CN108146433A - The emergency auto braking system and method for vehicle - Google Patents
The emergency auto braking system and method for vehicle Download PDFInfo
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- CN108146433A CN108146433A CN201611107904.XA CN201611107904A CN108146433A CN 108146433 A CN108146433 A CN 108146433A CN 201611107904 A CN201611107904 A CN 201611107904A CN 108146433 A CN108146433 A CN 108146433A
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- 230000001133 acceleration Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 6
- 238000013019 agitation Methods 0.000 abstract description 2
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- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
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Classifications
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- 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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- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to the method for the emergency auto braking of vehicle and the emergency auto braking systems of vehicle.The method of the emergency auto braking of vehicle includes：Determine at least one automatic braking intervention time, including the first automatic braking intervention time, automatic braking intervention time is based on main vehicle vehicle is relative to the braking time the latest of target vehicle and turnaround time and relative velocity between the main vehicle vehicle and the target vehicle and relative acceleration are associated the latest；The main vehicle vehicle is calculated currently relative to the collision time of the target vehicle；The first automatic braking intervention time is compared with the collision time；And when the collision time is less than the first automatic braking intervention time, emergency auto braking is carried out with maximum braking force to the main vehicle vehicle.The method of the emergency auto braking of this vehicle has fully considered intention of the driver in terms of braking or steering, avoids and takes agitation to driver when performing emergency auto braking.
Description
Technical field
The present invention relates to the Driving control strategy of vehicle, in particular to the emergency auto braking system of vehicle and side
Method.
Background technology
With the progress of the sensor technologies such as camera technology and electromagnetic radar, the auxiliary such as the emergency auto braking of vehicle
Active safety function is by more and more concerns in the market.The purpose of the emergency auto braking system of vehicle is, in driver
To the front truck that knocks into the back etc. in the case of dangerous also reactionless or braking not in time, the emergency auto braking system of the vehicle passes through
Brake command is sent to EBCM Electronic Brake Control Module, to realize vehicle from master cylinder transmission brake fluid to wheel cylinder
Automatic braking, so as to avoid traffic accident or mitigate the loss that traffic accident is brought.Under normal circumstances, vehicle is urgent automatic
Braking system includes sensor（Such as camera or electromagnetic radar）, control module（Such as engine control module, electronics system
Dynamic control module etc.）And actuator（Vehicle foundation brake system）.Here, camera or radar surveying and acquiring main vehicle vehicle and mesh
Relative position information between mark vehicle is then sent to control module, and the control module is same using the relative position information
When also according to vehicle various sensors detect the state about vehicle signal export emergency auto braking signal, then pass
It passs deceleration of electrons module and engine control module is realized to slow down and drop and be turned round.
At present, have many achievements in research for the emergency auto braking system of vehicle.However, in the tight of known vehicle
In anxious automatic breaking system, some systems do not adequately take into account the complexity of the operating mode of vehicle during drive routine,
Algorithm so as to cause emergency auto braking strategy is too simple and adaptability is poor；Some systems use the algorithm of fuzzy control
Realize control strategy, it is very big so as to cause real-time calculation amount, thus it is difficult to realize in engineering.In addition, existing vehicle is urgent
Automatic breaking system does not account for driver's braking in the process of moving or the intention avoided collision largely, with
It causes in often just automatically carrying out emergency braking before driver oneself will apply steering or braking, and to driver
Scaring and puzzlement are brought, the meaning actively protected so as to the driver lost to vehicle.
Invention content
Therefore, for the more than prior art, task of the invention is to provide a kind of urgent automatic system of improved vehicle
Dynamic system.
In addition, the task of the present invention is to provide a kind of method of the emergency auto braking of improved vehicle.
Purpose to realize the present invention according to the first aspect of the invention, proposes a kind of emergency auto braking system of vehicle
System, the emergency auto braking system include detection module, comparison module and the executive device of mutual signal connection, wherein,
The detection module determine at least one automatic braking intervention time and calculate presently described main vehicle vehicle with it is described
The collision time of target vehicle, wherein, the automatic braking intervention time based on main vehicle vehicle relative to target vehicle the latest
Braking time and the latest turnaround time and relative velocity between the main vehicle vehicle and the target vehicle and opposite
Acceleration is associated；
The automatic braking intervention time with the collision time is compared and will then compare by the comparison module respectively
Relatively result is exported to the executive device；
The executive device correspondingly carries out automatic braking according to the comparison result to the main vehicle vehicle.
