CN109094567B - Automobile safety protection method and device - Google Patents

Automobile safety protection method and device Download PDF

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Publication number
CN109094567B
CN109094567B CN201811147831.6A CN201811147831A CN109094567B CN 109094567 B CN109094567 B CN 109094567B CN 201811147831 A CN201811147831 A CN 201811147831A CN 109094567 B CN109094567 B CN 109094567B
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Prior art keywords
vehicle
radar
signal
braking
braking force
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CN109094567A (en
Inventor
刘杨
孙礼
付杰
叶坚
高磊
姚瑶
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W2050/143—Alarm means
    • B60W2420/408—
    • 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
    • B60W2552/00—Input parameters relating to infrastructure

Abstract

The invention discloses a method and a device for automobile safety protection, and belongs to the technical field of automobiles. The method comprises the following steps: acquiring radar detection signals, wherein the radar detection signals comprise detection signals of a radar in the vehicle traveling direction; determining a road surface depth in a vehicle traveling direction according to the radar detection signal; and when the road surface depth in the vehicle advancing direction is greater than the threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction. The method comprises the steps of scanning by a radar arranged in the vehicle advancing direction, obtaining a radar detection signal, determining the road depth in the vehicle advancing direction according to the radar detection signal, and judging whether a cliff, a step or a large pot hole exists in the front or the rear of the vehicle or not according to the size relation between the road depth in the vehicle advancing direction and a threshold value. When a cliff, a ladder or a large pot hole exists, the safety protection signal is output to prevent the vehicle from running, and the safety of the vehicle is enhanced.

Description

Automobile safety protection method and device
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile safety protection method and device.
Background
At present, most vehicles are equipped with an Automatic Emergency Braking (AEB) system, and the important function of the AEB system is to adopt Emergency Braking when the system judges that there is an obstacle in front of or behind the vehicle and there is a collision risk.
However, the AEB system is mainly focused on the situation above the front and rear road surfaces of the vehicle, and when there are cliffs, steps or large potholes below the front and rear road surfaces of the vehicle, which may cause the vehicle to fall, the AEB system does not work, so that the vehicle still has a large safety problem.
Disclosure of Invention
The embodiment of the invention provides an automobile safety protection method and device, which are used for solving the safety problem of an automobile under the condition that a cliff, a ladder, a large pot hole and the like exist below the road surface at the front part and the rear part of the automobile. The technical scheme is as follows:
on one hand, the embodiment of the invention provides an automobile safety protection method, which comprises the following steps: acquiring radar detection signals, wherein the radar detection signals comprise detection signals of a radar in the vehicle traveling direction; determining a road surface depth in the vehicle traveling direction from the radar detection signal; when the road surface depth in the vehicle advancing direction is larger than a threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from driving in the vehicle advancing direction.
In one implementation manner of the embodiment of the present invention, the determining a road depth in a vehicle traveling direction according to the radar detection signal includes: determining the distance between the radar and a reflection point according to the radar detection signal, wherein the reflection point is a point where a detection wave sent by the radar contacts with a road surface; and determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of the detection wave sent by the radar and the horizontal direction.
In one implementation manner of the embodiment of the present invention, the safety protection signal includes at least one of an alarm signal and a brake signal, and the alarm signal is used for prompting a driver to brake.
In one implementation manner of the embodiment of the present invention, when the safety protection signal only includes an alarm signal, the method further includes: when the driver's braking operation is not detected beyond a time threshold, a braking signal is generated.
In one implementation manner of the embodiment of the present invention, the generating the braking signal includes: calculating a minimum acceleration according to the current speed of the vehicle and a maximum braking distance, wherein the maximum braking distance is the distance between a wheel of the vehicle close to a road surface with the depth larger than a threshold value and the road surface with the depth larger than the threshold value; determining the braking force required by braking according to the minimum acceleration; and generating the braking signal according to the required braking force.
In one implementation manner of the embodiment of the present invention, the determining a braking force required for braking according to the minimum acceleration includes: determining the minimum braking force corresponding to the minimum acceleration according to the corresponding relation between the acceleration and the braking force; and taking N times of the minimum braking force as the braking force required by braking, wherein N is 1.2-1.5.
