CN109910871A - A kind of vehicle stabilization householder method and auxiliary device - Google Patents
A kind of vehicle stabilization householder method and auxiliary device Download PDFInfo
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- CN109910871A CN109910871A CN201910169526.5A CN201910169526A CN109910871A CN 109910871 A CN109910871 A CN 109910871A CN 201910169526 A CN201910169526 A CN 201910169526A CN 109910871 A CN109910871 A CN 109910871A
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Abstract
The embodiment of the present application provides a kind of vehicle stabilization householder method and auxiliary device, by the displacement information for monitoring vehicle brake pedal, to detect whether driver needs reduction of speed, and monitor that brake pedal generates the First Speed of the first displacement and generates the second speed of second displacement, the first compensation brake force is calculated according to First Speed and second speed, the travel speed of vehicle is controlled in the target braking force being calculated by the first compensation brake force and initial brake power, vehicle is kept to drive at a constant speed, without the frequent active operation of driver, it is simple and convenient, the operating burden of driver can be mitigated, driver is assisted to control the travel speed of vehicle, be conducive to improve traffic safety.
Description
Technical field
This application involves vehicle security drive technical fields, fill more particularly, to a kind of vehicle stabilization householder method and auxiliary
It sets.
Background technique
With the continuous development of science and technology, automobile has gradually entered into people's lives, becomes most of families not
The trip tool that can lack, and the safety of car steering and comfort are required with the increase of car ownership and people
The problem of raising, safety and comfort during car steering are also focused more on as people, the especially active of automobile
Safety (auxiliary driving technology), it has also become one of research emphasis of auto industry circle.
For automobile during descent run, due to the influence of the factors such as acceleration of gravity, will lead to speed can be increasingly
Fastly, serious or even generation is out of control, threatens vehicle safety and personal safety, and therefore, driver needs the moment to keep to braking
The control of pedal and/or gas pedal etc., driving experience abundant will be had by not requiring nothing more than driver, and increase driver's
Burden, takes time and effort, cumbersome.
Summary of the invention
In view of this, the application provides a kind of vehicle stabilization householder method and auxiliary device, to facilitate in vehicle in ramp
On when driving, driver can be assisted to control the travel speed of vehicle, mitigate the operating burden of driver, improve traffic safety.
The embodiment of the present application provides a kind of vehicle stabilization householder method, which comprises
Monitor the displacement information of vehicle brake pedal；
When institute's displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and
Controlling vehicle, corresponding initial brake power is braked when driving according to the First Speed；
When the brake pedal generates second displacement, the second speed of the vehicle is detected；
Based on the First Speed and the second speed, the first compensation brake force when the vehicle driving is calculated；
Based on the initial brake power and the first compensation brake force, the target braking when vehicle driving is calculated
Power；
Based on the target braking force, the travel speed of the vehicle is controlled.
Further, before the displacement information of the monitoring vehicle brake pedal, which comprises
Detect the angle between the driving direction and horizontal direction of the vehicle；
Based on the angle, determine that travel locating for the vehicle is descending road.
Further, the second displacement is position caused by the brake pedal resets after generating first displacement
It moves；Or
The second displacement is that the brake pedal is trampled generated displacement after generating first displacement again.
Further, described based on the target braking force, after the travel speed for controlling the vehicle, the method
Include:
If detecting, the ramp angles of travel locating for the vehicle change, the change based on the ramp angles
Change value calculates the second compensation brake force when the vehicle driving；
Based on the second compensation brake force, target braking force when to the vehicle driving is compensated, and makes
The vehicle driving is controlled with compensated target braking force.
Further, described based on the target braking force, after the travel speed for controlling the vehicle, the method
Include:
If detecting, the gas pedal of the vehicle generates displacement, and/or, if detecting travel road locating for the vehicle
Road is horizontal road, stops the monitoring to the displacement information of the brake pedal.
Further, described to be based on the target braking force, control the travel speed of the vehicle, comprising:
Based on the target braking force, braking moment corresponding with the target braking force and/or distributive value are calculated；
Based on the braking moment and/or distributive value, the travel speed of the vehicle is controlled.
