CN109878517B - System and method for automatically and forcibly decelerating and limiting speed of vehicle - Google Patents
System and method for automatically and forcibly decelerating and limiting speed of vehicle Download PDFInfo
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Abstract
The invention relates to a system for automatically and forcibly decelerating and limiting speed of a vehicle, which comprises a road side unit, a vehicle speed monitoring unit, a vehicle speed optimizing unit and a vehicle speed control unit, wherein the road side unit comprises a speed limiting signal control and transmitting module, the vehicle speed monitoring unit comprises a signal receiving module, a speed measuring device, a first judgment module and an information preprocessing module, the vehicle speed optimizing unit comprises a radar distance measuring device, a radar speed measuring device, a vehicle-mounted control module, a second judgment module, a braking deceleration calculation module and a communication module, and the vehicle speed control unit comprises a voice broadcasting actuator, a vehicle speed control actuator, an engine power control and an ESC active braking control. The invention also relates to a method for automatically and forcibly decelerating and limiting the speed of the vehicle, which starts from the distance between the vehicles and the speed of the vehicle, accurately calculates the range of the braking deceleration of the vehicle to avoid the collision with the front vehicle and the rear vehicle, improves the driving safety when controlling the speed of the vehicle, and greatly reduces the accident risk caused by the overspeed passing of the vehicle in the highway maintenance operation area.
Description
Technical Field
The invention relates to the field of automatic control and traffic safety of vehicles, in particular to a roadside unit arranged facing a highway maintenance operation area, and a method for forcing a vehicle to complete safe automatic deceleration and speed limit within a fixed distance by arranging a vehicle speed monitoring unit, a vehicle speed optimizing unit and a vehicle speed control unit on the vehicle.
Background
With the continuous and rapid development of economic society of China, the traffic volume of the highway is rapidly increased, and the highway built in early stage of China enters daily maintenance, major and middle repair or reconstruction and extension stages successively. When the highway is maintained, partial lanes need to be sealed, and vehicles need to perform actions such as early deceleration and forced confluence in advance to ensure that the vehicles can safely pass through construction zone road sections. The existing speed limiting mode is characterized in that a driver is reminded of taking correct driving behaviors by placing a speed limiting sign and a construction sign, however, the situation that some drivers easily ignore or ignore the speed limiting sign when driving on a highway cannot be avoided, so that the vehicles are easy to collide when approaching an operation area, and serious traffic accidents are caused. Chinese patent (CN108297868A) discloses an automatic forced speed-limiting cruising system for vehicles at speed-limiting road sections, which comprises a speed-limiting signal transmitter, a vehicle-mounted signal receiver, a self-adaptive cruise controller, a vehicle-mounted CAN bus and an actuator, wherein after the vehicle-mounted signal receiver receives signals, the system transmits instructions to forcibly start the vehicles to automatically cruise.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses a system and a method for automatically and forcibly decelerating and limiting the speed of a vehicle, which force the vehicle to complete safe and automatic deceleration and speed limitation within a specified distance, avoid traffic conflict in the process of forced deceleration, have simple and efficient operation and accurate judgment, and avoid the condition of traffic conflict caused by the fact that the vehicle adopts improper braking deceleration.
