CN109649359A - Automobile automatic emergency brake control method, system, equipment and storage medium - Google Patents
Automobile automatic emergency brake control method, system, equipment and storage medium Download PDFInfo
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- CN109649359A CN109649359A CN201910047302.7A CN201910047302A CN109649359A CN 109649359 A CN109649359 A CN 109649359A CN 201910047302 A CN201910047302 A CN 201910047302A CN 109649359 A CN109649359 A CN 109649359A
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- Prior art keywords
- braking
- automobile
- rainy day
- detection data
- automatic emergency
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 62
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 51
- 230000006641 stabilisation Effects 0.000 claims abstract description 31
- 230000006870 function Effects 0.000 claims description 47
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000001556 precipitation Methods 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 210000000352 storage cell Anatomy 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
- 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
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
Abstract
The present invention provides a kind of automobile automatic emergency brake control method, system, equipment and storage mediums, this method comprises: if receiving the brake disc water removal function enabling signal of body electronics systems stabilisation, trigger condition of the rainy day braking condition prestored as current emergency braking is then selected, trigger condition of the non-rainy day braking condition prestored as current emergency braking is otherwise selected；The target detection data for obtaining automobile, judge whether the target detection data meet the trigger condition of current emergency braking；If it is, the automatic emergency brake function of starting automobile.By using the solution of the present invention, judge whether be currently the rainy day according to brake disc water removal function enabling signal, use different assessment of risks conditions in rainy day and non-rainy day, the validity of emergency braking when improving the rainy day improves vehicle safety.
Description
Technical field
The present invention relates to technical field of automobile control more particularly to a kind of automobile automatic emergency brake control method, system,
Equipment and storage medium.
Background technique
With the continuous development of automobile control technology, nowadays automobile uses automation control more and more.It is wherein automatic
Emergency braking system (AEB, Autonomous Emergency Brake) is according to the detection for vehicle front target, root
Assessment of risks is carried out with the relative positional relationship from vehicle according to vehicle front target, is triggered certainly if danger reaches certain grade
Dynamic emergency braking function.
However in existing automatic emergency brake control logic, when assessment of risks, uses only a kind of operating condition, without examining
The different situations in actual road conditions are considered, for example, if being still to use identical assessment of risks condition on rainy day, then can make
The accuracy for obtaining assessment of risks is had a greatly reduced quality, to constitute some potential safety problems.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide a kind of automobile automatic emergency brake controlling parties
Method, system, equipment and storage medium judge whether be currently the rainy day according to brake disc water removal function enabling signal, in the rainy day
Different assessment of risks conditions is used with the non-rainy day, the validity of emergency braking when improving the rainy day improves vehicle safety.
The embodiment of the present invention provides a kind of automobile automatic emergency brake control method, and described method includes following steps:
Receive the brake disc water removal function enabling signal of body electronics systems stabilisation；
Select trigger condition of the rainy day braking condition prestored as current emergency braking；
The target detection data for obtaining automobile, judge whether the target detection data meet the triggering of current emergency braking
Condition；
If it is, the automatic emergency brake function of starting automobile.
Optionally, further include following steps:
The body electronics systems stabilisation receives the rainfall detection data of the precipitation rain fall sensor of automobile；
The body electronics systems stabilisation judges whether rainfall detection data are greater than the first rainfall threshold value, if it is, institute
It states body electronics systems stabilisation and issues brake disc water removal function enabling signal.
Optionally, if the rainfall detection data are greater than the first rainfall threshold value, the body electronics systems stabilisation is every
Brake disc water removal function enabling signal is issued every the predetermined time；
After the body electronics systems stabilisation issues brake disc water removal function enabling signal, brake disc is removed water into waiting signal
Set, and when rainfall detection data are less than the second rainfall threshold value, brake disc water removal waiting signal is resetted, the second rainfall threshold value
Less than the first rainfall threshold value.
Optionally, further include following steps:
If not receiving the brake disc water removal function enabling signal of body electronics systems stabilisation, judge that brake disc removes water
Whether waiting signal has been set；
If it is, selecting trigger condition of the rainy day braking condition prestored as current emergency braking.
