CN109532483A - A kind of control device for automobile accelerator and method - Google Patents
A kind of control device for automobile accelerator and method Download PDFInfo
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- CN109532483A CN109532483A CN201910018625.3A CN201910018625A CN109532483A CN 109532483 A CN109532483 A CN 109532483A CN 201910018625 A CN201910018625 A CN 201910018625A CN 109532483 A CN109532483 A CN 109532483A
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- Prior art keywords
- distance
- entire car
- car controller
- speed
- quantization parameter
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to accident or emergency, e.g. deceleration, tilt of vehicle
-
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K2026/025—Input devices for controlling electric drive motors
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The present invention relates to a kind of control device for automobile accelerator and methods, it is controlled applied to city low speed version automotive throttle, described device includes camera, millimetre-wave radar, entire car controller, gas pedal, electric brake system and driving motor, the camera and the millimetre-wave radar are mounted on the front of automobile, the input terminal of the entire car controller is connected with the camera, the millimetre-wave radar and the gas pedal respectively, and the output end of the entire car controller is connected with the electric brake system and the driving motor.Present invention incorporates camera, millimetre-wave radar, ultrasonic sensors, increase the judgement to vehicle front barrier, along with the path increment to gas pedal judges, serious consequence can effectively avoid throttle from accidentally stepping on or step on again caused by, relatively good beforehand control is also played to collision prevention of vehicle.
Description
Technical field
The present invention relates to technical field of automobile control, in particular to a kind of automotive throttles applied to city low speed version automobile
Control device and method.
Background technique
Recent years is universal with automobile, and automobile, which has begun, goes to everyone at one's side, but adjoint is therewith
More and more traffic accidents, more and more people are because automobile dedicates valuable life to.Significant portion is because of driver among these
Too low braking distance of estimating causes, and driver thinks also to will continue to acceleration until thinking the deceleration in safe distance under normal circumstances
When slowing down, often result in and knock into the back or other more serious accidents.In addition, existing collision prevention of vehicle or vehicle control
In system, vehicle does not simply fail to judge obstacles around the vehicle, and throttle also cannot be distinguished and accidentally step on or cross the state stepped on.
Summary of the invention
The object of the present invention is to provide a kind of control device for automobile accelerator and methods, the oil applied to city low speed version automobile
Door control, combines camera, millimetre-wave radar, ultrasonic sensor, increases the judgement to vehicle front barrier, then plus
On the path increment of gas pedal is judged, serious consequence can effectively avoid throttle from accidentally stepping on or step on again caused by is right
Collision prevention of vehicle also plays relatively good beforehand control.
To achieve the goals above, the present invention has following constitute:
The present invention provides a kind of control device for automobile accelerator, including camera, millimetre-wave radar, entire car controller, oil
Door pedal, electric brake system and driving motor, the camera and the millimetre-wave radar are mounted on the front of automobile, institute
The input terminal for stating entire car controller is connected with the camera, the millimetre-wave radar and the gas pedal respectively, described
The output end of entire car controller is connected with the electric brake system and the driving motor；
The entire car controller is used to acquire data from the camera and the millimetre-wave radar respectively, and according to described
Camera and the millimetre-wave radar determine the distance of front obstacle, and the entire car controller is according to the distance of front obstacle
With the driving motor and the electric brake system of the input control automobile of gas pedal.
Optionally, described device further includes ultrasonic radar, and the ultrasonic radar is installed on the front of automobile, described whole
The input terminal of vehicle controller is also connected with the ultrasonic radar, and the entire car controller is also used to from the ultrasonic radar
Data are acquired, and determine the distance of front obstacle according to the camera, the ultrasonic radar and the millimetre-wave radar.
Optionally, the entire car controller is also used to the range prediction vapour of speed and front obstacle according to current automobile
Vehicle is in the collision remaining time of barrier.
