CN107618508A - A kind of Vehicular intelligent brake system and its method of work - Google Patents
A kind of Vehicular intelligent brake system and its method of work Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及车辆刹车系统的技术领域，特别涉及一种车辆智能刹车系统。The invention relates to the technical field of vehicle braking systems, in particular to a vehicle intelligent braking system.
背景技术Background technique
随着社会的发展，人民生活水平的提高，汽车逐渐成为了人民生活的代步工具，由于汽车数量的大幅度增加，汽车事故频发，造成了大量人员的伤亡和经济损失。由于目前人们的生活节奏快，工作压力大，出现了越来越多的疲劳驾驶。据交通部统计，约有50％的汽车交通事故是因为驾驶员心神烦乱、注意力不集中或驾驶疲劳造成；23％的汽车驾驶员一个月内至少在转向盘上睡着一次；66％的卡车驾驶员自己在驾驶过程中打瞌睡；28％的卡车驾驶员在一个月内有在转向盘上睡着的经历。With the development of society and the improvement of people's living standards, automobiles have gradually become a means of transportation for people's lives. Due to the substantial increase in the number of automobiles, frequent automobile accidents have caused a large number of casualties and economic losses. Due to people's fast pace of life and high work pressure, more and more fatigue driving occurs. According to statistics from the Ministry of Communications, about 50% of automobile traffic accidents are caused by drivers' distraction, inattention or driving fatigue; 23% of car drivers fall asleep on the steering wheel at least once a month; Truck drivers themselves dozed off while driving; 28% of truck drivers experienced falling asleep at the steering wheel within a month.
传统的汽车刹车系统主要依赖于驾驶员的判断，而在驾驶员疲劳驾驶或危急情况下，极易出现判断误差及反应迟缓，大大增大了汽车事故的风险，因此设计一种车辆智能刹车系统具有重要意义。The traditional car braking system mainly depends on the judgment of the driver, and in the driver's fatigue driving or critical situation, it is easy to make judgment errors and slow response, which greatly increases the risk of car accidents. Therefore, a vehicle intelligent braking system is designed is of great significance.
发明内容Contents of the invention
发明的目的：本发明公开一种车辆智能刹车系统，其进行车速、车况的自动检测，实现紧急刹车的自动控制，不但能提前预警限速，还能在紧急时自动开启刹车装置，提高了汽车的行车安全性。Purpose of the invention: the present invention discloses a vehicle intelligent braking system, which automatically detects vehicle speed and condition, and realizes automatic control of emergency braking. driving safety.
技术方案：为了实现以上目的，本发明公开了一种车辆智能刹车系统，包括信息采集系统、整车控制系统、驾驶员提醒系统、刹车系统和发动机电子控制系统；所述信息采集系统包括：用于测量实时车速的车速传感器、用于测量前方车辆的实时车速和距离的激光雷达传感器，以及用于识别车道信息的红外线传感器；所述车速传感器、激光雷达传感器和红外线传感器均与整车控制系统连接，作为整车控制系统的输入；所述驾驶员提醒系统、刹车系统和发动机电子控制系统均与整车控制系统连接，作为整车控制系统的输出。Technical solution: In order to achieve the above objectives, the present invention discloses a vehicle intelligent braking system, including an information collection system, a vehicle control system, a driver reminder system, a braking system, and an electronic engine control system; the information collection system includes: A vehicle speed sensor for measuring real-time vehicle speed, a laser radar sensor for measuring the real-time vehicle speed and distance of the vehicle in front, and an infrared sensor for identifying lane information; the vehicle speed sensor, laser radar sensor and infrared sensor are all connected with the vehicle control system connected as the input of the vehicle control system; the driver reminding system, brake system and engine electronic control system are all connected with the vehicle control system as the output of the vehicle control system.
进一步的，上述一种车辆智能刹车系统，所述驾驶员提醒系统包括预碰撞风险提醒、碰撞风险刹车提醒和互联装置，安装驾驶员提醒系统的车辆通过所述互联装置连通。Further, in the above-mentioned vehicle intelligent braking system, the driver reminder system includes a pre-collision risk reminder, a collision risk brake reminder and an interconnection device, and the vehicle installed with the driver reminder system is connected through the interconnection device.