Optionally, the target detection data for obtaining automobile include the following steps:
Receive the detection data of radar and the detection data of camera；
Identify specific objective according to the detection data of radar and the detection data of camera, and calculate specific objective with from vehicle
Station-keeping data and relative velocity data.
Optionally, the specific objective and the station-keeping data from vehicle include specific objective and the relative distance from vehicle；
The specific objective includes specific objective and the relative velocity and specific mesh from vehicle with the relative velocity data from vehicle
Target acceleration.
Optionally, the trigger condition of the emergency braking includes the minimum braking distance of starting braking；
The relationship of the rainy day braking condition prestored and the non-rainy day braking condition prestored are as follows:
In the identical situation of target detection data of automobile, the rainy day minimum braking distance of starting braking is greater than the non-rainy day
Start the minimum braking distance of braking.
Optionally, the trigger condition for judging the target detection data and whether meeting current emergency braking, including such as
Lower step:
The minimum braking distance for being currently up braking is calculated according to the target detection data；
Judge whether specific objective is less than or equal to the minimum braking distance for being currently up braking with the relative distance from vehicle；
If it is, the braking function of starting automobile.
Optionally, it if the trigger condition of current emergency braking is non-rainy day braking condition, calculates according to the following formula
It is currently up the minimum braking distance of braking:
Wherein, ds1For the braking distance of starting braking of non-rainy day, v1For from vehicle speed, a1For from vehicle braking acceleration, a2For
The acceleration of specific objective, t2For delay time of braking, vrelFor specific objective with from the relative velocity of vehicle, d0Stop for braking automobile
Only rear and specific objective default safe distance；
If the trigger condition of current emergency braking is rainy day braking condition, calculates be currently up system according to the following formula
Dynamic minimum braking distance:
Wherein, k is rainy day regulation coefficient, and k > 1.
The embodiment of the present invention also provides a kind of automobile automatic emergency brake control system, automatically tight applied to the automobile
Anxious brake control method, the system comprises:
Brake disc removes water monitoring modular, for monitoring the brake disc water removal function enabling signal of vehicle body electric stabilizing system；
Trigger condition selecting module, for when the brake disc water removal function enabling signal for receiving body electronics systems stabilisation
When, select trigger condition of the rainy day braking condition prestored as current emergency braking；
Risk evaluation module judges whether the target detection data meet for obtaining the target detection data of automobile
The trigger condition of current emergency braking；
Automatic braking module, for starting when the target detection data meet the trigger condition of current emergency braking
The automatic emergency brake function of automobile.
The embodiment of the present invention also provides a kind of automobile automatic emergency brake control equipment, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute the automobile automatic emergency system via the executable instruction is executed
The step of flowing control method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
Described in Shi Shixian the step of automobile automatic emergency brake control method.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Automobile automatic emergency brake control method, system, equipment and storage medium provided by the present invention have following excellent
Point:
The present invention solves the problems of the prior art, it is contemplated that the attachment coefficient on ground is not when rainy day and non-rainy day
Together, establish the rainy day assessment of risks condition different with the non-rainy day, judged according to brake disc water removal function enabling signal be currently
No is the rainy day, according to whether selecting corresponding assessment of risks condition for the rainy day, the validity of emergency braking when improving the rainy day is reduced
The generation of the accident collision of automobile and specific objective improves vehicle safety.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of automobile automatic emergency brake control method of the invention；
Fig. 2 is the structural schematic diagram of automobile automatic emergency brake control system of the invention；
Fig. 3 is the structural schematic diagram of the automobile emergency brake control system of one embodiment of the invention；
Fig. 4 is the schematic diagram of the automobile automatic emergency brake control equipment of one embodiment of the invention；
Fig. 5 is the schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
As shown in Figure 1, in order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of automobile automatic emergency brake control
Method processed, described method includes following steps:
S100: the brake disc water removal function enabling signal of body electronics systems stabilisation is received；
Brake water removal function (BDW, Brake Disk Wiper) is developed on the basis of body electronics systems stabilisation
A kind of additional value-added functionality.Because raining between rear brake hull and clamp, there are moisture films or droplet to influence brake efficiency, brake
Water removal function initiatively applies certain pressure between brake disc and clamp and wipes out the droplet between brake disc and clamp,
To have good processability when guaranteeing braking.
