CN108466609A - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
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- CN108466609A CN108466609A CN201810255093.0A CN201810255093A CN108466609A CN 108466609 A CN108466609 A CN 108466609A CN 201810255093 A CN201810255093 A CN 201810255093A CN 108466609 A CN108466609 A CN 108466609A
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- 230000001133 acceleration Effects 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 17
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 4
- 235000008434 ginseng Nutrition 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the present application provides a kind of control method for vehicle and device, is related to technical field of automatic control.Applied to a controlled vehicle.Including：It obtains positioned at the reference vehicle for being controlled vehicle front for determining it is at least one with reference to vehicle parameter whether controlled vehicle needs to slow down；According at least one at least one controlled vehicle parameter with reference to vehicle parameter and controlled vehicle, judge to be controlled whether vehicle needs to slow down；When to be, the minimum deceleration degree for avoiding controlled vehicle rear-end collision from referring to vehicle is obtained.By reference to vehicle obtain it is at least one do deceleration control with reference to vehicle parameter, greatly avoid causes controlled vehicle not act in time and knocks into the back due to reference to jerking for vehicle.Also due to any action with reference to vehicle can be controlled vehicle and timely know, i.e., it can obtain the minimum deceleration degree for avoiding knocking into the back according at least one with reference to vehicle parameter, and greatly improve the ride experience of user.
Description
Technical field
This application involves technical field of automatic control, in particular to a kind of control method for vehicle and device.
Background technology
With the continuous development and progress of automated control technology, for automobile, the DAS (Driver Assistant System) of automation
It has been obtained for being widely applied.
In the DAS (Driver Assistant System) of automation, active auxiliary brake is a vital core technology.Currently, main
Dynamic auxiliary brake technique is the distance that rear car removes inspection front truck by sensor, and in distance diminution or insufficient safe distance,
It controls vehicle and carries out active brake, avoid causing rear-end collision because of the absent minded of driver.By then pass through away from
From active brake is carried out, can not often avoid causing to knock into the back because front truck is jerked.Secondly, also due to being to pass through distance
Active brake is carried out, therefore just at last when that will not knock into the back, it also tends to ensure safety using larger deceleration.
Therefore, actively the not high and larger deceleration of not only safety of brake so that user experience is excessively poor at present, in addition cause or
Aggravate the carsick symptom of user.
Invention content
The application's is designed to provide a kind of control method for vehicle and device.
Embodiments herein is realized in the following way：
In a first aspect, the embodiment of the present application provides a kind of control method for vehicle, it is applied to a controlled vehicle.Including：It obtains
Obtain at least one for determining whether the controlled vehicle needs to slow down of the reference vehicle positioned at the controlled vehicle front
With reference to vehicle parameter；According to it is described it is at least one with reference to vehicle parameter at least one controlled vehicle ginseng of the controlled vehicle
Number, judges whether the controlled vehicle needs to slow down；When to be, acquisition avoids referring to vehicle described in the controlled vehicle rear-end collision
Minimum deceleration degree.
In conjunction with the technical solution that above-mentioned first aspect provides, in some possible realization methods, described in the basis extremely
A few at least one controlled vehicle parameter with reference to vehicle parameter and the controlled vehicle, judges whether the controlled vehicle needs
Slow down.Including：According to described at least one with reference to vehicle parameter and at least one controlled vehicle parameter of the controlled vehicle,
Judge whether the controlled vehicle is described with reference to the possible non-secure states of vehicle in knocking into the back；When to be, according to described
It is at least one to refer to vehicle parameter and at least one controlled vehicle parameter, judge the current acceleration and deceleration shape with reference to vehicle
Whether state is non-accelerating state, obtains an acceleration judging result；Judge the controlled vehicle according to the acceleration judging result
Whether need to slow down.
