CN107914686A - A kind of emergency braking apparatus for vehicle and method - Google Patents
A kind of emergency braking apparatus for vehicle and method Download PDFInfo
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- 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
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- 230000004888 barrier function Effects 0.000 claims abstract description 47
- 230000001133 acceleration Effects 0.000 claims description 22
- 206010039203 Road traffic accident Diseases 0.000 abstract description 9
- 230000007812 deficiency Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000019901 Anxiety disease Diseases 0.000 description 2
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- 230000033228 biological regulation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- 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
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
]T；J 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]T；On
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]T；j
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]T；J represents jth vehicle.
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| 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 |
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| 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 |
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| 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 |
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Inventor after: He Lei Inventor after: Xiao Ting Inventor after: Chen Guoying Inventor before: Xiao Ting Inventor before: He Lei Inventor before: Chen Guoying |