S200: trigger condition of the rainy day braking condition prestored as current emergency braking is selected；
S300: obtaining the target detection data of automobile, judges whether the target detection data meet current emergency braking
Trigger condition；
S400: if it is, the emergency braking function of starting automobile.
Therefore, ground is attached when automobile automatic emergency brake control method of the invention is in view of rainy day and non-rainy day
Coefficient it is different, establish the rainy day assessment of risks condition different with the non-rainy day, sentenced according to brake disc water removal function enabling signal
Whether disconnected be currently the rainy day, by step S100 and S200 according to whether selecting corresponding assessment of risks condition for the rainy day, is passed through
Step S300 judges whether the trigger condition for meeting current emergency braking, and the validity of emergency braking when improving the rainy day reduces vapour
The generation of the accident collision of vehicle and specific objective improves vehicle safety.
If be not received by the brake disc water removal function enabling signal of body electronics systems stabilisation, illustrate current not non-
Rainy day then selects trigger condition of the non-rainy day braking condition prestored as current emergency braking.In step S300, if currently
Target detection data are unsatisfactory for the trigger condition of current emergency braking, illustrate to wait pre- without starting emergency braking function
If after interval time, obtaining target detection data again, judging whether target detection data meet the triggering of current emergency braking
Condition.
As shown in Fig. 2, the embodiment of the present invention also provides a kind of automobile automatic emergency brake control system, applied to described
Automobile automatic emergency brake control method, the system comprises:
Brake disc removes water monitoring modular M100, and the brake disc water removal function for monitoring vehicle body electric stabilizing system starts letter
Number；
Trigger condition selecting module M200, for when the brake disc water removal function starting for receiving body electronics systems stabilisation
When signal, trigger condition of the rainy day braking condition prestored as current emergency braking is selected；
Whether risk evaluation module M300 judges the target detection data for obtaining the target detection data of automobile
Meet the trigger condition of current emergency braking；
Automatic braking module M400, for when the target detection data meet the trigger condition of current emergency braking,
Start the emergency braking function of automobile.
As shown in figure 3, the structural schematic diagram of the automobile automatic emergency brake control system for one embodiment of the invention, wherein
Show the automobile automatic emergency brake control system of the embodiment and the cooperation of automobile other systems module.
In this embodiment, body electronics systems stabilisation (EPS) obtains rainfall detection data from the precipitation rain fall sensor of automobile,
As whether starting the judgment basis of brake disc water removal function.Specifically, the automobile automatic emergency brake control method is also wrapped
Include following steps:
The body electronics systems stabilisation receives the rainfall detection data of the precipitation rain fall sensor of automobile；
The body electronics systems stabilisation judges whether rainfall detection data are greater than the first rainfall threshold value, if it is, institute
It states body electronics systems stabilisation and issues brake disc water removal function enabling signal.
Further, if the rainfall detection data are greater than the first rainfall threshold value, the body electronics systems stabilisation
Brake disc water removal function enabling signal is issued at predetermined time intervals；I.e. brake disc water removal function enabling signal is to send out at intervals
Out, it rather than continuously sends out, such as is spaced after activation 5s and after five minutes issues again.Start in brake disc water removal function twice
In the time interval that signal issues, in order to guarantee that automobile automatic emergency brake control system can know the increased mistake of rainfall in real time
Journey, the embodiment further increase a brake disc water removal waiting signal, brake disc water removal in body electronics systems stabilisation
When waiting signal set, indicate that present rainfall detection data are persistently to be greater than the first rainfall threshold value, only when present rainfall is examined
When measured data is less than the second rainfall threshold value (the second rainfall threshold value is less than the first rainfall threshold value), brake disc is just removed water into waiting signal
It resets.
It therefore, in this embodiment, will after the body electronics systems stabilisation issues brake disc water removal function enabling signal
Brake disc removes water waiting signal set, and when rainfall detection data are less than the second rainfall threshold value, and brake disc is removed water and waits letter
Number reset, the second rainfall threshold value is less than the first rainfall threshold value.
