every 0.5s promptings once, the urgent early warning letter Number, can be pre-warning signal every 0.1s promptings once;Or be that the primary pre-warning signal is instruction amber light, it is described tight Anxious pre-warning signal is instruction red light.
In the above-mentioned technical solutions, by pre-warning signal being divided into primary pre-warning signal and urgent pre-warning signal enters to user The prompting of row different phase, user can be caused preferably to distinguish the operation that performed when being travelled on present road so as to use Family experience becomes apparent from simple, practicality height.
Alternatively, it is the active collision avoidance for adapting to sleet road surface provided according to another embodiment of the disclosure shown in Fig. 6 The flow chart of method.As shown in fig. 6, methods described also includes:
In step s 141, braking threshold value, early warning threshold value and threshold value of overtaking other vehicles are set according to the road conditions signal, its In, the early warning threshold value is more than the braking threshold value and the threshold value of overtaking other vehicles, and the threshold value of overtaking other vehicles is in current line Under the road conditions sailed, sentenced according to the security of the distance and current vehicle speed with the vehicle in front of this track and combination road driving Can disconnected Current vehicle realize the threshold value of passing maneuver;
In step S60, whether remaining time spacing is less than early warning threshold value before judging the collision, remaining before the collision In the case that time is smaller than early warning threshold value, step S61 is transferred to, otherwise, remaining time spacing is not less than pre- before the collision In the case of alert threshold value, step S11 is transferred to;
In step S61, judge whether remaining time spacing is more than threshold value of overtaking other vehicles before colliding, before the collision remaining time In the case that spacing is more than threshold value of overtaking other vehicles, step S62 is transferred to, otherwise, remaining time spacing is no more than door of overtaking other vehicles before the collision Limit value, it is transferred to step S64;
In step S62, steering wheel angular signal and accelerator pedal signal are received;
In step S63, judge that whether vehicle overtakes other vehicles intention, in the case where vehicle overtakes other vehicles intention, is transferred to step S11, otherwise, in the case where vehicle does not overtake other vehicles intention, it is transferred to step S64;
In step S64, according to the relation of remaining time spacing before the collision and the braking threshold value, output braking Signal.
Wherein, can the threshold value of overtaking other vehicles in step S61 be to judge implement passing maneuver in current driving road Threshold value, in step S62, when receiving the signal for faster of steering wheel angle signal and accelerator pedal, then give tacit consent to current vehicle Implement passing maneuver.In step S63, judge Current vehicle do not overtake other vehicles intention when, acquiescence vehicle carry out brake operating.
Pass through above-mentioned technical proposal, can before the collision remaining time be smaller than early warning threshold value and not less than overtaking other vehicles door In the case of limit value, the operation of the current implementation of vehicle is monitored, so as to avoid the intention of the signal of output and user from runing counter to.Example Such as, remaining time is smaller than early warning threshold value and not less than overtaking other vehicles in the case of threshold value before the collision, detects accelerator pedal Signal and steering wheel angle signal avoid implementing in user to judge that user is currently passing maneuver to be carried out or braking maneuver Brake signal is exported during passing maneuver.By monitoring the current operation of user in real time, so as to judge that user to be carried out in next step Action so that the trip to user, which provides, more reasonably to help.
According to the second aspect of the disclosure, the disclosure provides a kind of active collision avoidance device for adapting to sleet road surface.Such as Fig. 7 institutes Show, should to provide a kind of structured flowchart for the active collision avoidance device for adapting to sleet road surface according to a kind of embodiment of the disclosure Adapting to the active collision avoidance device 10 on sleet road surface includes:
First signal acquisition module 100, for gather the instantaneous distance signal between this track front obstacle and this car, The rate signal of this car and the road conditions signal of current driving road;
First computing module 200, for according to the instantaneous distance signal and the rate signal collected, calculating this Relative instantaneous velocity between track front obstacle and this car;
Second computing module 300, before calculating collision according to the instantaneous distance signal and the relative instantaneous velocity Remaining time spacing;
Threshold value setup module 400 is braked, for setting braking threshold value according to the road conditions signal;
First output module 500, the relation for remaining time spacing and the braking threshold value before the collision expire In the case of sufficient preparatory condition, brake signal is exported.