Optionally, the entire car controller is according to the drive of the distance of front obstacle and the input control automobile of gas pedal
Dynamic motor and the electric brake system, including the entire car controller judge the distance of the front obstacle less than first away from
When being less than first time threshold from threshold value or the collision remaining time, the entire car controller is sent out to the electric brake system
Send emergency brake signal.
Optionally, the entire car controller is according to the drive of the distance of front obstacle and the input control automobile of gas pedal
Dynamic motor and the electric brake system, including the entire car controller judge the distance of the front obstacle less than first away from
When being less than first time threshold from threshold value or the collision remaining time, the entire car controller receives the accelerator pedal
When acceleration request, speed-up command is not sent to the driving motor.
Optionally, the entire car controller is according to the drive of the distance of front obstacle and the input control automobile of gas pedal
Dynamic motor and the electric brake system judge that the distance of the front obstacle is more than or equal to the including the entire car controller
One distance threshold and be less than second distance threshold value, and current vehicle speed be greater than speed threshold value when, the entire car controller will receive
The pedal travel value arrived is multiplied by moderating ratio, and the moderating ratio is less than 1, then according to the pedal travel value multiplied by moderating ratio
Control the driving motor.
Optionally, the moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization parameter and
Be respectively less than 1 apart from quantization parameter, the entire car controller by the pedal travel value received multiplied by moderating ratio, including it is described whole
Vehicle controller searches current speed corresponding speed quantization system according to the mapping relations of preset speed and speed quantization parameter
Number, according to preset distance and apart from the mapping relations of quantization parameter, the distance for searching the current front obstacle is corresponding
Apart from quantization parameter, be successively multiplied by the speed quantization parameter and the distance quantization by the pedal travel value received
Number.
The embodiment of the present invention also provides a kind of automotive throttle control method, using the control device for automobile accelerator, institute
The method of stating includes the following steps:
Data are acquired from the camera and the millimetre-wave radar respectively；
The distance of front obstacle is determined according to the camera and the millimetre-wave radar；
According to the driving motor of the input control automobile of the distance of front obstacle and gas pedal and the deceleration of electrons
System.
Optionally, the driving motor of the input control automobile of the distance and gas pedal according to front obstacle and institute
Electric brake system is stated, is included the following steps:
When judging that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, the entire car controller to the electric brake system send emergency brake signal；
When judging that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, when the entire car controller receives the acceleration request of the accelerator pedal, not to the driving motor send plus
Speed order.
Optionally, the driving motor of the input control automobile of the distance and gas pedal according to front obstacle and institute
Electric brake system is stated, including judging that the distance of the front obstacle is more than or equal to first distance threshold value and less than second distance
Threshold value, and current vehicle speed be greater than speed threshold value when, the entire car controller is by the pedal travel value received multiplied by reduction train
Then number, the moderating ratio control the driving motor according to multiplied by the pedal travel value of moderating ratio less than 1；
The moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization parameter and apart from quantization
Coefficient is respectively less than 1, and the entire car controller multiplied by moderating ratio, includes the following steps: the pedal travel value received
According to the mapping relations of preset speed and speed quantization parameter, current speed corresponding speed quantization system is searched
Number；
According to preset distance and apart from the mapping relations of quantization parameter, the distance of the current front obstacle is searched
It is corresponding apart from quantization parameter；
By the pedal travel value received successively multiplied by the speed quantization parameter and described apart from quantization parameter.
Control device for automobile accelerator provided by the present invention and method, applied to the Throttle Opening Control of city low speed version automobile,
It has the following beneficial effects:
(1) gas pedal Anti-mis-stepping function is increased on the basis of emergency braking AEB (automobile active safety technology),
It can be under driver's state of emergency and front is there are in the state of barrier, traffic caused by can rapidly stepping down to avoid throttle
Accident, sets aside some time and distance to AEB emergency braking；
(2) device is according in the case where there is barrier in front, can be according to speed and the relationship of barrier to the oil of response
Door pedal carries out scale smaller, and then the acceleration of vehicle response reduces, to avoid serious consequence.
