CN108501947A - A kind of control method of pure electric vehicle automatic braking - Google Patents
A kind of control method of pure electric vehicle automatic braking Download PDFInfo
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- CN108501947A CN108501947A CN201810287136.3A CN201810287136A CN108501947A CN 108501947 A CN108501947 A CN 108501947A CN 201810287136 A CN201810287136 A CN 201810287136A CN 108501947 A CN108501947 A CN 108501947A
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- interval range
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims abstract description 32
- 230000004936 stimulating effect Effects 0.000 claims abstract description 4
- 230000000638 stimulation Effects 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 210000000697 sensory organ Anatomy 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000622 irritating effect Effects 0.000 description 1
Classifications
-
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of control methods of pure electric vehicle automatic braking, including：Step 1, first movement status information is obtained；Step 2, the second mobile status information and the first relative status information of barrier are detected；Step 3, vehicle safety status information is determined using the first, second mobile status information and the first relative status information；Step 4, judge the pre-set interval range belonging to vehicle safety status information：If, belong to first interval range, return to step 1；If belonging to second interval range, 5 are thened follow the steps；If belonging to 3rd interval range, 6 are thened follow the steps；Step 5, driver, return to step 1 are reminded by way of stimulating driver's sense organ；Step 6, vehicle braking, return to step 1 are automatically controlled.The present invention can effectively improve safety when pure electric automobile drives, even if driver does not have that automobile automatic braking can be made if the timely brake pedal present invention, to escort for safety trip.
Description
Technical field
The present invention relates to pure electric vehicle technical fields, specifically for, the present invention be a kind of pure electric vehicle it is automatic
The control method of braking.
Background technology
Currently, growing day by day with vehicle fleet size, traffic safety has been to be concerned by more and more people.Driving pure electric vehicle
During vehicle, since accident or driver attention are not concentrated, when that will be collided with barrier, to driving
The time of the person's of sailing thinking is extremely short, and general driver can not often brake in time, even the stronger driver of respond is also very
It may have little time to carry out braking maneuver, the safety of life and property for be easy to causeing traffic accident, threatening people.
Therefore, how to reduce the dependence to driver's respond, improve pure electric vehicle braking safety and raising
The intelligent level of pure electric vehicle, the weight for becoming those skilled in the art's technical problem urgently to be resolved hurrily and studying always
Point.
Invention content
For solve the prior art is more demanding to the respond of driver, pure electric vehicle braking safety compared with
The problems such as difference, relatively low intelligent level of pure electric vehicle, the present invention innovatively discloses a kind of pure electric vehicle automatic braking
Control method, even if the reaction of driver is not in time, the present invention can in time carry out strong before automobile and barrier collision
Automatic braking processed, the generation for the accidents such as avoid knocking into the back, to efficiently solve problems existing in the prior art.
To realize the above-mentioned technical purpose, the invention discloses a kind of control method of pure electric vehicle automatic braking, the controls
Method processed includes the following steps：
Step 1, in pure electric vehicle driving process, the first movement status information of the vehicle is obtained in real time；
Step 2, while obtaining the first movement status information, the second of the barrier of real-time detection vehicle front
Mobile status information and the first relative status information；
Step 3, the first movement status information and second mobile status information and the first opposite shape are utilized
State information determines vehicle safety status information；
Step 4, judge the pre-set interval range belonging to the vehicle safety status information：If the vehicle safety state
Information belongs to first interval range, then return to step 1；If the vehicle safety status information belongs to second interval range,
Execute step 5；If the vehicle safety status information belongs to 3rd interval range, 6 are thened follow the steps；Wherein, described default
Interval range includes preset first interval range, second interval range and 3rd interval range；
Step 5, by stimulating at least one of driver's sense of hearing, vision, tactile, smell mode that driver is reminded to carry out
Hand brake is then back to step 1；
Step 6, it automatically controls the pure electric vehicle to be braked, is then back to step 1.
Further, in step 4, the vehicle safety status information and the pre-set interval range are time span letter
Breath, the vehicle safety status information are used to indicate the prediction duration of the vehicle and barrier collision；First interval model
Enclose ＞ second interval range ＞ 3rd interval ranges.