In one implementation manner of the embodiment of the present invention, when the safety protection signal only includes an alarm signal, the method further includes: calculating a minimum acceleration according to the current speed of the vehicle and a maximum braking distance, wherein the maximum braking distance is the distance between a wheel of the vehicle close to a road surface with the depth larger than a threshold value and the road surface with the depth larger than the threshold value; determining the corresponding minimum braking force according to the minimum acceleration; detecting the braking force generated by the driver to brake; and when the braking force generated by the driver during braking is smaller than the minimum braking force, increasing the braking force to enable the braking force of the vehicle to reach the braking required braking force.
In one aspect, an embodiment of the present invention provides an automobile safety protection device, where the automobile safety protection device includes: a front radar; a rear radar; a controller for acquiring a radar detection signal including a detection signal of a radar in a vehicle traveling direction; determining a road surface depth in the vehicle traveling direction from the radar detection signal; when the road surface depth in the vehicle advancing direction is larger than a threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from driving in the vehicle advancing direction.
In an implementation manner of the embodiment of the present invention, the controller is configured to determine a distance between the radar and a reflection point according to the radar detection signal, where the reflection point is a point where a detection wave emitted by the radar contacts a road surface; and determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of the detection wave sent by the radar and the horizontal direction.
In one implementation manner of the embodiment of the present invention, the safety protection signal includes at least one of an alarm signal and a brake signal, and the alarm signal is used for prompting a driver to brake.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the scheme provided by the invention scans through the radar arranged in the vehicle advancing direction, then obtains the radar detection signal, determines the road surface depth in the vehicle advancing direction according to the radar detection signal, and judges whether a cliff, a step or a large pot hole and other conditions exist in front of or behind the vehicle according to the size relation between the road surface depth in the vehicle advancing direction and the threshold value. When the situation that whether a cliff, a ladder or a large pot hole exists in the front or the rear of the vehicle or not is detected, the safety protection signal is output to stop the vehicle from running, so that the vehicle is prevented from running into the cliff, the ladder or the large pot hole, and the safety of the vehicle is enhanced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for protecting an automobile according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for securing a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a radar installation provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a radar detection system according to an embodiment of the present invention;
FIG. 5 is a flow chart of a security guard provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a safety protection device for a vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of a safety protection device for an automobile according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of an automobile safety protection method according to an embodiment of the present invention. Referring to fig. 1, the automobile safety protection method includes:
step 101: a radar detection signal is acquired, the radar detection signal including a detection signal of a radar in a vehicle traveling direction.
Specifically, the radar detection signal may include at least one of a detection signal of the front radar and a detection signal of the rear radar.
The front radar is used for detecting the road condition in front of the automobile, and the rear radar is used for detecting the road condition behind the automobile. The front of the automobile is the side facing the head of the automobile, and the rear of the automobile is the side facing the tail of the automobile.
Step 102: the road surface depth in the vehicle traveling direction is determined from the radar detection signal.
Wherein the road surface depth in the vehicle traveling direction is a front road surface depth or a rear road surface depth. The front road surface depth is the height difference between the road surface contacted by the front wheels of the vehicle and the road surface detected by the front radar, and the rear road surface depth is the height difference between the road surface contacted by the rear wheels of the vehicle and the road surface detected by the rear radar.
When the detection wave sent by the radar touches the ground to generate a reflected wave, the radar receives the reflected wave to generate an echo signal. At this time, the detection signal may include an echo signal received after the radar has emitted the probe wave. The road surface depth in front of the vehicle or the road surface depth behind the vehicle can be calculated according to the echo signals and the time delay of the probe waves.
Step 103: and when the road surface depth in the vehicle advancing direction is greater than the threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction.
When the vehicle runs forwards or is ready to run forwards and the depth of the front road surface is greater than a threshold value, outputting a safety protection signal to prevent the vehicle from running forwards; when the vehicle runs backwards or is ready to run backwards and the depth of the road surface behind is larger than the threshold value, a safety protection signal is output to prevent the vehicle from running backwards.
