CN107914686A - A kind of emergency braking apparatus for vehicle and method - Google Patents

A kind of emergency braking apparatus for vehicle and method Download PDF

Info

Publication number
CN107914686A
CN107914686A CN201711142501.3A CN201711142501A CN107914686A CN 107914686 A CN107914686 A CN 107914686A CN 201711142501 A CN201711142501 A CN 201711142501A CN 107914686 A CN107914686 A CN 107914686A
Authority
CN
China
Prior art keywords
vehicle
braking
emergency
distance
judging result
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201711142501.3A
Other languages
Chinese (zh)
Other versions
CN107914686B (en
Inventor
肖婷
何磊
陈国迎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jilin University
Original Assignee
Jilin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN201711142501.3A priority Critical patent/CN107914686B/en
Publication of CN107914686A publication Critical patent/CN107914686A/en
Application granted granted Critical
Publication of CN107914686B publication Critical patent/CN107914686B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60T7/22Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a kind of emergency braking apparatus for vehicle and method, this method is included according to the distance between the vehicle of acquisition and barrier, Vehicle Speed and vehicle braking deceleration, judge whether vehicle collides with barrier, if, then output braking performs signal, automated execution emergency brake operations;According to the vehicle steering angle of acquisition, judge whether vehicle turns to during being in emergency braking, if, then according to the traffic information of vehicle running path, vehicle centroid side drift angle and vehicle course heading, judge vehicle in vehicle during turning to whether in safety zone, if it is not, then outbound course adjustment signal, the steering angle of adjustment direction disk make the vehicle travel in safety zone.Therefore, emergency braking can be carried out according to actual conditions using device or method provided by the invention, effectively avoids the rear-end collision because of caused by driver's pedal force deficiency or maloperation, thrust into, turn to collision and other traffic accidents.