Based on above-mentioned improved technical solution, the present invention innovatively use collision time prediction mode carry out judge be
No carry out automatic braking selects corresponding implementation strategy, to ensure the safety traffic of pure electric vehicle in corresponding time interval.
Further, in step 3, the first movement status information includes the vehicle speed v1, second movement
Status information includes barrier translational speed v2, and the first relative status information includes between the vehicle and the barrier
Distance d, calculate the prediction duration TTC in the following way：
Further, in step 4, the vehicle safety status information and the pre-set interval range are air line distance letter
Breath, the vehicle safety status information is for indicating the distance between the vehicle and the barrier；First interval range ＞
Second interval range ＞ 3rd interval ranges.
Based on above-mentioned improved technical solution, the present invention innovatively use range prediction mode judged whether into
Row automatic braking, accordingly apart from the corresponding implementation strategy of interval selection, to ensure the safety traffic of pure electric vehicle.
Further, in step 3, the first movement status information includes the vehicle speed v1, second movement
Status information includes barrier translational speed v2, and the first relative status information includes that the electromagnetic wave that sends out of radar sensor is past
The duration T between the vehicle and the barrier is returned, is determined as follows between the vehicle and the barrier
Distance：
Wherein, D indicates that the distance between the vehicle and the barrier, V indicate velocity of electromagnetic wave.
Further, in step 4, the critical point of the second interval range and the 3rd interval range indicates automatic system
Dynamic value, calculates the automatic braking value in the following way：
Wherein, S indicates that automatic braking value, v indicate that braking moment speed, t indicate that braking retardation duration, a indicate the vehicle
Maximum deceleration.
Further, the first movement status information includes the information of road surface and Weather information residing for the vehicle；
In step 4, the pre-set interval range carries out adaptive change with the Weather information and information of road surface obtained in real time.
Further, the first movement status information further includes rear obstacle movement speed；
In step 6, braking deceleration when automatic braking is adjusted according to rear obstacle movement speed.
Further, further include the steps that being recorded in statistics in preset duration to have stimulated number, if pierced in step 5
It is more than threshold value to swash number, then stimulation degree is enhanced one times.
Further, further include the step for reminding pure electric vehicle described in driver being forced automatic braking in step 6
Suddenly.
Beneficial effects of the present invention are：The present invention can effectively improve safety when pure electric automobile drives, even if driving
The person of sailing does not have timely brake pedal, the present invention that can make automobile automatic braking yet, to escort for safety trip.
In addition, the present invention also has, judging nicety rate is high, execution efficiency is high, excellent suitable for the protrusion such as popularization and application of large area
Point.
Description of the drawings
Fig. 1 is the flow diagram of the control method of pure electric vehicle automatic braking.
Specific implementation mode
Detailed explanation is carried out to the control method of pure electric vehicle automatic braking of the present invention with reference to the accompanying drawings of the specification
And explanation.
Embodiment one：
As shown in Figure 1, to solve problems of the existing technology, present embodiment discloses a kind of pure electric vehicles certainly
The control method of dynamic braking, the control method include following step, are described as follows.
Step 1, in pure electric vehicle driving process, the first movement status information of the vehicle is obtained in real time, i.e.,：To this
Automobile relevant parameter information is obtained.
Step 2, while obtaining first movement status information, the second movement of the barrier of real-time detection vehicle front
Status information and the first relative status information, i.e.,：To barrier (such as front vehicles) relevant parameter information, this automobile and barrier
Relativeness information obtained.
Step 3, it is determined using first movement status information and the second mobile status information and the first relative status information
Vehicle safety status information, wherein whether " vehicle safety status information " carries out the basis for estimation of automatic braking as the present invention.
Step 4, judge the pre-set interval range belonging to vehicle safety status information：If vehicle safety status information belongs to
First interval range illustrates that the present situation is safer, then return to step 1；If vehicle safety status information belongs to second interval
Range illustrates the possibility of the risky generation of meeting, thens follow the steps 5；If vehicle safety status information belongs to 3rd interval range,
Illustrate there will be very big risk, be easy to happen the accidents such as knock into the back, thens follow the steps 6；Wherein, above-mentioned pre-set interval range
Including preset first interval range, second interval range and 3rd interval range.