In conjunction with the technical solution that above-mentioned first aspect provides, in some possible realization methods, described in the basis extremely
A few at least one controlled vehicle parameter with reference to vehicle parameter and the controlled vehicle, judges whether the controlled vehicle is located
It is described with reference to the possible non-secure states of vehicle in knocking into the back；Including：According to described at least one with reference to vehicle parameter and described
At least one controlled vehicle parameter judges whether the currently practical distance with reference to vehicle between the controlled vehicle is little
In safe distance；When to be, according at least one reference vehicle parameter and at least one controlled vehicle parameter, sentence
Whether the present speed with reference to vehicle that breaks is not more than the present speed of the controlled vehicle, obtains a velocity estimated result；
Judge whether the controlled vehicle is possible described non-with the reference vehicle rear-end collision in having according to the velocity estimated result
Safe condition.
In conjunction with the technical solution that above-mentioned first aspect provides, in some possible realization methods, the safe distance is
Acquisition is calculated according to the difference between the present speed with reference to vehicle and the present speed of the controlled vehicle.
Sentence in the acceleration in some possible realization methods in conjunction with the technical solution that above-mentioned first aspect provides
It is corresponding to determine that the controlled vehicle needs to slow down when disconnected result is non-accelerating state.
In conjunction with the technical solution that above-mentioned first aspect provides, in some possible realization methods, the acquisition avoids institute
State the minimum deceleration degree that vehicle is referred to described in controlled vehicle rear-end collision.Including：If calculate with maximum deceleration slow down away from
From reach it is described it is currently practical with a distance from when the controlled vehicle estimated speed；Judge the estimated speed whether no more than described
With reference to the present speed of vehicle；When to be, based on the reference velocity equal with the present speed with reference to vehicle, pass through institute
The difference between reference velocity and the present speed of the controlled vehicle is stated to determine to avoid described in the controlled vehicle rear-end collision
With reference to the minimum deceleration degree of vehicle.
Second aspect, the embodiment of the present application provide a kind of controller of vehicle, are applied to a controlled vehicle, including：Vehicle
Information acquisition module, communication module and the processing being all connected with the collecting vehicle information module and the communication module
Module.The collecting vehicle information module, at least one controlled vehicle parameter for acquiring the controlled vehicle.The communication
Module, for obtain be located at the controlled vehicle front reference vehicle for determining whether the controlled vehicle needs to slow down
It is at least one refer to vehicle parameter.The processing module, for according to described at least one with reference to vehicle parameter and the quilt
At least one controlled vehicle parameter for controlling vehicle, judges whether the controlled vehicle needs to slow down；When to be, acquisition avoids institute
The minimum deceleration degree for referring to vehicle described in controlled vehicle rear-end collision is stated, and is additionally operable at least one controlled vehicle parameter hair
Send to the communication module so that the communication module by least one controlled vehicle parameter be sent to it is described refer to vehicle
.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible realization methods, the information of vehicles is adopted
Collecting module includes：The velocity information collecting unit and location information collecting unit being connect with the processing module.The speed letter
Collecting unit is ceased, for acquiring the present speed for being controlled vehicle described at least one controlled vehicle parameter of the controlled vehicle
With the current acceleration deceleration state of the controlled vehicle.The location information collecting unit, for acquiring the controlled vehicle extremely
The current location of vehicle is controlled described in a few controlled vehicle parameter.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible realization methods, the processing module is
V2X processors.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible realization methods, the communication module is
V2X signal transceivers.