The embodiment of the present application provides a kind of The vehicle stabilization servicing unit, and the auxiliary device includes:
Monitoring modular, for monitoring the displacement information of vehicle brake pedal；
Acquisition control module is used for when institute's displacement information shows that the brake pedal generates the first displacement, collecting vehicle
First Speed, and control vehicle corresponding initial brake power braked when driving according to the First Speed；
First detection module, for detecting the second speed of the vehicle when the brake pedal generates second displacement；
First computing module, for being based on the First Speed and the second speed, when calculating the vehicle driving
First compensation brake force；
Second computing module, for calculating the vehicle based on the initial brake power and the first compensation brake force
Target braking force when driving；
Control module controls the travel speed of the vehicle for being based on the target braking force.
Further, the auxiliary device further include:
Second detection module, the angle between driving direction and horizontal direction for detecting the vehicle；
Determining module determines that travel locating for the vehicle is descending road for being based on the angle.
Further, the second displacement is position caused by the brake pedal resets after generating first displacement
It moves；Or
The second displacement is that the brake pedal is trampled generated displacement after generating first displacement again.
Further, the auxiliary device further include:
Third computing module, if for detecting that the ramp angles of travel locating for the vehicle change, base
In the changing value of the ramp angles, the second compensation brake force when the vehicle driving is calculated；
Compensating module, for compensating brake force, target braking force when to the vehicle driving based on described second
It compensates, and controls the vehicle driving using compensated target braking force.
Further, the auxiliary device further include:
Stopping modular, if for detecting that the gas pedal of the vehicle generates displacement, and/or, if detecting the vehicle
Travel locating for is horizontal road, stops the monitoring to the displacement information of the brake pedal.
Further, the control module is specifically used for:
Based on the target braking force, braking moment corresponding with the target braking force and/or distributive value are calculated；
Based on the braking moment and/or distributive value, the travel speed of the vehicle is controlled.
The embodiment of the present application also provides a kind of electronic equipment, comprising: processor, memory and bus, the memory are deposited
Contain the executable machine readable instructions of the processor, when electronic equipment operation, the processor and the memory it
Between such as above-mentioned vehicle stabilization householder method is executed by bus communication, when the machine readable instructions are executed by the processor
The step of.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program executes when the computer program is run by processor such as the step of above-mentioned vehicle stabilization householder method.
Vehicle stabilization householder method provided by the embodiments of the present application and auxiliary device monitor the displacement letter of vehicle brake pedal
Breath；When institute's displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and control vehicle
According to the First Speed, corresponding initial brake power is braked when driving；When the brake pedal generates second displacement,
Detect the second speed of the vehicle；Based on the First Speed and the second speed, the when vehicle driving is calculated
One compensation brake force；Based on the initial brake power and the first compensation brake force, the target when vehicle driving is calculated
Brake force；Based on the target braking force, the travel speed of the vehicle is controlled.Compared with running mode in the prior art,
The application to detect whether driver needs reduction of speed, and monitors to brake by the displacement information of monitoring vehicle brake pedal
Pedal generates the First Speed of the first displacement and generates the second speed of second displacement, is calculated according to First Speed and second speed
First compensation brake force out is controlling vehicle by the first compensation brake force and the target braking force that is calculated of initial brake power
Travel speed, keep vehicle drive at a constant speed, be not necessarily to the frequent active operation of driver, it is simple and convenient, driving can be mitigated
The operating burden of member, auxiliary driver control the travel speed of vehicle, are conducive to improve traffic safety.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the system architecture diagram under a kind of possible application scenarios；
Fig. 2 is the flow chart for the vehicle stabilization householder method that one embodiment of the application provides；
Fig. 3 is the flow chart for the vehicle stabilization householder method that another embodiment of the application provides；
Fig. 4 is one of the structure chart of The vehicle stabilization servicing unit that one embodiment of the application provides；
Fig. 5 is the two of the structure chart for the The vehicle stabilization servicing unit that one embodiment of the application provides；
Fig. 6 is the three of the structure chart for the The vehicle stabilization servicing unit that one embodiment of the application provides；
Fig. 7 is the four of the structure chart for the The vehicle stabilization servicing unit that one embodiment of the application provides；
Fig. 8 is the structure chart for the electronic equipment that one embodiment of the application provides.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Firstly, the application application scenarios applicatory are introduced.This application can be applied to vehicle security drive skills
In art field, the state in vehicle travel process is controlled, to assist driver to control the travel speed etc. of vehicle, with
Reach the operating burden for mitigating driver, improves the purpose of traffic safety.Referring to Fig. 1, Fig. 1 is a kind of possible application scenarios
Under system composition.As shown in fig. 1, the system comprises the auxiliary device of vehicle and vehicle, auxiliary device is mounted to vehicle
On, it can detecte the data in the traveling of vehicle, thus according to the collected data, the running speed of auxiliary control vehicle.
