CN109849783A - A kind of complemental brake system and control method of active anti-reverse collision - Google Patents
A kind of complemental brake system and control method of active anti-reverse collision Download PDFInfo
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- CN109849783A CN109849783A CN201910032629.7A CN201910032629A CN109849783A CN 109849783 A CN109849783 A CN 109849783A CN 201910032629 A CN201910032629 A CN 201910032629A CN 109849783 A CN109849783 A CN 109849783A
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Abstract
本发明公开了一种主动防倒车碰撞的辅助制动装置与控制方法，辅助制动装置包含毫米级雷达探测器、轮速传感器、车载ECU、GPS定位模块、显示屏、语音提示模块、制动电机和辅助制动器；辅助制动器对车辆进行辅助制动；制动电机驱动所述辅助制动器工作。毫米级雷达探测器能够有效地解决传统探测器的盲区过大的弊端，显示屏与语音提示模块可以通过图像和声音提醒驾驶员注意后方障碍物。本发明能够防止驾驶员进行倒车时由于不能很好地观测行车后方的障碍物状况及其运动状态不能及时的做出相应反应而发生的碰撞问题。
The invention discloses an auxiliary braking device and a control method for actively preventing reverse collision. The auxiliary braking device comprises a millimeter-level radar detector, a wheel speed sensor, a vehicle-mounted ECU, a GPS positioning module, a display screen, a voice prompt module, a brake The motor and the auxiliary brake; the auxiliary brake performs auxiliary braking on the vehicle; the brake motor drives the auxiliary brake to work. The millimeter-level radar detector can effectively solve the disadvantage of the large blind area of the traditional detector. The display screen and voice prompt module can remind the driver to pay attention to the obstacles behind through images and sounds. The present invention can prevent the collision problem that occurs when the driver reverses the vehicle due to the failure to observe the condition of the obstacles behind the vehicle and the motion state of the vehicle and to respond accordingly in time.
Description
Technical field
The complemental brake system collided the present invention relates to field of automobile safety more particularly to a kind of active anti-reverse and control
Method.
Background technique
With the development of social economy and the progress of science and technology, more and more average families start to possess oneself small
Automobile, inevitable traffic accident incidence is also rising with it, and existing automotive safety technology, mainly concentrates on pacifying
Full warning aspect, using less on active safety, and most of vehicle can only carry out simple early warning carrying out reversing,
Driver is relied primarily on to avoid collision by visual observation, and it is often this when be all easy to happen collision phenomenon, serious shadow
The safety of people is rung, for this purpose, proposing the complemental brake system and control method of a kind of active anti-reverse collision.
Summary of the invention
The technical problem to be solved by the present invention is to it is anti-to provide a kind of active for defect involved in background technique
The complemental brake system and control method of reverse collision.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of complemental brake system of active anti-reverse collision, comprising grade radar detedtor, wheel speed sensors, vehicle-mounted ECU,
GPS positioning module, display screen, voice cue module, braking motor and auxiliary brake；
Grade radar detedtor setting in vehicle tail, for incude rear of vehicle obstacle relative to the distance of vehicle and
Speed, and pass it to the vehicle-mounted ECU；
The wheel speed sensors are arranged on a rear-wheel of vehicle, for measuring the speed of vehicle and the direction of vehicle, and will
It passes to the vehicle-mounted ECU；
The GPS positioning module is used to detect the GPS coordinate of vehicle, and passes it to the vehicle-mounted ECU；
The auxiliary brake is used to carry out auxiliary braking to vehicle；The output end of the braking motor and the auxiliary brake
It is connected, for driving the auxiliary brake to work；
The vehicle-mounted ECU respectively with the grade radar detedtor, wheel speed sensors, GPS positioning module, display screen, voice
Cue module, braking motor are electrically connected, for vehicle in reversing according to grade radar detedtor, wheel speed sensors, GPS
The sensed data control display screen of locating module, voice cue module, braking motor work.