In the embodiment of the invention, the safety protection signal is output to brake or alarm, and finally the vehicle stops advancing under automatic or manual braking.
The scheme provided by the invention scans through the radar arranged in the vehicle advancing direction, then obtains the radar detection signal, determines the road surface depth in the vehicle advancing direction according to the radar detection signal, and judges whether a cliff, a step or a large pot hole and other conditions exist in front of or behind the vehicle according to the size relation between the road surface depth in the vehicle advancing direction and the threshold value. When the situation that whether a cliff, a ladder or a large pot hole exists in the front or the rear of the vehicle or not is detected, the safety protection signal is output to stop the vehicle from running, so that the vehicle is prevented from running into the cliff, the ladder or the large pot hole, and the safety of the vehicle is enhanced.
Fig. 2 is a flowchart of another method for protecting safety of an automobile according to an embodiment of the present invention. Referring to fig. 2, the automobile safety protection method includes:
step 201: a radar detection signal is acquired, the radar detection signal including a detection signal of a radar in a vehicle traveling direction.
Specifically, the radar detection signal may include at least one of a detection signal of the front radar and a detection signal of the rear radar.
The front radar is used for detecting the road condition in front of the automobile, and the rear radar is used for detecting the road condition behind the automobile. The front of the automobile is the side facing the head of the automobile, and the rear of the automobile is the side facing the tail of the automobile.
Fig. 3 is a schematic diagram of a radar installation provided by an embodiment of the present invention. Referring to fig. 3, the front radar 10 is installed at the head of the vehicle, and the rear radar 20 is installed at the tail of the vehicle. The number of the front radar 10 and the rear radar 20 can be set according to the requirement, for example, the number of the front radar 10 and the rear radar 20 in fig. 3 is 2.
Fig. 4 is a schematic diagram of a radar detection according to an embodiment of the present invention. Referring to fig. 4, the front radar 10 may be installed under a headlight. Accordingly, the rear radar 20 may also be below the rear vehicle lamp.
In this step, acquiring the radar detection signal includes: a controller in the automobile collects signals generated by at least one of the front radar 10 and the rear radar 20 and generates radar detection signals.
Here, the controller in the automobile may collect detection signals of the front radar 10 and the rear radar 20 in a periodic manner. The periodic time interval of the periodic acquisition is short, for example 0.1S, so that when the radar detects a pit ground or a cliff, safety protection can be timely made.
The controller may be an Electronic Control Unit (ECU) in fig. 3.
Specifically, the ECU may periodically acquire the detection signal of the front radar 10 when the vehicle is in a forward range, and periodically acquire the detection signal of the rear radar 20 when the vehicle is in a reverse range.
Step 202: and determining the distance between the radar and a reflection point according to the radar detection signal, wherein the reflection point is a point where a detection wave sent by the radar is contacted with the road surface.
When the detection wave sent by the radar touches the ground to generate a reflected wave, the radar receives the reflected wave to generate an echo signal.
In one implementation, the detection signal may include a received echo signal after a radar has emitted a sounding wave.
Since the detection signal may include a received echo signal after the radar sends out the probe wave, step 202 may include: and determining the distance between the front radar or the rear radar and the reflection point according to the time delay of the pulse in the echo signal relative to the emitted detection wave.
Specifically, the time for sending out the probe wave is determined; then determining the time for receiving the reflected wave according to the position of the pulse in the echo signal; determining time delay according to the time of sending out the detection wave and the time of receiving the reflected wave; and calculating the distance between the front radar or the rear radar and the reflection point according to the time delay and the speed of the detection wave.
Referring to fig. 4, if the time delay is t and the velocity of the probe wave is v, the distance L between the front radar or the rear radar and the reflection point is vt/2.
When the detection wave sent by the radar does not touch the ground to generate a reflected wave, the radar cannot receive the reflected wave to generate an echo signal. At this time, the detection signal indicates that the echo signal is not received.