It has been investigated that especially being travelled on ramp, such as descending during traditional driver drives vehicle driving
In the process, driver needs to reduce speed by the modes such as touching on the brake, and guarantees driving safety, but the speed of vehicle can be due to
At this moment the reasons such as the power acceleration of the gradient and vehicle in ramp itself just need so that the speed of vehicle still can be getting faster
Want driver is multiple to make the multiple reduction of speed of vehicle by the modes such as touch on the brake or step on the modes such as brake always, to keep vehicle
Speed be unlikely to too fast, may require that driver is frequently operated manually in this way, take time and effort, will increase driving for driver
Sail burden.
Based on this, the embodiment of the present application provides a kind of vehicle stabilization householder method and auxiliary device, can pass through detection system
Misalignment, the brake pedal of dynamic pedal generation generate the First Speed after displacement and the second speed after reset, and calculating needs
The target braking force of vehicle stabilization traveling is controlled to control the travel speed of vehicle, vehicle is helped to maintain and drives at a constant speed, nothing
The frequent active operation of driver is needed, it is simple and convenient, the operating burden of driver can be mitigated, auxiliary driver controls vehicle
Travel speed is conducive to improve traffic safety.
Referring to Fig. 2, Fig. 2 is the flow chart for the vehicle stabilization householder method that one embodiment of the application provides.Such as institute in Fig. 2
Show, vehicle stabilization householder method provided by the embodiments of the present application, comprising:
Step 201, the displacement information for monitoring vehicle brake pedal.
In the step, the auxiliary device can supervise the brake pedal of vehicle during vehicle driving in real time
It surveys, so that the displacement information of the brake pedal can be got when the brake pedal is trampled by driver.
Wherein, during vehicle driving, it can refer to that vehicle during travelling on ramp, refers in particular to vehicle and exists
The traveling of descending road.
Wherein, the displacement information for monitoring vehicle brake pedal can be through a displacement detector or brake switch etc.
It is detected.
In this way, can detecte out driver's reduction of speed whether in need by the displacement information of monitoring vehicle brake pedal
Wish, simple and effective, convenient degree is high.
Step 202, when institute's displacement information shows that the brake pedal generates the first displacement, acquire the first speed of vehicle
Degree, and control vehicle corresponding initial brake power is braked when driving according to the First Speed.
In the step, if the auxiliary device monitors the displacement information of the brake pedal, and the displacement is believed
The misalignment of the brake pedal shown in breath is that brake pedal produces the first displacement, it is believed that driver has stepped on institute
State brake pedal, the auxiliary device can the related datas such as driving status to vehicle be acquired, to acquire the braking
Then the First Speed of vehicle when pedal generates the first displacement can control the vehicle according to the First Speed when driving
Corresponding initial brake power is braked.
Wherein, the First Speed of the vehicle can be and be examined by a velocity sensor or wheel speed sensors etc.
Survey, the initial brake power can be to be detected to obtain by some detection sensor, be also possible to by detect described the
One speed is calculated.
Step 203, when the brake pedal generate second displacement when, detect the second speed of the vehicle.