进一步的，上述一种车辆智能刹车系统的控制方法，包括以下步骤：所述车速传感器，测量实时车速；所述激光雷达传感器，测量前方车辆的实时车速和距离；所述红外线传感器，用来识别车道信息；所述整车控制系统，对信息采集系统所采集的数据进行计算分析并作出决策判断；所述驾驶员提醒系统，根据接收到的整车控制系统传递的预碰撞风险电信号，对驾驶员进行对应的语音提示报警；所述发动机电子控制系统，根据接收到的整车控制系统传递的预碰撞风险电信号，限制发动机的输出能量，进而限制车速的增加；所述刹车系统，根据接收到的整车控制系统传递的碰撞风险刹车电信号，进而对刹车执行元件进行刹车操作；所述驾驶员提醒系统，根据接收到的整车控制系统传递的碰撞风险刹车电信号，对驾驶员进行对应的语音提示报警。Further, the above-mentioned control method of a vehicle intelligent braking system includes the following steps: the vehicle speed sensor measures the real-time vehicle speed; the laser radar sensor measures the real-time vehicle speed and distance of the vehicle in front; the infrared sensor is used to identify Lane information; the vehicle control system calculates and analyzes the data collected by the information collection system and makes a decision; the driver reminder system, according to the received pre-collision risk electrical signal transmitted by the vehicle control system, The driver gives a corresponding voice prompt alarm; the engine electronic control system limits the output energy of the engine according to the received pre-collision risk electrical signal transmitted by the vehicle control system, and then limits the increase of the vehicle speed; the brake system, according to The received collision risk braking electrical signal transmitted by the vehicle control system, and then brakes the brake actuator; the driver reminding system, according to the received collision risk braking electrical signal transmitted by the vehicle control system, Carry out the corresponding voice prompt alarm.
进一步的，上述一种车辆智能刹车系统的控制方法，还包括以下步骤：所述互联装置，在前方车辆也安装该驾驶员提醒系统的条件下，在车辆处于预碰撞风险距离内时，所述驾驶员提醒系统会同时提醒前方车辆驾驶员注意后方车辆。Further, the above-mentioned control method of a vehicle intelligent braking system further includes the following steps: the interconnection device, under the condition that the vehicle in front is also equipped with the driver reminder system, when the vehicle is within the pre-collision risk distance, the The driver reminder system will also remind the driver of the vehicle in front to pay attention to the vehicle behind.
进一步的，上述一种车辆智能刹车系统的控制方法，所述整车控制系统的工作方法具体包括以下步骤：当本车辆车速大于同车道前方最近车辆车速且碰撞风险系数0<α<1时，整车控制系统会将预碰撞风险信号发送给驾驶员提醒系统和发动机电子控制系统；驾驶员提醒系统对驾驶员发出预碰撞风险专用的语音提示报警且通过内置的互联装置同步到前方车辆，提醒前方驾驶员注意后方车辆，以便及时采取防御措施；发动机电子控制单元系统在接收到预碰撞风险信号后，会及时限制发动机的输出能量，进而限制车速增加；若本车辆驾驶员无视预碰撞风险的语音提醒，不采取人为刹车措施，当本车辆与同车道前方最近车辆碰撞风险系数α<0时，整车控制器系统将碰撞风险刹车电信号传递给刹车系统和驾驶员提醒系统，刹车系统将自动开启刹车功能降低车速，直至车辆碰撞风险系数α≥1，在该过程中驾驶员提醒系统会对驾驶员发出高频率的碰撞风险语言报警。Further, the above-mentioned control method of a vehicle intelligent braking system, the working method of the vehicle control system specifically includes the following steps: when the speed of the vehicle is greater than the speed of the nearest vehicle in front of the same lane and the collision risk coefficient 0<α<1, The vehicle control system will send the pre-collision risk signal to the driver reminder system and the engine electronic control system; the driver reminder system will issue a special voice prompt alarm to the driver for the pre-collision risk and synchronize it to the vehicle in front through the built-in interconnection device to remind The driver in front pays attention to the vehicle behind in order to take defensive measures in time; the engine electronic control unit system will limit the output energy of the engine in time after receiving the pre-collision risk signal, thereby limiting the increase in vehicle speed; if the driver of the vehicle ignores the pre-collision risk signal Voice reminder, do not take artificial braking measures, when the collision risk coefficient α<0 between the vehicle and the nearest vehicle ahead in the same lane, the vehicle controller system will transmit the collision risk braking electrical signal to the braking system and the driver reminder system, and the braking system will Automatically turn on the brake function to reduce the vehicle speed until the vehicle collision risk coefficient α≥1. During this process, the driver reminder system will send high-frequency collision risk language alarms to the driver.