The advantageous effect of the embodiment of the present application is：
By be controlled positioned at this vehicle front reference vehicle for determine the controlled vehicle whether need to slow down to
Few one at least one controlled vehicle parameter with reference to vehicle parameter and the controlled vehicle judges to be controlled whether vehicle needs to subtract
Speed.Therefore when being judged as needing to slow down, it is determined that go out the minimum deceleration degree for avoiding controlled vehicle rear-end collision from referring to vehicle.Therefore, lead to
It crosses to obtain with reference to vehicle and at least one does deceleration control with reference to vehicle parameter so that can be by with reference to any action of vehicle
Control vehicle timely knows that greatly avoid leads to rear car (controlled vehicle) nothing because of front truck (referring to vehicle) due to jerking
Method is acted and is knocked into the back in time.In addition, also due to any action with reference to vehicle can be controlled vehicle and timely know, make it not
Must safety be ensured using maximum deceleration, i.e., it can avoid knocking into the back most with reference to vehicle parameter according at least one to obtain
Small deceleration, and greatly improve the ride experience of user.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to needed in the embodiment attached in order to illustrate more clearly of the technical solution of the embodiment of the present application
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of first structure block diagram for controller of vehicle that the application first embodiment provides；
Fig. 2 shows a kind of the second structure diagrams of controller of vehicle that the application first embodiment provides；
Fig. 3 shows a kind of flow chart for control method for vehicle that the application second embodiment provides.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiments herein to providing in the accompanying drawings is not intended to limit claimed the application's below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall in the protection scope of this application.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Term " first ", " the
Two " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
Referring to Fig. 1, the embodiment of the present application provides a kind of controller of vehicle 100, the controller of vehicle 100 application
In a controlled vehicle 11, i.e., the controller of vehicle 100 is mounted on the controlled vehicle 11.The controller of vehicle 100 includes：
Collecting vehicle information module 110, communication module 120 and processing module 130.
Collecting vehicle information module 110, at least one controlled vehicle parameter for acquiring the controlled vehicle 11.
Communication module 120, for obtaining the described controlled for determining of the reference vehicle 12 being located in front of controlled vehicle 11
It is at least one with reference to 12 parameter of vehicle whether vehicle 11 needs to slow down.
Processing module 130, for being controlled with reference to vehicle parameter 12 and at least one of controlled vehicle 11 according at least one
Vehicle parameter, judges whether the controlled vehicle 11 needs to slow down；When to be, acquisition avoids controlled vehicle 11 from knocking into the back with reference to vehicle
12 minimum deceleration degree, and be additionally operable at least one controlled vehicle parameter being sent to communication module 120, so that communication mould
At least one controlled vehicle parameter is sent to described with reference to vehicle 12 by block 120.
It should be noted that each controlled vehicle 11 is respectively mounted and applies the controller of vehicle 100, due to each vehicle
Control device 100 is identical to the control mode of corresponding controlled vehicle 11.For ease of understanding, the present embodiment is with any one
Illustrated for the control mode of controlled vehicle 11, then other controlled vehicles 11 can be relative to this be controlled vehicle 11 and by
As vehicle 12 is referred to, in order to understand.
As illustrated in figs. 1 and 2, collecting vehicle information module 110 includes：Velocity information collecting unit 111 and location information
Collecting unit 112.Wherein, the velocity information collecting unit 110 and location information collecting unit 112 connect with processing module 130
It connects.
Velocity information collecting unit 111 can be inertial navigation set, be used to acquire this with certain sample frequency controlled
This at least one controlled vehicle parameter of vehicle 11 is controlled the current plus-minus of the present speed and the controlled vehicle 11 of vehicle 11
Fast state, and the current acceleration deceleration state of the present speed and the controlled vehicle 11 that are controlled vehicle 11 is sent to processing mould
Block 130, wherein certain sample frequency can be 10Hz.
Location information collecting unit 112 can be global positioning equipment, and vehicle is controlled for being acquired with certain sample frequency
It is controlled the current location of vehicle 11 in 11 at least one controlled vehicle parameter, and this is controlled to the current location transmission of vehicle 11
To processing module 130, wherein certain sample frequency may be 10Hz.
Further, processing module 130 can be V2X (vehicle to everything, vehicle-to-vehicle information exchange)
Processor, in order to being in communication with each other between vehicle.This is then controlled that the present speed of vehicle 11, this is controlled by processing module 130
At least one controlled vehicle of the current location of the current acceleration deceleration state of vehicle 11 and the controlled vehicle 11 as controlled vehicle 11
It participates in the control of the controlled vehicle and processing module further executes when being controlled the control of vehicle to this, then handle
Module 130 is based on the tool that CAN bus (Controller Area Network, controller local area network) issues the controlled vehicle
Body control unit.