The invention also discloses a kind of control methods of the complemental brake system of active anti-reverse collision, include following step
It is rapid:
Step 1), vehicle launch, grade radar detedtor, wheel speed sensors, GPS positioning module measure rear of vehicle barrier respectively
Hinder relative to the distance L and speed V of vehicle, the direction of the speed V1 of vehicle and vehicle, vehicle GPS coordinate, and transmitted
To the vehicle-mounted ECU；
Step 2, vehicle-mounted ECU judge that the direction of vehicle is facing forward or backwards；
Step 2.1), if the direction of vehicle is backwards:
Step 2.1.1), vehicle-mounted ECU control display screen show current vehicle GPS coordinate and rear of vehicle obstacle relative to
The distance L and speed V of vehicle；
Step 2.1.2), the speed V1 of vehicle and preset threshold speed are compared by vehicle-mounted ECU；
Step 2.1.2.1), if the speed V1 of vehicle is greater than preset threshold speed, vehicle-mounted ECU controls braking motor work,
Driving auxiliary brake is braked, until the speed V1 of vehicle is less than or equal to preset threshold speed；
Step 2.1.3), vehicle-mounted ECU judges that whether there are obstacles for rear of vehicle, if there is:
Step 2.1.3.1), vehicle-mounted ECU is calculated according to rear of vehicle obstacle relative to the speed V of vehicle, the speed V1 of vehicle
The movement velocity V2 of barrier；
Step 2.1.3.2), vehicle-mounted ECU compares L and preset safety distance threshold LmIf L < Lm:
Step 2.1.3.2.1), vehicle-mounted ECU controls voice cue module and issues early warning；
Step 2.1.3.2.2), vehicle-mounted ECU calculates current safety according to the speed V1 and barrier speed V2 of current vehicle
Speed；
Step 2.1.3.2.3), vehicle-mounted ECU controls braking motor work, and driving auxiliary brake is braked, until vehicle
Speed is less than or equal to current safe speed.
The further prioritization scheme of control method of complemental brake system as a kind of present invention active anti-reverse collision,
The preset speed threshold value is 1m/s.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. the complemental brake system of active anti-reverse collision, the case where carrying out detection rear of vehicle using grade radar, energy
Enough efficiently solve the excessive drawback in the blind area of conventional detectors.
2. in real time showing the situation for rear obstacle of driving a vehicle by display screen, driver can be good at understanding reversing
When driving, rear of vehicle barrier state.
3. working as vehicle backing when driving, intelligent electric machine drives auxiliary brake to carry out Control for Speed Limitation to vehicle, prevents from driving
To carry out reversing bring dangerous since accelerator pedal is accidentally considered as brake pedal by nervous or fatigue by member, judges exist in vehicle-mounted ECU
Emergency braking is carried out when risk of collision, it, can be very big to avoid driver cannot timely make corresponding reflection and collide
The safety for increasing reverse travel.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the complemental brake system of active anti-reverse collision of the present invention；
Fig. 2 is a kind of flow diagram of the complemental brake system control method of active anti-reverse collision of the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, a kind of complemental brake system of active anti-reverse collision of disclosure of the invention, is visited comprising grade radar
Survey device, wheel speed sensors, vehicle-mounted ECU, GPS positioning module, display screen, voice cue module, braking motor and auxiliary brake；
Grade radar detedtor setting in vehicle tail, for incude rear of vehicle obstacle relative to the distance of vehicle and
Speed, and pass it to the vehicle-mounted ECU；
The wheel speed sensors are arranged on a rear-wheel of vehicle, for measuring the speed of vehicle and the direction of vehicle, and will
It passes to the vehicle-mounted ECU；
The GPS positioning module is used to detect the GPS coordinate of vehicle, and passes it to the vehicle-mounted ECU；
The auxiliary brake is used to carry out auxiliary braking to vehicle；The output end of the braking motor and the auxiliary brake
It is connected, for driving the auxiliary brake to work；
The vehicle-mounted ECU respectively with the grade radar detedtor, wheel speed sensors, GPS positioning module, display screen, voice
Cue module, braking motor are electrically connected, for vehicle in reversing according to grade radar detedtor, wheel speed sensors, GPS
The sensed data control display screen of locating module, voice cue module, braking motor work.
