CN108407782A - A kind of emergency braking control system for automobile - Google Patents
A kind of emergency braking control system for automobile Download PDFInfo
- Publication number
- CN108407782A CN108407782A CN201810434920.2A CN201810434920A CN108407782A CN 108407782 A CN108407782 A CN 108407782A CN 201810434920 A CN201810434920 A CN 201810434920A CN 108407782 A CN108407782 A CN 108407782A
- Authority
- CN
- China
- Prior art keywords
- braking
- module
- automobile
- signal
- vacuum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000012545 processing Methods 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 42
- 238000005259 measurement Methods 0.000 claims description 17
- 238000012360 testing method Methods 0.000 claims description 13
- 241000736199 Paeonia Species 0.000 claims description 8
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 8
- 238000012821 model calculation Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 7
- 238000004458 analytical method Methods 0.000 abstract description 4
- 238000003825 pressing Methods 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of emergency braking control systems for automobile, including：Signal acquisition module, signal processing module, central controller, arrestment mechanism drive module and at least two groups vacuum braking mechanism；The system of the present invention can monitor the motion state of driving vehicle in real time, when judging that vehicle is in a state of emergency, the driving states signal obtained according to acquisition further determines whether to need to open the vacuum braking mechanism in this system, and in the case where needing to open vacuum braking mechanism, the braking strategy to match with automobile current motion state is generated by signal analysis, the system can cooperate with the primary brake system of automobile, auxiliary braking operation is executed by above-mentioned intelligentized control method mechanism, significantly decrease braking distance, effectively improve stability and the safety of service brake；Simultaneously, additionally it is possible to the state of misoperation accelerator pedal is monitored, and control the opening and closing of throttle according to monitoring data, avoid causing the accident because of mis-accelerator pressing.
Description
Technical field
The present invention relates to automobile brake technical fields, and in particular to a kind of emergency braking control system for automobile.
Background technology
In recent years, as domestic automobile ownership increases year by year so that traffic safety form is more and more severeer.According to
Studies have shown that in numerous traffic accidents, rear-end impact event accounts for 70% or more of accident toatl proportion, especially public in high speed
The rear-end collision that road is caused is more, causes the loss of personnel and property also more serious.And rear-end collision is mostly because front truck is tight
When anxious braking, caused by causing the rear car run at high speed vehicle can not stop in relatively short distance.
Currently, existing automobile is mounted on ABS system, its purpose is to prevent vehicle from being issued in emergency braking situation
Raw wheel lock up, to ensure the adhesive force of wheel and ground always in maximum value.But ABS system not be it is omnipotent,
It may failure under special environment；Such as：When carrying out emergency braking on ice and snow road, due to rubbing between road surface and tire
It is relatively low to wipe coefficient, causes anti-lock braking system that can not effectively shorten braking distance, or under certain state of emergency, if vehicle
When executing brake operating according to normal brake program, it is more likely that can be more than safe distance, to collide the barrier in front
Hinder object or vehicle.
In order to further increase the validity of automobile brake, Some Enterprises have also developed various auxiliary braking devices, base
Present principles are roughly the same, touched using the friction means being arranged on automobile chassis and ground, to increase automobile and ground
The frictional force in face, so as to shorten braking distance.But since these auxiliary braking devices do not have intelligent control function,
Influence of the size to vehicle driving state that brake force is not considered in executing braking process, causes vehicle excessive because of brake force
And overturn, or can not be checked vehicle in safe distance because brake force is too small, to can still result in the hair of traffic accident
It is raw, bring new security risk to driving.
In addition, the brake pedal due to automobile is adjacent with gas pedal, is operated by same foot, left when to accelerate
Brake pedal, when brake, leave gas pedal, the conversion being conveniently operated.But when dangerous situation occurs suddenly, due to each driver
Psychological quality it is different, driving experience is different, some drivers can be panic when encountering emergency, and should touch on the brake parking
But throttle has accidentally been stepped on, has made to can avoid originally or not serious accident becomes more serious, or even go out highway, vehicle is caused to ruin people
It dies.