Further, communication module 120 can be accordingly V2X signal transceivers, obtain what processing module 130 was sent
At least one 11 parameter of controlled vehicle is sent to others and refers to vehicle 12 by least one controlled vehicle parameter, so that its
Its reference vehicle 12 can also execute control based at least one controlled vehicle parameter.
Second embodiment
Referring to Fig. 3, the embodiment of the present application provides a kind of control method for vehicle, which is applied to a quilt
Vehicle is controlled, which includes：
Step S100：Obtain the reference vehicle positioned at the controlled vehicle front is used for whether determining the controlled vehicle
It needs to slow down at least one with reference to vehicle parameter.
During traveling, controlled vehicle is sustainable constantly to be gone to sample at least one controlled of itself the controlled vehicle
Vehicle parameter.For one it is current at the time of describe, which can characterize working as the controlled vehicle
Front position, controlled vehicle present speed and controlled vehicle current acceleration deceleration state.And controlled vehicle is more accurately to determine
The position of itself is controlled vehicle when obtaining the current location for being controlled vehicle, the current location of controlled vehicle is sent to along road
Be arranged and be controlled the nearest road measuring device of vehicle away from this so that external road measuring device according to this be controlled vehicle current location and
Determine the current lane of the controlled vehicle, and the current lane that this is controlled to vehicle feeds back to the controlled vehicle.Further,
Controlled vehicle this can be controlled the current location of vehicle, the present speed of controlled vehicle, controlled vehicle current acceleration and deceleration shape
The current lane of state and the controlled vehicle is sent to each of surrounding as at least one controlled vehicle parameter together and refers to vehicle,
Wherein, the present embodiment by least one controlled vehicle parameter is sent to surrounding some with reference to vehicle for say
It is bright, in order to understand.
Correspondingly, each ginseng that the controlled vehicle during traveling, is controlled around the sustainable continuous acquisition of vehicle
Examine vehicle transmission this with reference to vehicle it is at least one refer to vehicle parameter.Wherein, the present embodiment is sustainable not with controlled vehicle
Some around disconnected acquisition send with reference to vehicle this with reference to vehicle it is at least one join with reference to vehicle for said
It is bright, in order to understand.Further, it includes referring to vehicle accordingly to be controlled at least one reference vehicle parameter that vehicle is obtained
Current location, with reference to vehicle present speed, with reference to the current acceleration deceleration state of vehicle and this refer to vehicle current vehicle
Road.
It is understood that it is to be based on the reference that at least one controlled vehicle parameter is sent to reference to vehicle by controlled vehicle
Vehicle is at a distance from the controlled vehicle in the mutual communication range of two vehicles；If this with reference to vehicle and the controlled vehicle away from
From outside the mutual communication range of two vehicles, then the distance between two vehicles are far more than safe distance, it is controlled vehicle then
Also at least one controlled vehicle parameter can not will not be sent to reference to vehicle, i.e., controlled vehicle can't detect in communication range appoints
What one with reference to vehicle when, then be controlled vehicle do not send at least one controlled vehicle parameter.Conversely, with reference to vehicle and being somebody's turn to do based on this
In the mutual communication range of two vehicles, controlled vehicle can obtain this and occur extremely with reference to vehicle the distance of controlled vehicle
Few one refers to vehicle parameter；If this is controlled with reference to vehicle and this at a distance from vehicle outside the mutual communication range of two vehicles,
Then controlled vehicle can not receive any one any at least one of reference vehicle generation and refer to vehicle parameter.
At least one with reference to vehicle parameter in the acquisition of controlled vehicle, which is controlled for this
Vehicle determines the need for slowing down, therefore controlled vehicle according to this with reference to vehicle parameter firstly the need of obtaining and this is with reference between vehicle
Relative position relation.I.e. controlled vehicle is by least one current lane with reference to the reference vehicle in vehicle parameter and is controlled
The current lane of vehicle determines whether to be located at same track with reference to vehicle with this.