Description

A kind of emergency braking apparatus for vehicle and method
Technical field
The present invention relates to field of vehicle safety, more particularly to a kind of emergency braking apparatus for vehicle and method.
Background technology
Vehicle stabilization control technology and traditional passive security technology have solved the safety problem of vehicle itself substantially, But traffic accident still frequently occurs, its main cause be the operation of driver not in time, particularly in case of emergency newly drive The person's of sailing reaction is nervous, slow, and leg pedal force cannot be applied to maximum in time, so that automobile braking force increases, or even individually Driver's misoperation accelerator pedal due to factors such as anxieties, thus cause rear-end collision, thrust into and other collision etc. traffic accident, Greatly personal property harm is caused, and driver because stress reaction, can carry out turning to collision avoidance operation sometimes, and Trigger traffic accident.
The content of the invention
, being capable of basis the purpose of the present invention is in view of the above problems, provide a kind of emergency braking apparatus for vehicle and method Actual conditions carry out emergency braking, effectively avoid the rear-end collision because of caused by driver's pedal force deficiency or maloperation, hit People, turn to collision and other traffic accidents.
To achieve the above object, the present invention provides following scheme:
A kind of emergency braking apparatus for vehicle, brake pedal, the steering wheel of the emergency braking apparatus for vehicle and vehicle interior Connection, the emergency braking apparatus for vehicle include:
Range sensor, for obtaining the distance between vehicle and barrier;
Velocity sensor, for obtaining Vehicle Speed;
Longitudinal acceleration sensor, for obtaining vehicle braking deceleration;
Road conditions sensor, for obtaining the traffic information of vehicle running path;The traffic information includes the vehicle row Sail the road boundary value in path;
Rotation direction sensor, for obtaining vehicle steering angle;
Lateral acceleration sensor, for obtaining vehicle centroid side drift angle;
Gyrosensor, for obtaining vehicle course heading;
Central controller, respectively with the range sensor, the velocity sensor, the longitudinal acceleration sensor, The road conditions sensor, the rotation direction sensor, the lateral acceleration sensor and gyrosensor connection, are used for According to the distance between the vehicle of acquisition and barrier, the Vehicle Speed, the vehicle braking deceleration, described The traffic information of vehicle running path, the vehicle steering angle, the vehicle centroid side drift angle, the vehicle course heading, Output control signal and direction adjustment signal;The control signal includes braking execution signal and braking does not perform signal;
Brake actuator, is connected with the central controller, the brake pedal, the steering wheel respectively;The braking Actuator is used for the startup or closing that the brake pedal is controlled according to the control signal;The brake actuator is additionally operable to root The steering of the steering wheel is adjusted according to direction adjustment signal.
Optionally, the emergency braking apparatus for vehicle further includes:Electronic switch;The electronic switch is controlled with the center Device connects;After driver starts the electronic switch, the central controller is promptly made according to what the electronic switch exported Braking described in dynamic signal output performs signal.
Optionally, the emergency braking apparatus for vehicle further includes:Brake lamp;The Brake lamp, with the central controller Connection, for when the central controller output braking performs signal, the Brake lamp to start.
Optionally, the emergency braking apparatus for vehicle further includes vehicle power supply;The vehicle power supply is arranged on the vehicle Body tail;The vehicle power supply is connected with the central controller, the electronic switch respectively.
Optionally, the range sensor is arranged on the vehicle body headstock front portion of the vehicle;It is the velocity sensor, described Longitudinal acceleration sensor, the lateral acceleration sensor, the gyrosensor are arranged on the wheel of the vehicle; The road conditions sensor is arranged on the body forward structure of the vehicle;The rotation direction sensor is arranged on the handling maneuver of the vehicle In mechanism.
The specific embodiment provided according to the present invention, the invention discloses following technique effect:
The invention discloses a kind of emergency braking apparatus for vehicle, which includes range sensor, velocity sensor, longitudinal direction Acceleration transducer, road conditions sensor, rotation direction sensor, lateral acceleration sensor, gyrosensor, central controller and Brake actuator;Brake actuator is connected with central controller, the brake pedal of vehicle interior, steering wheel respectively;Center control Device also has above-mentioned all sensor connections, and the information gathered in real time according to above-mentioned all sensors, output control signal Signal is adjusted with direction, and the open and close of braking pedal are automatically controlled according to control signal, signal tune is adjusted according to direction The angle of whole wheel steering, avoid because driver brake not in time, pedal force deficiency or steering wheel maloperation caused by Rear-end collision, thrust into, turn to collision and other traffic accidents.Therefore, can be according to reality using device provided by the invention Situation carries out emergency braking, effectively avoids the rear-end collision because of caused by driver's pedal force deficiency or maloperation, thrustes into, turns To collision and other traffic accidents.
Present invention also offers a kind of emergency brake of vehicle method, the emergency brake of vehicle method is applied to the car In emergency braking apparatus, the emergency brake of vehicle method includes:
Obtain the distance between vehicle and barrier, Vehicle Speed, vehicle braking deceleration, vehicle running path Traffic information, vehicle steering angle, vehicle centroid side drift angle, vehicle course heading;The traffic information includes the vehicle row Sail the road boundary value in path;
According to the distance between the vehicle and barrier, the Vehicle Speed and the vehicle braking deceleration Degree, judges whether the vehicle collides with the barrier, obtains the first judging result;
If first judging result represents that the vehicle does not collide with the barrier, output braking does not perform Signal;
If first judging result represents that the vehicle collides with the barrier, output braking performs letter Number;
According to the vehicle steering angle, judge the vehicle be in emergency braking during the vehicle whether occur to turn To obtaining the second judging result;
If the vehicle does not turn to during the second judging result expression vehicle is in emergency braking, return Return judge the vehicle be in emergency braking during vehicle the step of whether turning to;
If the vehicle turns to during the second judging result expression vehicle is in emergency braking, basis The traffic information of the vehicle running path, the vehicle centroid side drift angle and the vehicle course heading, judge the car Whether in the safety zone, obtain the 3rd judging result in the vehicle during turning to;