Invention content
It is an object of the present invention to overcome existing auxiliary braking system because not having intelligent control function, to driving
There is above-mentioned security risks, provide a kind of emergency braking control system for automobile, can promptly made using the system
Under dynamic state, by the intellectual analysis to driving states, the braking strategy for meeting current driving security requirement is generated, while right
The case where mis-accelerator pressing, provides risk avoidance measures.
To achieve the above object, a kind of emergency braking control system for automobile provided by the invention, including：Signal is adopted
Collect module, signal processing module, central controller, arrestment mechanism drive module and at least two groups vacuum braking mechanism；
The signal acquisition module is used to acquire the driving states signal, braking strength signal and gas pedal power of automobile
Spend signal；
The signal processing module be used for by driving states signal, braking strength signal and gas pedal dynamics signal into
Row processing, generates the signal identified for central controller；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as
Under emergency braking condition, braking strategy is generated by analyzing driving states signal, and trigger arrestment mechanism drive module by described
The operation of braking strategy driving each group vacuum braking mechanism, which judges automobile also according to gas pedal dynamics signal
Whether in throttle state is accidentally stepped on, in the case where being determined as that throttle accidentally steps on state, control throttle is closed；
The vacuum braking mechanism is set on automobile chassis, which is driven by arrestment mechanism drive module
It is dynamic, so that it is contacted with road surface, and vacuum environment is formed in contact site.
As a further improvement of the above technical scheme, the signal acquisition module includes：Distance measuring sensor, test the speed biography
Sensor, braking force sensor, pressure sensor, brake pedal angular acceleration transducer, angle of brake pedal sensor, throttle are stepped on
Plate angle acceleration transducer and accelerator pedal angle sensor are respectively used to measure Chinese herbaceous peony obstacle distance, speed, brake block system
Angular acceleration, the angle of brake pedal, the angular acceleration of gas pedal and the throttle that power, tire pressure, brake pedal rotate
The angle of pedal；The distance measuring sensor and tachogenerator is set to headstock part, braking force sensor setting
In on the brake block of each wheel, the pressure sensor is set on each tire, brake pedal angular acceleration sensing
Device and angle of brake pedal sensor are set on brake pedal, the gas pedal angular acceleration transducer and gas pedal
Angular transducer is set in gas pedal.
As a further improvement of the above technical scheme, the signal processing module includes：A/D converter, signal are put
Big device and filter, the signal for exporting signal acquisition module carry out analog-to-digital conversion, amplify and be filtered successively.
As a further improvement of the above technical scheme, the central controller includes：First comparison module, braking away from
From computing module, the second comparison module, third comparison module and policy generation module；
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, judgement automobile is in emergency braking condition, and sends emergency braking condition message to braking distance computing module；
By emergency braking condition message trigger, it receives the measurement of brake block brake force to the braking distance computing module
Value and vehicle speed measurement value obtain braking distance value by calculating, and braking distance value are sent to the second comparison module；
The braking distance value of reception is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, will
Distance difference between the two is sent to policy generation module；
The policy generation module compares the distance range corresponding to distance difference and each braking strategy of setting
Compared with the braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module
Excitation signal acquisition module according to set time, the policy generation module also receive tire pressure measured value, when tire pressure is surveyed
When magnitude is less than the tire pressure threshold value set, it is out of service that each group vacuum braking mechanism is controlled by arrestment mechanism drive module；
The third comparison module receives the angular acceleration measured value and angle measurement of gas pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, judgement automobile is in throttle and accidentally steps on state, and sends shutdown signal to throttle, to drive throttle to close.
As a further improvement of the above technical scheme, further include parameter testing module, in the parameter testing module
It is provided with parameter testing model, which receives signal and the policy generation module output of signal processing module output
Braking strategy, and regulated value for adjusting the corresponding distance range of braking strategy is obtained by model calculation.
As a further improvement of the above technical scheme, the system includes four groups of vacuum braking mechanisms, every group of vacuum
Arrestment mechanism includes two vacuum braking units being oppositely arranged, and each group vacuum braking mechanism is parallel to automobile tail.