Accordingly, the automobile automatic emergency brake control method further includes following steps:
If not receiving the brake disc water removal function enabling signal of body electronics systems stabilisation, judge that brake disc removes water
Whether waiting signal has been set；
If it is, selecting trigger condition of the rainy day braking condition prestored as current emergency braking.
In this embodiment, the data of motor vehicle environment are acquired by radar and camera, specifically, the acquisition automobile
Target detection data include the following steps:
Module of target detection receives the detection data of radar and the detection data of camera；
Identify specific objective according to the detection data of radar and the detection data of camera, and calculate specific objective with from vehicle
Station-keeping data and relative velocity data.Specific objective can be other automobiles travelled or be parked in herein
The automobile in roadside or be for example large-scale stone of large-scale barrier, fence etc..
In this embodiment, the specific objective and the station-keeping data from vehicle include specific objective with from the opposite of vehicle
Distance；
The specific objective includes specific objective and the relative velocity and specific mesh from vehicle with the relative velocity data from vehicle
Target acceleration.If specific objective is stationary object, specific objective and the relative velocity from vehicle are only by from vehicle
Speed determines that the acceleration of specific objective is zero.If specific objective is the automobile to slow down, acceleration is negative value.
In radar and camera detection, need to acquire the position data of specific objective in specific a period of time, it is specific to calculate with this
The speed and acceleration of target.
Further, the trigger condition of the brake actuating includes the minimum braking distance of starting braking；
The relationship of the rainy day braking condition prestored and the non-rainy day braking condition prestored are as follows:
In the identical situation of target detection data of automobile, the rainy day minimum braking distance of starting braking is greater than the non-rainy day
Start the minimum braking distance of braking.
I.e. for rainy day, compared to non-rainy day, when being closer, need to stop in advance when with specific objective
Vehicle.This is because the traction of rainy day is less than the traction of non-rainy day.If still utilizing the minimum of non-rainy day
Braking distance, it may occur that the collision accident with specific objective.
In this embodiment, the trigger condition for judging the target detection data and whether meeting current emergency braking,
Include the following steps:
The minimum braking distance for being currently up braking is calculated according to the target detection data；
Judge whether specific objective is less than or equal to the minimum braking distance for being currently up braking with the relative distance from vehicle；
If it is, the braking function of starting automobile.
Further, it if the trigger condition of current emergency braking is non-rainy day braking condition, counts according to the following formula
Calculate the minimum braking distance for being currently up braking:
Wherein, ds1For the braking distance of starting braking of non-rainy day, v1For from vehicle speed, a1For from vehicle braking acceleration, a2For
The acceleration of specific objective, t2For delay time of braking, vrelFor specific objective with from the relative velocity of vehicle, d0Stop for braking automobile
Only rear and specific objective default safe distance；
If the trigger condition of current emergency braking is rainy day braking condition, calculates be currently up system according to the following formula
Dynamic minimum braking distance:
Wherein, k is rainy day regulation coefficient, and k > 1.
The value of k can according to need selection, such as be selected as 1.1~1.5, and may further be selected as 1.2, but this
Invention is not limited, and the value of k selects also possible in other value ranges greater than 1, belongs to protection of the invention
Within the scope of.
Further, it is contemplated that in different rainfall weather, there is also very big difference, this hairs for ground attaching coefficient
Bright k value that can also be stepped according to the different settings of rainfall.Such as the rainfall of precipitation rain fall sensor acquisition is greater than the first default threshold
When being worth and being less than third predetermined threshold value, setting k value is k1, and when rainfall is greater than third predetermined threshold value, setting k value is k2.Due to
Third predetermined threshold value is greater than the first preset threshold, then k2 value is set larger than k1 value.Further, the automobile automatic emergency system
Flowing control method can also include the following steps:
Preset the mapping relations of k value Yu rainfall range；
Judge which rainfall range is the rainfall detection data of current precipitation rain fall sensor be in, and according to being currently at
Rainfall range selects corresponding k value；
The minimum braking distance for being currently up braking is calculated according to the k value of selection.