If the 3rd judging result represents that the vehicle is in safety zone in the vehicle during turning to, return Return the step for judging whether the vehicle is in the vehicle during turning in safety zone;
If the 3rd judging result represents that vehicle vehicle during steering is not in safety zone, defeated Outgoing direction adjusts signal.
Optionally, the emergency brake of vehicle method further includes:
Obtain driver and start the emergency brake signal exported after electronic switch;
According to the emergency brake signal, start the brake actuator and brake pedal, perform emergency braking.
Optionally, it is described according to the distance between the vehicle and barrier, the Vehicle Speed and the car Braking deceleration, judges whether the vehicle collides with the barrier, obtains the first judging result, specifically include:
According to the Vehicle Speed and the vehicle braking deceleration, determine the vehicle and the barrier it Between minimum range;
Judge whether the distance between the vehicle and barrier are more than the minimum range, obtain the first judging result;
If first judging result represents that the distance between described vehicle and barrier are less than or equal to the minimum Distance, then output braking perform signal;
If first judging result represents that the distance between described vehicle and barrier are more than the minimum range, defeated Go out braking and do not perform signal.
Optionally, it is described according to the traffic information of the vehicle running path, the vehicle centroid side drift angle and described Vehicle course heading, judges that the vehicle whether in safety zone, obtains the 3rd judgement in the vehicle during turning to As a result, specifically include:
According to the traffic information for stating vehicle running path, the vehicle centroid side drift angle and the vehicle course angle Degree, determines the constraints that the vehicle is travelled in the safety zone;
Judge whether the driving trace of the vehicle meets the constraints, obtain the 3rd judging result;
If the 3rd judging result represents that the driving trace of the vehicle meets the constraints, return judges institute The step of whether driving trace of vehicle meets the constraints stated;
If the 3rd judging result represents the driving trace of the vehicle and is unsatisfactory for the constraints, described in output Direction adjusts signal.
Optionally, the traffic information, the vehicle centroid side drift angle and institute of vehicle running path are stated described in the basis Vehicle course heading is stated, the constraints that the vehicle is travelled in the safety zone is determined, specifically includes:
Obtain distance of the vehicle centroid away from front axle, distance and automobile body width of the vehicle centroid away from rear axle;
It is wide according to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, shown automobile body Degree and the vehicle course heading, calculate the vertical missing between automobile body and lane center;The calculating vehicle car Body and the formula of the vertical missing between lane center are:
Wherein,For vehicle course heading, a is distance of the vehicle centroid away from front axle, b for vehicle centroid away from rear axle away from From c is automobile body width;eyRepresent the deviation between automobile body and lane center;eyiRepresent i-th jiao of automobile body Vertical missing between point and lane center;I ∈ { 1,2,3,4 }, respectively represent vehicle body it is left front, right before, it is left back, right after 4 A angle point;ey1、ey2、ey3、ey4For automobile body it is left front, right before, it is left back, right after hanging down between angle point and lane center Straight deviation;
Believed according to the vertical missing between the automobile body and lane center and the road conditions of the vehicle running path Breath, determines that safety zone travels the first constraints;The safety zone travels the first constraints:
Wherein, eyminAnd eymaxRepresent the road boundary value of vehicle running path;
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraints;The safety zone traveling Second constraints is | β+E1β | < E2(3);Wherein, β is vehicle centroid side drift angle, E1、E2For constant;
According to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, safety zone row is determined Sail the 3rd constraints;The safety zone travels the 3rd constraints
Wherein, x=[s, ey]T J represents jth vehicle.
The specific embodiment provided according to the present invention, the invention discloses following technique effect:
The invention discloses a kind of emergency brake of vehicle method, this method is included between vehicle and barrier according to acquisition Distance, Vehicle Speed and vehicle braking deceleration, judge whether vehicle collides with barrier, if then output system It is dynamic to perform signal, automated execution emergency brake operations;According to the vehicle steering angle of acquisition, judge that vehicle is in the emergency braking phase Between whether turn to, if then according to the traffic information of vehicle running path, vehicle centroid side drift angle and vehicle course heading, Judge whether vehicle is in safety zone in vehicle during turning to, if it is not, then outbound course adjustment signal, adjustment direction disk Steering angle, to the vehicle traveling in safety zone.Therefore, can be according to actual feelings using method provided by the invention Condition carries out emergency braking, effectively avoids the rear-end collision because of caused by driver's pedal force deficiency or maloperation, thrustes into, turns to Collision and other traffic accidents.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is the structure diagram of emergency brake of vehicle system of the embodiment of the present invention;
Fig. 2 is the flow diagram of emergency brake of vehicle method of the embodiment of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.
The object of the present invention is to provide a kind of emergency braking apparatus for vehicle and method, can be carried out according to actual conditions urgent Braking, effectively avoid because driver's pedal force deficiency or maloperation caused by rear-end collision, thrust into, turns to collide and other Traffic accident.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real Applying mode, the present invention is described in further detail.
Fig. 1 is the structure diagram of emergency brake of vehicle system of the embodiment of the present invention.
A kind of emergency braking apparatus for vehicle provided in an embodiment of the present invention, as shown in Figure 1, the emergency braking apparatus for vehicle with Brake pedal 10, the steering wheel 11 of vehicle interior connect.
The emergency braking apparatus for vehicle includes:
Range sensor 1, for obtaining the distance between vehicle and barrier.
Velocity sensor 2, for obtaining Vehicle Speed.
Longitudinal acceleration sensor 3, for obtaining vehicle braking deceleration.
Road conditions sensor 4, for obtaining the traffic information of vehicle running path;The traffic information includes the vehicle row Sail the road boundary value in path.
Rotation direction sensor 5, for obtaining vehicle steering angle.
Lateral acceleration sensor 6, for obtaining vehicle centroid side drift angle.
Gyrosensor 7, for obtaining vehicle course heading.