In addition, the first movement status information may also include information of road surface and Weather information residing for the vehicle, in step
In rapid 4, the pre-set interval range carries out adaptive change with the Weather information and information of road surface obtained in real time, for example, under
The more sliding situation in road surfaces, 3rd interval range, the second interval ranges such as snow accordingly increase, to further increase the present invention's
Safety, such as：Relatively general road conditions, carry out automatic braking earlier.
Step 5, by stimulating at least one of driver's sense of hearing, vision, tactile, smell mode that driver is reminded to carry out
Hand brake is then back to step 1；Further include the steps that being recorded in statistics in preset duration to have stimulated number in the present embodiment,
If it is more than threshold value to have stimulated number, stimulation degree is enhanced one times or several times, to cause the attention of driver；It is specific real
Shi Shi can stimulate the sense of hearing of driver by sound prompting, and the vision of driver can be stimulated by Vehicular display device, can be by driving
The tactile of seat vibrations stimulation driver is sailed, the smell of driver can be stimulated by discharging irritative gas.
Step 6, brake control signal is generated and sent out, pure electric vehicle is automatically controlled and is braked, be then back to step
1.In the present embodiment, the first movement status information further includes rear obstacle movement speed, can be according to rear barrier
Object movement speed adjusts braking deceleration when automatic braking, is asked to avoid what front vehicle caused by the too fast possibility of braking knocked into the back
Topic.Further include the steps that pure electric vehicle described in driver is reminded to be forced automatic braking in addition, in the present embodiment, with
Driver is set preferably to understand the state of current pure electric vehicle.
In the present embodiment step 4, vehicle safety status information and pre-set interval range are time span information, vehicle peace
Full state information is used to indicate that vehicle and the prediction duration of barrier collision (to be judged when that will collide away from collision generation
Time span)；First interval range ＞ second interval range ＞ 3rd interval ranges.
More specifically, in step 3, first movement status information includes vehicle speed v1, the second mobile status information packet
Barrier translational speed v2 is included, the first relative status information includes the distance between vehicle and barrier d, is counted in the following way
Calculate prediction duration TTC：
In the specific implementation, in the present embodiment, the detection for above-mentioned distance d can be real by millimetre-wave radar sensor
It is existing, certainly, the correlation detection of speed can be also carried out by millimetre-wave radar sensor.
Embodiment two：
The present embodiment also discloses that a kind of control method of pure electric vehicle automatic braking, essentially identical with embodiment one,
Its difference lies in：As shown in Figure 1, in the step 4 of the present embodiment, vehicle safety status information and pre-set interval range are straight
Linear distance information, vehicle safety status information is for indicating that the distance between vehicle and barrier, the present embodiment pass through this automobile
With rationally judged at a distance from front obstacle；More specifically, in the present embodiment, first interval range ＞ second intervals
Range ＞ 3rd interval ranges.
In addition, in step 3, first movement status information includes vehicle speed v1, and the second mobile status information includes obstacle
Object movement speed v2, the first relative status information include that the electromagnetic wave that sends out of radar sensor is travelled to and fro between vehicle and barrier
Duration T, is determined as follows the distance between vehicle and barrier：
Wherein, D indicates that the distance between vehicle and barrier, V indicate velocity of electromagnetic wave.
More specifically, in step 4, second interval range and the critical point of 3rd interval range indicate automatic braking value,
Automatic braking value (range information) is calculated in the following way：
Wherein, S indicates that automatic braking value, v indicate that braking moment speed, t indicate that braking retardation duration, a indicate vehicle
Maximum deceleration；In addition, above-mentioned a, t are scalar quantity.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other,
Those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature is combined.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be with
Express or implicitly include at least one this feature.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent replacement and simple modifications etc., should all be included in the protection scope of the present invention made by content.