In this case, it is described that the distance between the front radar or the rear radar and the road surface exceeds the detection distance of the front radar or the rear radar, and at this time, the front radar or the rear radar does not receive the reflected wave. At this time, the distance between the front radar or the rear radar and the reflection point may be recorded as infinity.
In another implementation, the detection signal may include a distance between the front or rear radar and the reflection point. At this time, step 202 may include: and acquiring the distance between the front radar or the rear radar and the reflection point from the detection signal. In this implementation, the distance between the front or rear radar and the reflection point is calculated by the front or rear radar itself.
Step 203: and determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground.
The detection angle is an included angle between the direction of a detection wave emitted by the radar and the horizontal direction.
Wherein the road surface depth in the vehicle traveling direction is a front road surface depth or a rear road surface depth. The front road surface depth is the height difference between the road surface contacted by the front wheels of the vehicle and the road surface detected by the front radar, and the rear road surface depth is the height difference between the road surface contacted by the rear wheels of the vehicle and the road surface detected by the rear radar.
Referring to fig. 4, when the distance between the front radar or the rear radar and the reflection point is not infinite in step 202, the front road depth or the rear road depth of the vehicle may be calculated according to the following formula:
ΔH＝cos(90°-θ)L-H；
wherein, Δ H is the front road depth or the rear road depth of the vehicle, θ is the detection angle, L is the distance between the front radar or the rear radar and the reflection point, and H is the vertical distance between the front radar or the rear radar and the ground.
In an embodiment of the present invention, the detection angle may be 45 to 60 degrees. The size of the detection angle can be determined according to the detection distance of the radar. The longer the detection distance is, the smaller the detection angle can be set, so that the road surface condition with longer distance can be detected, and more time is reserved for the safety protection of the automobile; the shorter the detection distance, the larger the detection angle can be set.
For example, both the front radar and the rear radar may be millimeter wave radars, and the detection range of the millimeter wave radar is long, and the detection angle may be set to 45 degrees.
When the distance between the front radar or the rear radar and the reflection point is infinite in step 202, the front road depth or the rear road depth of the vehicle may be directly determined to be infinite, and then step 204 is performed.
Step 204: and when the road surface depth in the vehicle advancing direction is greater than the threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction.
When the vehicle runs forwards or is ready to run forwards and the depth of the front road surface is greater than a threshold value, outputting a safety protection signal to prevent the vehicle from running forwards; when the vehicle runs backwards or is ready to run backwards and the depth of the road surface behind is larger than the threshold value, a safety protection signal is output to prevent the vehicle from running backwards.
In the embodiment of the invention, the state in which the vehicle is located may be determined according to the gear position of the vehicle. For example, as shown in fig. 3, the ECU determines the state of the vehicle by acquiring gear information through the transmission. For example, when the vehicle is in forward gear, the vehicle is traveling forward or ready to travel forward, and when the vehicle is in reverse gear, the vehicle is traveling backward or ready to travel forward.
And if the depth of the front road surface or the depth of the rear road surface is not greater than the threshold value, the automobile runs normally.
When the automobile is running or is ready to run, if a deep pothole or cliff occurs in front of the automobile, the braking process is required. The present application determines whether a deep pothole or cliff is present ahead by determining the magnitude relationship between the road surface depth calculated in step 203 and the threshold.
In an embodiment of the present invention, the threshold may be 0.1-0.15 m. The threshold value is set between 0.1 and 0.15m, so that the situation that the vehicle drives into a large pothole or a cliff is avoided; on the other hand, when the vehicle runs down from a standard high road shoulder (0.1m) or encounters a small pothole, the safety protection signal cannot be output, and normal driving is ensured. A
In an embodiment of the invention, the safety protection signal comprises at least one of a warning signal and a braking signal, and the warning signal is used for prompting the driver to brake.
In an implementation manner of the embodiment of the present invention, the safety protection signal only includes an alarm signal, and at this time, step 204 includes: and outputting an alarm signal to prompt a driver to brake.
In the implementation mode, the warning signal is output to prompt that a driver has a large pothole or cliff in front of or behind the driver, and the driver can avoid driving into the pothole or the cliff through braking at the moment.
