CN109080604A - A kind of automatic emergency brake system based on AEB system - Google Patents
A kind of automatic emergency brake system based on AEB system Download PDFInfo
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- CN109080604A CN109080604A CN201810923490.0A CN201810923490A CN109080604A CN 109080604 A CN109080604 A CN 109080604A CN 201810923490 A CN201810923490 A CN 201810923490A CN 109080604 A CN109080604 A CN 109080604A
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- control strategy
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- aeb
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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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to a kind of automatic emergency brake systems based on AEB system, it is characterised in that: including environment sensing mechanism, control strategy and executing agency；The environment sensing mechanism acquires the driving status of automobile in real time and carries out corresponding data processing by control strategy；The data processed result for acquiring environment sensing mechanism of the control strategy differentiates that the executing agency carries out movement execution according to the discriminant information of control strategy by control strategy；When system detection to this front side is there may be when potential danger target object, it will remind the presence of driver's risk, take pre- brake measure if necessary；If not being connected to the instruction of driver within the reaction time, partial brake reduces speed if the system, then stops vehicle using braking completely, help driver avoid collision or reducing collisions after bring lose.
Description
Technical field
The present invention relates to vehicle intelligent driving auxiliary system technical fields more particularly to a kind of automatic tight based on AEB system
Anxious braking system.
Background technique
Low-carbon, interconnection networking, intelligence are current the problems such as solving automobile industry environmental protection pressure, traffic safety
It is crucial.Traffic accident is increasingly becoming one of an important factor for threatening people life property safety.
In development of automobile industry process, one is emphasized the effect of passive security technology.With in terms of automobile active safety
The innovation and breakthrough of technology, it was demonstrated that how to prevent the vehicle collision out of control etc. and be only the key that basic solution accident occurs.In recent years
Carry out active safety technologies and regards the core that automotive safety technology develops as by manufacturers many in industry.Passive security body is born possessing
In the case where system, active safety technologies is greatly developed, and work along both lines in conjunction with passive security technology, avoided by active safety
Accident, then protection is provided by passive security, automobile comprehensive safety performance could be preferably improved, traffic thing is further reduced
Therefore and personal injury.
In order to allow vehicle to have higher safety and reliability under steam, AEB automatic emergency brake system is a kind of
Vehicle avoids knocking into the back and preventing the effective solution of collision, passes through the alarm distance dw and limiting alarm distance db that wakes up.Two grades
Not wherein, reminding alarm distance should ensure that driver has the more sufficient reaction time, and can be carried out correctly habit operation,
This stage AEB system can only prompt to alarm, and will not intervene driver's operation.But when two vehicles distance enters active brake (actively
Braking distance is thrown away with front truck after automobile can be made to release braking by calculating and keeps being unlikely to collide with front truck at a distance from 1m,
Even if being collided with front truck, collsion damage can also be minimized) after, system will skip driver's operation, directly brake
Vehicle.
It is to meet crew comfort in this system second stage, does not use direct abrupt deceleration vehicle, first pass through partial brake
Speed is reduced, then vehicle is stopped using braking completely.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic emergency brake systems based on AEB system, solve accident
Occur or the problems such as reducing collisions, and under the premise of guaranteeing driver safety, speed is reduced by partial brake, then used
Full application of brake stops vehicle, to meet the comfort of driver.
In order to solve the above technical problems, the technical solution of the present invention is as follows: a kind of automatic emergency brake based on AEB system
System, innovative point are: including environment sensing mechanism, control strategy and executing agency；The environment sensing mechanism acquires in real time
The driving status of automobile simultaneously carries out corresponding data processing by control strategy；The control strategy adopts environment sensing mechanism
The data processed result of collection is differentiated that the executing agency is moved according to the discriminant information of control strategy by control strategy
It executes；
The environment sensing mechanism includes long range millimetre-wave radar and monocular cam sensor；The monocular cam sensing
Device monitors the region that vehicle front is greater than 150 meters；The long range millimetre-wave radar can measure the speed of vehicle, acceleration；Ring
Border sensing mechanisms provides data basis for control strategy；
The control strategy includes data processing policy, logic discrimination strategy and execution control strategy；The data processing policy
The measured data values of environment sensing mechanism are analyzed and processed, and the result of processing is transferred to logic discrimination strategy, to patrol
It collects identification tactic and data basis is provided, the output result and execution control strategy of the logic discrimination strategy carry out data interchange,
The output result and executing agency for executing control strategy carry out output transmission and control executing agency；
The executing agency includes alarm and active brake；Executing agency carries out according to the output result for executing control strategy
The selection of executing agency.
Further, the logic discrimination strategy is to touch with reference to as execute control strategy first using safe distance formula
Clockwork spring part；The logic discrimination strategy is using TTC collision time as the second trigger condition for executing control strategy.