In order to achieve the target effect, the invention adopts the following technical means:
a method for automatically and forcibly decelerating and limiting a speed of a vehicle, comprising the steps of:
step one, a speed-limiting signal transmitting module transmits real-time control information of a speed-limiting signal to a signal receiving module;
step two, the velometer reads the current speed V of the vehicle1And sending the V to a first judgment module which judges the V1And the speed limit value V0Making a comparison if V1＞V0If yes, executing a third step to perform forced deceleration on the vehicle, otherwise, executing a sixth step to perform speed limitation on the vehicle;
step three, the information preprocessing module calculates the maximum braking deceleration distance value D0In which the vehicle adjusts the braking deceleration a required for the speed limit range0And the current vehicle speed V is calculated1And braking deceleration a0The vehicle-mounted control system comprises a vehicle-mounted control module, a radar range finder, a radar velometer, a vehicle speed detector, a vehicle speed sensor and a vehicle speed sensor, wherein the vehicle-mounted control module is used for receiving vehicle speed information of a vehicle; the vehicle control module controls the speed V of the front vehicle2Rear vehicle speed V3Distance D between the vehicle and the front vehicle1And the distance D between the vehicle and the rear vehicle2Sending the data to a second judgment module;
step four, the second judgment module sends the judgment result to a braking deceleration calculation module, so that the optimal braking deceleration range value which should be executed by the vehicle is calculated on the premise that the vehicle does not collide with the front vehicle and the rear vehicle, and a forced deceleration instruction is sent to a voice broadcast actuator and a vehicle speed control actuator through a communication module;
step five, prompting a driver to enter a forced deceleration stage by a voice broadcasting actuator, adopting corresponding deceleration measures by a vehicle speed control actuator according to the optimal braking deceleration range value, controlling the vehicle engine power and ESC active braking, and controlling the vehicle engine power and ESC active braking at the maximum braking deceleration distance value D0Adjusting the vehicle speed to be within a speed limit range;
step six, when the current vehicle speed is within the speed limit range, the vehicle-mounted control module enables the current vehicle speed V1The speed limit instruction is sent to the communication module, the communication module sends the speed limit instruction to the vehicle speed control actuator and the voice broadcast actuator, the vehicle speed control actuator controls the power of the vehicle engine to enable the maximum speed of the vehicle not to exceed the speed limit value, and the voice broadcast actuator prompts a driver to limit the speed;
and step seven, the speed limit signal transmitting module transmits a speed limit removing signal, the signal receiving module receives the information and sends a speed limit removing instruction to the communication module, and the communication module sends the speed limit removing instruction to the voice broadcasting actuator and the vehicle speed control actuator to remove vehicle control.
Further, the speed limit information comprises a real-time speed limit V of the maintenance operation area0And the maximum braking deceleration distance value D of the vehicle0。
Further, the braking deceleration
Further, the braking deceleration range to be executed by the host vehicle without collision with the preceding and following vehicles includes a minimum braking deceleration of a1And a maximum braking deceleration of a2。
Further, the minimum braking decelerationDegree of rotation
Further, the maximum braking deceleration
Further, the braking deceleration range is based on V1And V2、V3The magnitude relation between the V and the V is judged when V is3<V1≤V2The range of the braking deceleration is a ∈ (a)0Infinity); when V is1≤V2And V is1≤V3The range of the braking deceleration is a ∈ (a)0,a2) (ii) a When V is1>V2And V is1>V3The range of the braking deceleration is a ∈ (max (a)0,a1) Infinity); when V is2＜V1≤V3The range of the braking deceleration is a ∈ (max (a)0,a1),a2)。
A system for automatically and forcibly decelerating and limiting the speed of a vehicle comprises a road side unit, a vehicle speed monitoring unit, a vehicle speed optimizing unit and a vehicle speed control unit which are sequentially connected, wherein the road side unit comprises a speed limiting signal control module and a speed limiting signal transmitting module which are connected; the speed monitoring unit comprises a signal receiving module, a first judging module, a speedometer and an information preprocessing module, wherein the signal receiving module is connected with the speed limiting signal transmitting module, the signal receiving module is also sequentially connected with the first judging module and the information preprocessing module, and the speedometer is connected with the first judging module; the vehicle speed optimizing unit comprises a radar range finder, a radar speed measurer, a vehicle-mounted control module, a second judgment module, a brake deceleration calculation module and a communication module, the information preprocessing module, the radar range finder and the radar speed measurer are connected with the vehicle-mounted control module, the vehicle-mounted control module is sequentially connected with the second judgment module and the brake deceleration calculation module, the signal receiving module, the vehicle-mounted control module and the brake deceleration calculation module are all connected with the communication module, the vehicle speed control unit comprises a voice broadcast actuator, a vehicle speed control actuator, an engine power control and an ESC active brake control, the communication module, the voice broadcast actuator and the vehicle speed control actuator are respectively connected, and the vehicle speed control actuator, the engine power control and the ESC active brake control are connected with each other
The invention has the beneficial effects that: the invention establishes communication between the vehicle and the roadside signal transmitter, obtains the speed and the distance of the front and rear vehicles by using the radar sensor of the vehicle, calculates the optimal braking deceleration range value required by the current vehicle to reach the speed limit value under the condition of avoiding traffic conflicts with the front and rear vehicles, controls the forced automatic deceleration of the vehicle and ensures that the speed limit value is not exceeded, and simultaneously, pre-warns and prompts a driver to automatically adjust the vehicle speed through a voice system. Therefore, the vehicle is guaranteed to pass through the high-speed maintenance operation area within a fixed distance and within a speed limit range of a road section by adjusting the speed, the driving safety of the high-speed road maintenance operation area is effectively improved, and road congestion and traffic accidents caused by sudden braking or sudden acceleration of the vehicle are reduced.