进一步的，上述一种车辆智能刹车系统的控制方法，所述碰撞风险系数满足以下公式：Further, in the above-mentioned control method of a vehicle intelligent braking system, the collision risk coefficient satisfies the following formula:
其中，α：碰撞风险系数；D预：预碰撞风险距离；D碰：碰撞风险距离；s：本车与正前方最近车辆的实时距离。Among them, α: collision risk coefficient; Dpre: pre -collision risk distance; Dcollision : collision risk distance; s: real-time distance between the vehicle and the nearest vehicle in front.
进一步的，上述一种车辆智能刹车系统的控制方法，所述预碰撞风险距离和碰撞风险距离满足以下公式：Further, in the above-mentioned control method of a vehicle intelligent braking system, the pre-collision risk distance and the collision risk distance satisfy the following formula:
第一，在前车静止或匀速或匀加速运动条件下：First, when the vehicle in front is stationary or moving at a constant speed or uniform acceleration:
第二，在前方车辆减速时,设前方车辆制动减速度与本车制动减速相同为a：Second, when the vehicle in front is decelerating, set the braking deceleration of the vehicle in front to be the same as the braking deceleration of the own vehicle as a:
其中，D预：预碰撞风险距离；D碰：碰撞风险距离；ΔV：两车之间的相对速度，单位m/s；t0：驾驶员反应时间，单位S；t1:刹车器协调时间，单位S；t2:增长时间，单位S；d：相对安全距离；a：制动减速度，单位m/s2；V0本车初始车速，单位m/s。Wherein, Dpre: pre -collision risk distance; Dcollision : collision risk distance; ΔV: relative speed between two vehicles, unit m/s; t 0 : driver reaction time, unit S; t 1 : brake coordination time , unit S; t 2 : growth time, unit S; d: relative safety distance; a: braking deceleration, unit m/s 2 ; V 0 initial vehicle speed of the vehicle, unit m/s.
进一步的，上述一种车辆智能刹车系统的控制方法，所述驾驶员反应时间设为0.3～1.2s，为了确保汽车的绝对安全，设为1.2s；。Further, in the above-mentioned control method of a vehicle intelligent braking system, the driver's reaction time is set to 0.3-1.2s, and in order to ensure the absolute safety of the vehicle, it is set to 1.2s;
进一步的，上述一种车辆智能刹车系统的控制方法，所述刹车器协调时间设为0.3s。Further, in the above-mentioned control method of a vehicle intelligent braking system, the brake coordination time is set to 0.3s.
上述技术方案可以看出，本发明具有如下有益效果：It can be seen from the foregoing technical scheme that the present invention has the following beneficial effects:
(1)其进行车速、车况的自动检测，实现紧急刹车的自动控制，不但能提前预警限速，还能在紧急时自动开启刹车装置，提高了汽车的行车安全性，大大减少了在危险情况下对人为刹车的依赖性，有效降低了事故风险。(1) It automatically detects the speed and condition of the vehicle, and realizes the automatic control of emergency braking. It can not only warn the speed limit in advance, but also automatically turn on the brake device in an emergency, which improves the driving safety of the car and greatly reduces the risk of accidents in dangerous situations. Reduce the dependence on human braking, effectively reducing the risk of accidents.
(2)车辆与前方车辆有碰撞风险时，根据碰撞风险系数的大小，自动开启限速系统或刹车系统，同时进行不同的语音提醒，更智能化。(2) When there is a risk of collision between the vehicle and the vehicle in front, according to the size of the collision risk coefficient, the speed limit system or braking system will be automatically turned on, and different voice reminders will be given at the same time, which is more intelligent.