In the step, after the brake pedal generates the first displacement, the auxiliary device still can be to the braking
The displacement information of pedal is monitored, so as to indicate that the brake pedal generates the in the obtained displacement information of monitoring
Two positions, at this point it is possible to be monitored to the operating status of the vehicle, to monitor the second speed of the vehicle.
Wherein, the second displacement of the brake pedal can be and generate the first displacement, i.e. driver in the brake pedal
After stepping on the brake pedal, displacement that the brake pedal generates during reset.
Alternatively, the second displacement of the brake pedal, can also be and generate the first displacement in the brake pedal, that is, drive
It is that the requirement for reaching driver or driver need again due to reduction of speed etc. slowing down after member steps on the brake pedal,
Driver tramples generated displacement after the brake pedal again.
In this way, during using the auxiliary device assisting vehicle travel, if driver needs the row to vehicle
Speed is sailed further to be adjusted, when further reduction of speed, auxiliary device can after driver's brake pedal, into
One step is detected, and carries out auxiliary control to vehicle so as to subsequent, the multistage control of calm realization car speed, simply just
It is prompt.
Wherein, the second speed of the vehicle can be velocity sensor or wheel by detecting the First Speed
Fast sensor etc. is detected, and can also be detected by individual velocity sensor or wheel speed sensors etc..
Step 204 is based on the First Speed and the second speed, calculates the first compensation system when the vehicle driving
Power.
In the step, on gug road when driving, the speed of the vehicle can be continuously increased, and the brake pedal generates
Second displacement is produced after first displacement, and caused initial brake power has been not sufficient to ensure that the vehicle at the uniform velocity or has stablized row
It sails, at this moment, the auxiliary device is after obtaining the First Speed and the second speed, so that it may use first speed
Degree and the second speed, to calculate the first compensation brake force when the vehicle driving.
Wherein, the first compensation brake force when the vehicle driving is calculated, can be first according to the First Speed and institute
It states second speed and calculates speed difference, calculate the first compensation brake force further according to speed difference, be also possible to calculate separately out
The second braking torque that the first braking torque that one speed needs, i.e., the described initial brake power and second speed need, in basis
The first compensation brake force is calculated in first braking New York and the second braking torque.
Step 205 compensates brake force based on the initial brake power and described first, calculates the mesh when vehicle driving
Mark brake force.
In the step, the auxiliary device can be used described first after calculating to the first compensation brake force
Brake force and the initial brake power are compensated, to calculate the vehicle in the target system for needing to keep the First Speed traveling
Power.
It, can be in this way, obtain the target braking force in vehicle travel process by the real-time detection to vehicle travel process
Effectively the driving status of vehicle is corrected in real time, to guarantee that stablizing for vehicle travels.
Step 206 is based on the target braking force, controls the travel speed of the vehicle.
In the step, after the target braking force is obtained by calculation in the auxiliary device, so that it may according to the target
Brake force controls the driving condition of the vehicle, come control the control vehicle according to the target braking force phase
Corresponding travel speed is travelled.
Wherein, the travel speed of the vehicle is controlled, it can be by brake apparatus such as brake calipers, to be applied to the vehicle
Add the target braking force, to control the travel speed of the vehicle.
Wherein, the travel speed for controlling the vehicle, can be the control vehicle stabilization allows to travel, and is also possible to
Control the stopping of the vehicle stabilization, it can not flame-out and stable in the case where not having to hand brake parking.
Vehicle stabilization householder method provided by the embodiments of the present application, monitors the displacement information of vehicle brake pedal；When described
When displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and control vehicle according to this
First Speed when driving braked by corresponding initial brake power；When the brake pedal generates second displacement, described in detection
The second speed of vehicle；Based on the First Speed and the second speed, the first compensation system when the vehicle driving is calculated
Power；Based on the initial brake power and the first compensation brake force, the target braking force when vehicle driving is calculated；Base
In the target braking force, the travel speed of the vehicle is controlled.