As a further improvement of the above technical scheme, the vacuum braking unit includes：Hydraulic cylinder, telescopic rod, suction
Disk, vacuum pump and pressure fan；The hydraulic cylinder is fixed on automobile chassis, the signal input part and arrestment mechanism of the hydraulic cylinder
Drive module connects, and is controlled by arrestment mechanism drive module, and the telescopic rod is set between hydraulic cylinder and sucker, this is stretched
Contracting bar is made it extend to road surface direction by Driven by Hydraulic Cylinder so that sucker is fallen on road surface, and sucker inner wall and road surface it
Between form confined space, the signal input part of the vacuum pump and pressure fan is connect with arrestment mechanism drive module, and by
Arrestment mechanism drive module controls, and the vacuum pump and pressure fan divide two-way to be connected to sucker, is respectively used to extract in confined space
Air and to confined space be vented.
A kind of emergency braking control system advantage for automobile of the present invention is：
The system of the present invention can monitor the motion state of driving vehicle in real time, when judging that vehicle is in a state of emergency,
The driving states signal obtained according to acquisition further determines whether to need to open the vacuum braking mechanism in this system, and is needing
In the case of opening vacuum braking mechanism, the braking plan to match with automobile current motion state is generated by signal analysis
Slightly, which can cooperate with the primary brake system of automobile, and auxiliary braking behaviour is executed by above-mentioned intelligentized control method mechanism
Make, significantly decreases braking distance, effectively improve stability and the safety of service brake；Simultaneously, additionally it is possible to accidentally stepping on
The state of gas pedal is monitored, and the opening and closing of throttle is controlled according to monitoring data, avoids causing accident to be sent out because of mis-accelerator pressing
It is raw.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of emergency braking control system for automobile provided by the invention；
Fig. 2 is the structural schematic diagram of the signal processing module in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the central controller in the embodiment of the present invention；
Fig. 4 is the multi-group vacuum arrestment mechanism riding position schematic diagram in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the vacuum braking unit in the embodiment of the present invention.
Reference numeral
1, first group of vacuum braking mechanism, 2, second groups of vacuum braking mechanisms
3,4, the 4th groups of vacuum braking mechanisms of third group vacuum braking mechanism
5, automobile back wheel 6, arrestment mechanism drive module
7, hydraulic cylinder 8, telescopic rod
9, vacuum pump 10, pressure fan
11, sucker
Specific implementation mode
A kind of emergency braking control system for automobile of the present invention is carried out with reference to the accompanying drawings and examples
It is described in detail.
As shown in Figure 1, a kind of emergency braking control system for automobile provided by the invention, the system specifically include：
Signal acquisition module, signal processing module, central controller, arrestment mechanism drive module and at least two groups vacuum braking mechanism；
The signal acquisition module is used to acquire the driving states signal, braking strength signal and gas pedal dynamics signal of automobile,
The signal processing module is used to handle driving states signal, braking strength signal and gas pedal dynamics signal,
The signal identified for central controller is generated, the central controller is according to braking strength signal determining automobile whether in tight
Anxious on-position generates braking strategy, and trigger braking in the case where being determined as emergency braking condition by analyzing driving states signal
Mechanism drive module is stepped on by the braking strategy driving each group vacuum braking mechanism operation, the central controller also according to throttle
Plate dynamics signal judges whether automobile in throttle accidentally steps on state, and in the case where being determined as that throttle accidentally steps on state, control throttle is closed；Institute
The vacuum braking mechanism stated is set on automobile chassis, the vacuum braking mechanism by arrestment mechanism drive module drive, make its with
Road surface contacts, and forms vacuum environment in contact site.
Detect whether vehicle is in emergency braking condition in the process of moving first using above system, when judging at vehicle
When the state of emergency, the driving states signal obtained according to acquisition further determines whether to need to open the vacuum system in this system
Motivation structure, and in the case where needing to open vacuum braking mechanism, generated and automobile current motion state phase by signal analysis
Matched braking strategy executes auxiliary braking operation with above-mentioned intelligentized control method mechanism, can improve the stability of service brake
And safety.Simultaneously, additionally it is possible to the state of misoperation accelerator pedal is monitored, and opening for throttle is controlled according to monitoring data
It closes, avoids causing the accident because of mis-accelerator pressing.
