CN107914686B - 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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- CN107914686B CN107914686B CN201711142501.3A CN201711142501A CN107914686B CN 107914686 B CN107914686 B CN 107914686B CN 201711142501 A CN201711142501 A CN 201711142501A CN 107914686 B CN107914686 B CN 107914686B
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- vehicle
- judging result
- distance
- barrier
- braking
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
Abstract
The invention discloses a kind of emergency braking apparatus for vehicle and methods, this method includes according to the distance between the vehicle of acquisition and barrier, Vehicle Speed and vehicle braking deceleration, judge whether vehicle collides with barrier, if, it then exports braking and executes signal, execute emergency brake operations automatically；According to the vehicle steering angle of acquisition, judge whether turn to during vehicle is in emergency braking, 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, the steering angle of adjustment direction disk make the vehicle driving in safety zone.Therefore, emergency braking can be carried out according to the actual situation using device or method provided by the invention, effectively avoid the rear-end collision because caused by driver's pedal force is insufficient 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 technique
Vehicle stabilization control technology and traditional passive security technology have had been basically solved the safety problem of vehicle itself,
But traffic accident still frequently occurs, the main reason is that the operation of driver is not in time, especially in case of emergency newly drives
The person of sailing reacts nervous, slow, and leg pedal force cannot be applied to maximum in time, to make automobile braking force increase, or even individual
Driver's misoperation accelerator pedal due to factors such as anxieties, thus cause rear-end collision, thrust into and other collision etc. traffic accidents,
Greatly personal property harm is caused, and driver will do it because of stress reaction and turn to collision avoidance operation sometimes, and
Cause traffic accident.
Summary of the invention
It, 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 caused by driver's pedal force is insufficient or maloperation, hit
People turns to collision and other traffic accidents.
To achieve the above object, the present invention provides following schemes:
Brake pedal, the steering wheel of a kind of emergency braking apparatus for vehicle, 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 that braking execution signal and braking do not execute signal；
Brake actuator is connect with the central controller, the brake pedal, the steering wheel respectively；The braking
Actuator is used to control the starting or closing of the brake pedal according to the control signal；The brake actuator is also used to root
The steering of the steering wheel is adjusted according to the direction adjustment signal.
Optionally, the emergency braking apparatus for vehicle further include: electronic switch；The electronic switch and the center control
Device connection；After driver starts the electronic switch, urgent system that the central controller is exported according to the electronic switch
Dynamic signal exports the braking and executes signal.
Optionally, the emergency braking apparatus for vehicle further include: Brake lamp；The Brake lamp, with the central controller
Connection, for when the central controller exports the braking and executes signal, the Brake lamp to start.
Optionally, the emergency braking apparatus for vehicle further includes vehicle power supply；The vehicle power supply is arranged in the vehicle
Body tail；The vehicle power supply is connect with the central controller, the electronic switch respectively.
Optionally, the vehicle body headstock front of the vehicle is arranged in the range sensor；It is the velocity sensor, described
Longitudinal acceleration sensor, the lateral acceleration sensor, the gyrosensor are arranged on the wheel of the vehicle；
The vehicle foreside of the vehicle is arranged in the road conditions sensor；The handling maneuver of the vehicle is arranged in the rotation direction sensor
In mechanism.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
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 connect with central controller, the brake pedal of vehicle interior, steering wheel respectively；Center control
There are also above-mentioned all sensor connections for device, and the information acquired in real time according to above-mentioned all sensors, output control signal
With direction adjustment signal, and according to control signal automatically control braking pedal open and close, according to direction adjustment signal tune
The angle of whole wheel steering avoids braking not in time, caused by pedal force is insufficient or steering wheel maloperation because of driver
Rear-end collision thrustes into, turns to collision and other traffic accidents.It therefore, can be according to reality using device provided by the invention
Situation carries out emergency braking, effectively avoids the rear-end collision because caused by driver's pedal force is insufficient or maloperation, thrustes into, turns
To collision and other traffic accidents.