Optionally, a kind of emergency auto braking system of the vehicle provided according to the technique and scheme of the present invention, it is described automatic
When braking intervention time including the first automatic braking intervention time, the second automatic braking intervention time and the intervention of third automatic braking
Between, wherein, the second automatic braking intervention time is more than the first automatic braking intervention time, the third automatic braking
Intervention time is more than the second automatic braking intervention time.
Optionally, a kind of emergency auto braking system of the vehicle provided according to the technique and scheme of the present invention, the detection
Module includes being used to determine described with the relative velocity and the relevant calibration table of the relative acceleration, the calibration table
Automatic braking intervention time.
Optionally, a kind of emergency auto braking system of the vehicle provided according to the technique and scheme of the present invention, the detection
Module includes camera and/or electromagnetic radar.
Optionally, a kind of emergency auto braking system of the vehicle provided according to the technique and scheme of the present invention is described urgent
Automatic breaking system, which further includes, exits testing agency, described to exit testing agency for detecting the driver of main vehicle vehicle meaning
Figure, with so that the emergency auto braking of the vehicle can exit in time.
Optionally, a kind of emergency auto braking system of the vehicle provided according to the technique and scheme of the present invention, it is described to exit
Testing agency includes accelerator pedal sensor, brake pedal sensor and steering wheel angle sensor.
By vehicle proposed by the present invention emergency auto braking system the advantages of be, not only in main vehicle vehicle-to-target vehicle
The generation knocked into the back or at least harm of reduction rear-end collision, and can consider to drive simultaneously may be avoided when knocking into the back
The driving intention of the person of sailing in this case brings scaring so as to avoid for driver.
Purpose to realize the present invention, according to another aspect of the invention, it is proposed that a kind of emergency auto braking of vehicle
Method, the method includes：
Determine at least one automatic braking intervention time, including the first automatic braking intervention time, the automatic braking is situated between
The angle of incidence based on main vehicle vehicle relative to target vehicle braking time the latest and the latest turnaround time and with the main vehicle vehicle
Relative velocity and relative acceleration between the target vehicle are associated；
The main vehicle vehicle is calculated currently relative to the collision time of the target vehicle；
The first automatic braking intervention time is compared with the collision time；And
When the collision time be less than the first automatic braking intervention time when, to the main vehicle vehicle with maximum braking force into
Row emergency auto braking.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, the method
It further includes：
Determine the second automatic braking intervention time, wherein, the second automatic braking intervention time is more than the described first automatic system
Dynamic intervention time；
The second automatic braking intervention time is compared with the collision time；And
It is less than the second automatic braking intervention time when the collision time is more than the first automatic braking intervention time
When, automatic braking is carried out to be less than the brake force of the maximum braking force to the main vehicle vehicle.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, described first
Automatic braking intervention time and the second automatic braking intervention time have maximum value.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, the method
It further includes：
Determine third automatic braking intervention time, wherein, the third automatic braking intervention time is more than the described second automatic system
Dynamic intervention time；
The third automatic braking intervention time is compared with the collision time；And
It is less than the third automatic braking intervention time when the collision time is more than the second automatic braking intervention time
When, the pressure of wheel cylinder of the brake apparatus of the main vehicle vehicle is established in advance.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, described first
Automatic braking intervention time and the second automatic braking intervention time are based on the braking time the latest and described turn to the latest
It minimum value in time and further includes between the main vehicle vehicle and the target vehicle relative velocity and/or opposite accelerates
Spend associated value added.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, it is described opposite
Speed and/or the relative acceleration are bigger, when the first automatic braking intervention time and second automatic braking intervene
Between value added it is bigger.
Optionally, the emergency auto braking method of a kind of vehicle provided according to the technique and scheme of the present invention, by the phase
The first automatic braking intervention time and described second is acquired automatically by look-up table to speed and/or the relative acceleration
Brake the value added of intervention time.
Optionally, the emergency auto braking method of a kind of vehicle provided according to the technique and scheme of the present invention, in the phase
In the case of identical to speed and/or the relative acceleration, the value added when target vehicle moves is more than the target
Value added during stationary vehicle.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, the third
Automatic braking intervention time and the second automatic braking intervention time positive correlation.