Emergency braking control system based on above structure, the braking strength signal may include brake pedal rotation
Angular acceleration and angle information, the gas pedal dynamics signal may include the angular acceleration and angle letter of gas pedal rotation
Breath, the driving states signal may include Chinese herbaceous peony obstacle distance, speed, brake block brake force and tire pressure information.For
The acquisition for completing above- mentioned information, as shown in Figure 1, the signal acquisition module in the present embodiment includes：Distance measuring sensor, test the speed biography
Sensor, braking force sensor, pressure sensor, brake pedal angular acceleration transducer, angle of brake pedal sensor, throttle are stepped on
Plate angle acceleration transducer and accelerator pedal angle sensor are respectively used to measure Chinese herbaceous peony obstacle distance, speed, brake block system
Angular acceleration, the angle of brake pedal, the angular acceleration of gas pedal and the throttle that power, tire pressure, brake pedal rotate
The angle of pedal；The distance measuring sensor and tachogenerator is set to headstock part, braking force sensor setting
In on the brake block of each wheel, the pressure sensor is set on each tire, brake pedal angular acceleration sensing
Device and angle of brake pedal sensor are set on brake pedal, the gas pedal angular acceleration transducer and gas pedal
Angular transducer is set in gas pedal.
As shown in Fig. 2, the signal processing module can be by the A/D converter of setting, the analog signal that is received
Be converted to the digital signal identified for central controller；Meanwhile in order to reduce the noise jamming of signal, improving the detection essence of signal
Degree, the signal processing module may also include signal amplifier and filter, the signal for exporting signal acquisition module
It is amplified and is filtered.
In order to realize the systematic function of above-mentioned braking strategy, as shown in figure 3, the central controller may include：First
Comparison module, braking distance computing module, the second comparison module, third comparison module and policy generation module.
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, judgement automobile is in emergency braking condition, and sends emergency braking condition message to braking distance computing module.
By emergency braking condition message trigger, it receives the measurement of brake block brake force to the braking distance computing module
Value and vehicle speed measurement value obtain braking distance value by calculating, and braking distance value are sent to the second comparison module.
The braking distance value of reception is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, will
Distance difference between the two is sent to policy generation module.
The policy generation module compares the distance range corresponding to distance difference and each braking strategy of setting
Compared with the braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module
Excitation signal acquisition module according to set time so that signal acquisition module can detect the transport condition data of automobile in real time.
The braking strategy may include vacuum braking mechanism unlatching group number, each group vacuum braking mechanism start-up time and starting duration,
The setting of suction.
The third comparison module receives the angular acceleration measured value and angle measurement of gas pedal rotation, and respectively
It is compared with the angular acceleration threshold value of setting and angle threshold, when angular acceleration measured value and angle measurement are more than threshold value
When, judgement automobile is in throttle and accidentally steps on state, and sends shutdown signal to throttle, to drive throttle to close.
Fuel, which is controlled, in interior of motor vehicles component, on internal combustion engine is referred to as throttle for the device of amount.Its role is to grasp
Vertical E-Gas throttle opening changes the rotating speed and power of engine, to adapt to automobile to control the flow of combustion mixture
The needs of traveling.E-Gas is exactly by position sensor, and transmission throttle tramples the signal of the depth and speed, to realize oil
The electronic control unit of door function.This signal can be received and understood by vehicle-mounted microcomputer, control instruction then be sent out again, with control
Air throttle quickly or mitigates according to instruction and opens its angle that should open.The present invention is exactly that the above-mentioned control of E-Gas is utilized
Mechanism judges whether driver by gas pedal is mistakenly considered brake pedal according to the transient change amount of gas pedal, and is being determined as
When accidentally stepping on state, throttle out code is sent to EGAS control system immediately, to avoid serious caused by automobile speed-raising
Consequence.