Detailed description of the invention
Fig. 1 is the structural block diagram of the control device for automobile accelerator of one embodiment of the invention；
Fig. 2 is the flow chart of the automotive throttle control method of one embodiment of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
As shown in Figure 1, the technical issues of in order to solve in the prior art, the present invention provides a kind of controls of automotive throttle to fill
It sets, applied to the Throttle Opening Control of city low speed version automobile, described device includes camera, millimetre-wave radar, entire car controller, oil
Door pedal, electric brake system and driving motor, the camera and the millimetre-wave radar are mounted on the front of automobile, institute
The input terminal for stating entire car controller is connected with the camera, the millimetre-wave radar and the gas pedal respectively, described
The output end of entire car controller is connected with the electric brake system and the driving motor；The entire car controller is for dividing
Data are not acquired from the camera and the millimetre-wave radar, and before determining according to the camera and the millimetre-wave radar
The distance of square barrier, the entire car controller is according to the drive of the distance of front obstacle and the input control automobile of gas pedal
Dynamic motor and the electric brake system.System can be real according to speed, frontal collisions time, gas pedal in normal driving conditions
Actual value calculates entire car controller real response state.
In this embodiment, described device further includes ultrasonic radar, and the ultrasonic radar is installed on the front of automobile,
The input terminal of the entire car controller is also connected with the ultrasonic radar, and the entire car controller is also used to from the ultrasound
Wave radar acquires data, and determines front obstacle according to the camera, the ultrasonic radar and the millimetre-wave radar
Distance.Therefore, camera, millimetre-wave radar and ultrasonic radar together constitute forward-looking sensors part.
In forward-looking sensors, camera for acquiring road surface video image in real time.Before millimetre-wave radar identification vehicle
Square obstacle information.Camera carries out video identification to road surface ahead, it can be determined that the form and type for going out objects in front, due to
The characteristic limitation of itself, it is inaccurate to the speed and range accuracy of front obstacle.Millimetre-wave radar can be accurately by before
The distance and speed of square barrier identify, the type of front obstacle can be effectively identified with both camera combinations
And motion state.Ultrasonic wave range accuracy under short distance and static state is also relatively high.Radar, camera and ultrasonic wave melt
Close the advantage for combining the two, the effective reliability for improving identification and precision.
Present invention combination multiple sensors and intelligent control algorithm combine forward-looking sensors and entire car controller algorithm
To form a set of control system.Millimetre-wave radar can effectively and accurately judge the distance of front obstacle in relative velocity
The identification precision and range increased under static state in conjunction with ultrasonic radar is identified without dead angle, in addition being counted with camera
The information that front obstacle can be effectively judged according to fusion forms the perception information input of system, responds oil as vehicle
A kind of Rule of judgment of door pedal volume production.
In this embodiment, the entire car controller is also used to the distance of speed and front obstacle according to current automobile
Predict automobile in the collision remaining time of barrier.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is less than including the entire car controller
When first distance threshold value or the collision remaining time are less than first time threshold, the entire car controller is to the deceleration of electrons
System sends emergency brake signal.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is less than including the entire car controller
When first distance threshold value or the collision remaining time are less than first time threshold, the entire car controller receives the acceleration
When the acceleration request of pedal, speed-up command is not sent to the driving motor.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is greater than including the entire car controller
Equal to first distance threshold value and be less than second distance threshold value, and current vehicle speed be greater than speed threshold value when, the entire car controller
By the pedal travel value received multiplied by moderating ratio, the moderating ratio is less than 1, then according to the pedal multiplied by moderating ratio
Stroke value controls the driving motor.
In this embodiment, the moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization
Coefficient and be respectively less than 1 apart from quantization parameter, the entire car controller by the pedal travel value received multiplied by moderating ratio, including
The entire car controller searches the corresponding speed of current speed according to the mapping relations of preset speed and speed quantization parameter
Quantization parameter, according to preset distance and apart from the mapping relations of quantization parameter, search the current front obstacle away from
The quantization parameter with a distance from corresponding, by the pedal travel value received successively multiplied by the speed quantization parameter and the distance measurements
Change coefficient.