Therefore, the embodiment removed water by brake disc enabling signal or brake disc remove water waiting signal judgement it is current not under
After rainy day, by the minimum braking distance of starting of non-rainy day emergency braking function multiplied by k, emergency braking in advance reduces collision
Probability it is electric to pass through vehicle body so as to carry out Brake energy recovery apart from farther local (distance becomes original k times)
Sub- systems stabilisation coordinates generator and brake fluid system, has generator to realize more energy to improve energy regenerating effect
Rate saves the energy；In energy recovery process, accumulator status and Generator Status are monitored by body electronics systems stabilisation
Remaining torque is distributed to brake fluid system realization energy regenerating while guaranteeing braking effect by the torque that decision can recycle
Energy；In addition, braking way of realization of the invention is not limited to body electronics systems stabilisation, all hydraulic or pneumatic shuttles are all
It may be implemented, such as IBOOSTER.
The embodiment of the present invention also provides a kind of automobile automatic emergency brake control equipment, including processor；Memory, wherein
It is stored with the executable instruction of the processor；Wherein, the processor is configured to hold via the executable instruction is executed
The step of automobile automatic emergency brake control method described in row.
Therefore, ground is attached when automobile automatic emergency brake of the invention control equipment is in view of rainy day and non-rainy day
Coefficient it is different, establish the rainy day assessment of risks condition different with the non-rainy day, sentenced according to brake disc water removal function enabling signal
Whether disconnected be currently the rainy day, by processor according to whether selecting corresponding assessment of risks condition for the rainy day, and then is judged whether
The trigger condition for meeting current emergency braking, the validity of emergency braking when the rainy day can be improved.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
The electronic equipment 600 of this embodiment according to the present invention is described referring to Fig. 4.The electronics that Fig. 4 is shown
Equipment 600 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, electronic equipment 600 is showed in the form of universal computing device.The combination of electronic equipment 600 can wrap
Include but be not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform combination (including storage
Unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that the processing unit 610 executes described in this specification above-mentioned electronic prescription circulation processing method part according to this
The step of inventing various illustrative embodiments.For example, the processing unit 610 can execute step as shown in fig. 1.
The storage unit 620 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 6201 and/or cache memory unit 6202 can further include read-only memory unit (ROM) 6203.
The storage unit 620 can also include program/practical work with one group of (at least one) program module 6205
Tool 6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
Described in Shi Shixian the step of automobile automatic emergency brake control method.In some possible embodiments, of the invention each
A aspect is also implemented as a kind of form of program product comprising program code, when described program product is in terminal device
When upper operation, said program code is for making the terminal device execute this specification above-mentioned electronic prescription circulation processing method portion
Point described according to the present invention various illustrative embodiments the step of.
Refering to what is shown in Fig. 5, describing the program product for realizing the above method of embodiment according to the present invention
800, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In conclusion compared with prior art, automobile automatic emergency brake control method provided by the present invention, system,
Equipment and storage medium have the advantage that
The present invention solves the problems of the prior art, it is contemplated that the attachment coefficient on ground is not when rainy day and non-rainy day
Together, establish the rainy day assessment of risks condition different with the non-rainy day, judged according to brake disc water removal function enabling signal be currently
No is the rainy day, according to whether selecting corresponding assessment of risks condition for the rainy day, the validity of emergency braking when improving the rainy day is reduced
The generation of the accident collision of automobile and specific objective improves vehicle safety.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (12)
1. a kind of automobile automatic emergency brake control method, which comprises the steps of:
Receive the brake disc water removal function enabling signal of body electronics systems stabilisation；
Select trigger condition of the rainy day braking condition prestored as current emergency braking；
The target detection data for obtaining automobile, judge whether the target detection data meet the triggering item of current emergency braking
Part；
If it is, the automatic emergency brake function of starting automobile.
2. automobile automatic emergency brake control method according to claim 1, which is characterized in that further include following steps:
The body electronics systems stabilisation receives the rainfall detection data of the precipitation rain fall sensor of automobile；
The body electronics systems stabilisation judges whether rainfall detection data are greater than the first rainfall threshold value, if it is, the vehicle
Body electric stabilizing system issues brake disc water removal function enabling signal.