In the embodiment of the present invention, the alarm signal may be output through an alarm lamp in the vehicle as shown in fig. 3. For example, a warning light prompts the driver to brake by flashing. The warning lamp may be particularly arranged in an instrument cluster in a vehicle.
Further, the method may further include: when the brake operation of the driver is not detected beyond the time threshold, a brake signal is generated.
The time threshold may be set as desired, for example 1 second.
The braking signal is used for controlling a braking device in the automobile to generate braking force so as to force the automobile to decelerate and stop. The Brake device may be an Antilock Brake System (ABS). As shown in fig. 3, the ECU controls the ABS operation by the generated brake signal.
The brake signal may be generated as follows: calculating the minimum acceleration according to the current speed and the maximum braking distance of the vehicle, wherein the maximum braking distance is the distance between the wheels of the vehicle close to the road surface with the depth larger than the threshold value and the road surface with the depth larger than the threshold value; determining the braking force required by braking according to the minimum acceleration; and generating a braking signal according to the required braking force.
For example, when the vehicle is moving forward, the maximum braking distance is the distance between the front wheels of the vehicle and a road surface having a depth greater than a threshold value.
Referring to fig. 4, S is the maximum braking distance, which is related to the distance between the radar and the wheel (wheel center) and the detection angle of the radar, and can be calculated after the radar is installed, and then stored in the ECU. Since the maximum braking distance is determined when a large pothole or cliff is detected, the required minimum acceleration can be calculated from the current vehicle speed.
The minimum acceleration is an acceleration at which the vehicle speed can be reduced to 0 minimum before the vehicle travels from the current vehicle speed to a pothole or a cliff. The minimum acceleration may be calculated according to the following formula: minimum braking distance (current vehicle speed)2V (2 × minimum acceleration).
In an embodiment of the present invention, determining a braking force required for braking based on the minimum acceleration includes: determining the minimum braking force corresponding to the minimum acceleration according to the corresponding relation between the acceleration and the braking force; n times of the minimum braking force is used as the braking force required by braking, and N is 1.2-1.5. Therefore, the situation that the vehicle drives into a pot hole or a cliff and a certain distance is reserved can be avoided, sudden braking caused by excessive braking force can be avoided, and poor driving experience of a user is further caused.
The correspondence relationship between the acceleration and the braking force may be obtained by detection in advance or calculation based on vehicle parameters, and then stored in the ECU.
It can also be seen from the above formula that when a pothole or cliff is detected, if the vehicle speed is too high, it is impossible to avoid the vehicle from driving into the pothole or cliff even with the maximum braking force. That is, the calculated minimum braking force exceeds the maximum braking force that can be provided by the vehicle, and at this time, the maximum braking force is used for braking, so that the vehicle speed is as low as possible when the vehicle enters a pothole or a cliff, and the damage to the vehicle is reduced.
If the situation is to be avoided, on one hand, the driver needs to carefully observe the conditions of the front and the rear roads, and on the other hand, the radar with longer detection distance can be selected to increase the length of the maximum braking distance.
Further, the method may further include: calculating the minimum acceleration according to the current speed and the maximum braking distance of the vehicle; determining the corresponding minimum braking force according to the minimum acceleration; detecting the braking force generated by the driver to brake; and when the braking force generated by braking by the driver is smaller than the minimum braking force, increasing the braking force to enable the braking force of the vehicle to reach the braking required braking force.
The current vehicle speed of the vehicle and the braking force of the driver for braking can be detected by a sensor provided on the vehicle. For example, the current vehicle speed of the vehicle may be acquired by a vehicle speed sensor in fig. 3.
In another implementation manner of the embodiment of the present invention, the safety protection signal includes an alarm signal and a brake signal, and in this case, step 204 includes: and outputting an alarm signal and generating a brake signal.
In this implementation, the generation of the braking signal is also generated in the manner described above, i.e. the minimum braking force is calculated from the current vehicle speed and the maximum braking distance; and calculating the braking force required by braking according to the minimum braking force.