The present invention also provides a kind of emergency brake of vehicle method, the emergency brake of vehicle method is applied to the vehicle
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；
Slowed down according to the distance between the vehicle and barrier, the Vehicle Speed and the vehicle braking
Degree, judges whether the vehicle collides with the barrier, obtains the first judging result；
If first judging result indicates that the vehicle does not collide with the barrier, exports braking and do not execute
Signal；
If first judging result indicates that the vehicle collides with the barrier, exports braking and execute letter
Number；
According to the vehicle steering angle, judge whether the vehicle occurs to turn during the vehicle is in emergency braking
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
It returns and the step of whether vehicle turns to during the vehicle is in emergency braking is judged；
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 vehicle
In turn to during the vehicle whether be in safety zone, obtain third judging result；
If the third judging result indicates that the vehicle is in safety zone in the vehicle during turning to, return
It returns and judges whether the vehicle is in the step in safety zone in the vehicle during turning to；
If the third judging result indicates that vehicle vehicle during steering is not in safety zone, defeated
Direction adjustment signal out.
Optionally, the emergency brake of vehicle method further include:
It obtains driver and starts the emergency brake signal exported after electronic switch；
According to the emergency brake signal, start the brake actuator and brake pedal, executes emergency braking.
Optionally, described according to the distance between the vehicle and barrier, the Vehicle Speed and the vehicle
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 greater than the minimum range, obtains the first judging result；
If first judging result indicates that the distance between the vehicle and barrier are less than or equal to the minimum
Distance then exports braking and executes signal；
If first judging result indicates that the distance between the vehicle and barrier are greater than the minimum range, defeated
It brakes out and does not execute signal.
Optionally, described according to the traffic information of the vehicle running path, the vehicle centroid side drift angle and described
Vehicle course heading, judges whether the vehicle is in safety zone in the vehicle during turning to, and obtains third judgement
As a result, specifically including:
According to the traffic information for stating vehicle running path, the vehicle centroid side drift angle and the vehicle course angle
Degree, determines the constraint condition that the vehicle is travelled in the safety zone；
Judge whether the driving trace of the vehicle meets the constraint condition, obtains third judging result；
If the third judging result indicates that the driving trace of the vehicle meets the constraint condition, returns and judge institute
The step of whether driving trace of vehicle meets the constraint condition stated；
If the third judging result indicates the driving trace of the vehicle and is unsatisfactory for the constraint condition, described in output
Direction adjustment signal.
Optionally, the traffic information that vehicle running path is stated according to, the vehicle centroid side drift angle and institute
Vehicle course heading is stated, the constraint condition that the vehicle is travelled in the safety zone is determined, specifically includes:
Obtain distance, vehicle centroid of the vehicle centroid away from front axle distance and automobile body width away from rear axle；
Distance away from rear axle of distance, the vehicle centroid according to the vehicle centroid away from front axle, shown automobile body are wide
Degree and the vehicle course heading calculate the vertical missing between automobile body and lane center；The calculating vehicle vehicle
The formula of body and the vertical missing between lane center are as follows:
Wherein,For vehicle course heading, a is distance of the vehicle centroid away from front axle, b is vehicle centroid away from rear axle away from
From c is automobile body width；eyIndicate the deviation between automobile body and lane center；eyiIndicate i-th jiao of automobile body
Vertical missing between point and lane center；I ∈ { 1,2,3,4 }, respectively indicate 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 road conditions of vertical missing and the vehicle running path between the automobile body and lane center
Breath determines that safety zone travels the first constraint condition；The safety zone travels the first constraint condition are as follows:Wherein, eyminAnd eymaxIndicate the road boundary value of vehicle running path；
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraint condition；The safety zone traveling
Second constraint condition is | β+E1β | < E2(3)；Wherein, β is vehicle centroid side drift angle, E1、E2For constant；
The distance of distance, the vehicle centroid away from rear axle according to the vehicle centroid away from front axle, determines safety zone row
Sail third constraint condition；The safety zone travels third constraint conditionWherein, x=[s, ey]T；J indicates jth vehicle.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of emergency brake of vehicle method, this method includes between vehicle and barrier according to acquisition
Distance, Vehicle Speed and vehicle braking deceleration, judge whether vehicle collides with barrier, if then exporting system
It is dynamic to execute signal, emergency brake operations are executed automatically；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, until the vehicle driving is in safety zone.It therefore, can be according to practical feelings using method provided by the invention
Condition carries out emergency braking, effectively avoids the rear-end collision because caused by driver's pedal force is insufficient or maloperation, thrustes into, turns to
Collision and other traffic accidents.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of emergency brake of vehicle of embodiment of the present invention system；
Fig. 2 is the flow diagram of emergency brake of vehicle of embodiment of the present invention method.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of emergency braking apparatus for vehicle and method, can carry out according to the actual situation urgent
Braking, effectively avoid because caused by driver pedal force is insufficient or maloperation 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, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the structural schematic diagram of emergency brake of vehicle of embodiment of the present invention system.