Further, the safe distance formula is
-- from vehicle initial velocity, set the value as；
-- assuming that driver has found danger, touch on the brake attainable maximum braking deceleration, which is just set as 6；
-- time of driver's reaction, the value are just set as 0.4s；
-- reaction time of braking device, the value are just set as 0.4s；
-- the safe distance after parking, the value are just set as 0.4m.
Further, judged according to safe distance, when two vehicle relative distances < 1.5 safe distance, FCW_Distance
Wherein coefficient 1.5 need to be demarcated according to real vehicle for alarm；Judged according to safe distance, when two vehicle relative distances < safe distance,
AEB_Distance alarm；
TTC collision time formula:
Determined according to TTC, when the s of TTC < 2.6, FCW_Distance alarm；
Determined according to TTC, when the s of TTC < 1.6, AEB_Distance alarm.
Further, the executing agency is divided into thrashing, system standby and system activation；And in this three kinds of system shapes
Switch between state:
The thrashing: being failure state when system is not powered on；It not can enter standby mode after system energization, report an error,
It also is failure state；
The system standby: do not report an error alarm after system energization, then system enters standby mode；Normal vehicle operation process
Middle system keeps standby, and when vehicle traveling information meets alarm, system activates automatically；During negotiation of bends, system identification
Vehicle driving radius of curvature, automatically into standby mode；
The system activation: speed triggering is more than or equal to speed threshold by the state of the speed control system of vehicle, such as vehicle
Value, the automatic activation system of system, threshold value is more than 10km/h；Primary alarm: spacing, opposite speed, collision time meet level-one
When alarm Alert Standard, system is in the prompt early warning stage, carries out audio alarm；Second-level alarm: spacing, opposite speed, collision
When time meets second-level alarm Alert Standard, system has the initiative on-position, and controller will be directly under executing agency at this time
Up to deceleration command, brake signal is exported.
The present invention has the advantages that
It 1) is substantially exactly that the real-time information collection of vehicle and driving environment gets up to complete to running car in the present invention
The differentiation of state, and real time status information is sent to driver, help it to be operated, it is ensured that driver is under special circumstances
Automatically the control to automobile is realized while cannot correctly be operated, to protect the safety of automobile and driver；
2) when system detection to this front side is there may be when potential danger target object, it will remind depositing for driver's risk
Pre- brake measure is being taken if necessary；If not being connected to the instruction of driver within the reaction time, system if, is partially made
It is dynamic to reduce speed, then vehicle is stopped using braking completely, help driver avoid collision or reducing collisions after bring lose.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is that a kind of environment sensing organization data of automatic emergency brake system based on AEB system of the invention is transmitted
Flow chart.
Fig. 2 is a kind of flow chart of automatic emergency brake system based on AEB system of the invention.
Specific embodiment
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
Such as a kind of Fig. 1 automatic emergency brake system based on AEB system shown in Fig. 2, including environment sensing mechanism, control plan
Summary and executing agency；The environment sensing mechanism acquires the driving status of automobile in real time and is counted accordingly by control strategy
According to processing；The data processed result for acquiring environment sensing mechanism of the control strategy differentiated by control strategy, institute
It states executing agency and movement execution is carried out according to the discriminant information of control strategy.
Environment sensing mechanism includes long range millimetre-wave radar and monocular cam sensor；The monocular cam sensing
Device monitors the region that vehicle front is greater than 150 meters；The long range millimetre-wave radar can measure the speed of vehicle, acceleration；Ring
Border sensing mechanisms provides data basis for control strategy.
Control strategy includes data processing policy, logic discrimination strategy and execution control strategy；The data processing policy
The measured data values of environment sensing mechanism are analyzed and processed, and the result of processing is transferred to logic discrimination strategy, to patrol
It collects identification tactic and data basis is provided, the output result and execution control strategy of the logic discrimination strategy carry out data interchange,
The output result and executing agency for executing control strategy carry out output transmission and control executing agency.
Executing agency includes alarm and active brake；Executing agency carries out according to the output result for executing control strategy
The selection of executing agency.
Logic discrimination strategy using safe distance formula be with reference to as execution control strategy the first trigger condition；It is described to patrol
Identification tactic is collected using TTC collision time as the second trigger condition for executing control strategy.
Safe distance formula is
-- from vehicle initial velocity, set the value as；
-- assuming that driver has found danger, touch on the brake attainable maximum braking deceleration, which is just set as 6；
-- time of driver's reaction, the value are just set as 0.4s；
-- reaction time of braking device, the value are just set as 0.4s；
-- the safe distance after parking, the value are just set as 0.4m.