Optionally, a kind of emergency auto braking method of the vehicle provided according to the technique and scheme of the present invention, the method
Further include the step of exiting emergency auto braking, wherein, when the driver for detecting the main vehicle vehicle step on the throttle pedal, system
When dynamic pedal or steering wheel rotation, the emergency auto braking of the main vehicle vehicle just exits in time.
By the present invention vehicle emergency auto braking method the advantages of be, fully considered driver braking or
Intention in terms of steering is avoided and is taken agitation to driver when performing emergency auto braking.
Description of the drawings
The present invention and its preferred designing scheme is described in more detail below according to attached drawing.Wherein,
Fig. 1 shows that target vehicle with track is travelled with constant speed and main vehicle vehicle in the main vehicle vehicle front；
The main vehicle vehicle front is still in track with main vehicle vehicle Fig. 2 shows target vehicle；
Fig. 3 shows that target vehicle with track is travelled with a certain deceleration and main vehicle vehicle in the main vehicle vehicle front；
Fig. 4 shows that the driver of main vehicle vehicle turn to lane change and deviate the track of target vehicle；And
Fig. 5 shows the method and step of the emergency auto braking of the vehicle by the present invention.
Specific embodiment
Fig. 1 to Fig. 4 is respectively illustrated in the method by the emergency auto braking of the vehicle of the present invention, the main vehicle vehicle
Relative position relation between 1 and the target vehicle 2.Specifically, main vehicle vehicle 1 with a certain speed when driving：Fig. 1 shows
Go out target vehicle 2 with track to travel in the main vehicle vehicle front with constant speed and main vehicle vehicle 1；Fig. 2 shows
Target vehicle 2 is still in the main vehicle vehicle front with track with main vehicle vehicle 1；Fig. 3 shows target vehicle 2 with certain
One deceleration with track is travelled with main vehicle vehicle 1 in the main vehicle vehicle front；And Fig. 4 shows driving for main vehicle vehicle 1
The person of sailing turns to the driving intention of lane change.In the situation of Fig. 4, driver may have appreciated that the danger knocked into the back and itself is to vehicle
It is turned to, driver is not intended to emergency auto braking system to intervene vehicle at this time.
In order to comprehensively consider the relative position situation in Fig. 1 to Fig. 4 between main vehicle vehicle 1 and target vehicle 2, by this hair
Bright emergency auto braking method should be later than the braking time the latest of main vehicle vehicle simultaneously in theory（If at this moment also not
It brakes with all strength, then cannot avoid collision）Turnaround time the latest（If do not turned to all strength also at this moment, then cannot
It avoids collision）.Wherein, braking time and turnaround time is in NCAP the latest the latest（New car crash tests）Middle people in the art
Technical term known to member.Here, braking time and turnaround time can be by between main vehicle vehicle and target vehicle the latest the latest
Dynamics of vehicle relationship be calculated, and different car manufacturers is to the braking time the latest under vehicle collision scenarios
There is different regulations in turnaround time the latest.
Meanwhile relative velocity between main vehicle vehicle 1 and target vehicle 2 and relative acceleration are also by by the urgent of the present invention
Automatic braking method is taken into account.According to the present invention, the emergency auto braking method of the vehicle is considering braking time the latest
It is determined in the case of relative velocity and relative acceleration between TTB, the latest turnaround time TTT and main vehicle vehicle-to-target vehicle
Automatic braking intervention time is the first automatic braking intervention time T in a preferred embodimentm、Ts, the second automatic braking be situated between
Angle of incidence tm、tsWith third automatic braking intervention time τm、τs。
The first automatic braking intervention time Tm、TsIt represents and the main vehicle vehicle 1 is carried out promptly certainly with maximum braking force
At the time of dynamic braking, here, the first automatic braking intervention time T of the main vehicle vehiclem、TsDependent on the target vehicle
The difference of transport condition and change.When target vehicle 2 moves, the first automatic braking intervention time TmFor：
When target vehicle 2 is static, the first automatic braking intervention time TsFor：
Wherein, Δ V represents the relative velocity and the Δ a expressions main vehicle vehicle between the main vehicle vehicle 1 and the target vehicle 2
Relative acceleration between 1 and the target vehicle 2.It considers in the main vehicle vehicle and the mesh
Mark vehicle between there is a situation where during relative velocity need suitably carry out in advance all one's effort emergency auto braking and its can
It is configured to and the relevant calibration table of the relative velocity.WithIt considers in the main vehicle vehicle 1 and the mesh
There is a situation where the emergency auto braking and its energy that need suitably to carry out all one's effort in advance during relative acceleration between mark vehicle 2
It is enough configured to and the relevant calibration table of the relative acceleration.