When it not is same track to be determined as, then illustrate that there is no shadows to controlled vehicle actually for the acceleration and deceleration with reference to vehicle
It rings, therefore controlled vehicle then terminates the execution of follow-up process.
When being determined as same track, then the controlled vehicle needs one step of progress to judge that reference is controlled vehicle relative to this
Front and back position relationship.I.e. controlled vehicle passes through at least one current location with reference to the reference vehicle in vehicle parameter and controlled vehicle
Current location come determine this with reference to vehicle whether be located at front.
Be determined as with reference to vehicle not be located at front when, then according to be controlled vehicle and can not knock into the back this refer to vehicle, therefore
Controlled vehicle then terminates the execution of follow-up process.
When being determined as being located at front with reference to vehicle, then illustrate that being controlled vehicle has the possibility to knock into the back with reference to vehicle, is controlled
Vehicle needs further to be sentenced with reference at least one controlled vehicle parameter of vehicle parameter and controlled vehicle according at least one
Whether disconnected controlled vehicle needs to slow down.
It should be noted that in the present embodiment, although narration is to obtain the reference vehicle for being located at controlled vehicle front
It is at least one refer to vehicle parameter, and actual conditions are, when being located at controlled vehicle front with reference to vehicle, controlled vehicle is obtained
It obtains at least one of the reference vehicle for being actually located at controlled vehicle front really and refers to vehicle parameter, but the ginseng that controlled vehicle is known
It examines vehicle and is located at controlled vehicle front, be that controlled vehicle passes through determined by itself operation.
Certainly, it calculates and to be located at the calculating process of controlled vehicle front with reference to vehicle and can also be executed for other equipment, example
Such as, it is executed by external road measuring device, and directly sends result to the controlled vehicle after execution, so that controlled vehicle
It is located at controlled vehicle front according to the reference vehicle that result is known.
Step S200：According to described at least one with reference to vehicle parameter and at least one controlled vehicle of the controlled vehicle
Parameter, judges whether the controlled vehicle needs to slow down.
It needs to be joined according at least one at least one controlled vehicle with reference to vehicle parameter and controlled vehicle in controlled vehicle
When number further to judge whether controlled vehicle needs to slow down, first, controlled vehicle can join according at least one with reference to vehicle
At least one controlled vehicle parameter of several and controlled vehicle judges whether controlled vehicle is possible non-with reference to vehicle in knocking into the back
Safe condition.Specifically, controlled vehicle can be according to the difference between the present speed and the present speed of controlled vehicle with reference to vehicle
Value calculates acquisition with current safe distance.
The calculation formula of safe distance can be that (New Car Assessment Program's abridges, newly based on NCAP
Vehicle crash tests) calculation formula that is defined about the safe distance in the case of emergency brake：
d0=1.1 × ds (2)
Wherein, dsExpression is perfectly safe distance, vrelIndicate the present speed of the present speed and controlled vehicle with reference to vehicle
Between difference, amaxIt indicates to be controlled the pre-set maximum deceleration of vehicle, wherein amaxCan be the 40% of acceleration of gravity
Left and right, d0For safe distance, wherein d0For 1.1 times of d of redundancy values, the redundancy value 1.1 is so that safe distance can further improve
Safety.
Vehicle parameter and at least one controlled vehicle parameter are referred to according at least one, i.e., according to the present bit for being controlled vehicle
It sets and then can get with reference to the currently practical distance between vehicle and controlled vehicle with reference to the current location of vehicle, be then controlled vehicle
It can determine whether to be not more than safe distance with reference to the currently practical distance between vehicle and controlled vehicle.
When to be no, then illustrate that distance is far between indicating two vehicles, rear-end impact will not occur, therefore after controlled vehicle terminates
The execution of afterflow journey.
When to be, then illustrate indicate two vehicles between not counting safety, have generation rear-end impact possibility.Therefore according to controlled
Vehicle is at least one to refer to vehicle parameter and at least one controlled vehicle parameter, judges whether the present speed for referring to vehicle is little
In the present speed of controlled vehicle, and obtain a velocity estimated result.