(3)互联装置的设计，当前方车辆也装有该系统且开启并与本车辆在预碰撞风险范围内，本车的驾驶员预碰撞风险提醒也会同步到前方车辆，提醒前方车辆注意后方车辆，以便及时采取有效措施，进一步保障了两车的安全。(3) The design of the interconnection device, when the vehicle in front is also equipped with the system and is turned on and within the pre-collision risk range with the vehicle, the driver's pre-collision risk reminder of the vehicle will also be synchronized to the vehicle in front, reminding the vehicle in front to pay attention to the rear Vehicles in order to take effective measures in time to further ensure the safety of the two vehicles.
附图说明Description of drawings
图1为本发明所述的一种车辆智能刹车系统的系统组成示意图；Fig. 1 is a schematic diagram of the system composition of a vehicle intelligent braking system according to the present invention;
图2为本发明所述的一种车辆智能刹车系统的汽车制动减速度变化图；Fig. 2 is a vehicle braking deceleration variation diagram of a vehicle intelligent braking system according to the present invention;
图3为本发明所述的一种车辆智能刹车系统的汽车制动行驶图；Fig. 3 is a vehicle braking travel diagram of a vehicle intelligent braking system according to the present invention;
图4为本发明所述的一种车辆智能刹车系统的系统流程图。Fig. 4 is a system flowchart of a vehicle intelligent braking system according to the present invention.
具体实施方式detailed description
下面结合附图，对本发明具体实施方式进行详细的描述。The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
实施例Example
本发明的一种车辆智能刹车系统，如图1至图4所示，包括信息采集系统、整车控制系统、驾驶员提醒系统、刹车系统和发动机电子控制系统；所述信息采集系统包括：用于测量实时车速的车速传感器、用于测量前方车辆的实时车速和距离的激光雷达传感器，以及用于识别车道信息的红外线传感器；所述车速传感器、激光雷达传感器和红外线传感器均与整车控制系统连接，作为整车控制系统的输入；所述驾驶员提醒系统、刹车系统和发动机；所述驾驶员提醒系统包括预碰撞风险提醒、碰撞风险刹车提醒和互联装置，安装驾驶员提醒系统的车辆通过所述互联装置连通。其中预碰撞风险提醒语音播报内容为“请减速行驶”播报频率为每六秒一次，碰撞风险刹车提醒语音播报内容为“碰撞风险”播报频率为每三秒一次；另外，当前方车辆也装有该系统且开启并与本车辆在预碰撞风险范围内，本车的驾驶员预碰撞风险提醒也会同步到前方车辆，提醒前方车辆注意后方车辆，以便及时采取有效措施。A vehicle intelligent braking system of the present invention, as shown in Figures 1 to 4, includes an information collection system, a vehicle control system, a driver reminder system, a braking system, and an engine electronic control system; the information collection system includes: A vehicle speed sensor for measuring real-time vehicle speed, a laser radar sensor for measuring the real-time vehicle speed and distance of the vehicle in front, and an infrared sensor for identifying lane information; the vehicle speed sensor, laser radar sensor and infrared sensor are all connected with the vehicle control system connection, as the input of the vehicle control system; the driver reminder system, braking system and engine; the driver reminder system includes pre-collision risk reminder, collision risk brake reminder and interconnection device, and the vehicle installed with the driver reminder system passes through The interconnection device communicates. Among them, the pre-collision risk reminder voice broadcast content is "please slow down" and the broadcast frequency is once every six seconds, and the collision risk brake reminder voice broadcast content is "collision risk" and the broadcast frequency is once every three seconds; in addition, the current vehicle is also equipped with When the system is turned on and the vehicle is within the pre-collision risk range, the driver's pre-collision risk reminder of the vehicle will also be synchronized to the vehicle in front, reminding the vehicle in front to pay attention to the vehicle behind, so as to take effective measures in time.