Further, the method further comprises: and when the vehicle is in a static state and the depth of the road surface in front of the vehicle is greater than a threshold value, if the vehicle is detected to be in reverse gear, the braking force is cancelled. And when the vehicle is in a static state and the depth of the road surface behind the vehicle is greater than a threshold value, if the fact that the vehicle is engaged into a forward gear is detected, the braking force is cancelled. In this way it is ensured that the vehicle can be kept away from a pothole or cliff.
Optionally, the method may further include: acquiring a safety protection switch signal; when the safety protection starting signal is received, the front radar and the rear radar are controlled to work, and early warning is carried out according to detection signals of the front radar and the rear radar. And when the safety protection closing signal is received, closing the front radar and the rear radar, and simultaneously, not performing the early warning process. The switch signal can be generated by a system switch as shown in fig. 3, and a user controls the switch state of the safety protection function of the vehicle by turning on and off the system switch. The system switch may be embodied as a button on the instrument cluster.
The following describes the safety protection process under different vehicle conditions with reference to fig. 5. Fig. 5 is a flow chart of a security protection provided by an embodiment of the present invention. Referring to fig. 5, the process includes:
and S31, when the vehicle is placed in the non-parking gear, judging whether the vehicle is placed in a reverse gear. And S32, when the vehicle is not in the reverse gear, acquiring a detection signal of the front radar. And S33, acquiring a detection signal of the rear radar when the vehicle is in a reverse gear. And S34, judging whether the road surface depth (front road surface depth/rear road surface depth) is larger than a threshold value according to the detection signal. And S35, if the road surface depth is not greater than the threshold value, the operation is not carried out. And S36, if the road surface depth is larger than the threshold value, braking the vehicle and giving an alarm.
Fig. 6 is a schematic structural diagram of an automobile safety protection device according to an embodiment of the present invention. Referring to fig. 6, the safety shield apparatus for a vehicle includes: a front radar 301, a rear radar 302, and a controller 303.
The controller 303 is configured to acquire a radar detection signal, where the radar detection signal includes a detection signal of a radar in a vehicle traveling direction; determining a road surface depth in a vehicle traveling direction according to the radar detection signal; and when the road surface depth in the vehicle advancing direction is greater than the threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction.
Both the front radar 301 and the rear radar 302 may be millimeter-wave radars.
The controller 303 may be an ECU, among others.
In an embodiment of the present invention, the threshold may be 0.1-0.15 m.
In the embodiment of the present invention, the controller 303 is configured to determine a distance between the radar and a reflection point according to the radar detection signal, where the reflection point is a point where a detection wave emitted by the radar contacts a road surface; and determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of the detection wave sent by the radar and the horizontal direction.
In an embodiment of the invention, the safety protection signal comprises at least one of a warning signal and a braking signal, and the warning signal is used for prompting the driver to brake.
In an embodiment of the present invention, when the safety protection signal only includes the alarm signal, the controller 303 is further configured to generate a braking signal when a braking operation by the driver is not detected beyond the time threshold.
In the embodiment of the present invention, the controller 303 is configured to calculate a minimum acceleration according to a current vehicle speed of the vehicle and a maximum braking distance, where the maximum braking distance is a distance between a wheel of the vehicle approaching a road surface with a depth greater than a threshold value and the road surface with a depth greater than the threshold value; determining the braking force required by braking according to the minimum acceleration; and generating a braking signal according to the required braking force.
In the embodiment of the present invention, the controller 303 is configured to determine a minimum braking force corresponding to the minimum acceleration according to the correspondence between the acceleration and the braking force; n times of the minimum braking force is used as the braking force required by braking, and N is 1.2-1.5.
In the embodiment of the present invention, when the safety protection signal only includes the alarm signal, the controller 303 is further configured to calculate a minimum acceleration according to a current vehicle speed of the vehicle and a maximum braking distance, where the maximum braking distance is a distance between a wheel of the vehicle approaching a road surface with a depth greater than a threshold value and the road surface with a depth greater than the threshold value; determining the corresponding minimum braking force according to the minimum acceleration; detecting the braking force generated by the driver to brake; and when the braking force generated by braking by the driver is smaller than the minimum braking force, increasing the braking force to enable the braking force of the vehicle to reach the braking required braking force.