Drawings
FIG. 1 is a schematic structural diagram of an automatic forced deceleration and speed limit system for vehicles to avoid traffic conflicts in a highway maintenance area according to the present invention;
fig. 2 is an operation flow chart of an automatic forced deceleration and speed limit method for vehicles to avoid traffic conflicts in a highway maintenance area according to the invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments, but the scope of the present invention is not limited thereto.
As shown in FIG. 1, the invention relates to a vehicle automatic forced deceleration and speed limit system for avoiding traffic conflicts in a highway maintenance operation area, which comprises a road side unit, a vehicle speed monitoring unit, a vehicle speed optimization unit and a vehicle speed control unit; the road side unit is arranged in the highway maintenance operation area, and the vehicle speed monitoring unit, the vehicle speed optimizing unit and the vehicle speed control unit are arranged on the vehicle.
The road side unit comprises a speed limit signal control module and a limitThe speed signal transmitting module and the speed limiting signal control module are used for storing real-time control information of speed limiting signals, and the real-time control information of the speed limiting signals comprises a real-time speed limiting V of a highway maintenance operation area0The maximum braking deceleration distance D from the vehicle speed to the speed limit range is adjusted0And the speed limit signal transmitting module is used for transmitting the real-time control information of the speed limit signal to the passing vehicle to play a role in communication.
The vehicle speed monitoring unit comprises a signal receiving module, a first judging module, a velometer and an information preprocessing module, wherein the signal receiving module is used for receiving real-time control information of a speed limiting signal, the first judging module is used for judging the size between the current vehicle speed and a speed limiting value, namely judging whether the vehicle needs to adopt automatic forced deceleration and speed limitation, and the velometer is used for acquiring the current vehicle speed V of the vehicle1The information preprocessing module is used for calculating the maximum braking deceleration distance D0In-vehicle real-time speed limit V0Braking deceleration a0。
The vehicle speed optimization unit comprises a radar range finder, a radar velometer, a vehicle-mounted control module, a second judgment module, a braking deceleration calculation module and a communication module, wherein the radar range finder is used for measuring the real-time vehicle distance D between the current vehicle and the front and rear vehicles1、D2The radar velometer is used for acquiring the current speed V of the front vehicle and the rear vehicle2、V3The vehicle-mounted control module is used for receiving response data of the information preprocessing module, the radar range finder and the radar velometer and sending a speed limit instruction to the communication module, the second judging module is used for comparing the speeds of the front vehicle and the rear vehicle with the current vehicle, the braking deceleration calculating module is used for calculating the optimal braking deceleration range value of the vehicle, which does not collide with the front vehicle and the rear vehicle, and sending the information to the communication module, and the communication module is used for receiving the speed limit releasing instruction sent by the signal receiving module, the speed limit instruction sent by the vehicle-mounted control module and the optimal braking deceleration range value and the forced deceleration instruction sent by the braking deceleration calculating module and transmitting the information to the voice broadcasting actuator and the vehicle speed control actuator.
The vehicle speed control unit comprises a voice broadcast actuator, a vehicle speed control actuator, an engine power control unit and an ESC active braking control unit, wherein the voice broadcast actuator is used for receiving a forced deceleration instruction, a speed limit instruction and a speed limit release instruction sent by the communication module and prompting and early warning a driver by voice, the vehicle speed control actuator is used for receiving an optimal braking deceleration range value, a forced deceleration instruction, a speed limit instruction and a speed limit release instruction sent by the communication module and selecting a corresponding mode to control the forced deceleration and the speed limit of the vehicle, the engine power control unit is used for adjusting the driving moment of an engine of the vehicle, and the ESC active braking control unit is used for adjusting the braking.