Compared with running mode in the prior art, the application passes through the displacement information of monitoring vehicle brake pedal, to examine
It surveys whether driver needs reduction of speed, and monitors that brake pedal generates the First Speed of the first displacement and generates second displacement
Second speed calculates the first compensation brake force according to First Speed and second speed, by the first compensation brake force and just
The target braking force that beginning brake force is calculated controls the travel speed of vehicle, keeps vehicle to drive at a constant speed, is not necessarily to driver
Frequent active operation, it is simple and convenient, the operating burden of driver can be mitigated, auxiliary driver controls the traveling speed of vehicle
Degree is conducive to improve traffic safety.
Referring to Fig. 3, Fig. 3 is the flow chart for the vehicle stabilization householder method that another embodiment of the application provides.In Fig. 3
It is shown, vehicle stabilization householder method provided by the embodiments of the present application, comprising:
Angle between step 301, the driving direction and horizontal direction of the detection vehicle.
In the step, the auxiliary device can examine the vehicle in real time during the vehicle driving
Survey, come obtain the vehicle driving direction angle, so as to detect the traveling side of the vehicle by calculating etc.
To the angle between horizontal direction.
Wherein, the angle between the driving direction and horizontal direction of the vehicle is detected, can be through ramp sensor
Or level meter sensor etc. is detected.
Step 302 is based on the angle, determines that travel locating for the vehicle is descending road.
In the step, the auxiliary device is after detecting the angle, so that it may according to according to the angle, determine institute
Stating travel locating for vehicle is descending road.
In this way, by plus the angle that measures determine vehicle whether traveling is on gug road, so as to accurately start
To the auxiliary device of vehicle, vehicle stabilization operation is effectively assisted.
Step 303, the displacement information for monitoring vehicle brake pedal.
Step 304, when institute's displacement information shows that the brake pedal generates the first displacement, acquire the first speed of vehicle
Degree, and control vehicle corresponding initial brake power is braked when driving according to the First Speed.
Step 305, when the brake pedal generate second displacement when, detect the second speed of the vehicle.
Step 306 is based on the First Speed and the second speed, calculates the first compensation system when the vehicle driving
Power.
Step 307 compensates brake force based on the initial brake power and described first, calculates the mesh when vehicle driving
Mark brake force.
Step 308 is based on the target braking force, controls the travel speed of the vehicle.
Wherein, the description of step 303 to step 308 is referred to the description of step 201 to step 206, does not do to this superfluous
It states.
Optionally, after step 307, which comprises
If detecting, the ramp angles of travel locating for the vehicle change, the change based on the ramp angles
Change value calculates the second compensation brake force when the vehicle driving；Based on the second compensation brake force, to the vehicle driving
When the target braking force compensate, and control the vehicle driving using compensated target braking force.
In the step, after the target braking force is calculated, the auxiliary device can continue the auxiliary device
The driving condition of the vehicle is detected, if the auxiliary device detects the slope of travel locating for the vehicle
If road angle changes, the auxiliary device can get the changing value of ramp angles by detecting, then according to slope
The changing value of road angle to calculate the second compensation brake force when the vehicle driving, and compensates brake force using described second,
Target braking force when to the vehicle driving compensates, and then can be controlled using compensated target braking force
Vehicle driving processed, with this come assist driver drive vehicle.
Wherein, vehicle driving is when on gug, when the angle for detecting ramp becomes larger, then just needing increase appropriate
The brake force of vehicle, to keep stablizing for vehicle to travel, on the contrary, if detecting that the angle in ramp becomes smaller, then just needing
The brake force appropriate for reducing vehicle.
Optionally, after step 308, which comprises
If detecting, the gas pedal of the vehicle generates displacement, and/or, if detecting travel road locating for the vehicle
Road is horizontal road, stops the monitoring to the displacement information of the brake pedal.
In the step, after the target braking force is calculated, the auxiliary device can continue the auxiliary device
The driving condition of the vehicle is detected, if the auxiliary device detects that the gas pedal of the vehicle generates position
It moves, and/or, if detecting, travel locating for the vehicle is horizontal road, then the auxiliary device can stop
Monitoring to the displacement information of the brake pedal, to stop the back work to vehicle driving.