Above-mentioned policy generation module also receives tire pressure measured value, is used for the tire of the tire pressure measured value and setting
Pressure threshold value is compared in real time；When tire pressure threshold value of the tire pressure measured value less than setting, it was demonstrated that the part tire of automobile is grabbed
Soil fertility is insufficient, if still continuing auxiliary braking according to the braking strategy set before, it is likely that can exist and overturn or break away
Risk；In order to avoid the generation of this accident, each group vacuum braking mechanism can be controlled by arrestment mechanism drive module and stop fortune
Row so that the insufficient tire of earth-grasping force is steadily contacted with ground.
With the increase of automobile service life and mileage travelled, the brake parts of automobile primary brake system can constantly be ground
Damage and aging, so as to cause being greatly lowered for stopping power.If it is true to control to use changeless braking strategy always
Empty arrestment mechanism operation, will necessarily reduce the braking effect of this system, result even in the failure of braking.For this purpose, in the present invention
System in be additionally provided with parameter testing module (as shown in Figure 3), be provided with parameter testing mould in the parameter testing module
Type, which receives the signal of signal processing module output and the braking strategy of policy generation module output, and leads to
Cross regulated value of the model calculation acquisition for adjusting the corresponding distance range of braking strategy.
Driving shape of the above-mentioned parameter debugging module to be fed back after the auxiliary braking strategy and strategy execution that execute every time
State information, by model calculation obtain tuning values, it is corresponding to each braking strategy set in policy generation module away from
It is constantly debugged from range so that currently performed braking strategy matches with the current performance of automobile always, to improve
The identification capability of system.
As shown in figure 4, the system in the present embodiment may include first group of vacuum braking mechanism, 1, second group of vacuum braking machine
Structure 2, third group vacuum braking mechanism 3 and the 4th group of vacuum braking mechanism 4；Every group of vacuum braking mechanism includes two and sets relatively
The vacuum braking unit set, each group vacuum braking mechanism are parallel to automobile tail.
To realize the braking function of above-mentioned vacuum braking mechanism, as shown in figure 5, the vacuum braking unit in the present embodiment can
Including：Hydraulic cylinder 7, telescopic rod 8, sucker 11, vacuum pump 9 and pressure fan；The hydraulic cylinder 7 is fixed on automobile chassis, should
The signal input part of hydraulic cylinder 7 is connect with arrestment mechanism drive module 6, and is controlled by arrestment mechanism drive module 6, and described stretches
Contracting bar 8 is set between hydraulic cylinder 7 and sucker 11, which is made it extend to road surface direction by the driving of hydraulic cylinder 7 so that
Sucker 11 is fallen on road surface, and confined space, the vacuum pump 9 and pressure fan are formed between 11 inner wall of sucker and road surface
10 signal input part is connect with arrestment mechanism drive module 6, and is controlled by arrestment mechanism drive module 6,9 He of vacuum pump
Pressure fan 10 divides two-way to be connected to sucker 11, be respectively used to extract confined space in air and to confined space be vented, with increase
Pressure that is big or reducing contact surface between sucker 11 and road surface.
Implementing the detailed process that auxiliary braking operates using the emergency braking control system of above structure is：
First, when vehicle, which meets emergency, to be needed to brake immediately, driver can step on brake pedal at once, at this time
Transient change can occur for the angular acceleration and angle of brake pedal, can be detected using angular acceleration transducer and work as anterior angle
The variation delta α of acceleration alpha, correspondingly, the angle variable quantity Δ θ of brake pedal can also be detected by angular transducer
Out；Meanwhile it using the instant distance L of vehicle-mounted contactless stadia surveying automobile and front obstacle, being passed using testing the speed
Sensor detects the instantaneous velocity V of vehicle at this time, and brake block brake force F is detected using pressure sensor, finally believes detection gained
Number by signal processing module carry out analog-to-digital conversion after be transmitted to central controller.
Then, angular acceleration change amount Δ α, angle variable quantity Δ θ, distance L, speed V and the brake block converted through signal
Brake force F is stored into central controller.Judge automobile be in emergency braking condition when, further by calculate acquisition braking away from
It is compared with Chinese herbaceous peony obstacle distance measured value from value, it later will be corresponding to distance difference and each braking strategy between the two
Distance range be compared；It, i.e., can be by the braking system of automobile itself when the distance difference is negative
Vehicle is checked in safe distance, the auxiliary braking system of the present invention need not be started at this time, and when the distance difference is just
Number, and when in a certain distance range of setting, i.e., only by the braking system of automobile itself can not in safe distance incite somebody to action
Vehicle is checked, and rear-end collision can be caused, and the braking strategy of distance range is as implementation strategy where selecting the distance difference at this time.