Alternatively, as shown in figure 8, the braking threshold value setup module 400 includes following submodule:
First deceleration acquisition submodule 401, for according to the maximum deceleration under the current road conditions of road conditions signal acquisition Spend A;
First braking threshold value acquisition submodule 402, for setting braking threshold T according to equation below:
ΔVmax=A × T;
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
First output module 500 includes following submodule:
First signal acquisition submodule 501, when being smaller than braking threshold value for remaining time before the collision, collection system Dynamic pedal signal;
First signal output submodule 502, for being not enough to the feelings for reaching maximum deceleration A in the brake pedal signal Under condition, the brake signal to be slowed down with maximum deceleration A is exported.
Alternatively, as shown in figure 9, the braking threshold value sets 400 modules to include following submodule:
Second deceleration acquisition submodule 403, for according to the complete braking under the current road conditions of road conditions signal acquisition Maximum deceleration A and partial brake deceleration A1;
Second braking threshold value sets submodule 404, for setting up full application of brake threshold T 1 and partial brake threshold value T2, it is set to meet following condition:
ΔVmax=A × T1+A1 × (T2-T1);
Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
First output module includes following submodule:
Secondary signal gathers submodule 503, is smaller than braking the He of threshold T 1 completely for remaining time before the collision During partial brake threshold T 2, brake pedal signal is gathered;
Secondary signal output sub-module 504, the secondary signal output sub-module 504 are configured to:
Before the collision remaining time be smaller than partial brake threshold T 2 and more than completely braking threshold T 1 and In the case that the brake pedal signal is not enough to reach the deceleration A1 of the partial brake, exports and subtracted with partial brake target The brake signal that speed is slowed down;
Remaining time spacing is no more than braking threshold value completely before the collision and the brake pedal signal is not enough to In the case of reaching the maximum deceleration A braked completely, the braking slowed down with complete braking target deceleration is exported Signal.
Alternatively, Figure 10 is to provide a kind of active collision avoidance for adapting to sleet road surface according to the another embodiment of the disclosure The structured flowchart of device, the active collision avoidance device 10 for adapting to sleet road surface also include:
Threshold value setup module 600, for setting early warning threshold value according to the road conditions signal, wherein, the early warning door Limit value is more than the braking threshold value;
Pre-warning signal output module 700, the situation of the early warning threshold value is smaller than for remaining time before the collision Under, export pre-warning signal.
Wherein, the pre-warning signal output module 700 is configured to:
Before the collision remaining time be smaller than the early warning threshold value and not less than braking threshold value in the case of, output Primary pre-warning signal;
Remaining time is smaller than in the case of braking threshold value before the collision, exports urgent pre-warning signal.
Alternatively, as shown in figure 11, the active collision avoidance device 10 for adapting to sleet road surface also includes:
Threshold value setup module 600, for setting early warning threshold value and threshold value of overtaking other vehicles according to the road conditions signal, its In, the early warning threshold value is more than the braking threshold value;
3rd signal receiving module 800, for before the collision remaining time be smaller than early warning threshold value and be more than In the case of threshold value of overtaking other vehicles, steering wheel angular signal, accelerator pedal signal and brake pedal signal are received;
Judge module 900, for according to the received steering wheel angle signal, accelerator pedal signal judgement Whether vehicle overtakes other vehicles intention;
Wherein, first output module 500 is configured to:
In the case where intention is not overtaken other vehicles in judgement, just according to remaining time spacing before the collision and the braking thresholding The relation of value, export brake signal.
According to the third aspect of the disclosure, the disclosure also provides a kind of vehicle, and Figure 12 is implemented according to one kind of the disclosure Connection relationship diagram in the vehicle that mode provides between each device, the vehicle include:
Adapt to the active collision avoidance device 10 on sleet road surface;
Pavement behavior sets device 20, for setting the pavement behavior of current driving road, and exports pavement behavior signal To the first signal acquisition module;
Wheel speed sensors 30, for obtaining the instantaneous velocity signal of current vehicle, and the instantaneous velocity signal is defeated Go out to the first signal acquisition receiving module;
Radar sensor 40, believe for obtaining the instantaneous distance in front of this current track between palpus collision avoidance vehicle and this car Number, and by the instantaneous distance signal output to the first signal acquisition module;
Brake pedal sensor 50, first is output to for receiving brake pedal signal, and by the brake pedal signal Signal acquisition module;
Brakes 60, for performing brake signal.