As shown in Fig. 2, the invention also discloses a kind of control method of the complemental brake system of active anti-reverse collision,
It comprises the steps of:
Step 1), vehicle launch, grade radar detedtor, wheel speed sensors, GPS positioning module measure rear of vehicle barrier respectively
Hinder relative to the distance L and speed V of vehicle, the direction of the speed V1 of vehicle and vehicle, vehicle GPS coordinate, and transmitted
To the vehicle-mounted ECU；
Step 2, vehicle-mounted ECU judge that the direction of vehicle is facing forward or backwards；
Step 2.1), if the direction of vehicle is backwards:
Step 2.1.1), vehicle-mounted ECU control display screen show current vehicle GPS coordinate and rear of vehicle obstacle relative to
The distance L and speed V of vehicle；
Step 2.1.2), the speed V1 of vehicle and preset threshold speed are compared by vehicle-mounted ECU；
Step 2.1.2.1), if the speed V1 of vehicle is greater than preset threshold speed, vehicle-mounted ECU controls braking motor work,
Driving auxiliary brake is braked, until the speed V1 of vehicle is less than or equal to preset threshold speed；
Step 2.1.3), vehicle-mounted ECU judges that whether there are obstacles for rear of vehicle, if there is:
Step 2.1.3.1), vehicle-mounted ECU is calculated according to rear of vehicle obstacle relative to the speed V of vehicle, the speed V1 of vehicle
The movement velocity V2 of barrier；
Step 2.1.3.2), vehicle-mounted ECU compares L and preset safety distance threshold LmIf L < Lm:
Step 2.1.3.2.1), vehicle-mounted ECU controls voice cue module and issues early warning；
Step 2.1.3.2.2), vehicle-mounted ECU calculates current safety according to the speed V1 and barrier speed V2 of current vehicle
Speed；
Step 2.1.3.2.3), vehicle-mounted ECU controls braking motor work, and driving auxiliary brake is braked, until vehicle
Speed is less than or equal to current safe speed.
The preset speed threshold value is preferentially set as 1m/s.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. a kind of complemental brake system of active anti-reverse collision, which is characterized in that passed comprising grade radar detedtor, wheel speed
Sensor, vehicle-mounted ECU, GPS positioning module, display screen, voice cue module, braking motor and auxiliary brake；
It is characterized by: the vehicle-mounted ECU is connected, in respectively with the signal output end of vehicle sensors and GPS positioning system
The input terminal for controlling display screen and complemental brake system is connected；The speech prompting system is electrical connected with middle control display screen.
The setting of grade radar detedtor described in the vehicle sensors is opposite for incuding rear of vehicle obstacle in vehicle tail
In the distance and speed of vehicle, and pass it to the vehicle-mounted ECU；
The wheel speed sensors are arranged on a rear-wheel of vehicle, for measuring the speed of vehicle and the direction of vehicle, and will
It passes to the vehicle-mounted ECU；
The GPS positioning module is used to detect the GPS coordinate of vehicle, and passes it to the vehicle-mounted ECU；
The auxiliary brake is used to carry out auxiliary braking to vehicle；The output end of the braking motor and the auxiliary brake
It is connected, for driving the auxiliary brake to work；
The vehicle-mounted ECU respectively with the grade radar detedtor, wheel speed sensors, GPS positioning module, display screen, voice
Cue module, braking motor are electrically connected, for vehicle in reversing according to grade radar detedtor, wheel speed sensors, GPS
The sensed data control display screen of locating module, voice cue module, braking motor work.