Judged according to safe distance, when two vehicle relative distances < 1.5 safe distance, FCW_Distance alarm is wherein
Number 1.5 need to be demarcated according to real vehicle；Judged according to safe distance, when two vehicle relative distances < safe distance, AEB_
Distance alarm；
TTC collision time formula:
Determined according to TTC, when the s of TTC < 2.6, FCW_Distance alarm；
Determined according to TTC, when the s of TTC < 1.6, AEB_Distance alarm.
Executing agency is divided into thrashing, system standby and system activation；And switch between this three kinds of system modes:
Thrashing: being failure state when system is not powered on；Not can enter standby mode after system energization, report an error, also for
Failure state；
System standby: do not report an error alarm after system energization, then system enters standby mode；It is during normal vehicle operation
Blanket insurance is held standby, and when vehicle traveling information meets alarm, system activates automatically；During negotiation of bends, system identification vehicle
Radius of curvature is travelled, automatically into standby mode；
System activation: speed triggering is more than or equal to speed threshold value by the state of the speed control system of vehicle, such as vehicle, is
It unites automatic activation system, threshold value is more than 10km/h；Primary alarm: spacing, opposite speed, it is pre- that collision time meets primary alarm
When alert standard, system is in the prompt early warning stage, carries out audio alarm；Second-level alarm: spacing, opposite speed, collision time symbol
When closing second-level alarm Alert Standard, system has the initiative on-position, and controller directly will assign deceleration to executing agency at this time
Order exports brake signal.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of automatic emergency brake system based on AEB system, it is characterised in that: including environment sensing mechanism, control strategy and
Executing agency；The environment sensing mechanism acquires the driving status of automobile in real time and is carried out at corresponding data by control strategy
Reason；The data processed result for acquiring environment sensing mechanism of the control strategy is differentiated by control strategy, described to hold
Row mechanism carries out movement execution according to the discriminant information of control strategy；
The environment sensing mechanism includes long range millimetre-wave radar and monocular cam sensor；The monocular cam sensing
Device monitors the region that vehicle front is greater than 150 meters；The long range millimetre-wave radar can measure the speed of vehicle, acceleration；Ring
Border sensing mechanisms provides data basis for control strategy；
The control strategy includes data processing policy, logic discrimination strategy and execution control strategy；The data processing policy
The measured data values of environment sensing mechanism are analyzed and processed, and the result of processing is transferred to logic discrimination strategy, to patrol
It collects identification tactic and data basis is provided, the output result and execution control strategy of the logic discrimination strategy carry out data interchange,
The output result and executing agency for executing control strategy carry out output transmission and control executing agency；
The executing agency includes alarm and active brake；Executing agency carries out according to the output result for executing control strategy
The selection of executing agency.
2. a kind of automatic emergency brake system based on AEB system according to claim 1, it is characterised in that: the logic
Identification tactic using safe distance formula be with reference to as execution control strategy the first trigger condition；The logic discrimination strategy with
TTC collision time is as the second trigger condition for executing control strategy.
3. a kind of automatic emergency brake system based on AEB system according to claim 1, it is characterised in that: the safety
Range formula is
-- from vehicle initial velocity, set the value as；
-- assuming that driver has found danger, touch on the brake attainable maximum braking deceleration, which is just set as 6；
-- time of driver's reaction, the value are just set as 0.4s；
-- reaction time of braking device, the value are just set as 0.4s；
-- the safe distance after parking, the value are just set as 0.4m.
4. a kind of automatic emergency brake system based on AEB system according to claim 1, it is characterised in that: according to safety
Distance Judgment, when two vehicle relative distances < 1.5 safe distance, wherein coefficient 1.5 need to be according to real vehicle for FCW_Distance alarm
It is demarcated；Judged according to safe distance, when two vehicle relative distances < safe distance, AEB_Distance alarm；
TTC collision time formula:
Determined according to TTC, when the s of TTC < 2.6, FCW_Distance alarm；
Determined according to TTC, when the s of TTC < 1.6, AEB_Distance alarm.
5. a kind of automatic emergency brake system based on AEB system according to claim 1, it is characterised in that: the execution
Mechanism is divided into thrashing, system standby and system activation；And switch between this three kinds of system modes:
The thrashing: being failure state when system is not powered on；It not can enter standby mode after system energization, report an error,
It also is failure state；
The system standby: do not report an error alarm after system energization, then system enters standby mode；Normal vehicle operation process
Middle system keeps standby, and when vehicle traveling information meets alarm, system activates automatically；During negotiation of bends, system identification
Vehicle driving radius of curvature, automatically into standby mode；
The system activation: speed triggering is more than or equal to speed threshold by the state of the speed control system of vehicle, such as vehicle
Value, the automatic activation system of system, threshold value is more than 10km/h；Primary alarm: spacing, opposite speed, collision time meet level-one
When alarm Alert Standard, system is in the prompt early warning stage, carries out audio alarm；Second-level alarm: spacing, opposite speed, collision
When time meets second-level alarm Alert Standard, system has the initiative on-position, and controller will be directly under executing agency at this time
Up to deceleration command, brake signal is exported.