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 is sensed 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, for being subtracted according to the distance between the vehicle of acquisition and barrier, the Vehicle Speed, the vehicle braking
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 that braking execution signal and braking do not execute
Signal；
Brake actuator 9 is connect with the central controller 8, the brake pedal 10, the steering wheel 11 respectively；System
Dynamic actuator 9 is used to control the starting or closing of the brake pedal 10 according to the control signal；Brake actuator 9 is also used to
The steering of the steering wheel 11 is adjusted according to the direction adjustment signal.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 components.
The emergency braking apparatus for vehicle further include: electronic switch.
The central controller 8, also connect with the electronic switch；It is described after driver starts the electronic switch
Central controller 8 exports the braking according to the emergency brake signal that the electronic switch exports and executes signal.
The emergency braking apparatus for vehicle further include: Brake lamp；The Brake lamp is connect with the central controller 8, is used
In when the central controller 8 exports the braking and executes signal, the Brake lamp starts.
The emergency braking apparatus for vehicle further includes vehicle power supply；After the vehicle body of the vehicle is arranged in the vehicle power supply
Portion；The vehicle power supply is connect with the central controller 8, the electronic switch respectively.
The vehicle body headstock front of the vehicle is arranged in the range sensor 1；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 vehicle foreside of the vehicle is arranged in the road conditions sensor 4；The steering behaviour of the vehicle is arranged in the rotation direction sensor 5
In vertical mechanism.
Using the realization step of emergency braking apparatus for vehicle provided in an embodiment of the present invention are as follows:
Step 1: according to velocity sensor 2 in emergency braking apparatus for vehicle, 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, in conjunction with 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 control switch, executes emergency brake operations.At the same time, when driver feels to need to hold
When row brake operating, electronic switch can also be triggered manually, execute emergency brake operations.
Step 3: during emergency braking, being transported to central controller 8 for the signal that rotation direction sensor 5 is collected, judgement
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 carries out correction regulation to the braking trace of vehicle.
The technical solution provided through the embodiment of the present invention, when driver presses electronic switch, system can start
Execute emergency braking；When driver does not press electronic switch, but risk of collision distance is had reached, system can automatic trigger system
Dynamic system executes emergency braking, and when driver has and turns to collision avoidance manipulation, judges and turn to whether collision avoidance manipulation route is pacifying
Entire area traveling, if not existing, system intervention regulates and controls vehicle.
To achieve the above object, the present invention also provides a kind of emergency brake of vehicle method, the emergency brake of vehicle sides
Method is applied in the emergency braking apparatus for vehicle.
Fig. 2 is the flow diagram of emergency brake of vehicle of embodiment of the present invention method, as described in Figure 2, provided by the invention
Emergency brake of vehicle method includes:
Step 201: obtaining 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 indicates that the vehicle does not collide with the barrier, exporting system
It is dynamic not execute signal.
Step 204: if first judging result indicates that the vehicle collides with the barrier, exporting braking
Execute signal.