Claims (10)
1. a kind of control method of pure electric vehicle automatic braking, it is characterised in that：The control method includes the following steps：
Step 1, in pure electric vehicle driving process, the first movement status information of the vehicle is obtained in real time；
Step 2, while obtaining the first movement status information, the second movement of the barrier of real-time detection vehicle front
Status information and the first relative status information；
Step 3, believed using the first movement status information and second mobile status information and first relative status
Breath determines vehicle safety status information；
Step 4, judge the pre-set interval range belonging to the vehicle safety status information：If the vehicle safety status information
Belong to first interval range, then return to step 1；If the vehicle safety status information belongs to second interval range, execute
Step 5；If the vehicle safety status information belongs to 3rd interval range, 6 are thened follow the steps；Wherein, the pre-set interval
Range includes preset first interval range, second interval range and 3rd interval range；
Step 5, manual by stimulating at least one of driver's sense of hearing, vision, tactile, smell mode that driver is reminded to carry out
Braking, is then back to step 1；
Step 6, it automatically controls the pure electric vehicle to be braked, is then back to step 1.
2. the control method of pure electric vehicle automatic braking according to claim 1, it is characterised in that：
In step 4, the vehicle safety status information and the pre-set interval range are time span information, the vehicle peace
Full state information is used to indicate the prediction duration of the vehicle and barrier collision；First interval range ＞ second interval models
Enclose ＞ 3rd interval ranges.
3. the control method of pure electric vehicle automatic braking according to claim 2, it is characterised in that：
In step 3, the first movement status information includes the vehicle speed v1, and second mobile status information includes barrier
Hinder object movement speed v2, the first relative status information includes the distance between the vehicle and the barrier d, by such as
Under type calculates the prediction duration TTC：
4. the control method of pure electric vehicle automatic braking according to claim 1, it is characterised in that：
In step 4, the vehicle safety status information and the pre-set interval range are air line distance information, the vehicle peace
Full state information is for indicating the distance between the vehicle and the barrier；First interval range ＞ second interval ranges ＞
3rd interval range.
5. the control method of pure electric vehicle automatic braking according to claim 4, it is characterised in that：
In step 3, the first movement status information includes the vehicle speed v1, and second mobile status information includes barrier
Hinder object movement speed v2, the first relative status information include the electromagnetic wave that sends out of radar sensor travel to and fro between the vehicle with
Duration T between the barrier, is determined as follows the distance between the vehicle and the barrier：
Wherein, D indicates that the distance between the vehicle and the barrier, V indicate velocity of electromagnetic wave.
6. the control method of pure electric vehicle automatic braking according to claim 5, it is characterised in that：
In step 4, the critical point of the second interval range and the 3rd interval range indicates automatic braking value, by as follows
Mode calculates the automatic braking value：
Wherein, S indicates that automatic braking value, v indicate that braking moment speed, t indicate that braking retardation duration, a indicate the vehicle
Maximum deceleration.
7. the control method of the pure electric vehicle automatic braking according to claim 3 or 6, it is characterised in that：Described first
Mobile status information includes the information of road surface and Weather information residing for the vehicle；
In step 4, the pre-set interval range carries out adaptive change with the Weather information and information of road surface obtained in real time.
8. the control method of pure electric vehicle automatic braking according to claim 7, it is characterised in that：The first movement
Status information further includes rear obstacle movement speed；
In step 6, braking deceleration when automatic braking is adjusted according to rear obstacle movement speed.
9. the control method of the pure electric vehicle automatic braking according to claim 1 or 8, it is characterised in that：
Further include the steps that being recorded in statistics in preset duration to have stimulated number, if it is more than threshold to have stimulated number in step 5
Stimulation degree is then enhanced one times by value.
10. the control method of pure electric vehicle automatic braking according to claim 9, it is characterised in that：
Further include the steps that pure electric vehicle described in driver is reminded to be forced automatic braking in step 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810287136.3A CN108501947A (en) | 2018-04-03 | 2018-04-03 | A kind of control method of pure electric vehicle automatic braking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810287136.3A CN108501947A (en) | 2018-04-03 | 2018-04-03 | A kind of control method of pure electric vehicle automatic braking |
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| Publication Number | Publication Date |
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| CN108501947A true CN108501947A (en) | 2018-09-07 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810287136.3A Pending CN108501947A (en) | 2018-04-03 | 2018-04-03 | A kind of control method of pure electric vehicle automatic braking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110653837A (en) * | 2019-10-31 | 2020-01-07 | 灵动科技（北京）有限公司 | Autonomous moving device and warehouse logistics system |
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Application publication date: 20180907 |