2. the control method of the complemental brake system based on active anti-reverse described in claim 1 collision, which is characterized in that packet
Containing following steps:
Step 1), vehicle launch, grade radar detedtor, wheel speed sensors, GPS positioning module measure rear of vehicle barrier respectively
Hinder relative to the distance L and speed V of vehicle, the direction of the speed V1 of vehicle and vehicle, vehicle GPS coordinate, and transmitted
To the vehicle-mounted ECU；
Step 2, vehicle-mounted ECU judge that the direction of vehicle is facing forward or backwards；
Step 2.1), if the direction of vehicle is backwards:
Step 2.1.1), vehicle-mounted ECU control display screen show current vehicle GPS coordinate and rear of vehicle obstacle relative to
The distance L and speed V of vehicle；
Step 2.1.2), the speed V1 of vehicle and preset threshold speed are compared by vehicle-mounted ECU；
Step 2.1.2.1), if the speed V1 of vehicle is greater than preset threshold speed, vehicle-mounted ECU controls braking motor work,
Driving auxiliary brake is braked, until the speed V1 of vehicle is less than or equal to preset threshold speed；
Step 2.1.3), vehicle-mounted ECU judges that whether there are obstacles for rear of vehicle, if there is:
Step 2.1.3.1), vehicle-mounted ECU is calculated according to rear of vehicle obstacle relative to the speed V of vehicle, the speed V1 of vehicle
The movement velocity V2 of barrier；
Step 2.1.3.2), vehicle-mounted ECU compares L and preset safety distance threshold LmIf L < Lm:
Step 2.1.3.2.1), vehicle-mounted ECU controls voice cue module and issues early warning；
Step 2.1.3.2.2), vehicle-mounted ECU calculates current safety according to the speed V1 and barrier speed V2 of current vehicle
Speed；
Step 2.1.3.2.3), vehicle-mounted ECU controls braking motor work, and driving auxiliary brake is braked, until vehicle
Speed is less than or equal to current safe speed.
3. the control method of the complemental brake system of active anti-reverse collision according to claim 1, which is characterized in that institute
Stating preset speed threshold value is 1m/s.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910032629.7A CN109849783A (en) | 2019-01-14 | 2019-01-14 | A kind of complemental brake system and control method of active anti-reverse collision |
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| CN201910032629.7A CN109849783A (en) | 2019-01-14 | 2019-01-14 | A kind of complemental brake system and control method of active anti-reverse collision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111332239A (en) * | 2019-09-17 | 2020-06-26 | 厦门乐创智联科技有限公司 | Anti-collision early warning system for backing |
| CN111717177A (en) * | 2020-06-24 | 2020-09-29 | 多伦科技股份有限公司 | Driving test vehicle safety monitoring device |
| CN113511136A (en) * | 2020-04-10 | 2021-10-19 | 广州汽车集团股份有限公司 | Reversing alarm method and device |
| CN114148182A (en) * | 2021-11-30 | 2022-03-08 | 浙江中车电车有限公司 | Vehicle reversing auxiliary braking method and system |
| CN114407845A (en) * | 2021-12-24 | 2022-04-29 | 阿波罗智能技术(北京)有限公司 | Brake control method, brake control device, vehicle, electronic device, and storage medium |
| CN115071565A (en) * | 2022-06-20 | 2022-09-20 | 安徽江淮汽车集团股份有限公司 | Danger-avoiding type safe reversing control system and method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332239A (en) * | 2019-09-17 | 2020-06-26 | 厦门乐创智联科技有限公司 | Anti-collision early warning system for backing |
| CN113511136A (en) * | 2020-04-10 | 2021-10-19 | 广州汽车集团股份有限公司 | Reversing alarm method and device |
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| CN114148182A (en) * | 2021-11-30 | 2022-03-08 | 浙江中车电车有限公司 | Vehicle reversing auxiliary braking method and system |
| WO2023098100A1 (en) * | 2021-11-30 | 2023-06-08 | 浙江中车电车有限公司 | Auxiliary braking method and system for vehicle reversing |
| CN114148182B (en) * | 2021-11-30 | 2024-04-09 | 浙江中车电车有限公司 | Auxiliary braking method and system for reversing of vehicle |
| CN114407845A (en) * | 2021-12-24 | 2022-04-29 | 阿波罗智能技术(北京)有限公司 | Brake control method, brake control device, vehicle, electronic device, and storage medium |
| CN115071565A (en) * | 2022-06-20 | 2022-09-20 | 安徽江淮汽车集团股份有限公司 | Danger-avoiding type safe reversing control system and method |
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Application publication date: 20190607 |