3. automobile automatic emergency brake control method according to claim 2, which is characterized in that if the rainfall detection
Data are greater than the first rainfall threshold value, then the body electronics systems stabilisation issues the starting of brake disc water removal function at predetermined time intervals
Signal；
After the body electronics systems stabilisation issues brake disc water removal function enabling signal, brake disc water removal waiting signal is set
Position, and when rainfall detection data are less than the second rainfall threshold value, brake disc water removal waiting signal is resetted, the second rainfall threshold value is small
In the first rainfall threshold value.
4. automobile automatic emergency brake control method according to claim 3, which is characterized in that further include following steps:
If not receiving the brake disc water removal function enabling signal of body electronics systems stabilisation, judge that brake disc water removal waits
Whether signal has been set；
If it is, selecting trigger condition of the rainy day braking condition prestored as current emergency braking.
5. automobile automatic emergency brake control method according to claim 1, which is characterized in that the mesh for obtaining automobile
Mark detection data includes the following steps:
Receive the detection data of radar and the detection data of camera；
Identify specific objective according to the detection data of radar and the detection data of camera, and calculate specific objective with from the phase of vehicle
To position data and relative velocity data.
6. automobile automatic emergency brake control method according to claim 5, which is characterized in that the specific objective with from
The station-keeping data of vehicle includes specific objective and the relative distance from vehicle；
The specific objective includes specific objective and the relative velocity and specific objective from vehicle with the relative velocity data from vehicle
Acceleration.
7. automobile automatic emergency brake control method according to claim 6, which is characterized in that the touching of the emergency braking
Clockwork spring part includes the minimum braking distance of starting braking；
The relationship of the rainy day braking condition prestored and the non-rainy day braking condition prestored are as follows:
In the identical situation of target detection data of automobile, the rainy day minimum braking distance of starting braking starts greater than the non-rainy day
The minimum braking distance of braking.
8. automobile automatic emergency brake control method according to claim 7, which is characterized in that the judgement target
Whether detection data meets the trigger condition of current emergency braking, includes the following steps:
The minimum braking distance for being currently up braking is calculated according to the target detection data；
Judge whether specific objective is less than or equal to the minimum braking distance for being currently up braking with the relative distance from vehicle；
If it is, the braking function of starting automobile.
9. automobile automatic emergency brake control method according to claim 1, which is characterized in that if current emergency braking
Trigger condition be non-rainy day braking condition, then calculate according to the following formula and be currently up the minimum braking distance of braking:
Wherein, ds1For the braking distance of starting braking of non-rainy day, v1For from vehicle speed, a1For from vehicle braking acceleration, a2It is specific
The acceleration of target, t2For delay time of braking, vrelFor specific objective with from the relative velocity of vehicle, d0After stopping for braking automobile
With the default safe distance of specific objective；
If the trigger condition of current emergency braking is rainy day braking condition, calculates be currently up braking according to the following formula
Minimum braking distance:
Wherein, k is rainy day regulation coefficient, and k > 1.
10. a kind of automobile automatic emergency brake control system, which is characterized in that be applied to described in any one of claims 1 to 9
Automobile automatic emergency brake control method, the system comprises:
Brake disc removes water monitoring modular, for monitoring the brake disc water removal function enabling signal of vehicle body electric stabilizing system；
Trigger condition selecting module, for when receiving the brake disc water removal function enabling signal of body electronics systems stabilisation,
Select trigger condition of the rainy day braking condition prestored as current emergency braking；
Risk evaluation module judges whether the target detection data meet currently for obtaining the target detection data of automobile
The trigger condition of emergency braking；
Automatic braking module, for starting automobile when the target detection data meet the trigger condition of current emergency braking
Automatic emergency brake function.
11. a kind of automobile automatic emergency brake controls equipment characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come described in any one of perform claim requirement 1 to 9 via the execution executable instruction
Automobile automatic emergency brake control method the step of.
12. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 9 described in automobile automatic emergency brake control method the step of.
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| CN115071689A (en) * | 2021-03-10 | 2022-09-20 | 长沙中车智驭新能源科技有限公司 | Vehicle emergency braking method and system and vehicle |
| CN115230665A (en) * | 2022-07-29 | 2022-10-25 | 重庆长安汽车股份有限公司 | Brake disc water and ice removing method and device, vehicle and storage medium |
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