本实施例中一种车辆智能刹车系统的工作方法，包括以下步骤：A working method of a vehicle intelligent braking system in this embodiment includes the following steps:
S1、所述车速传感器，测量实时车速；S1, the vehicle speed sensor measures the real-time vehicle speed;
S2、所述激光雷达传感器，测量前方车辆的实时车速和距离；S2. The lidar sensor measures the real-time speed and distance of the vehicle ahead;
S3、所述红外线传感器，用来识别车道信息；S3. The infrared sensor is used to identify lane information;
S4、所述整车控制系统，对信息采集系统所采集的数据进行计算分析并作出决策判断；S4. The vehicle control system calculates and analyzes the data collected by the information collection system and makes a decision;
S5、所述驾驶员提醒系统，根据接收到的整车控制系统传递的预碰撞风险电信号，对驾驶员进行对应的语音提示报警；S5. The driver reminding system performs a corresponding voice prompt alarm to the driver according to the received pre-collision risk electrical signal transmitted by the vehicle control system;
S6、所述发动机电子控制系统，根据接收到的整车控制系统传递的预碰撞风险电信号，限制发动机的输出能量，进而限制车速的增加；S6. The engine electronic control system limits the output energy of the engine according to the received pre-collision risk electrical signal transmitted by the vehicle control system, thereby limiting the increase of the vehicle speed;
S7、所述互联装置，在前方车辆也安装该驾驶员提醒系统的条件下，在车辆处于预碰撞风险距离内时，所述驾驶员提醒系统会同时提醒前方车辆驾驶员注意后方车辆；S7. The interconnection device, under the condition that the vehicle in front is also equipped with the driver reminder system, when the vehicle is within the pre-collision risk distance, the driver reminder system will simultaneously remind the driver of the vehicle in front to pay attention to the rear vehicle;
S8、所述刹车系统，根据接收到的整车控制系统传递的碰撞风险刹车电信号，进而对刹车执行元件进行刹车操作；S8. The brake system performs a brake operation on the brake actuator according to the received collision risk brake electrical signal transmitted by the vehicle control system;
S9、所述驾驶员提醒系统，根据接收到的整车控制系统传递的碰撞风险刹车电信号，对驾驶员进行对应的语音提示报警。S9. The driver reminding system, according to the received electric collision risk braking signal transmitted by the vehicle control system, gives a corresponding voice prompt alarm to the driver.
本实施例中所述整车控制系统的工作方法具体包括以下步骤：The working method of the vehicle control system described in this embodiment specifically includes the following steps:
S401、当本车辆车速大于同车道前方最近车辆车速且碰撞风险系数0<α<1时，整车控制系统会将预碰撞风险信号发送给驾驶员提醒系统和发动机电子控制系统；驾驶员提醒系统对驾驶员发出预碰撞风险专用的语音提示报警且通过内置的互联装置同步到前方车辆，提醒前方驾驶员注意后方车辆，以便及时采取防御措施；发动机电子控制单元系统在接收到预碰撞风险信号后，会及时限制发动机的输出能量，进而限制车速增加；S401. When the speed of the vehicle is greater than the speed of the nearest vehicle ahead in the same lane and the collision risk coefficient is 0<α<1, the vehicle control system will send a pre-collision risk signal to the driver reminder system and the engine electronic control system; the driver reminder system Issue a special voice prompt alarm for pre-collision risk to the driver and synchronize it to the vehicle in front through the built-in interconnection device, reminding the driver in front to pay attention to the vehicle behind, so as to take defensive measures in time; after receiving the pre-collision risk signal, the engine electronic control unit system , will limit the output energy of the engine in time, and then limit the increase in vehicle speed;
S402若本车辆驾驶员无视预碰撞风险的语音提醒，不采取人为刹车措施，当本车辆与同车道前方最近车辆碰撞风险系数α<0时，整车控制器系统将碰撞风险刹车电信号传递给刹车系统和驾驶员提醒系统，刹车系统将自动开启刹车功能降低车速，直至车辆碰撞风险系数α≥1，在该过程中驾驶员提醒系统会对驾驶员发出高频率的碰撞风险语言报警。S402 If the driver of the vehicle ignores the voice reminder of the pre-collision risk and does not take artificial braking measures, when the collision risk coefficient α<0 between the vehicle and the nearest vehicle ahead in the same lane, the vehicle controller system transmits the collision risk braking electric signal to Brake system and driver reminder system, the brake system will automatically turn on the brake function to reduce the speed of the vehicle until the vehicle collision risk coefficient α≥1, during this process the driver reminder system will send high-frequency collision risk language alarms to the driver.