Step 205: according to the vehicle steering angle, judging during the vehicle is in emergency braking whether is the vehicle
It turns to, obtains the second judging result.
Step 206: if the vehicle does not occur during second judging result expression vehicle is in emergency braking
It turns to, thens follow the steps 205.
Step 207: if the vehicle occurs to turn during second judging result expression vehicle is in emergency braking
To sentencing then according to the traffic information of the vehicle running path, the vehicle centroid side drift angle and the vehicle course heading
Whether the vehicle is in safety zone during the vehicle that breaks is in steering, obtains third judging result.
Step 208: if the third judging result indicates that the vehicle is in safety zone in the vehicle during turning to
In domain, 207 are thened follow the steps.
Step 209: if the third judging result indicates that vehicle vehicle during steering is not in safety zone
In domain, then outbound course adjustment signal.
The emergency brake of vehicle method further include:
Step 210: obtaining driver and start the emergency brake signal exported after electronic switch.
Step 211: according to the emergency brake signal, starting the brake actuator and brake pedal, execute 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 greater than the minimum range, obtains the first judging result.
If first judging result indicates that the distance between the 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 executes signal.
If first judging result indicates that the distance between the vehicle and barrier are greater than the minimum range, table
Show that the vehicle does not collide with the barrier, output braking does not execute 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 constraint condition that the vehicle is travelled in the safety zone.
Step 2082: judging whether the driving trace of the vehicle meets the constraint condition, obtain third judging result.
Step 2083: if the third judging result indicates that the driving trace of the vehicle meets the constraint condition,
Indicate that vehicle vehicle during steering is in safety zone, return step 2082.
If the step 2084 third judging result indicates that the driving trace of the vehicle is unsatisfactory for the constraint condition,
Indicate 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, vehicle centroid of the vehicle centroid away from front axle distance and vehicle vehicle away from rear axle are obtained
Body width.
Distance away from rear axle of distance, the vehicle centroid according to the vehicle centroid away from front axle, shown automobile body are wide
Degree and the vehicle course heading calculate the vertical missing between automobile body and lane center.
eyiIndicate 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 angle point and vehicle
Vertical missing between road center line are as follows:
Wherein,For vehicle course heading, a is distance of the vehicle centroid away from front axle, b is vehicle centroid away from rear axle away from
From eyIndicate the deviation between automobile body and lane center；C is automobile body width.
Believed according to the road conditions of vertical missing and the vehicle running path between the automobile body and lane center
Breath determines that safety zone travels the first constraint condition.In order to ensure vehicle is within the scope of lane, vehicle and lane center it is inclined
Poor then have in certain section, i.e., the described safety zone travels the first constraint condition are as follows:Because vehicle can occupy other lanes to complete collision avoidance behaviour in collision avoidance scene
Make, so eyminAnd eymaxIndicate the road boundary value of vehicle running 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, there are a features of potential risk, therefore the safety traffic region of vehicle to be ensuring that
The stability of vehicle.
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraint condition and (guarantees vehicle stabilization
Constraint condition)；The safety zone travels the second constraint condition | β+E1β | < E2(3)；Wherein, β is vehicle centroid side drift angle,
E1、E2For constant.
The distance of distance, the vehicle centroid away from rear axle according to the vehicle centroid away from front axle, determines safety zone row
Sail third constraint condition；The safety zone travels third constraint conditionWherein, x=[s, ey]T；J indicates jth vehicle.Specifically:
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 indicates that all the points belonged on this vehicle vehicle body are indicated with affine space, then with rectangle
In formula:
X=[s, ey]T；On
It states in equation containing 4 affine equations, respectively represents the four edges of this vehicle vehicle body rectangle.