Central controller 8, senses with the range sensor 1, the velocity sensor 2, the longitudinal acceleration respectively Device 3, the road conditions sensor 4, the rotation direction sensor 5, the lateral acceleration sensor 6 and the gyrosensor 7 Connection, brakes for the distance between the vehicle according to acquisition and barrier, the Vehicle Speed, the vehicle and subtracts Speed, the traffic information of the vehicle running path, the vehicle steering angle, the vehicle centroid side drift angle, the vehicle Course heading, output control signal and direction adjustment signal;The control signal includes braking execution signal and braking does not perform Signal;
Brake actuator 9, is connected with the central controller 8, the brake pedal 10, the steering wheel 11 respectively;System Dynamic actuator 9 is used for the startup or closing that the brake pedal 10 is controlled according to the control signal;Brake actuator 9 is additionally operable to The steering of the signal adjustment steering wheel 11 is adjusted according to the direction.The brake actuator 8 will also carry out mechanical analysis guarantor The braking reliability of brake pedal 10 is demonstrate,proved, the kinematics of research brake pedal 10 prevents the movement interference with adjacent parts.
The emergency braking apparatus for vehicle further includes:Electronic switch.
The central controller 8, is also connected with the electronic switch;It is described after driver starts the electronic switch The emergency brake signal output braking that central controller 8 is exported according to the electronic switch performs signal.
The emergency braking apparatus for vehicle further includes:Brake lamp;The Brake lamp, is connected with the central controller 8, uses In when the central controller 8 exports the braking and performs signal, the Brake lamp starts.
The emergency braking apparatus for vehicle further includes vehicle power supply;After the vehicle power supply is arranged on the vehicle body of the vehicle Portion;The vehicle power supply is connected with the central controller 8, the electronic switch respectively.
The vehicle body headstock that the range sensor 1 is arranged on the vehicle is anterior;The velocity sensor 2, the longitudinal direction Acceleration transducer 3, the lateral acceleration sensor 6, the gyrosensor 7 are arranged on the wheel of the vehicle; The road conditions sensor 4 is arranged on the body forward structure of the vehicle;The rotation direction sensor 5 is arranged on the steering behaviour of the vehicle In vertical mechanism.
Use emergency braking apparatus for vehicle provided in an embodiment of the present invention realize step for:
Step 1:According to emergency braking apparatus for vehicle medium velocity sensor 2, longitudinal acceleration sensor 3 determine vehicle with Safe distance between barrier.
Step 2:It is that range sensor 1 is detected with barrier Distance Transmission to central controller 8, with reference to vehicle Safe distance between barrier judges whether vehicle will collide, if driver does not trigger the control of braking system Switch, then system switching automatic trigger controlling switch, performs emergency brake operations.At the same time, when driver feels that needs are held During row brake operating, electronic switch can also be triggered manually, perform emergency brake operations.
Step 3:During emergency braking, the signal that rotation direction sensor 5 is collected is transported to central controller 8, is judged Whether vehicle has steering operation, if there is steering operation, by road conditions sensor 4, rotation direction sensor 5, lateral acceleration sensor 6, The signal that gyrosensor 7 is collected is transported to central controller 8, then predicts whether vehicle travels in area of feasible solutions, i.e., will not The safety zone to crash, if not existing, system intervention, correction regulation and control are carried out to the braking trace of vehicle.
By technical solution provided in an embodiment of the present invention, when driver presses electronic switch, system can start Perform emergency braking;When driver does not press electronic switch, but risk of collision distance is reached, system can automatic trigger system Dynamic system, performs emergency braking, and when driver has and turns to collision avoidance manipulation, can judge that turning to collision avoidance manipulates whether route is pacifying Region-wide traveling, if not existing, system intervention, regulates and controls vehicle.
To achieve the above object, present invention also offers a kind of emergency brake of vehicle method, the emergency brake of vehicle side Method is applied in the emergency braking apparatus for vehicle.
Fig. 2 is the flow diagram of emergency brake of vehicle method of the embodiment of the present invention, as described in Figure 2, provided by the invention Emergency brake of vehicle method includes:
Step 201:Obtain the distance between vehicle and barrier, Vehicle Speed, vehicle braking deceleration, vehicle row Sail traffic information, vehicle steering angle, vehicle centroid side drift angle, the vehicle course heading in path;The traffic information includes institute State the road boundary value of vehicle running path.
Step 202:According to the distance between the vehicle and barrier, the Vehicle Speed and the vehicle system Dynamic deceleration, judges whether the vehicle collides with the barrier, obtains the first judging result.
Step 203:If first judging result represents that the vehicle does not collide with the barrier, output system It is dynamic not perform signal.
Step 204:If first judging result represents that the vehicle collides with the barrier, output braking Perform signal.
Step 205:According to the vehicle steering angle, judge whether the vehicle is in during emergency braking the vehicle Turn to, obtain the second judging result.
Step 206:If the vehicle does not occur during the second judging result expression vehicle is in emergency braking Turn to, then perform step 205.
Step 207:If second judging result represents vehicle vehicle generation turn during being in emergency braking To then according to the traffic information of the vehicle running path, the vehicle centroid side drift angle and the vehicle course heading, sentencing The vehicle obtains the 3rd judging result whether in safety zone during the vehicle that breaks is in steering.
Step 208:If the 3rd judging result represents that the vehicle is in place of safety in the vehicle during turning to In domain, then step 207 is performed.
Step 209:If the 3rd judging result represents that vehicle vehicle during steering is not in place of safety In domain, then outbound course adjusts signal.
The emergency brake of vehicle method further includes:
Step 210:Obtain driver and start the emergency brake signal exported after electronic switch.
Step 211:According to the emergency brake signal, start the brake actuator and brake pedal, perform urgent system It is dynamic.
Step 202 specifically includes:
According to the Vehicle Speed and the vehicle braking deceleration, determine the vehicle and the barrier it Between minimum range.
Judge whether the distance between the vehicle and barrier are more than the minimum range, obtain the first judging result.
If first judging result represents that the distance between described vehicle and barrier are less than or equal to the minimum Distance, then it represents that the vehicle collides with the barrier, and output braking performs signal.
If first judging result represents that the distance between described vehicle and barrier are more than the minimum range, table Show that the vehicle does not collide with the barrier, output braking does not perform signal.
Step 208 specifically includes:
Step 2081:According to the traffic information for stating vehicle running path, the vehicle centroid side drift angle and described Vehicle course heading, determines the constraints that the vehicle is travelled in the safety zone.