In the case where determination needs to open vacuum braking mechanism, in order to ensure the stability of braking, in braking strategy
The first group of vacuum braking mechanism 1 (as shown in Figure 4) for being proximate to automobile back wheel 5 started at first is set, and is executed according to current
Braking strategy by setting program further open second group of vacuum braking mechanism 2, third group vacuum braking mechanism 3 or the 4th
Group vacuum braking mechanism 4.
It is well known that vehicle is under stationary state or normally travel state, the support force of front and back tire keeps one substantially
Cause, once and vehicle has the tendency that overturning forward, the pressure of automobile front tyre can be increasingly greater than the pressure of tire after automobile.In for this purpose,
It is possible in judgement automobile compared with entreating controller that can carry out the tire pressure measured value received in real time with the tire pressure threshold value of setting
When can have overturning or skidding accident, it is out of service that each group vacuum braking mechanism is controlled by arrestment mechanism drive module so that
The insufficient tire of earth-grasping force is steadily contacted with ground, so that automobile is restored to plateau.
In executing above-mentioned auxiliary braking operating process, system of the invention can also be held system by parameter testing module
The driving states information of capable braking strategy and its feedback substitutes into trained model, is obtained by model calculation for adjusting
The debugging value of policing parameter is moved in trial-production, continuous to the corresponding distance range of each braking strategy set in policy generation module
It debugs on ground so that currently performed braking strategy matches with the current performance of automobile always, to improve the identification of system
Ability.
In addition, this system can also monitor the state of misoperation accelerator pedal in real time, according to the instantaneous of gas pedal
Variable quantity judges whether driver by gas pedal is mistakenly considered brake pedal, and when being determined as accidentally stepping on state, immediately to electronics oil
Accelerator control system sends throttle out code, occurs to avoid the accident caused by automobile speed-raising.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (7)
1. a kind of emergency braking control system for automobile, which is characterized in that including：Signal acquisition module, signal processing mould
Block, central controller, arrestment mechanism drive module and at least two groups vacuum braking mechanism；
The signal acquisition module is used to acquire driving states signal, braking strength signal and gas pedal the dynamics letter of automobile
Number；
The signal processing module is used for will be at driving states signal, braking strength signal and gas pedal dynamics signal
Reason generates the signal identified for central controller；
Whether the central controller is in emergency braking condition according to braking strength signal determining automobile, is being determined as promptly
Under on-position, braking strategy is generated by analyzing driving states signal, and trigger arrestment mechanism drive module by the system
Whether dynamic policy-driven each group vacuum braking mechanism operation, the central controller judge automobile also according to gas pedal dynamics signal
State is accidentally stepped in throttle, in the case where being determined as that throttle accidentally steps on state, control throttle is closed；
The vacuum braking mechanism is set on automobile chassis, which is driven by arrestment mechanism drive module,
So that it is contacted with road surface, and vacuum environment is formed in contact site.
2. the emergency braking control system according to claim 1 for automobile, which is characterized in that the signal acquisition
Module includes：Distance measuring sensor, tachogenerator, braking force sensor, pressure sensor, brake pedal angular acceleration sensing
Device, angle of brake pedal sensor, gas pedal angular acceleration transducer and accelerator pedal angle sensor, are respectively used to measure
The angle of Chinese herbaceous peony obstacle distance, speed, brake block brake force, tire pressure, the angular acceleration of brake pedal rotation, brake pedal
The angle of degree, the angular acceleration of gas pedal and gas pedal；The distance measuring sensor and tachogenerator is set to headstock
Position, the braking force sensor are set on the brake block of each wheel, and the pressure sensor is set on each tire,
The brake pedal angular acceleration transducer and angle of brake pedal sensor is set on brake pedal, and the throttle is stepped on
Plate angle acceleration transducer and accelerator pedal angle sensor are set in gas pedal.