The output of the speed-limiting signal control module is connected with the input of the speed-limiting signal transmitting module, the output of the speed-limiting signal transmitting module is connected with the input of the signal receiving module, the output of the signal receiving module and the output of the velometer are both connected with the input of the first judging module, the output of the first judging module is connected with the input of the information preprocessing module, the output of the information preprocessing module is connected with the input of the vehicle-mounted control module, the outputs of the radar range finder and the radar velometer are both connected with the input of the vehicle-mounted control module, the output of the vehicle-mounted control module is connected with the input of the second judging module, the output of the second judging module is connected with the input of the braking deceleration calculating module, the outputs of the signal receiving module, the vehicle-mounted control module and the braking deceleration calculating module are all connected with the input of the communication module, and the outputs of the communication module are, the vehicle speed control actuator is connected with the input of the engine power control and ESC active braking control.
As shown in fig. 2, an operation flowchart of a vehicle speed limit enforcement system and method for avoiding traffic conflicts in a highway maintenance area includes the following steps:
the method comprises the following steps: when the vehicle runs into the signal coverage range of the roadside unit, the speed-limiting signal transmitting module transmits the real-time control information of the speed-limiting signal to the signal receiving module, and the real-time control information of the speed-limiting signal comprises a real-time speed-limiting V of the expressway maintenance operation area0Adjusting the vehicle speed to the maximum braking deceleration distance value D in the speed limit range0And speed limit release information, the signal receiving module sends the speed limit signalAnd the real-time control information is sent to an information preprocessing module. Maximum deceleration distance value D0The concrete values are set in advance by the roadside unit according to road maintenance safety operation regulation (JTG H30-2015), and are shown in table 1:
TABLE 1 maximum deceleration distance values
Step two: speedometer reading vehicle current speed V1And sending the current speed V to a first judgment module1And the speed limit value V0Making a comparison, e.g. if V1＞V0If not, executing a step six, and if not, executing a step of limiting the speed of the vehicle.
Step three: the information preprocessing module calculates the value D of the maximum braking deceleration distance0In which the vehicle adjusts the braking deceleration required for the speed limit range
Will brake at a speed a0And the current vehicle speed V1Sending the vehicle distance information to a vehicle-mounted control module, sending the vehicle distance information of the vehicle and the front and rear vehicles to the vehicle-mounted control module by a radar range finder, sending the vehicle speed information of the front and rear vehicles to the vehicle-mounted control module by a radar speed measurer, and sending the vehicle speed V of the front vehicle to the vehicle-mounted control module by the vehicle-mounted control module2Rear vehicle speed V3Distance D between the vehicle and the front vehicle1And the distance D between the vehicle and the rear vehicle2And sending the data to a second judgment module.
Step four: the second judgment module sends the judgment result to the braking deceleration calculation module, the braking deceleration calculation module calculates the braking deceleration range value which should be executed on the premise that the vehicle does not collide with the front vehicle and the rear vehicle, and the minimum braking deceleration of the vehicle which does not collide with the front vehicle is a1The maximum braking deceleration of the vehicle in a non-collision state with the rear vehicle is a2The calculation formula is as follows:
according to V1And V2、V3The magnitude relation between the braking deceleration values is used for judging the range value of the braking deceleration required by the forced deceleration of the vehicle: when V is3<V1≤V2The range of the braking deceleration is a ∈ (a)0Infinity); when V is1≤V2And V is1≤V3The range of the braking deceleration is a ∈ (a)0,a2) (ii) a When V is1>V2And V is1>V3The range of the braking deceleration is a ∈ (max (a)0,a1) Infinity); when V is2＜V1≤V3The range of the braking deceleration is a ∈ (max (a)0,a1),a2) (ii) a The braking deceleration calculation module sends the optimal braking deceleration range value and the forced deceleration instruction to the voice broadcast actuator and the vehicle speed control actuator by using the communication module.
Step five: the voice broadcasting actuator sends a prompt to a driver that the vehicle is about to be forcibly decelerated to ask the driver to prepare in advance, the vehicle speed control actuator executes a forcible deceleration instruction according to the obtained optimal braking deceleration range value information, controls the vehicle engine power and the ESC to actively brake and take corresponding deceleration measures, and under the condition of avoiding traffic conflicts with front and rear vehicles, the maximum braking deceleration distance value D is obtained0The vehicle speed is adjusted to be within the range of the speed limit.