Step 2082:Judge whether the driving trace of the vehicle meets the constraints, obtain the 3rd judging result.
Step 2083:If the 3rd judging result represents that the driving trace of the vehicle meets the constraints, Represent that vehicle vehicle during steering is in safety zone, return to step 2082.
If step 2084 the 3rd judging result represents that the driving trace of the vehicle is unsatisfactory for the constraints, Represent that vehicle vehicle during steering is not in safety zone, outbound course adjustment letter.
Step 2081 specifically includes:
Establish auto model.
According to auto model, distance of the vehicle centroid away from front axle, distance and vehicle car of the vehicle centroid away from rear axle are obtained Body width.
It is wide according to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, shown automobile body Degree and the vehicle course heading, calculate the vertical missing between automobile body and lane center.
eyiRepresent the vertical missing between the i-th angle point and lane center of automobile body;I ∈ { 1,2,3,4 }, difference table Show vehicle body it is left front, right before, it is left back, right after 4 angle points;ey1、ey2、ey3、ey4For automobile body it is left front, right before, it is left back, right Vertical missing between a angle point and lane center afterwards, then automobile body it is left front, right before, it is left back, right after an angle point and car Vertical missing between road center line is:
Wherein,For vehicle course heading, a is distance of the vehicle centroid away from front axle, b for vehicle centroid away from rear axle away from From eyRepresent the deviation between automobile body and lane center;C is automobile body width.
Believed according to the vertical missing between the automobile body and lane center and the road conditions of the vehicle running path Breath, determines that safety zone travels the first constraints.In order to ensure vehicle is in the range of track, vehicle and lane center it is inclined Poor then have in certain section, i.e., described safety zone travels the first constraints and is:
Because in collision avoidance scene, vehicle can take other tracks to complete collision avoidance operation, so eyminAnd eymaxRepresent car The road boundary value of driving path.
Under emergency work condition, driver may be with violent steering or the collision avoidance behavior for turning to while braking, this In the case of, the possible unstability of vehicle a, feature there are potential danger, therefore the safety traffic region of vehicle is ensuring that The stability of vehicle.
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraints and (ensures vehicle stabilization Constraints);The safety zone travels the second constraints | β+E1β | < E2(3);Wherein, β is vehicle centroid side drift angle, E1、E2For constant.
According to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, safety zone row is determined Sail the 3rd constraints;The safety zone travels the 3rd constraintsWherein, x=[s, ey ]TJ represents jth vehicle.Specifically For:
Predict that the final goal of safety zone of vehicle is ensuring that collision avoidance, thus the safety traffic region of vehicle it is ensured that Vehicle will not collide with barrier.
Vehicle represents that all the points belonged on this car vehicle body are represented with affine space, then with rectangle
In formula:
X=[s, ey]TOn State and contain 4 affine equations in equation, represent the four edges of Ben Che vehicle body rectangles respectively.
For collision avoidance, the vehicle body rectangle and front obstacle of this car should not have intersection, i.e., all the points should on this car vehicle body The satisfaction:
In formula:
X=[s, ey]Tj Represent the target vehicle that numbering is j.Also contain 4 affine equations in same above-mentioned equation.
The embodiment of the invention discloses a kind of emergency brake of vehicle method, driver can be triggered by button in the present invention Braking system, effectively avoids braking braking problems caused by pedal force deficiency or anxiety, and when driver is turned to It when collision avoidance operates, can determine whether vehicle travels in safety zone, and vehicle regulated and controled, add the brake safe of vehicle Property.The present invention is analyzed and processed by the signal that control unit conveys radar, sensor, it can be determined that whether vehicle is touching Danger zone is hit, so as to automatic triggering system, improves the braking sensitivity of vehicle..
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth the principle of the present invention and embodiment, and above example is said It is bright to be only intended to help the method and its core concept for understanding the present invention;Meanwhile for those of ordinary skill in the art, foundation The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. a kind of emergency braking apparatus for vehicle, it is characterised in that the braking of the emergency braking apparatus for vehicle and vehicle interior is stepped on Plate, steering wheel connection, the emergency braking apparatus for vehicle include:
Range sensor, for obtaining the distance between vehicle and barrier;
Velocity sensor, for obtaining Vehicle Speed;
Longitudinal acceleration sensor, for obtaining vehicle braking deceleration;
Road conditions sensor, for obtaining the traffic information of vehicle running path;The traffic information includes vehicle traveling road The road boundary value in footpath;
Rotation direction sensor, for obtaining vehicle steering angle;
Lateral acceleration sensor, for obtaining vehicle centroid side drift angle;
Gyrosensor, for obtaining vehicle course heading;
Central controller, respectively with the range sensor, velocity sensor, the longitudinal acceleration sensor, described Road conditions sensor, the rotation direction sensor, the lateral acceleration sensor and gyrosensor connection, for basis The distance between described vehicle and barrier for obtaining, the Vehicle Speed, the vehicle braking deceleration, the vehicle The traffic information of driving path, the vehicle steering angle, the vehicle centroid side drift angle, the vehicle course heading, output Control signal and direction adjustment signal;The control signal includes braking execution signal and braking does not perform signal;
Brake actuator, is connected with the central controller, the brake pedal, the steering wheel respectively;The braking performs Device is used for the startup or closing that the brake pedal is controlled according to the control signal;The brake actuator is additionally operable to according to institute State the steering that direction adjustment signal adjusts the steering wheel.
2. emergency braking apparatus for vehicle according to claim 1, it is characterised in that the emergency braking apparatus for vehicle also wraps Include:Electronic switch;The electronic switch is connected with the central controller;It is described after driver starts the electronic switch The emergency brake signal output braking that central controller is exported according to the electronic switch performs signal.
3. emergency braking apparatus for vehicle according to claim 1, it is characterised in that the emergency braking apparatus for vehicle also wraps Include:Brake lamp;The Brake lamp, is connected with the central controller, for being held when the central controller output braking During row signal, the Brake lamp starts.