Therefore, there are three types of control functions for control device for automobile accelerator of the invention:
(1) AEB emergency braking function
It can actively slow down when vehicle will collide or active brake, i.e., the described entire car controller judge institute
It is described whole when stating the distance of front obstacle and being less than first distance threshold value or the collision remaining time less than first time threshold
Vehicle controller sends emergency brake signal to the electric brake system.
(2) accelerator anti-false step
The data of forward-looking sensors be can use plus the accelerating travel in the gas pedal short time, entire car controller can
To judge that the risk class existing for acceleration mode, entire car controller will quantify the acceleration amount and accelerator pedal value of accelerator pedal
In vain.When the i.e. described entire car controller judges that the distance of the front obstacle is less than first distance threshold value or the remaining collision
Between be less than first time threshold when, when the entire car controller receives the acceleration request of the accelerator pedal, not to the drive
Dynamic motor sends speed-up command.
Gas pedal is acquired in the form of analog quantity, from the entire stroke of 0-100% pedals.Entire car controller is preceding
It is each to 10ms to the frequency acquisition of analog quantity in the state of barrier depending on having, the average value that acquisition is 10 times, if value is greater than
80%.It is invalid that controller thinks that this time accelerates.
(3) accelerate and collision distance quantization function
Judgement by forward-looking sensors part to front obstacle, it can be determined that go out the vehicle that front will collide
, pedestrian or other barriers, it can be determined that go out the time that will be collided and distance, in this case can be according to forward sight
The obstacle information of judgement quantifies the gas pedal that driver steps on, and then controls car speed, prevents vehicle from overrunning and causes
Accident.The i.e. described entire car controller judge the front obstacle distance be more than or equal to first distance threshold value and less than second away from
From threshold value, and when current vehicle speed is greater than speed threshold value, the entire car controller is by the pedal travel value received multiplied by deceleration
Then coefficient, the moderating ratio control the driving motor according to multiplied by the pedal travel value of moderating ratio less than 1.
The embodiment of the present invention also provides a kind of automotive throttle control method, using the control device for automobile accelerator, institute
The method of stating includes the following steps:
Data are acquired from the camera and the millimetre-wave radar respectively；
The distance of front obstacle is determined according to the camera and the millimetre-wave radar；
According to the driving motor of the input control automobile of the distance of front obstacle and gas pedal and the deceleration of electrons
System.
In this embodiment, the driving electricity of the input control automobile of the distance and gas pedal according to front obstacle
Machine and the electric brake system, include the following steps:
When judging that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, the entire car controller to the electric brake system send emergency brake signal；
When judging that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, when the entire car controller receives the acceleration request of the accelerator pedal, not to the driving motor send plus
Speed order.
In this embodiment, the driving electricity of the input control automobile of the distance and gas pedal according to front obstacle
Machine and the electric brake system, including judging that the distance of the front obstacle is more than or equal to first distance threshold value and less than the
Two distance thresholds, and current vehicle speed be greater than speed threshold value when, the entire car controller by the pedal travel value received multiplied by
Then moderating ratio, the moderating ratio control the driving motor according to multiplied by the pedal travel value of moderating ratio less than 1；
The moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization parameter and apart from quantization
Coefficient is respectively less than 1, and the entire car controller multiplied by moderating ratio, includes the following steps: the pedal travel value received
According to the mapping relations of preset speed and speed quantization parameter, current speed corresponding speed quantization system is searched
Number；
According to preset distance and apart from the mapping relations of quantization parameter, the distance of the current front obstacle is searched
It is corresponding apart from quantization parameter；
By the pedal travel value received successively multiplied by the speed quantization parameter and described apart from quantization parameter.