本实施例中参数的计算及设置：Calculation and setting of parameters in this embodiment:
汽车制动过程中减速度的变化如图2所示，共分为四个部分：驾驶员反应过程、制动器协调过程、减速度增长过程、减速度持续制动过程。汽车传统计算制动过程行使距离公式如下：The change of the deceleration during the braking process of the car is shown in Figure 2, which is divided into four parts: the driver's reaction process, the brake coordination process, the deceleration growth process, and the deceleration continuous braking process. The traditional formula for calculating the driving distance during the braking process of automobiles is as follows:
其中，V0本车初始车速，单位m/s；t0：驾驶员反应时间，单位S；t1:刹车器协调时间，单位；t2：制动减速增长时间，单位S；a：制动减速度，单位m/s2。Among them, V0 is the initial vehicle speed of the vehicle, unit m/s; t0 : driver reaction time, unit S; t1 : brake coordination time, unit; t2 : brake deceleration growth time, unit S; Dynamic deceleration, unit m/s 2 .
为了确保汽车的行车安全，避免因驾驶员疲劳或注意力不集中造成的追尾事故，该智能刹车系统根据两车之间的距离给出了不同阶段的报警。为了确保汽车安全和避免虚警的出现，同时为了更加贴切汽车行使的实际情况。根据同车道前方最近车的不同运动形态给出了不同状态下的计算公式。本车与前车相对运动位置图，如图3所示。In order to ensure the driving safety of the car and avoid rear-end collisions caused by driver fatigue or inattention, the intelligent braking system gives different stages of alarms according to the distance between the two cars. In order to ensure the safety of the car and avoid the appearance of false alarms, at the same time, it is more appropriate to the actual situation of the car. According to the different motion forms of the nearest vehicle in the same lane, the calculation formulas in different states are given. The relative motion position diagram of the vehicle and the front vehicle is shown in Figure 3.
s+s前＝s本+s′ Before s+s=s this +s'
其中，s前为前方车辆从本车开始制动到停止所行使的距离；s后为从本车开始制动到停止所行使的距离；s为制动前本车与前车的距离；s＇为本车制动结束后与前车的距离。Among them, before s is the distance traveled by the front vehicle from braking to stopping; after s is the distance from braking to stopping; s is the distance between the vehicle and the vehicle before braking; s ' is the distance between the vehicle in front and the vehicle in front after braking.
(1)当前车静止时：(1) When the front vehicle is stationary:
s前＝0；ΔV＝V0 s before = 0; ΔV = V 0
D碰＝S本-s前+dD touch =S this- s front +d
D预＝D碰+S0。 Dpre = Dpeng +S 0 .
所以：so:
其中，s0：驾驶员反应时间内两车行使的相对距离。Among them, s 0 : the relative distance traveled by the two vehicles within the driver's reaction time.
(2)当前车匀速或均加速运动时：(2) When the front vehicle moves at a constant speed or even acceleration:
当前方车辆匀速或匀加速行使时，本车制动减速行使，在本车与前车相对速度为零时，两车没有发生碰撞，此后两车将不会发生碰撞。根据汽车行使的实际情况，在汽车高速度行使时，车距一般较大，所以自车刹车到与前车相对速度为零时，一般在图2中的t3阶段。When the front vehicle is running at a constant speed or accelerating uniformly, the vehicle brakes to decelerate. When the relative speed between the vehicle and the vehicle in front is zero, the two vehicles do not collide, and thereafter the two vehicles will not collide. According to the actual situation of the car, when the car is running at a high speed, the distance between the cars is generally large, so when the self-car brakes to zero relative to the front car, it is generally in the t3 stage in Figure 2.
ΔV＝V0-V1 ΔV=V 0 -V 1
所以： so:
其中，V1为前车的速度，单位m/s。Among them, V 1 is the speed of the vehicle in front, in m/s.
(3)当前车减速行使时：(3) When the vehicle in front slows down:
其中，a前为前车的制动减速度，单位m/s2。Among them, before a is the braking deceleration of the vehicle in front, the unit is m/s 2 .