4. emergency braking apparatus for vehicle according to claim 2, it is characterised in that the emergency braking apparatus for vehicle also wraps Include vehicle power supply;The vehicle power supply is arranged on the body tail of the vehicle;The vehicle power supply is controlled with the center respectively Device processed, electronic switch connection.
5. emergency braking apparatus for vehicle according to claim 1, it is characterised in that the range sensor is arranged on described The vehicle body headstock of vehicle is anterior;The velocity sensor, the longitudinal acceleration sensor, the lateral acceleration sensor, The gyrosensor is arranged on the wheel of the vehicle;Before the road conditions sensor is arranged on the vehicle body of the vehicle Portion;The rotation direction sensor is arranged on the steering control mechanism of the vehicle.
A kind of 6. emergency brake of vehicle method, it is characterised in that the emergency brake of vehicle method is applied to claim 1-5 and appoints In emergency braking apparatus for vehicle described in meaning one, the emergency brake of vehicle method includes:
Obtain the distance between vehicle and barrier, Vehicle Speed, vehicle braking deceleration, the road conditions of vehicle running path Information, vehicle steering angle, vehicle centroid side drift angle, vehicle course heading;The traffic information includes vehicle traveling road The road boundary value in footpath;
According to the distance between the vehicle and barrier, the Vehicle Speed and the vehicle braking deceleration, sentence Whether the vehicle that breaks collides with the barrier, obtains the first judging result;
If first judging result represents that the vehicle does not collide with the barrier, output braking does not perform letter Number;
If first judging result represents that the vehicle collides with the barrier, output braking performs signal;
According to the vehicle steering angle, judge the vehicle be in emergency braking during the vehicle whether turn to, obtain To the second judging result;
If the vehicle does not turn to during the second judging result expression vehicle is in emergency braking, return is sentenced The step of whether vehicle turns to during the vehicle that breaks is in emergency braking;
If the vehicle turns to during the second judging result expression vehicle is in emergency braking, according to The traffic information of vehicle running path, the vehicle centroid side drift angle and the vehicle course heading, judge at the vehicle The vehicle obtains the 3rd judging result whether in safety zone during steering;
If the 3rd judging result represents that the vehicle is in safety zone in the vehicle during turning to, return is sentenced Whether the vehicle is in the step in safety zone during the vehicle that breaks is in steering;
If the 3rd judging result represents that vehicle vehicle during steering is not in safety zone, output side To adjustment signal.
7. emergency brake of vehicle method according to claim 6, it is characterised in that the emergency brake of vehicle method is also wrapped Include:
Obtain driver and start the emergency brake signal exported after electronic switch;
According to the emergency brake signal, start the brake actuator and brake pedal, perform emergency braking.
8. emergency brake of vehicle method according to claim 6, it is characterised in that described according to the vehicle and barrier The distance between, the Vehicle Speed and the vehicle braking deceleration, judge that the vehicle is with the barrier It is no to collide, the first judging result is obtained, is specifically included:
According to the Vehicle Speed and the vehicle braking deceleration, determine between the vehicle and the barrier Minimum range;
Judge whether the distance between the vehicle and barrier are more than the minimum range, obtain the first judging result;
If first judging result represents that the distance between described vehicle and barrier are less than or equal to the minimum range, Then output braking performs signal;
If first judging result represents that the distance between described vehicle and barrier are more than the minimum range, output system It is dynamic not perform signal.
9. emergency brake of vehicle method according to claim 6, it is characterised in that described according to the vehicle running path Traffic information, the vehicle centroid side drift angle and the vehicle course heading, judge the vehicle be in turn to during institute Vehicle is stated whether in safety zone, the 3rd judging result is obtained, specifically includes:
According to the traffic information for stating vehicle running path, the vehicle centroid side drift angle and the vehicle course heading, Determine the constraints that the vehicle is travelled in the safety zone;
Judge whether the driving trace of the vehicle meets the constraints, obtain the 3rd judging result;
If the 3rd judging result represents that the driving trace of the vehicle meets the constraints, return judges the car Driving trace the step of whether meeting the constraints;
If the 3rd judging result represents that the driving trace of the vehicle is unsatisfactory for the constraints, the direction is exported Adjust signal.
10. emergency brake of vehicle method according to claim 9, it is characterised in that vehicle traveling is stated described in the basis The traffic information in path, the vehicle centroid side drift angle and the vehicle course heading, determine the vehicle in the safety The constraints of region traveling, specifically includes:
Obtain distance of the vehicle centroid away from front axle, distance and automobile body width of the vehicle centroid away from rear axle;
According to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, shown automobile body width with And the vehicle course heading, calculate the vertical missing between automobile body and lane center;It is described calculating automobile body with The formula of vertical missing between lane center is:
Wherein,For vehicle course heading, a is distance of the vehicle centroid away from front axle, and b is distance of the vehicle centroid away from rear axle, and c is Automobile body width;eyRepresent the deviation between automobile body and lane center;eyiRepresent the i-th angle point and car of automobile body Vertical missing between road center line;I ∈ { 1,2,3,4 }, respectively represent vehicle body it is left front, right before, it is left back, right after 4 angle points; ey1、ey2、ey3、ey4For automobile body it is left front, right before, it is left back, right after vertical missing between angle point and lane center;
According to the vertical missing between the automobile body and lane center and the traffic information of the vehicle running path, really Dingan County's the first constraints of region-wide traveling;The safety zone travels the first constraints:
Wherein, eyminAnd eymaxRepresent the road boundary value of vehicle running path;
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraints;The safety zone traveling second Constraints is | β+E1β | < E2(3);Wherein, β is vehicle centroid side drift angle, E1、E2For constant;
According to distance of the vehicle centroid away from front axle, distance of the vehicle centroid away from rear axle, safety zone traveling the is determined Three constraintss;The safety zone travels the 3rd constraintsWherein, x=[s, ey]TJ represents jth vehicle.
CN201711142501.3A 2017-11-17 2017-11-17 A kind of emergency braking apparatus for vehicle and method Active CN107914686B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711142501.3A CN107914686B (en) 2017-11-17 2017-11-17 A kind of emergency braking apparatus for vehicle and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711142501.3A CN107914686B (en) 2017-11-17 2017-11-17 A kind of emergency braking apparatus for vehicle and method