Optionally, described to be based on the target braking force, control the travel speed of the vehicle, comprising:
Based on the target braking force, braking moment corresponding with the target braking force and/or distributive value are calculated；
Based on the braking moment and/or distributive value, the travel speed of the vehicle is controlled.
In the step, the auxiliary device can determine vehicle by calculating after the target braking force is calculated
Traveling during, braking moment and/or distributive value required for maintaining the target braking force are needed, then according to
Braking moment and/or distributive value, the brake caliper of adjustable vehicle, to realize the application of the braking moment, and/or adjustment spray
The distributive value of oil nozzle is to distributive value corresponding with the target braking force.
Vehicle stabilization householder method provided by the embodiments of the present application, detect the vehicle driving direction and horizontal direction it
Between angle；Based on the angle, determine that travel locating for the vehicle is descending road；Monitor vehicle brake pedal
Displacement information；When institute's displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and
Controlling vehicle, corresponding initial brake power is braked when driving according to the First Speed；When the brake pedal generates second
When shifting, the second speed of the vehicle is detected；Based on the First Speed and the second speed, when calculating the vehicle driving
First compensation brake force；Based on the initial brake power and the first compensation brake force, when calculating the vehicle driving
Target braking force；Based on the target braking force, the travel speed of the vehicle is controlled.
Compared with running mode in the prior art, the application is by detecting that vehicle driving when on gug road, is supervised
The displacement that brake pedal generates is surveyed, to detect whether driver needs reduction of speed, and monitors that brake pedal generates the first displacement
First Speed and generate second displacement second speed, according to First Speed and second speed calculate the first compensation braking
Power controls the travel speed of vehicle in the target braking force being calculated by the first compensation brake force and initial brake power,
It keeps vehicle to drive at a constant speed, is not necessarily to the frequent active operation of driver, it is simple and convenient, the operating burden of driver can be mitigated,
It assists driver to control the travel speed of vehicle, is conducive to improve traffic safety.
Referring to Fig. 4, Fig. 4 is one of the structure chart of The vehicle stabilization servicing unit that one embodiment of the application provides, Fig. 5 is
Two, Fig. 6 of the structure chart for the The vehicle stabilization servicing unit that one embodiment of the application provides is the vehicle that one embodiment of the application provides
Three, Fig. 7 of the structure chart for stablizing auxiliary device is the structure chart of The vehicle stabilization servicing unit that one embodiment of the application provides
Four.As shown in Figure 4, the auxiliary device 400 includes:
Monitoring modular 410, for monitoring the displacement information of vehicle brake pedal.
Acquisition control module 420, for acquiring when institute's displacement information shows that the brake pedal generates the first displacement
The First Speed of vehicle, and control vehicle corresponding initial brake power is braked when driving according to the First Speed.
First detection module 430, for when the brake pedal generates second displacement, detecting the second speed of the vehicle
Degree.
First computing module 440, for being based on the First Speed and the second speed, when calculating the vehicle driving
First compensation brake force.
Second computing module 450, for calculating the vehicle based on the initial brake power and the first compensation brake force
Target braking force when driving.
Control module 460 controls the travel speed of the vehicle for being based on the target braking force.
Further, as shown in Figure 5, the auxiliary device 400 further include:
Second detection module 470, the angle between driving direction and horizontal direction for detecting the vehicle.
Determining module 480 determines that travel locating for the vehicle is descending road for being based on the angle.
Further, the second displacement is position caused by the brake pedal resets after generating first displacement
It moves；
Alternatively, the second displacement is caused by the brake pedal is trampled again after generating first displacement
Displacement.
Further, as shown in Figure 6, the auxiliary device 400 further include:
Third computing module 401, if for detecting that the ramp angles of travel locating for the vehicle change,
Based on the changing value of the ramp angles, the second compensation brake force when the vehicle driving is calculated.
Compensating module 402, for the target braking based on the second compensation brake force, when to the vehicle driving
Power compensates.