3. the emergency braking control system according to claim 1 or 2 for automobile, which is characterized in that the signal
Processing module includes：A/D converter, signal amplifier and filter, for the signal that exports signal acquisition module successively into
Row analog-to-digital conversion is amplified and is filtered.
4. the emergency braking control system according to claim 2 for automobile, which is characterized in that the center control
Device includes：First comparison module, braking distance computing module, the second comparison module, third comparison module and policy generation module；
First comparison module receives the angular acceleration measured value and angle measurement of brake pedal rotation, and respectively with set
Fixed angular acceleration threshold value and angle threshold is compared, when angular acceleration measured value and angle measurement are more than threshold value,
Judgement automobile is in emergency braking condition, and sends emergency braking condition message to braking distance computing module；
The braking distance computing module by emergency braking condition message trigger its receive brake block brake force measured value and
Vehicle speed measurement value obtains braking distance value by calculating, and braking distance value is sent to the second comparison module；
The braking distance value of reception is compared by second comparison module with Chinese herbaceous peony obstacle distance measured value, by the two
The distance between difference be sent to policy generation module；
Distance difference is compared by the policy generation module with the distance range corresponding to each braking strategy of setting, choosing
The braking strategy of distance range is sent to arrestment mechanism drive module where selecting the distance difference, and controls clock module by setting
Time excitation signal acquisition module, which also receives tire pressure measured value, when tire pressure measured value is low
When the tire pressure threshold value of setting, it is out of service that each group vacuum braking mechanism is controlled by arrestment mechanism drive module；
The third comparison module receives the angular acceleration measured value and angle measurement of gas pedal rotation, and respectively with set
Fixed angular acceleration threshold value and angle threshold is compared, when angular acceleration measured value and angle measurement are more than threshold value,
Judgement automobile is in throttle and accidentally steps on state, and sends shutdown signal to throttle, to drive throttle to close.
5. the emergency braking control system according to claim 4 for automobile, which is characterized in that further include parameter testing
Module is provided with parameter testing model in the parameter testing module, and it is defeated which receives signal processing module
The braking strategy of signal and the policy generation module output gone out, and it is corresponding for adjusting braking strategy by model calculation acquisition
The regulated value of distance range.
6. the emergency braking control system according to claim 1 for automobile, which is characterized in that the system includes
Four groups of vacuum braking mechanisms, every group of vacuum braking mechanism include two vacuum braking units being oppositely arranged, each group vacuum system
Motivation structure is parallel to automobile tail.
7. the emergency braking control system according to claim 6 for automobile, which is characterized in that the vacuum braking
Unit includes：Hydraulic cylinder (7), telescopic rod (8), sucker (11), vacuum pump (9) and pressure fan；The hydraulic cylinder (7) is fixed on
On automobile chassis, the signal input part of the hydraulic cylinder (7) is connect with arrestment mechanism drive module (6), and is driven by arrestment mechanism
Module (6) controls, and the telescopic rod (8) is set between hydraulic cylinder (7) and sucker (11), and the telescopic rod (8) is by hydraulic cylinder
(7) driving makes it extend to road surface direction so that sucker (11) is fallen on road surface, and in sucker (11) between inner wall and road surface
The signal input part of formation confined space, the vacuum pump (9) and pressure fan (10) connects with arrestment mechanism drive module (6)
It connecing, and is controlled by arrestment mechanism drive module (6), the vacuum pump (9) and pressure fan (10) divide two-way to be connected to sucker (11), point
The air in confined space Yong Yu not extracted and be vented to confined space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434920.2A CN108407782A (en) | 2018-05-09 | 2018-05-09 | A kind of emergency braking control system for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434920.2A CN108407782A (en) | 2018-05-09 | 2018-05-09 | A kind of emergency braking control system for automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407782A true CN108407782A (en) | 2018-08-17 |