Publications (2)

Publication Number Publication Date
CN107914686A true CN107914686A (en) 2018-04-17
CN107914686B CN107914686B (en) 2019-06-25

Family

ID=61896587

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711142501.3A Active CN107914686B (en) 2017-11-17 2017-11-17 A kind of emergency braking apparatus for vehicle and method

Country Status (1)

Country Link
CN (1) CN107914686B (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545073A (en) * 2018-05-18 2018-09-18 柳工无锡路面机械有限公司 A kind of emergency braking system and braking method of rubber-tyred roller
CN108595022A (en) * 2018-04-27 2018-09-28 网易(杭州)网络有限公司 Virtual role direction of travel method of adjustment and device, electronic equipment, storage medium
CN108831144A (en) * 2018-07-05 2018-11-16 北京智行者科技有限公司 A kind of collision avoiding processing method
CN109017729A (en) * 2018-07-31 2018-12-18 南京越博动力系统股份有限公司 A kind of vehicle braking auxiliary system and its control method
CN109017790A (en) * 2018-08-09 2018-12-18 北京智行者科技有限公司 Control management system
CN109606336A (en) * 2018-11-13 2019-04-12 杭州锣卜科技有限公司 A kind of emergency braking apparatus of vehicle line control brake system
CN110901634A (en) * 2019-11-26 2020-03-24 武汉科技大学 Active obstacle avoidance method for four-wheel hub drive electric automobile
CN111539371A (en) * 2020-05-06 2020-08-14 腾讯科技(深圳)有限公司 Vehicle control method, device, equipment and storage medium
CN111645677A (en) * 2020-05-20 2020-09-11 吉林大学 Vehicle braking and steering coordinated control emergency anti-collision system and control method
CN111959502A (en) * 2020-07-16 2020-11-20 山东行远智能网联科技有限公司 Intelligent networking vehicle obstacle avoidance method
CN112298132A (en) * 2020-10-12 2021-02-02 清华大学苏州汽车研究院(相城) Vehicle autonomous emergency braking control system and control method
CN112660088A (en) * 2020-12-31 2021-04-16 的卢技术有限公司 Vehicle brake control method, system, readable medium and device
CN112677963A (en) * 2021-01-07 2021-04-20 吉林大学 Intelligent networking four-wheel independent steering and independent driving electric automobile emergency obstacle avoidance system
CN113246932A (en) * 2021-06-18 2021-08-13 东风柳州汽车有限公司 Emergency braking auxiliary control method, device, equipment and storage medium
CN113428140A (en) * 2021-07-06 2021-09-24 安徽海博智能科技有限责任公司 Unmanned emergency stop control method and system
CN113661099A (en) * 2019-04-12 2021-11-16 邦迪克斯商用车系统有限责任公司 Delayed autobrake activation due to a potentially front-turning vehicle
CN115465240A (en) * 2022-08-18 2022-12-13 中国第一汽车股份有限公司 Data processing method and device for vehicle, storage medium and vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012043683A1 (en) * 2010-09-28 2012-04-05 日立オートモティブシステムズ株式会社 Vehicle motion control device
EP2444290A1 (en) * 2009-06-19 2012-04-25 Bosch Corporation Vehicle braking control device
CN104742902A (en) * 2013-12-27 2015-07-01 鸿富锦精密工业(深圳)有限公司 Vehicle auxiliary system and vehicle auxiliary method
CN105015545A (en) * 2015-07-03 2015-11-04 内蒙古麦酷智能车技术有限公司 Autonomous lane-changing decision making system for pilotless automobile
CN106379316A (en) * 2016-09-06 2017-02-08 江苏大学 Vehicle active collision avoidance mode switching method
CN107031629A (en) * 2017-03-10 2017-08-11 上海大学 A kind of 3D machine vision fork truck traveling supplementary security system and method
CN107117167A (en) * 2017-04-24 2017-09-01 南京航空航天大学 Automobile differential steering system and its control method with a variety of collision avoidance patterns

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2444290A1 (en) * 2009-06-19 2012-04-25 Bosch Corporation Vehicle braking control device
WO2012043683A1 (en) * 2010-09-28 2012-04-05 日立オートモティブシステムズ株式会社 Vehicle motion control device
CN104742902A (en) * 2013-12-27 2015-07-01 鸿富锦精密工业(深圳)有限公司 Vehicle auxiliary system and vehicle auxiliary method
CN105015545A (en) * 2015-07-03 2015-11-04 内蒙古麦酷智能车技术有限公司 Autonomous lane-changing decision making system for pilotless automobile
CN106379316A (en) * 2016-09-06 2017-02-08 江苏大学 Vehicle active collision avoidance mode switching method
CN107031629A (en) * 2017-03-10 2017-08-11 上海大学 A kind of 3D machine vision fork truck traveling supplementary security system and method
CN107117167A (en) * 2017-04-24 2017-09-01 南京航空航天大学 Automobile differential steering system and its control method with a variety of collision avoidance patterns