Herein preferably, in the case where the relative velocity Δ V is identical with the relative acceleration Δ a,Calibration
Must compareIt is small andDemarcate to obtain ratioIt is small.
Herein preferably, in the case where target vehicle is static with movement, the first automatic braking intervention time Tm、Ts
Limit maximum value.
Meanwhile in the emergency auto braking method by the vehicle of the present invention, it is also contemplated that following situation：If directly
The discomfort of driver or even alarmed while described may be caused by carrying out emergency auto braking to the main vehicle vehicle 1 with all one's effort
First automatic braking intervention time Tm、TsAlso maximum value is limited.Therefore, reach institute in main vehicle vehicle in the present inventive method
State the first automatic braking intervention time Tm、TsBefore be additionally provided with the second automatic braking intervention time, the second automatic braking intervention
At the time of time is represented to the main vehicle vehicle with relatively low brake force progress emergency auto braking.
Here, with the first automatic braking intervention time Tm、TsIt is similar, the second automatic braking intervention time tm、ts
It can be expressed as：
When target vehicle 2 moves；
When target vehicle 2 is static。
Wherein,Can be configured to the relative velocity it is relevant calibration table and/orWith
It can be configured to and the relevant calibration table of the relative acceleration.
Herein preferably, in the case where the relative velocity is identical with the relative acceleration,Demarcate to obtain ratioIt is small andDemarcate to obtain ratioIt is small.
Herein preferably, in the case where target vehicle is static with movement, the second automatic braking intervention time tm、ts
Limit maximum value.
In addition, following situation is also contemplated in the present inventive method：In the second automatic braking intervention time tm、ts
Before, driver is also possible to independently be braked by stepping on brake pedal.In this case, by the tight of the vehicle of the present invention
The method of anxious automatic braking is also provided with third automatic braking intervention time τ thusm、τs.The third automatic braking intervention time
τm、τsAt the time of representative establishes the pressure of wheel cylinder in advance to the brake apparatus of the main vehicle vehicle.
The third automatic braking intervention time τm、τsIllustratively it can be expressed as：
When the target vehicle 2 moves
When the target vehicle 2 is static,
Wherein, hereinFixed value is could be provided as, represents that the third automatic braking intervention time is more automatic than described second
Braking intervention time will for a period of time in advance。
Herein preferably, as shown in figure 5, being provided by the method for the emergency auto braking of the vehicle of the present invention, institute is calculated
State the collision time TTC of main vehicle vehicle 1 and the target vehicle 2（Time before colliding）, by the described first automatic system
Dynamic intervention time Tm、Ts, the second automatic braking intervention time tm、tsAnd the third automatic braking intervention time τm、τsWith
The collision time TTC is compared；When the collision time TTC is less than the first automatic braking intervention time Tm、TsWhen,
Emergency auto braking is carried out with maximum braking force to the main vehicle vehicle 1；When the collision time TTC is more than described first automatically
Brake intervention time Tm、TsAnd less than the second automatic braking intervention time tm、tsWhen, to the main vehicle vehicle 1 to be less than
The brake force for stating maximum braking force carries out automatic braking；When the collision time TTC, which is more than second automatic braking, to be intervened
Between tm、tsAnd less than the third automatic braking intervention time τm、τsWhen, the brake apparatus of the main vehicle vehicle 1 is established in advance
The pressure of wheel cylinder.
Herein, it is obvious that embodiments of the present invention merely illustratively intervene first automatic braking
Time, the second automatic braking intervention time and third automatic braking intervention time are stated.In embodiments of the present invention
On the basis of, those skilled in the art also can by use destination to items in the expression formula of three kinds of automatic braking intervention times into
Row correspondingly weights, these variant schemes have equally used the design of the present invention therefore to also fall into protection scope of the present invention.
In addition, by the present invention vehicle emergency auto braking method it further provides that, as the driver of the main vehicle vehicle 1
Step on the throttle pedal, brake pedal or steering wheel rotation when, the method for the emergency auto braking of the vehicle just exits in time.
This can for example be detected by corresponding sensor.