Below with reference to Fig. 2, the application of control device for automobile accelerator and method is illustrated by taking bus system as an example:
Bus is normally driven a vehicle, passing by humanoid horizontal arrive or when crossroad, it is super that camera adds millimetre-wave radar to add
Sonic sensor triplicity judge front there are pedestrian or vehicle, and distance in 10 meters (first distance threshold values) or
It can collide in person 2.7s (first time threshold).Driver can step on brake pedal in the case of vehicle, if driver steps on oil at this time
In the case of door pedal, entire car controller can be weighted and averaged 10 collected pedal values in 100ms, if obtain
Value is greater than 80%, is judged as the behavior of the driver and accelerates to be anxious, suddenly accelerates to be clearly present problem under such state, we can put
Abandon this time acceleration request of driver.
Another aspect entire car controller can carry out speed limit request to the vehicle under particular surroundings operating condition, such as speed 36KM/h
When (speed threshold value), there is stationary vehicle at front 100m (second distance threshold value), driver requests accelerator pedal to accelerate, at this time we
K value and P value, K*P=0.4 can be issued according to algorithm amount according to three's parameter, therefore it can be concluded that actual corresponding speed is request
40 percent.
For vehicle in the state of by static starting, 10 meters of front memory can not under pedestrian or vehicle, such state
Anxious acceleration is carried out, the risk of traffic accident is be easy to cause.
If speed quickly in the state of or normal driving in the state of, driver without accelerated motion and braking maneuver,
Or on-position is not in time, vehicle can activate AEB function to carry out vehicle deceleration or emergency braking at this time.
It is understood that each numerical value employed in the embodiment is example, and not as limitation of the invention,
Occurrence will be adjusted according to vehicle virtual condition.
Control device for automobile accelerator provided by the present invention and method, applied to the Throttle Opening Control of city low speed version automobile,
It has the following beneficial effects:
(1) gas pedal Anti-mis-stepping function is increased on the basis of emergency braking AEB (automobile active safety technology),
It can be under driver's state of emergency and front is there are in the state of barrier, traffic caused by can rapidly stepping down to avoid throttle
Accident, sets aside some time and distance to AEB emergency braking；
(2) device is according in the case where there is barrier in front, can be according to speed and the relationship of barrier to the oil of response
Door pedal carries out scale smaller, and then the acceleration of vehicle response reduces, to avoid serious consequence.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (10)
1. a kind of control device for automobile accelerator, which is characterized in that stepped on including camera, millimetre-wave radar, entire car controller, throttle
Plate, electric brake system and driving motor, the camera and the millimetre-wave radar are mounted on the front of automobile, described whole
The input terminal of vehicle controller is connected with the camera, the millimetre-wave radar and the gas pedal respectively, the vehicle
The output end of controller is connected with the electric brake system and the driving motor；
The entire car controller is used to acquire data from the camera and the millimetre-wave radar respectively, and according to the camera shooting
Head and the millimetre-wave radar determine the distance of front obstacle, and the entire car controller is according to the distance and oil of front obstacle
The driving motor and the electric brake system of the input control automobile of door pedal.
2. a kind of control device for automobile accelerator according to claim 1, which is characterized in that described device further includes ultrasonic wave
Radar, the ultrasonic radar are installed on the front of automobile, the input terminal of the entire car controller also with the ultrasonic radar
It is connected, the entire car controller is also used to acquire data from the ultrasonic radar, and according to the camera, the ultrasound
Wave radar and the millimetre-wave radar determine the distance of front obstacle.
3. a kind of control device for automobile accelerator according to claim 1, which is characterized in that the entire car controller is also used to
According to the range prediction automobile of the speed of current automobile and front obstacle in the collision remaining time of barrier.
4. a kind of control device for automobile accelerator according to claim 3, which is characterized in that the entire car controller is before
The driving motor and the electric brake system of the input control automobile of the distance and gas pedal of square barrier, including it is described whole
When vehicle controller judges that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, the entire car controller to the electric brake system send emergency brake signal.
5. a kind of control device for automobile accelerator according to claim 3, which is characterized in that the entire car controller is before
The driving motor and the electric brake system of the input control automobile of the distance and gas pedal of square barrier, including it is described whole
When vehicle controller judges that the distance of the front obstacle is less than first distance threshold value or the collision remaining time less than first
Between threshold value when, when the entire car controller receives the acceleration request of the accelerator pedal, not to the driving motor send plus
Speed order.