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108595022A (en) * 2018-04-27 2018-09-28 网易(杭州)网络有限公司 Virtual role direction of travel method of adjustment and device, electronic equipment, storage medium
CN108595022B (en) * 2018-04-27 2021-06-18 网易(杭州)网络有限公司 Virtual character advancing direction adjusting method and device, electronic equipment and storage medium
CN108545073A (en) * 2018-05-18 2018-09-18 柳工无锡路面机械有限公司 A kind of emergency braking system and braking method of rubber-tyred roller
CN108831144A (en) * 2018-07-05 2018-11-16 北京智行者科技有限公司 A kind of collision avoiding processing method
CN109017729A (en) * 2018-07-31 2018-12-18 南京越博动力系统股份有限公司 A kind of vehicle braking auxiliary system and its control method
CN109017790A (en) * 2018-08-09 2018-12-18 北京智行者科技有限公司 Control management system
CN109606336A (en) * 2018-11-13 2019-04-12 杭州锣卜科技有限公司 A kind of emergency braking apparatus of vehicle line control brake system
CN113661099A (en) * 2019-04-12 2021-11-16 邦迪克斯商用车系统有限责任公司 Delayed autobrake activation due to a potentially front-turning vehicle
CN113661099B (en) * 2019-04-12 2024-05-17 邦迪克斯商用车系统有限责任公司 Delayed autobrake activation due to potential forward-turning vehicles
CN110901634A (en) * 2019-11-26 2020-03-24 武汉科技大学 Active obstacle avoidance method for four-wheel hub drive electric automobile
CN111539371A (en) * 2020-05-06 2020-08-14 腾讯科技(深圳)有限公司 Vehicle control method, device, equipment and storage medium
CN111645677A (en) * 2020-05-20 2020-09-11 吉林大学 Vehicle braking and steering coordinated control emergency anti-collision system and control method
CN111959502A (en) * 2020-07-16 2020-11-20 山东行远智能网联科技有限公司 Intelligent networking vehicle obstacle avoidance method
CN111959502B (en) * 2020-07-16 2021-12-17 山东大学 Intelligent networking vehicle obstacle avoidance method
CN112298132A (en) * 2020-10-12 2021-02-02 清华大学苏州汽车研究院(相城) Vehicle autonomous emergency braking control system and control method
CN112660088B (en) * 2020-12-31 2022-03-25 的卢技术有限公司 Vehicle brake control method, system, readable medium and device
CN112660088A (en) * 2020-12-31 2021-04-16 的卢技术有限公司 Vehicle brake control method, system, readable medium and device
CN112677963A (en) * 2021-01-07 2021-04-20 吉林大学 Intelligent networking four-wheel independent steering and independent driving electric automobile emergency obstacle avoidance system
CN113246932A (en) * 2021-06-18 2021-08-13 东风柳州汽车有限公司 Emergency braking auxiliary control method, device, equipment and storage medium
CN113428140A (en) * 2021-07-06 2021-09-24 安徽海博智能科技有限责任公司 Unmanned emergency stop control method and system
CN115465240A (en) * 2022-08-18 2022-12-13 中国第一汽车股份有限公司 Data processing method and device for vehicle, storage medium and vehicle

Also Published As

Publication number Publication date
CN107914686B (en) 2019-06-25

Similar Documents

Publication Publication Date Title
CN107914686B (en) A kind of emergency braking apparatus for vehicle and method
JP7189509B2 (en) Vehicle travel control device
US10875529B2 (en) Vehicle control device
CN112061121B (en) Vehicle travel control device
CN106476800B (en) Collision avoids auxiliary device
CN104798123B (en) Drive assistance device and driving assistance method
CN105966396B (en) A kind of vehicle intelligent collision control method based on driver's collision avoidance behavior
JP6205947B2 (en) Automatic operation control device
US9205816B2 (en) Vehicle emergency evacuation device
CN105683000B (en) Automatic stopping control device and parking aid
KR101981350B1 (en) Method for guiding a vehicle, and driver assistance system
CN108657177A (en) Controller of vehicle
CN111361553A (en) Driving assistance system for a motor vehicle, motor vehicle and method for operating a motor vehicle
CN105711588A (en) Lane keeping assist system and lane keeping assist method
US20130226445A1 (en) Driving support device, driving support method, and driving support program
JP2019051894A (en) Travel control device for vehicle
JP2010163164A (en) Drive assist apparatus
JP2009078733A (en) Driving support system
CN102209656A (en) Traveling aid device
CN105015546B (en) The active emergency turn system and method for pre- vehicle rear-end collision prevention
JP2017114405A (en) Drive support device
CN110239534A (en) A kind of lane keeping method and system keeping miscellaneous function based on lane
CN109866767A (en) Operating motor vehicles and the control system and control method for avoiding collision another motor vehicle
US20180072325A1 (en) Travel control device
Acarman et al. A control authority transition system for collision and accident avoidance

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: He Lei

Inventor after: Xiao Ting

Inventor after: Chen Guoying

Inventor before: Xiao Ting

Inventor before: He Lei

Inventor before: Chen Guoying