On the one hand, vehicle is controlled according to velocity estimated as a result, being not more than controlled vehicle in the present speed with reference to vehicle
When present speed, then to be controlled vehicle present speed be corrected, and the present speed based on the controlled vehicle after correction come
A braking distance is obtained, formula is：
Wherein, vcFor the preset value for correction, which is positive number, dcFor braking distance.
Further, it is controlled vehicle and judges whether currently practical distance is more than braking distance.
When to be not more than, then illustrate to bring two vehicles to chase after with reference to the distance between vehicle and controlled vehicle and speed
The possibility of tail occurs.At this point, controlled vehicle then directly executes deceleration with maximum deceleration to control, generation of knocking into the back is reduced with all one's effort
Possibility.
When to be more than, then illustrate with reference to vehicle to slow down with maximum deceleration and the controlled vehicle will not knock into the back the reference
Vehicle determines execution in a safe condition, and then being controlled vehicle termination follow-up process.
On the other hand, vehicle is controlled according to velocity estimated as a result, being not more than controlled vehicle in the present speed with reference to vehicle
Present speed when, then judge that controlled vehicle is in and has and refer to the possible non-secure states of vehicle rear-end collision.
Further, to avoid the malfunction of controlled vehicle, when being determined as non-secure states, vehicle is controlled also according to extremely
Few one refers to vehicle parameter and at least one controlled vehicle parameter, judges whether the current acceleration deceleration state with reference to vehicle is non-
Acceleration mode obtains an acceleration judging result.
If being that this refers to vehicle currently in acceleration mode according to acceleration judging result, illustrate to occur between two vehicles
It knocks into the back, and judges that controlled vehicle need not slow down, and then controlled vehicle terminates the execution of follow-up process.
If being that this refers to vehicle currently in non-accelerating state according to acceleration judging result, illustrate there is generation between two vehicles
The possibility to knock into the back, and judge that controlled vehicle needs to slow down.
Certainly, calculating, that is, deterministic process in step S200 can also execute for other equipment, for example, passing through external
Road measuring device executes, and after execution directly sends result to the controlled vehicle, so that controlled vehicle is obtained according to result
Know whether need to execute deceleration.
Step S300：When to be, the minimum deceleration degree for avoiding that vehicle is referred to described in the controlled vehicle rear-end collision is obtained.
Further, when determining that controlled vehicle needs to slow down, if controlled vehicle is calculated first with maximum deceleration
The distance slowed down reach it is currently practical apart from when be controlled the estimated speed of vehicle, and judge whether the estimated speed is not more than
The present speed with reference to vehicle.Specifically, ensureing safety to be further, it is controlled the current of the reference vehicle of vehicle pair
Speed is corrected, and the estimated speed whether no more than after correction this refer to the present speed of vehicle, wherein the formula of correction
It is represented by：
When to be no, then illustrate that being controlled vehicle is possible to knock into the back with reference to vehicle, then to avoid the generation knocked into the back as possible,
Controlled vehicle then directly executes deceleration with maximum deceleration to control, and reduces the possibility for generation of knocking into the back with all one's effort.
When to be, then illustrate be controlled vehicle will not knock into the back with reference to vehicle, then for ensure slow down when user comfort,
Controlled vehicle is with based on the reference velocity equal with the present speed of vehicle is referred to after correction, by reference to speed and controlled vehicle
Present speed between difference determine to avoid to refer to the minimum deceleration degree of vehicle described in controlled vehicle rear-end collision, i.e. formula can
It is expressed as：
Wherein, a1Controlled vehicle rear-end collision is as avoided to refer to the minimum deceleration degree of vehicle.
Then, by above-mentioned calculating, controlled vehicle then obtains this and controlled vehicle rear-end collision is avoided to subtract with reference to the minimum of vehicle
Speed, and deceleration is also executed with the minimum deceleration degree.