所述碰撞风险系数满足以下公式：The collision risk coefficient satisfies the following formula:
其中，所述驾驶员反应时间设为0.3～1.2s，为了确保汽车的绝对安全，设为1.2s；t1刹车器协调时间和t2刹车器制动增长时间都设为0.3s；d设为5m，也可人为设置大于2m的值；为了保证汽车的绝对安全，同一路面上行使的车辆减速度都按最小减速度选取，即a前＝a，干燥路面制动减速度为6m/s2，潮湿路面制动减速度为5m/s2，冰雪路面制动减速度2.85m/s2。Wherein, the driver's reaction time is set to 0.3～1.2s, in order to ensure the absolute safety of the car, set to 1.2s; t1 brake coordination time and t2 brake braking growth time are both set to 0.3s; d set is 5m, and a value greater than 2m can also be artificially set; in order to ensure the absolute safety of the car, the deceleration of vehicles traveling on the same road is selected according to the minimum deceleration, that is, a front = a, and the braking deceleration on dry road is 6m/s 2. The braking deceleration on wet roads is 5m/s 2 , and the braking deceleration on icy and snowy roads is 2.85m/s 2 .
因此，经总结，所述预碰撞风险距离和碰撞风险距离满足以下公式：Therefore, in conclusion, the pre-collision risk distance and the collision risk distance satisfy the following formula:
第一，在前车静止或匀速或匀加速运动条件下：First, when the vehicle in front is stationary or moving at a constant speed or uniform acceleration:
第二，在前方车辆减速时,设前方车辆制动减速度与本车制动减速相同为a：Second, when the vehicle in front is decelerating, set the braking deceleration of the vehicle in front to be the same as the braking deceleration of the own vehicle as a:
其中；in;
α：碰撞风险系数；α: Collision risk coefficient;
D预：预碰撞风险距离；D pre : pre-collision risk distance;
D碰：碰撞风险距离；D -collision : collision risk distance;
s：本车与正前方最近车辆的实时距离；s: the real-time distance between the vehicle and the nearest vehicle in front;
D预：预碰撞风险距离；D pre : pre-collision risk distance;
D碰：碰撞风险距离；D -collision : collision risk distance;
ΔV：两车之间的相对速度，单位m/s；ΔV: relative speed between two vehicles, unit m/s;
t0：驾驶员反应时间，单位S；t 0 : driver reaction time, unit S;
t1:刹车器协调时间，单位S；t 1 : Brake coordination time, unit S;
t2：制动减速增长时间，单位S；t 2 : braking deceleration growth time, unit S;
d：相对安全距离；d: relative safety distance;
a：制动减速度，单位m/s2；a: braking deceleration, unit m/s 2 ;
V0本车初始车速，单位m/s。V 0 The initial vehicle speed of the vehicle, in m/s.
所述的系统流程图，如图4所示，步骤如下：Described system flowchart, as shown in Figure 4, the steps are as follows:
步骤a：系统开启Step a: System on
步骤b：系统初始化；Step b: system initialization;
步骤c：设置相对距离；Step c: set the relative distance;
步骤d：信息采集系统采集数据并发送给整车控制系统，整车控制系统进行计算分析，并作出决策判断。Step d: The information collection system collects data and sends it to the vehicle control system. The vehicle control system performs calculation and analysis, and makes a decision.
步骤e：若与同车道前方最近车有预碰撞风险，将信号传递给发动机电子控制系统和驾驶员提醒系统，发动机电子控制系统限制发动输出能量，限制车速的进一步增加，驾驶员提醒系统发出预碰撞风险报警。若无预碰撞风险退回到步骤d。Step e: If there is a risk of pre-collision with the nearest car in front of the same lane, the signal is transmitted to the engine electronic control system and the driver reminder system. Collision risk alert. If there is no risk of pre-collision return to step d.
步骤f：在驾驶员提醒系统发出预碰撞风险报警后，驾驶员若采取人为刹车措施以下步骤不再发生。若不采取人为刹车措施，且前车有碰撞风险，该信号被发送给刹车系统和驾驶员提醒系统，刹车系统自动开启，制动器制动命令执行，同时发出高频率的碰撞风险警报；若前车无碰撞风险，返回步骤e。Step f: After the driver reminds the system to issue a pre-collision risk alarm, if the driver takes artificial braking measures, the following steps will not occur again. If no artificial braking measures are taken and there is a risk of collision with the vehicle in front, the signal is sent to the brake system and the driver reminder system, the brake system is automatically turned on, the brake command is executed, and a high-frequency collision risk alarm is issued at the same time; No risk of collision, return to step e.
以上所述仅是本发明的优选实施方式，应指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进，这些改进也应视为本发明的保护范围。The above description is only a preferred embodiment of the present invention, and it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements can also be made, and these improvements should also be regarded as the present invention. protection scope of the invention.
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