The scheme provided by the invention scans through the radar arranged in the vehicle advancing direction, then obtains the radar detection signal, determines the road surface depth in the vehicle advancing direction according to the radar detection signal, and judges whether a cliff, a step or a large pot hole and other conditions exist in front of or behind the vehicle according to the size relation between the road surface depth in the vehicle advancing direction and the threshold value. When the situation that whether a cliff, a ladder or a large pot hole exists in the front or the rear of the vehicle or not is detected, the safety protection signal is output to stop the vehicle from running, so that the vehicle is prevented from running into the cliff, the ladder or the large pot hole, and the safety of the vehicle is enhanced.
Fig. 7 is a block diagram of a safety protection device for an automobile according to an embodiment of the present invention. Referring to fig. 7, the safety shield apparatus for a vehicle includes: an acquisition module 401, a determination module 402 and a control module 403.
The obtaining module 401 is configured to obtain a radar detection signal, where the radar detection signal includes a detection signal of a radar in a vehicle traveling direction; the determining module 402 is configured to determine a road depth in a vehicle traveling direction according to the radar detection signal; the control module 403 is configured to output a safety protection signal when the road depth in the vehicle traveling direction is greater than a threshold value, where the safety protection signal is used to prevent the vehicle from traveling in the vehicle traveling direction.
In an embodiment of the present invention, the threshold may be 0.1-0.15 m.
In the embodiment of the present invention, the determining module 402 is configured to determine a distance between a radar and a reflection point according to a radar detection signal, where the reflection point is a point where a detection wave emitted by the radar contacts a road surface; and determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of the detection wave sent by the radar and the horizontal direction.
In an embodiment of the invention, the safety protection signal comprises at least one of a warning signal and a braking signal, and the warning signal is used for prompting the driver to brake.
In the embodiment of the present invention, when the safety protection signal only includes the alarm signal, the control module 403 is further configured to generate a braking signal when the braking operation performed by the driver is not detected beyond the time threshold.
In the embodiment of the present invention, the control module 403 is configured to calculate a minimum acceleration according to a current vehicle speed of the vehicle and a maximum braking distance, where the maximum braking distance is a distance between a wheel of the vehicle approaching a road surface with a depth greater than a threshold value and the road surface with a depth greater than the threshold value; determining the braking force required by braking according to the minimum acceleration; and generating a braking signal according to the required braking force.
In the embodiment of the present invention, the control module 403 is configured to determine a minimum braking force corresponding to the minimum acceleration according to the correspondence between the acceleration and the braking force; n times of the minimum braking force is used as the braking force required by braking, and N is 1.2-1.5.
In the embodiment of the present invention, when the safety protection signal only includes the alarm signal, the control module 403 is further configured to calculate a minimum acceleration according to the current speed of the vehicle and a maximum braking distance, where the maximum braking distance is a distance between a wheel of the vehicle approaching a road surface with a depth greater than a threshold value and the road surface with a depth greater than the threshold value; determining the corresponding minimum braking force according to the minimum acceleration; detecting the braking force generated by the driver to brake; and when the braking force generated by braking by the driver is smaller than the minimum braking force, increasing the braking force to enable the braking force of the vehicle to reach the braking required braking force.