In addition, in order to realize the method for the emergency auto braking of the vehicle by the present invention, the invention further relates to the tight of vehicle
Anxious automatic breaking system.Here, the emergency auto braking system includes detection module, comparison module and the execution of signal connection
Device.The detection module calculates the current collision time of the main vehicle vehicle 1 using camera and/or electromagnetic radar
TTC and acquire the first automatic braking intervention time T using table is demarcatedm、Ts, the second automatic braking intervention time tm、tsAnd
Third automatic braking intervention time τm、τs；The comparison module intervenes the collision time TTC with the first automatic braking respectively
Time Tm、Ts, the second automatic braking intervention time tm、tsAnd third automatic braking intervention time τm、τsIt is compared；It is described to hold
Luggage puts the emergency auto braking that vehicle is correspondingly performed according to comparison result.
Testing agency is exited in addition, being further included by the emergency auto braking system of the vehicle of the present invention, it is described to exit detection
Mechanism is used to perceive the driver intention of the main vehicle vehicle, with so that the emergency auto braking of the vehicle can be in time
It exits.The testing agency that exits illustratively includes accelerator pedal sensor, brake pedal sensor and steering wheel angle biography
Sensor.
Above embodiment primarily illustrate the emergency auto braking system of the vehicle of the present invention and the urgent of vehicle from
The method of dynamic braking.Although only some of embodiments of the present invention are described, ordinary skill people
Member it is to be appreciated that the present invention can without departing from its spirit with range in the form of many other implement.Therefore, it is shown
Example is considered as illustrative and not restrictive with embodiment, is not departing from this hair as defined in appended claims
In the case of bright spirit and scope, the present invention may cover various modification and replacement.
Claims (17)
1. the emergency auto braking system of a kind of vehicle, which is characterized in that the emergency auto braking system includes mutual signal
Detection module, comparison module and the executive device of connection, wherein,
The detection module determines at least one automatic braking intervention time and calculates presently described main vehicle vehicle（1）With institute
State target vehicle（2）Collision time（TTC）, wherein, the automatic braking intervention time is based on main vehicle vehicle（1）Relative to mesh
Mark vehicle（2）Braking time the latest（TTB）Turnaround time the latest（TTT）And with the main vehicle vehicle（1）With the mesh
Mark vehicle（2）Between relative velocity and relative acceleration be associated；
The comparison module by the automatic braking intervention time respectively with the collision time（TTC）It is compared and then
Comparison result is exported to the executive device；
The executive device is according to the comparison result correspondingly to the main vehicle vehicle（1）Carry out automatic braking.
2. the emergency auto braking system of vehicle as described in claim 1, which is characterized in that the automatic braking intervention time
Including the first automatic braking intervention time（Tm、Ts）, the second automatic braking intervention time（tm、ts）It is intervened with third automatic braking
Time（τm、τs）, wherein, the second automatic braking intervention time（tm、ts）More than the first automatic braking intervention time
（Tm、Ts）, the third automatic braking intervention time（τm、τs）More than the second automatic braking intervention time（tm、ts）.
3. the emergency auto braking system of vehicle as described in claim 1, which is characterized in that the detection module includes and institute
Relative velocity and the relevant calibration table of the relative acceleration are stated, the calibration table is used to determine the automatic braking intervention
Time.
4. the emergency auto braking system of vehicle as described in claim 1, which is characterized in that the detection module includes camera shooting
Head and/or electromagnetic radar.
5. the emergency auto braking system of vehicle as described in claim 1, which is characterized in that the emergency auto braking system
It further includes and exits testing agency, it is described to exit testing agency for detecting the main vehicle vehicle（1）Driver intention, to make
Obtaining the emergency auto braking of the vehicle can exit in time.
6. the emergency auto braking system of vehicle as described in claim 5, which is characterized in that the testing agency that exits includes
Accelerator pedal sensor, brake pedal sensor and steering wheel angle sensor.
7. a kind of method of the emergency auto braking of vehicle, the method includes：
At least one automatic braking intervention time is determined, including the first automatic braking intervention time（Tm、Ts）, it is described automatic
It brakes intervention time and is based on main vehicle vehicle（1）Relative to target vehicle（2）Braking time the latest（TTB）Turnaround time the latest
（TTT）And with the main vehicle vehicle（1）With the target vehicle（2）Between relative velocity and relative acceleration it is related
Connection；
Calculate the main vehicle vehicle（1）Currently relative to the target vehicle（2）Collision time（TTC）；
By the first automatic braking intervention time（Tm、Ts）With the collision time（TTC）It is compared；And
When the collision time（TTC）Less than the first automatic braking intervention time（Tm、Ts）When, to the main vehicle vehicle（1）
Emergency auto braking is carried out with maximum braking force.