6. a kind of control device for automobile accelerator according to claim 1, which is characterized in that the entire car controller is before
The driving motor and the electric brake system of the input control automobile of the distance and gas pedal of square barrier, including it is described whole
Vehicle controller judges that the distance of the front obstacle is more than or equal to first distance threshold value and is less than second distance threshold value, and works as
When preceding speed is greater than speed threshold value, the entire car controller is by the pedal travel value received multiplied by moderating ratio, the deceleration
Then coefficient controls the driving motor according to multiplied by the pedal travel value of moderating ratio less than 1.
7. a kind of control device for automobile accelerator according to claim 6, which is characterized in that the moderating ratio includes speed
Quantization parameter and 1 is respectively less than apart from quantization parameter, the speed quantization parameter and apart from quantization parameter, the entire car controller will
The pedal travel value received is multiplied by moderating ratio, including the entire car controller is according to preset speed and speed quantization parameter
Mapping relations, the corresponding speed quantization parameter of current speed is searched, according to preset distance and reflecting apart from quantization parameter
Relationship is penetrated, the distance for searching the current front obstacle is corresponding apart from quantization parameter, the pedal travel value that will be received
Successively multiplied by the speed quantization parameter and described apart from quantization parameter.
8. a kind of automotive throttle control method, which is characterized in that using automotive throttle described in any one of claims 1 to 7
Control device, described method includes following steps:
Data are acquired from the camera and the millimetre-wave radar respectively；
The distance of front obstacle is determined according to the camera and the millimetre-wave radar；
According to the driving motor and the electric brake system of the input control automobile of the distance of front obstacle and gas pedal.
9. automotive throttle control method according to claim 8, which is characterized in that the distance according to front obstacle
With the driving motor and the electric brake system of the input control automobile of gas pedal, include the following steps:
Judge that the distance of the front obstacle is less than first distance threshold value or the collision remaining time is less than first time threshold
When value, the entire car controller sends emergency brake signal to the electric brake system；
Judge that the distance of the front obstacle is less than first distance threshold value or the collision remaining time is less than first time threshold
When value, when the entire car controller receives the acceleration request of the accelerator pedal, is not sent to the driving motor and accelerate life
It enables.
10. automotive throttle control method according to claim 8, which is characterized in that it is described according to front obstacle away from
Driving motor and the electric brake system from the input control automobile with gas pedal, including judge the front obstacle
Distance be more than or equal to first distance threshold value and be less than second distance threshold value, and current vehicle speed be greater than speed threshold value when, it is described
Entire car controller is by the pedal travel value received multiplied by moderating ratio, and the moderating ratio is less than 1, then according to multiplied by deceleration
The pedal travel value of coefficient controls the driving motor；
The moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization parameter and apart from quantization parameter
Respectively less than 1, the entire car controller multiplied by moderating ratio, includes the following steps: the pedal travel value received
According to the mapping relations of preset speed and speed quantization parameter, the corresponding speed quantization parameter of current speed is searched；
According to preset distance and apart from the mapping relations of quantization parameter, the distance for searching the current front obstacle is corresponding
Apart from quantization parameter；
By the pedal travel value received successively multiplied by the speed quantization parameter and described apart from quantization parameter.
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| CN110254225A (en) * | 2019-05-31 | 2019-09-20 | 江西科技学院 | A kind of accelerator stepping misoperation preventing method, system, readable storage medium storing program for executing and electronic equipment |
| CN110696612A (en) * | 2019-08-28 | 2020-01-17 | 宜宾凯翼汽车有限公司 | Control method and system for avoiding mistaken stepping on automobile accelerator |
| CN111038500A (en) * | 2019-12-30 | 2020-04-21 | 宜宾凯翼汽车有限公司 | Automatic emergency braking execution method and system for automobile |
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