The scheme provided by the invention scans through the radar arranged in the vehicle advancing direction, then obtains the radar detection signal, determines the road surface depth in the vehicle advancing direction according to the radar detection signal, and judges whether a cliff, a step or a large pot hole and other conditions exist in front of or behind the vehicle according to the size relation between the road surface depth in the vehicle advancing direction and the threshold value. When the situation that whether a cliff, a ladder or a large pot hole exists in the front or the rear of the vehicle or not is detected, the safety protection signal is output to stop the vehicle from running, so that the vehicle is prevented from running into the cliff, the ladder or the large pot hole, and the safety of the vehicle is enhanced.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. An automobile safety protection method is characterized by comprising the following steps:
acquiring radar detection signals, wherein the radar detection signals comprise detection signals of a radar in the vehicle traveling direction;
determining the distance between the radar and a reflection point according to the radar detection signal, wherein the reflection point is a point where a detection wave sent by the radar contacts with a road surface;
determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of detection waves emitted by the radar and the horizontal direction, the radar is a millimeter wave radar, and the value range of the detection angle is 45-60 degrees;
when the road depth in the vehicle advancing direction is greater than a threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction, and the value range of the threshold value is 0.1-0.15 m;
when the vehicle is in a static state and the depth of a road surface in front of the vehicle is greater than a threshold value, if the vehicle is detected to be in reverse gear, the braking force of the vehicle is cancelled; and when the vehicle is in a static state and the depth of the road surface behind the vehicle is greater than a threshold value, if the fact that the vehicle is engaged into a forward gear is detected, the braking force of the vehicle is cancelled.
2. The method of claim 1, wherein the safety protection signal comprises at least one of an alarm signal and a brake signal, and the alarm signal is used to prompt a driver to brake.
3. The method of claim 2, wherein when the safety signal comprises only an alarm signal, the method further comprises:
when the driver's braking operation is not detected beyond a time threshold, a braking signal is generated.
4. The method of claim 3, wherein the generating the braking signal comprises:
calculating a minimum acceleration according to the current speed of the vehicle and a maximum braking distance, wherein the maximum braking distance is the distance between a wheel of the vehicle close to a road surface with the depth larger than a threshold value and the road surface with the depth larger than the threshold value;
determining the braking force required by braking according to the minimum acceleration;
and generating the braking signal according to the required braking force.
5. The automobile safety protection method according to claim 4, wherein the determining the braking force required for braking according to the minimum acceleration comprises:
determining the minimum braking force corresponding to the minimum acceleration according to the corresponding relation between the acceleration and the braking force;
and taking N times of the minimum braking force as the braking force required by braking, wherein N is 1.2-1.5.
6. The method of claim 2, wherein when the safety signal comprises only an alarm signal, the method further comprises:
calculating a minimum acceleration according to the current speed of the vehicle and a maximum braking distance, wherein the maximum braking distance is the distance between a wheel of the vehicle close to a road surface with the depth larger than a threshold value and the road surface with the depth larger than the threshold value;
determining the corresponding minimum braking force according to the minimum acceleration;
detecting the braking force generated by the driver to brake;
and when the braking force generated by the driver during braking is smaller than the minimum braking force, increasing the braking force to enable the braking force of the vehicle to reach the braking required braking force.
7. An automobile safety protection device, characterized in that, automobile safety protection device includes:
a front radar;
a rear radar;
a controller for acquiring a radar detection signal including a detection signal of a radar in a vehicle traveling direction; determining the distance between the radar and a reflection point according to the radar detection signal, wherein the reflection point is a point where a detection wave sent by the radar contacts with a road surface; determining the road surface depth in the vehicle advancing direction according to the distance, the detection angle of the radar and the vertical distance between the radar and the ground, wherein the detection angle is an included angle between the direction of detection waves emitted by the radar and the horizontal direction, the radar is a millimeter wave radar, and the value range of the detection angle is 45-60 degrees; when the road depth in the vehicle advancing direction is greater than a threshold value, outputting a safety protection signal, wherein the safety protection signal is used for preventing the vehicle from running in the vehicle advancing direction, and the value range of the threshold value is 0.1-0.15 m; when the vehicle is in a static state and the depth of a road surface in front of the vehicle is greater than a threshold value, if the vehicle is detected to be in reverse gear, the braking force of the vehicle is cancelled; and when the vehicle is in a static state and the depth of the road surface behind the vehicle is greater than a threshold value, if the fact that the vehicle is engaged into a forward gear is detected, the braking force of the vehicle is cancelled.
8. The vehicle safety shield apparatus of claim 7, wherein the safety shield signal comprises at least one of a warning signal and a braking signal, the warning signal being used to prompt a driver to brake.
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