Step six: when the current vehicle speed is within the speed limit range, the vehicle-mounted control module enables the current vehicle speed V to be within the speed limit range1And the speed limit instruction is sent to the communication module, the communication module gives speed limit instructions to the vehicle speed control actuator and the voice broadcast actuator, the vehicle speed control actuator controls the power of the vehicle engine to enable the maximum speed of the vehicle not to exceed the speed given by the speed limit signal, other operations of a driver are not influenced, and the voice broadcast actuator prompts the driver to limit the speed.
Step seven: the speed limit signal transmitting module transmits a speed limit releasing signal, the signal receiving module receives information and transmits the speed limit releasing signal to the communication module, the communication module gives a speed limit releasing instruction to the vehicle speed control actuator and the voice broadcasting actuator, the vehicle speed control actuator releases the vehicle speed limit control, the voice broadcasting actuator prompts a driver to release the vehicle speed limit, and the driver can freely control the vehicle.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (5)
1. A method for automatically and forcibly decelerating and limiting the speed of a vehicle is characterized by comprising the following steps:
step one, a speed-limiting signal transmitting module transmits real-time control information of a speed-limiting signal to a signal receiving module;
step two, the velometer reads the current speed V of the vehicle1And sending the V to a first judgment module which judges the V1And the speed limit value V0Making a comparison if V1＞V0If yes, executing a third step to perform forced deceleration on the vehicle, otherwise, executing a sixth step to perform speed limitation on the vehicle;
step three, the information preprocessing module calculates the maximum braking deceleration distance value D0In which the vehicle adjusts the braking deceleration a required for the speed limit range0And the current vehicle speed V is calculated1And braking deceleration a0The vehicle-mounted control system comprises a vehicle-mounted control module, a radar range finder, a radar velometer, a vehicle speed detector, a vehicle speed sensor and a vehicle speed sensor, wherein the vehicle-mounted control module is used for receiving vehicle speed information of a vehicle; the vehicle control module controls the speed V of the front vehicle2Rear vehicle speed V3Distance D between the vehicle and the front vehicle1And the distance D between the vehicle and the rear vehicle2Sending the data to a second judgment module;
step four, the second judgment module sends the judgment result to a braking deceleration calculation module, so that the optimal braking deceleration range value which should be executed by the vehicle is calculated on the premise that the vehicle does not collide with the front vehicle and the rear vehicle, and a forced deceleration instruction is sent to a voice broadcast actuator and a vehicle speed control actuator through a communication module;
the braking deceleration range includes a minimum braking deceleration of a1And a maximum braking deceleration of a2(ii) a The minimum braking deceleration
Said maximum braking deceleration
Step five, prompting a driver to enter a forced deceleration stage by a voice broadcasting actuator, adopting corresponding deceleration measures by a vehicle speed control actuator according to the optimal braking deceleration range value, controlling the vehicle engine power and ESC active braking, and controlling the vehicle engine power and ESC active braking at the maximum braking deceleration distance value D0Adjusting the vehicle speed to be within a speed limit range;
step six, when the current vehicle speed is within the speed limit range, the vehicle-mounted control module enables the current vehicle speed V1The speed limit instruction is sent to the communication module, the communication module sends the speed limit instruction to the vehicle speed control actuator and the voice broadcast actuator, the vehicle speed control actuator controls the power of the vehicle engine to enable the maximum speed of the vehicle not to exceed the speed limit value, and the voice broadcast actuator prompts a driver to limit the speed;
and step seven, the speed limit signal transmitting module transmits a speed limit removing signal, the signal receiving module receives the information and sends a speed limit removing instruction to the communication module, and the communication module sends the speed limit removing instruction to the voice broadcasting actuator and the vehicle speed control actuator to remove vehicle control.