Certainly, spending journey by calculating and judging to obtain minimum deceleration and can also be held for other equipment in step S300
Minimum deceleration degree for example, being executed by external road measuring device, and is directly sent to the controlled vehicle by row after execution,
So that controlled vehicle executes deceleration according to minimum deceleration degree.
It should be understood by those skilled in the art that, the embodiment of the present application can be provided as method, system or computer program production
Product.Therefore, in terms of the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes computer available programs generation that the embodiment of the present application, which can be used in one or more,
The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
In conclusion the embodiment of the present application provides a kind of control method for vehicle and device, it is applied to a controlled vehicle.Packet
It includes：Whether obtain the reference vehicle for being located at controlled vehicle front needs at least one reference slowed down for determining controlled vehicle
Vehicle parameter；According at least one at least one controlled vehicle parameter with reference to vehicle parameter and controlled vehicle, judge to be controlled vehicle
Whether need to slow down；When to be, the minimum deceleration degree for avoiding controlled vehicle rear-end collision from referring to vehicle is obtained.
By be controlled positioned at this vehicle front reference vehicle for determine the controlled vehicle whether need to slow down to
Few one at least one controlled vehicle parameter with reference to vehicle parameter and the controlled vehicle judges to be controlled whether vehicle needs to subtract
Speed.Therefore when being judged as needing to slow down, it is determined that go out the minimum deceleration degree for avoiding controlled vehicle rear-end collision from referring to vehicle.Therefore, lead to
It crosses to obtain with reference to vehicle and at least one does deceleration control with reference to vehicle parameter so that can be by with reference to any action of vehicle
Control vehicle timely knows that greatly avoid leads to rear car (controlled vehicle) nothing because of front truck (referring to vehicle) due to jerking
Method is acted and is knocked into the back in time.In addition, also due to any action with reference to vehicle can be controlled vehicle and timely know, make it not
Must safety be ensured using maximum deceleration, i.e., it can avoid knocking into the back most with reference to vehicle parameter according at least one to obtain
Small deceleration, and greatly improve the ride experience of user.
The preferred embodiment that these are only the application, is not intended to limit this application, for those skilled in the art
For member, the application can have various modifications and variations.Any modification made by within the spirit and principles of this application,
Equivalent replacement, improvement etc., should be included within the protection domain of the application.It should be noted that：Similar label and letter are under
Similar terms are indicated in the attached drawing in face, therefore, once being defined in a certain Xiang Yi attached drawing, are not then needed in subsequent attached drawing
It is further defined and explained.
More than, the only specific implementation mode of the application, but the protection domain of the application is not limited thereto, and it is any to be familiar with
Those skilled in the art can easily think of the change or the replacement in the technical scope that the application discloses, and should all cover
Within the protection domain of the application.Therefore, the protection domain of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that it is applied to a controlled vehicle, including：
Obtain the reference vehicle positioned at the controlled vehicle front for determine the controlled vehicle whether need to slow down to
Few one refers to vehicle parameter；
According to described at least one with reference to vehicle parameter and at least one controlled vehicle parameter of the controlled vehicle, described in judgement
Whether controlled vehicle, which needs, slows down；
When to be, the minimum deceleration degree for avoiding that vehicle is referred to described in the controlled vehicle rear-end collision is obtained.
2. control method for vehicle according to claim 1, which is characterized in that described according to described at least one with reference to vehicle
At least one controlled vehicle parameter of parameter and the controlled vehicle, judges whether the controlled vehicle needs to slow down, including：
According to described at least one with reference to vehicle parameter and at least one controlled vehicle parameter of the controlled vehicle, described in judgement
Whether controlled vehicle is described with reference to the possible non-secure states of vehicle in knocking into the back；
When to be, according to it is described it is at least one refer to vehicle parameter and at least one controlled vehicle parameter, described in judgement
Whether the current acceleration deceleration state with reference to vehicle is non-accelerating state, obtains an acceleration judging result；
Judge whether the controlled vehicle needs to slow down according to the acceleration judging result.