8. method as described in claim 7, which is characterized in that the method further includes：
Determine the second automatic braking intervention time（tm、ts）, wherein, the second automatic braking intervention time（tm、ts）More than institute
State the first automatic braking intervention time（Tm、Ts）；
By the second automatic braking intervention time（tm、ts）With the collision time（TTC）It is compared；And
When the collision time（TTC）More than the first automatic braking intervention time（Tm、Ts）And less than the described second automatic system
Dynamic intervention time（tm、ts）When, to the main vehicle vehicle（1）Automatic braking is carried out to be less than the brake force of the maximum braking force.
9. method as described in claim 8, which is characterized in that the first automatic braking intervention time（Tm、Ts）With described
Two automatic braking intervention times（tm、ts）With maximum value.
10. method as described in claim 8, which is characterized in that the method further includes：
Determine third automatic braking intervention time（τm、τs）, wherein, the third automatic braking intervention time（τm、τs）More than institute
State the second automatic braking intervention time（tm、ts）；
By the third automatic braking intervention time（τm、τs）With the collision time（TTC）It is compared；And
When the collision time（TTC）More than the second automatic braking intervention time（tm、ts）And it is made automatically less than the third
Dynamic intervention time（τm、τs）When, then the main vehicle vehicle is established in advance（1）Brake apparatus pressure of wheel cylinder.
11. method as described in claim 8, which is characterized in that the first automatic braking intervention time（Tm、Ts）With it is described
Second automatic braking intervention time（tm、ts）Based on the braking time the latest（TTB）With the turnaround time the latest（TTT）In
Minimum value and further include and the main vehicle vehicle（1）With the target vehicle（2）Between relative velocity and/or opposite accelerate
Spend associated value added.
12. the method as described in claim 11, which is characterized in that the relative velocity and/or the relative acceleration are bigger,
The first automatic braking intervention time（Tm、Ts）With the second automatic braking intervention time（tm、ts）Value added it is bigger.
13. the method as described in claim 11, which is characterized in that led to by the relative velocity and/or the relative acceleration
It crosses look-up table and acquires the first automatic braking intervention time（Tm、Ts）With the second automatic braking intervention time（tm、ts）'s
Value added.
14. the method as described in claim 11, which is characterized in that in the relative velocity and/or the relative acceleration phase
With in the case of, the target vehicle（2）Value added when mobile is more than the target vehicle（2）Value added when static.
15. method as described in claim 9, which is characterized in that the third automatic braking intervention time（τm、τs）With it is described
Second automatic braking intervention time（tm、ts）Positive correlation.
16. the method as described in claim 15, which is characterized in that the third automatic braking intervention time（τm、τs）Than described
Second automatic braking intervention time（tm、ts）Big fixed value.
17. method as described in claim 7, which is characterized in that the method further includes the step of exiting emergency auto braking,
Wherein, when detecting the main vehicle vehicle（1）Driver step on the throttle pedal, brake pedal or steering wheel rotation when, it is described
Main vehicle vehicle（1）Emergency auto braking just exit in time.
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| CN201611107904.XA CN108146433B (en) | 2016-12-06 | 2016-12-06 | Emergency automatic braking system and method for vehicle |
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| CN201611107904.XA CN108146433B (en) | 2016-12-06 | 2016-12-06 | Emergency automatic braking system and method for vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN110103959A (en) * | 2019-04-02 | 2019-08-09 | 清华大学苏州汽车研究院（相城） | A kind of self-adapting cruise control method |
| CN110304054A (en) * | 2019-07-03 | 2019-10-08 | 国唐汽车有限公司 | A kind of automatic emergency brake method based on Multi-sensor Fusion |
| CN111572541A (en) * | 2020-04-14 | 2020-08-25 | 吉利汽车研究院（宁波）有限公司 | Vehicle obstacle avoidance method and system |
| CN111923884A (en) * | 2020-09-11 | 2020-11-13 | 深圳小木科技有限公司 | New energy automobile and braking system and method thereof |
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