2. The method for automatically and forcibly decelerating and limiting the speed of a vehicle according to claim 1, wherein the speed limit information includes a real-time speed limit V of the maintenance work area0And maximum braking of the vehicleDeceleration distance value D0。
3. The method for automatically retarding forcibly decelerating and limiting speed of a vehicle according to claim 1, wherein said braking deceleration is performed in accordance with a predetermined braking schedule
4. The method for automatically retarding forcibly decelerating and limiting speed of a vehicle according to claim 1, wherein said braking deceleration range is according to V1And V2、V3The magnitude relation between the V and the V is judged when V is3<V1≤V2The range of the braking deceleration is a > a0(ii) a When V is1≤V2And V is1≤V3The range of the braking deceleration is a ∈ (a)0,a2) (ii) a When V is1>V2And V is1>V3The range of the braking deceleration is a > max (a)0,a1) (ii) a When V is2＜V1≤V3The range of the braking deceleration is a ∈ (max (a)0,a1),a2)。
5. The system for automatically and forcibly decelerating and limiting the speed of the vehicle according to claim 1, which comprises a road side unit, a vehicle speed monitoring unit, a vehicle speed optimizing unit and a vehicle speed control unit which are connected in sequence, wherein the road side unit comprises a speed limiting signal control module and a speed limiting signal transmitting module which are connected; the speed monitoring unit comprises a signal receiving module, a first judging module, a speedometer and an information preprocessing module, wherein the signal receiving module is connected with the speed limiting signal transmitting module, the signal receiving module is also sequentially connected with the first judging module and the information preprocessing module, and the speedometer is connected with the first judging module; the vehicle speed optimization unit comprises a radar range finder, a radar speed measurer, a vehicle-mounted control module, a second judgment module, a braking deceleration calculation module and a communication module, the information preprocessing module, the radar range finder and the radar speed measurer are connected with the vehicle-mounted control module, the vehicle-mounted control module is sequentially connected with the second judgment module and the braking deceleration calculation module, the signal receiving module, the vehicle-mounted control module and the braking deceleration calculation module are all connected with the communication module, the vehicle speed control unit comprises a voice broadcast actuator, a vehicle speed control actuator, an engine power control and an ESC active braking control, the communication module is respectively connected with the voice broadcast actuator and the vehicle speed control actuator, and the vehicle speed control actuator is connected with the engine power control and the ESC active braking control;
the first judging module is used for judging V1And the speed limit value V0Making a comparison if V1＞V0The vehicle performs forced deceleration, otherwise, the vehicle performs speed limiting;
the second judging module is used for judging the speed V of the vehicle1With front vehicle speed V2Rear vehicle speed V3The judgment result is sent to a braking deceleration calculation module, so that the optimal braking deceleration range value to be executed by the vehicle is calculated on the premise that the vehicle does not collide with the front vehicle and the rear vehicle, and a forced deceleration instruction is sent to a voice broadcast actuator and a vehicle speed control actuator through a communication module.
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| CN110349422A (en) * | 2019-08-19 | 2019-10-18 | 深圳成谷科技有限公司 | A kind of method, device and equipment of road weather warning |
| CN110745128B (en) * | 2019-09-18 | 2021-06-22 | 江苏大学 | Vehicle forced deceleration system based on minimum safe distance and control method |
| CN112650243B (en) * | 2020-12-22 | 2023-10-10 | 北京百度网讯科技有限公司 | Vehicle control method and device, electronic equipment and automatic driving vehicle |
| CN113276808B (en) * | 2021-05-19 | 2022-03-08 | 江铃汽车股份有限公司 | Active braking system control method and system |
| CN113602089A (en) * | 2021-07-29 | 2021-11-05 | 岚图汽车科技有限公司 | Method and device for controlling vehicle deceleration |
| CN115285083B (en) * | 2022-09-26 | 2023-07-28 | 苏州亚太精睿传动科技股份有限公司 | Vehicle braking system and vehicle braking method |
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| EP3044061B1 (en) * | 2013-09-11 | 2019-04-17 | Robert Bosch GmbH | Modifying adaptive cruise control to mitigate rear-end collisions |
| CN104925057A (en) * | 2015-06-26 | 2015-09-23 | 武汉理工大学 | Automotive self-adaptive cruising system with multi-mode switching system and control method thereof |
| CN106708040B (en) * | 2016-12-09 | 2019-10-08 | 重庆长安汽车股份有限公司 | Sensor module, automated driving system and the method for automated driving system |
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