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| CN201810923490.0A CN109080604A (en) | 2018-08-14 | 2018-08-14 | A kind of automatic emergency brake system based on AEB system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110211424A (en) * | 2019-06-04 | 2019-09-06 | 京东方科技集团股份有限公司 | Vehicle early warning method and system |
| CN110481554A (en) * | 2019-08-06 | 2019-11-22 | 浙江吉利汽车研究院有限公司 | A kind of intelligent driving auxiliary control method and system |
| CN110667649A (en) * | 2019-09-04 | 2020-01-10 | 陕西九域通创轨道系统技术有限责任公司 | Train AEB system control decision method |
| CN111169462A (en) * | 2019-12-27 | 2020-05-19 | 联创汽车电子有限公司 | Safe distance calculation module and calculation method thereof |
| CN111731261A (en) * | 2020-06-15 | 2020-10-02 | 中国第一汽车股份有限公司 | Torque control method and device |
| CN112046454A (en) * | 2020-09-21 | 2020-12-08 | 武汉大学 | Automatic emergency braking method based on vehicle environment recognition |
| CN112298132A (en) * | 2020-10-12 | 2021-02-02 | 清华大学苏州汽车研究院（相城） | Vehicle autonomous emergency braking control system and control method |
| CN112660083A (en) * | 2021-01-15 | 2021-04-16 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN113085821A (en) * | 2021-04-28 | 2021-07-09 | 江铃汽车股份有限公司 | Short braking control method of front collision early warning system |
| CN113353045A (en) * | 2021-08-10 | 2021-09-07 | 天津所托瑞安汽车科技有限公司 | Commercial vehicle after-loading gas circuit braking auxiliary system and method |
| CN113895432A (en) * | 2021-10-14 | 2022-01-07 | 江苏爱玛车业科技有限公司 | Radar-assisted driving system and method |
| CN113895245A (en) * | 2021-11-24 | 2022-01-07 | 重庆邮电大学 | Afterloading AEB braking system for new energy vehicle and control method thereof |
| CN114148321A (en) * | 2021-11-22 | 2022-03-08 | 长安大学 | Automatic emergency braking and safety evaluation method considering collision risk |
| CN114228639A (en) * | 2021-12-23 | 2022-03-25 | 东莞市中港通电子科技有限公司 | Early warning danger avoiding device and method for dead zone of cart |
| CN117644842A (en) * | 2024-01-29 | 2024-03-05 | 交通运输部公路科学研究所 | Triggering form judging method of automatic emergency braking system |
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| CN110481554A (en) * | 2019-08-06 | 2019-11-22 | 浙江吉利汽车研究院有限公司 | A kind of intelligent driving auxiliary control method and system |
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| CN112046454A (en) * | 2020-09-21 | 2020-12-08 | 武汉大学 | Automatic emergency braking method based on vehicle environment recognition |
| CN112046454B (en) * | 2020-09-21 | 2021-12-07 | 武汉大学 | Automatic emergency braking method based on vehicle environment recognition |
| CN112298132A (en) * | 2020-10-12 | 2021-02-02 | 清华大学苏州汽车研究院（相城） | Vehicle autonomous emergency braking control system and control method |
| CN112660083A (en) * | 2021-01-15 | 2021-04-16 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN112660083B (en) * | 2021-01-15 | 2022-03-25 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN113085821A (en) * | 2021-04-28 | 2021-07-09 | 江铃汽车股份有限公司 | Short braking control method of front collision early warning system |
| CN113353045A (en) * | 2021-08-10 | 2021-09-07 | 天津所托瑞安汽车科技有限公司 | Commercial vehicle after-loading gas circuit braking auxiliary system and method |
| CN113353045B (en) * | 2021-08-10 | 2021-10-29 | 天津所托瑞安汽车科技有限公司 | Commercial vehicle after-loading gas circuit braking auxiliary system and method |
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| CN114148321A (en) * | 2021-11-22 | 2022-03-08 | 长安大学 | Automatic emergency braking and safety evaluation method considering collision risk |
| CN114148321B (en) * | 2021-11-22 | 2023-06-20 | 长安大学 | Automatic emergency braking and safety evaluation method considering collision risk |
| CN113895245A (en) * | 2021-11-24 | 2022-01-07 | 重庆邮电大学 | Afterloading AEB braking system for new energy vehicle and control method thereof |
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Application publication date: 20181225 |