Family
ID=63138273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810434920.2A Pending CN108407782A (en) | 2018-05-09 | 2018-05-09 | A kind of emergency braking control system for automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108407782A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
| CN112441000A (en) * | 2019-08-16 | 2021-03-05 | 华为技术有限公司 | Vehicle braking control method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201980225U (en) * | 2011-04-19 | 2011-09-21 | 山东理工大学 | System for preventing accelerator stepping by mistake |
| CN103204149A (en) * | 2013-04-24 | 2013-07-17 | 浙江理工大学 | Vehicle brake antiskid control system and method based on satellite positioning and speed measurement |
| CN103204144A (en) * | 2013-04-27 | 2013-07-17 | 辽宁工业大学 | Automobile auxiliary braking system |
-
2018
- 2018-05-09 CN CN201810434920.2A patent/CN108407782A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201980225U (en) * | 2011-04-19 | 2011-09-21 | 山东理工大学 | System for preventing accelerator stepping by mistake |
| CN103204149A (en) * | 2013-04-24 | 2013-07-17 | 浙江理工大学 | Vehicle brake antiskid control system and method based on satellite positioning and speed measurement |
| CN103204144A (en) * | 2013-04-27 | 2013-07-17 | 辽宁工业大学 | Automobile auxiliary braking system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441000A (en) * | 2019-08-16 | 2021-03-05 | 华为技术有限公司 | Vehicle braking control method and device |
| CN110920586A (en) * | 2019-12-12 | 2020-03-27 | 清友(苏州)汽车技术有限公司 | Artificial intelligence vehicle induction system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108422986A (en) | A kind of intelligence control system for automobile brake | |
| CN109000935B (en) | Method for judging performance of new energy automobile brake system | |
| CN103241227B (en) | To the method that the brake system for vehicle controls | |
| CN108891392A (en) | A kind of emergency braking control system preventing skid | |
| CN108422983A (en) | A kind of vehicle auxiliary braking system based on artificial intelligence | |
| CN102180163B (en) | Vehicle state detecting and controlling method applied to electronic mechanical brake system of motor vehicle | |
| CN104494550A (en) | Active anticollision device of vehicle and calculating method of anticollision distance | |
| CN105128729B (en) | A kind of braking lamp control system and its control method based on CAN network | |
| CN107618511B (en) | Speed calculation method, system and the vehicle of electric car | |
| CN105946824B (en) | A kind of autobrake system and its brake method based on suspension vibration energy regenerating | |
| CN106080602A (en) | A kind of emergency control method of lie vehicle unexpected lane change when tackling fatigue driving | |
| CN114802166B (en) | Control method for keeping pedal feel of automobile constant | |
| CN102991483A (en) | System and method for intelligent braking of vehicle under driverless control | |
| CN206287853U (en) | One kind failure self diagnosis and self-shield device with pedal | |
| CN108407782A (en) | A kind of emergency braking control system for automobile | |
| CN111907492B (en) | Control method and device for AEB (automatic control bus) system of vehicle | |
| CN111645665B (en) | Driving torque control method and system for vehicle and automobile | |
| CN108973965A (en) | A kind of intelligentized automobile emergency brake control system | |
| CN204605408U (en) | A kind of automobile short range auxiliary emergent brake system | |
| CN104842714A (en) | Automotive short-distance auxiliary emergency braking system and braking method thereof | |
| CN108394408A (en) | A kind of automobile intelligent auxiliary braking system | |
| CN107727415A (en) | A kind of portable automobile wheel braking ability dynamic testing method and system | |
| US6623090B2 (en) | Method and device for detecting a panic braking operation | |
| CN1645085A (en) | Experimental method for appraising ABB controlling level by sliding rate | |
| US8311707B2 (en) | Methods and systems for improved detection of minispare tires |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190326 Address after: 102600 Unit 403, Unit 1, 15th Floor, Changfengyuan, Huangcun Town, Daxing District, Beijing Applicant after: Dong Jinhuan Address before: 252800 Jiadong Village, Yangtun Town, Gaotang County, Liaocheng City, Shandong Province, 197 Applicant before: Peng Xiuyan Applicant before: Ren Guiwen |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Lichao Inventor after: Peng Xiuyan Inventor after: Ren Guiwen Inventor before: Peng Xiuyan Inventor before: Ren Guiwen |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180817 |