Wherein, it can be a switch that pavement behavior, which sets device, and acquiescence is to close, and represents in high attached road traveling, opens Interval scale is opened to travel on the low attached road surface such as sleet;It can also be a single-pole double-throw switch (SPDT), current road can be set Road conditions.
Alternatively, as shown in figure 13, the vehicle also includes:
Accelerator pedal sensor 70, second is output to for obtaining accelerator pedal signal, and by the accelerator pedal signal Signal acquisition module;
Steering wheel angle sensor 80, for obtaining steering wheel angle signal, and by the steering wheel angle signal output To secondary signal acquisition module;
Signal prompt device 90, for prompting the cue.
Alternatively, as shown in figure 14, the vehicle also includes:
Electronic stability program system 61, for receiving brake signal and controlling brakes to perform brake signal.
Control brakes to perform brake signal by the electronic stability program system of vehicle self-carrying, can to adapt to The active collision avoidance device on sleet road surface has stronger applicability.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (10)

  1. A kind of 1. active collision avoidance method for adapting to sleet road surface, it is characterised in that this method comprises the following steps:
    Gather instantaneous distance signal, the rate signal and current driving road of this car between this track front obstacle and this car The road conditions signal on road;
    According to the instantaneous distance signal collected and the rate signal, calculate between this track front obstacle and this car Relative instantaneous velocity;
    Remaining time spacing before colliding is calculated according to the instantaneous distance signal and the relative instantaneous velocity;
    Braking threshold value is set according to the road conditions signal;
    In the case that the relation of remaining time spacing and the braking threshold value meets preparatory condition before the collision, output system Dynamic signal.
  2. 2. according to the method for claim 1, it is characterised in that described the step of setting braking threshold value includes:
    According to the maximum deceleration A under the current road conditions of road conditions signal acquisition;
    According to equation below, braking threshold T is set:
    ΔVmax=A × T;
    Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
    It is described according to remaining time spacing before the collision with it is described braking threshold value relation, export brake signal the step of wrap Include:
    When remaining time is smaller than braking threshold value before the collision, brake pedal signal is gathered;
    In the case where the brake pedal signal is not enough to reach maximum deceleration A, exports and slowed down with maximum deceleration A Brake signal.
  3. 3. according to the method for claim 1, it is characterised in that methods described also includes:
    Early warning threshold value is set according to the road conditions signal, wherein, the early warning threshold value is more than the braking threshold value;
    In the case that remaining time is smaller than the early warning threshold value before the collision, pre-warning signal is exported.
  4. 4. according to the method for claim 1, it is characterised in that methods described it is described according to the instantaneous distance signal and After the relative instantaneous velocity calculates the step of remaining time spacing before collision, in addition to:
    Early warning threshold value and threshold value of overtaking other vehicles are set according to the road conditions signal, wherein, the early warning threshold value is more than the system Dynamic threshold value;
    Remaining time is smaller than early warning threshold value and more than overtaking other vehicles in the case of threshold value before the collision, receives steering wheel Angular signal and accelerator pedal signal;
    Judge whether vehicle overtakes other vehicles intention according to the received steering wheel angle signal and the accelerator pedal signal;
    It is described according to remaining time spacing before the collision with it is described braking threshold value relation, export brake signal the step of wrap Include:
    In the case where intention is not overtaken other vehicles in judgement, just according to remaining time spacing before the collision and the braking threshold value Relation, export brake signal.
  5. 5. a kind of active collision avoidance device for adapting to sleet road surface, it is characterised in that the device includes:
    First signal acquisition module, for gathering instantaneous distance signal between this track front obstacle and this car, this car The road conditions signal of rate signal and current driving road;
    First computing module, the instantaneous distance signal and the rate signal collected for basis, before calculating this track Relative instantaneous velocity between square barrier and this car;
    Second computing module, for calculating before colliding remaining time according to the instantaneous distance signal and the relative instantaneous velocity Spacing;
    Threshold value setup module is braked, for setting braking threshold value according to the road conditions signal;
    First output module, the relation for remaining time spacing and the braking threshold value before the collision meet default bar In the case of part, brake signal is exported.