For collision avoidance, the vehicle body rectangle and front obstacle of this vehicle should not have intersection, i.e., all the points are answered on this vehicle vehicle body
The satisfaction:
In formula:
X=[s, ey]T；j
Indicate the target vehicle that number 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 brakes braking problems caused by effectively avoiding pedal force insufficient or anxiety, and when driver turns to
It when collision avoidance operates, can determine whether vehicle travels in safety zone, and vehicle regulated and controled, increase the brake safe of vehicle
Property.The present invention is analyzed and processed by signal of the control unit to radar, sensor conveying, 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 in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (5)
1. a kind of emergency brake of vehicle method, which is characterized in that the emergency brake of vehicle method is applied to emergency brake of vehicle
In device, 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 the vehicle driving road
The road boundary value of diameter；
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 indicates that the vehicle does not collide with the barrier, exports braking and do not execute letter
Number；
If first judging result indicates that the vehicle collides with the barrier, exports braking and execute signal；
According to the vehicle steering angle, judge whether the vehicle turns to during the vehicle is in emergency braking, obtains
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
Whether the vehicle is in safety zone during steering, obtains third judging result；
If the third judging result indicates 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 third judging result indicates that vehicle vehicle during steering is not in safety zone, the side of output
To adjustment signal.
2. emergency brake of vehicle method according to claim 1, which is characterized in that the emergency brake of vehicle method is also wrapped
It includes:
It obtains driver and starts the emergency brake signal exported after electronic switch；
According to the emergency brake signal, start the brake actuator and brake pedal, executes emergency braking.
3. emergency brake of vehicle method according to claim 1, which is characterized 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 greater than the minimum range, obtains the first judging result；
If first judging result indicates that the distance between the vehicle and barrier are less than or equal to the minimum range,
It then exports braking and executes signal；
If first judging result indicates that the distance between the vehicle and barrier are greater than the minimum range, system is exported
It is dynamic not execute signal.
4. emergency brake of vehicle method according to claim 1, which is characterized 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
It states whether vehicle is in safety zone, obtains third judging result, specifically include:
According to the traffic information for stating vehicle running path, the vehicle centroid side drift angle and the vehicle course heading,
Determine the constraint condition that the vehicle is travelled in the safety zone；
Judge whether the driving trace of the vehicle meets the constraint condition, obtains third judging result；
If the third judging result indicates that the driving trace of the vehicle meets the constraint condition, returns and judge the vehicle
Driving trace the step of whether meeting the constraint condition；
If the third judging result indicates that the driving trace of the vehicle is unsatisfactory for the constraint condition, the direction is exported
Adjustment signal.
5. emergency brake of vehicle method according to claim 4, which is characterized in that described to state vehicle driving road according to
The traffic information of diameter, the vehicle centroid side drift angle and the vehicle course heading, determine the vehicle in the safety zone
The constraint condition of domain traveling, specifically includes:
Obtain distance, vehicle centroid of the vehicle centroid away from front axle distance and automobile body width away from rear axle；
Distance away from rear axle of distance, the vehicle centroid according to the vehicle centroid away from front axle, shown automobile body width with
And the vehicle course heading, calculate the vertical missing between automobile body and lane center；The calculating automobile body with
The formula of vertical missing between lane center are as follows:
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；eyIndicate the deviation between automobile body and lane center；eyiIndicate the i-th angle point and vehicle of automobile body
Vertical missing between road center line；I ∈ { 1,2,3,4 }, respectively indicate 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 traffic information of vertical missing and the vehicle running path between the automobile body and lane center, really
Dingan County entire area travels the first constraint condition；The safety zone travels the first constraint condition are as follows:Wherein, eyminAnd eymaxIndicate the road boundary value of vehicle running path；
According to the vehicle centroid side drift angle, determine that safety zone travels the second constraint condition；The safety zone traveling second
Constraint condition is | β+E1β | < E2(3)；Wherein, β is vehicle centroid side drift angle, E1、E2For constant；
The distance of distance, the vehicle centroid away from rear axle according to the vehicle centroid away from front axle determines safety zone traveling the
Three constraint conditions；The safety zone travels third constraint conditionWherein, x=[s, ey]T；；J indicates jth vehicle.
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| 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 |
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