3. control method for vehicle according to claim 2, which is characterized in that described according to described at least one with reference to vehicle
Whether at least one controlled vehicle parameter of parameter and the controlled vehicle judges the controlled vehicle in the ginseng that knocks into the back
Examine the possible non-secure states of vehicle；Including：
According to it is described it is at least one refer to vehicle parameter and at least one controlled vehicle parameter, judge it is described with reference to vehicle and
Whether the currently practical distance between the controlled vehicle is not more than safe distance；
When to be, according to it is described it is at least one refer to vehicle parameter and at least one controlled vehicle parameter, described in judgement
Whether it is not more than the present speed of the controlled vehicle with reference to the present speed of vehicle, obtains a velocity estimated result；
Judge the controlled vehicle whether in having and described with reference to vehicle rear-end collision possible institute according to the velocity estimated result
State non-secure states.
4. control method for vehicle according to claim 3, which is characterized in that the safe distance is to refer to vehicle according to described
Present speed and the present speed of the controlled vehicle between difference calculate acquisition.
5. control method for vehicle according to claim 4, which is characterized in that the acceleration judging result be non-acceleration
It is corresponding to determine that the controlled vehicle needs to slow down when state.
6. control method for vehicle according to claim 5, which is characterized in that the acquisition avoids the controlled vehicle rear-end collision
The minimum deceleration degree with reference to vehicle, including：
If calculate with the distance that maximum deceleration is slowed down reach it is described it is currently practical apart from when the controlled vehicle it is pre-
Meter speed degree；
Judge whether the estimated speed is not more than the present speed with reference to vehicle；
When to be, based on the reference velocity equal with the present speed with reference to vehicle, pass through the reference velocity and institute
The difference between the present speed of controlled vehicle is stated to determine to avoid described in the controlled vehicle rear-end collision with reference to the described of vehicle
Minimum deceleration degree.
7. a kind of controller of vehicle, which is characterized in that it is applied to a controlled vehicle, including：Collecting vehicle information module, communication
Module and the processing module being all connected with the collecting vehicle information module and the communication module；
The collecting vehicle information module, at least one controlled vehicle parameter for acquiring the controlled vehicle；
The communication module, for obtain be located at the controlled vehicle front reference vehicle for determining the controlled vehicle
Whether need to slow down at least one with reference to vehicle parameter；
The processing module is used for according to described at least one at least one controlled with the controlled vehicle with reference to vehicle parameter
Vehicle parameter, judges whether the controlled vehicle needs to slow down；When to be, acquisition avoids joining described in the controlled vehicle rear-end collision
The minimum deceleration degree of vehicle is examined, and is additionally operable at least one controlled vehicle parameter being sent to the communication module, with
The communication module is set to be sent at least one controlled vehicle parameter described with reference to vehicle.
8. controller of vehicle according to claim 7, which is characterized in that the collecting vehicle information module includes：With
The velocity information collecting unit and location information collecting unit of the processing module connection；
The velocity information collecting unit is controlled for acquiring described at least one controlled vehicle parameter of the controlled vehicle
The current acceleration deceleration state of the present speed of vehicle and the controlled vehicle；
The location information collecting unit is controlled for acquiring described at least one controlled vehicle parameter of the controlled vehicle
The current location of vehicle.
9. controller of vehicle according to claim 8, which is characterized in that the processing module is V2X processors.
10. controller of vehicle according to claim 8, which is characterized in that the communication module is V2X signal transmitting and receivings
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255093.0A CN108466609A (en) | 2018-03-26 | 2018-03-26 | Control method for vehicle and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255093.0A CN108466609A (en) | 2018-03-26 | 2018-03-26 | Control method for vehicle and device |
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| CN108466609A true CN108466609A (en) | 2018-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN109398352A (en) * | 2018-09-12 | 2019-03-01 | 北京车和家信息技术有限公司 | Brake control method and equipment, computer readable storage medium |
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Application publication date: 20180831 |