  6. 6. device according to claim 5, it is characterised in that the braking threshold value setup module includes:
    First deceleration acquisition submodule, for according to the maximum deceleration A under the current road conditions of road conditions signal acquisition;
    First braking threshold value acquisition submodule, for setting braking threshold T according to equation below:
    ΔVmax=A × T;
    Wherein, Δ VmaxRelative instantaneous velocity between this track front obstacle and this car;
    First output module includes following submodule:
    First signal acquisition submodule, when being smaller than braking threshold value for remaining time before the collision, gather brake pedal Signal;
    First signal output submodule, it is defeated in the case of being not enough to reach maximum deceleration A in the brake pedal signal Go out the brake signal to be slowed down with maximum deceleration A.
  7. 7. device according to claim 5, it is characterised in that described device also includes:
    Early warning threshold value setup module, for setting early warning threshold value according to the road conditions signal, wherein, the early warning threshold value More than the braking threshold value;
    Pre-warning signal output module, in the case of being smaller than the early warning threshold value for remaining time before the collision, output Pre-warning signal.
  8. 8. device according to claim 5, it is characterised in that described device also includes:
    Threshold value setup module, for setting early warning threshold value and threshold value of overtaking other vehicles according to the road conditions signal, wherein, it is described pre- Alert threshold value is more than the braking threshold value;
    3rd signal receiving module, for before the collision remaining time be smaller than early warning threshold value and more than overtaking other vehicles thresholding In the case of value, steering wheel angular signal, accelerator pedal signal and brake pedal signal are received;
    Judge module, for judging that vehicle is according to the received steering wheel angle signal, the accelerator pedal signal No intention of overtaking other vehicles;
    Wherein, first output module is further configured to:
    In the case where intention is not overtaken other vehicles in judgement, just according to remaining time spacing before the collision and the braking threshold value Relation, export brake signal.
  9. 9. a kind of vehicle, it is characterised in that the vehicle includes:
    A kind of active collision avoidance device on adaptation sleet road surface according to any one of right 5-8 claim;
    Pavement behavior sets device, for setting the pavement behavior of current driving road, and exports pavement behavior signal to first Signal acquisition module;
    Wheel speed sensors, for obtaining the instantaneous velocity signal of current vehicle, and by the instantaneous velocity signal output to One signal acquisition receiving module;
    Radar sensor, for obtaining the instantaneous distance signal in front of this current track between palpus collision avoidance vehicle and this car, and will The instantaneous distance signal output is to the first signal acquisition module;
    Brake pedal sensor, for receiving brake pedal signal, and the brake pedal signal is output to the first signal and adopted Collect module;
    Brakes, for performing brake signal.
  10. 10. vehicle according to claim 9, it is characterised in that the vehicle also includes:
    Accelerator pedal sensor, for obtaining accelerator pedal signal, and the accelerator pedal signal is output to secondary signal and adopted Collect module;
    Steering wheel angle sensor, for obtaining steering wheel angle signal, and by the steering wheel angle signal output to second Signal acquisition module;
    Signal prompt device, for prompting the cue.
CN201610742507.3A 2016-08-26 2016-08-26 Adapt to the active collision avoidance method, apparatus and vehicle on sleet road surface Pending CN107487322A (en)

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CN104627176A (en) * 2013-11-14 2015-05-20 北汽福田汽车股份有限公司 Control method and system of electric vehicle
CN104670191A (en) * 2015-02-09 2015-06-03 浙江吉利汽车研究院有限公司 Automatic emergency braking method and device
CN105270398A (en) * 2015-10-21 2016-01-27 北京新能源汽车股份有限公司 Vehicle distance control method and device for electric vehicle and electric vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103370238A (en) * 2010-11-12 2013-10-23 卢卡斯汽车股份有限公司 Method for detecting critical driving situations of lorries or passenger vehicles and method for avoiding collisions
CN103608206A (en) * 2011-06-15 2014-02-26 戴姆勒股份公司 Method for preventing a collision of a vehicle and driver assistance system for a vehicle
CN104627176A (en) * 2013-11-14 2015-05-20 北汽福田汽车股份有限公司 Control method and system of electric vehicle
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