Further, as shown in Figure 7, the auxiliary device 400 further include:
Stopping modular 403, if for detecting that the gas pedal of the vehicle generates displacement, and/or, if detecting described
Travel locating for vehicle is horizontal road, stops the monitoring to the displacement information of the brake pedal.
Further, the control module 460 is specifically used for:
Based on the target braking force, braking moment corresponding with the target braking force and/or distributive value are calculated；
Based on the braking moment and/or distributive value, the travel speed of the vehicle is controlled.
The vehicle stabilization auxiliary in embodiment as shown in Figures 2 and 3 may be implemented in auxiliary device 400 in the present embodiment
The all methods step of method, and can achieve identical effect, this will not be repeated here.
The vehicle stabilization servicing unit provided by the embodiments of the present application, by the displacement information for monitoring vehicle brake pedal；When
When institute's displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and control vehicle and press
According to the First Speed, corresponding initial brake power is braked when driving；When the brake pedal generates second displacement, detection
The second speed of the vehicle；It is mended based on the First Speed and the second speed, first when calculating the vehicle driving
Repay brake force；Based on the initial brake power and the first compensation brake force, the target braking when vehicle driving is calculated
Power；Based on the target braking force, the travel speed of the vehicle is controlled.
Compared with running mode in the prior art, the application passes through the displacement information of monitoring vehicle brake pedal, to examine
It surveys whether driver needs reduction of speed, and monitors that brake pedal generates the First Speed of the first displacement and generates second displacement
Second speed calculates the first compensation brake force according to First Speed and second speed, by the first compensation brake force and just
The target braking force that beginning brake force is calculated controls the travel speed of vehicle, keeps vehicle to drive at a constant speed, is not necessarily to driver
Frequent active operation, it is simple and convenient, the operating burden of driver can be mitigated, auxiliary driver controls the traveling speed of vehicle
Degree is conducive to improve traffic safety.
Referring to Fig. 8, Fig. 8 is the structure chart for the electronic equipment that one embodiment of the application provides.As shown in Figure 8, described
Electronic equipment 800 includes processor 810, memory 820 and bus 830.
The memory 820 is stored with the executable machine readable instructions of the processor 810, when electronic equipment 800 is transported
When row, communicated between the processor 810 and the memory 820 by bus 830, the machine readable instructions are by the place
When managing the execution of device 810, the step of the vehicle stabilization householder method in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 3 can be executed
Suddenly, specific implementation can be found in embodiment of the method, and details are not described herein.
The embodiment of the present application also provides a kind of computer readable storage medium, stores on the computer readable storage medium
There is computer program, the implementation of the method as shown in above-mentioned Fig. 2 and Fig. 3 can be executed when the computer program is run by processor
Example in vehicle stabilization householder method the step of, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.In addition, each in the application
Each functional unit in embodiment can integrate in one processing unit, is also possible to each unit and physically exists alone,
It can be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of vehicle stabilization householder method, which is characterized in that the described method includes:
The displacement information of monitoring car brake pedal；
When institute's displacement information shows that the brake pedal generates the first displacement, the First Speed of vehicle is acquired, and control
Vehicle according to the First Speed, braked when driving by corresponding initial brake power；
When the brake pedal generates second displacement, the second speed of the vehicle is detected；
Based on the First Speed and the second speed, the first compensation brake force when the vehicle driving is calculated；
Based on the initial brake power and the first compensation brake force, the target braking force when vehicle driving is calculated；
Based on the target braking force, the travel speed of the vehicle is controlled.
2. the method as described in claim 1, which is characterized in that before the displacement information of the monitoring vehicle brake pedal,
The described method includes:
Detect the angle between the driving direction and horizontal direction of the vehicle；
Based on the angle, determine that travel locating for the vehicle is descending road.
3. method according to claim 1 or 2, which is characterized in that the second displacement is generating institute for the brake pedal
Generated displacement is resetted after stating the first displacement；Or
The second displacement is that the brake pedal is trampled generated displacement after generating first displacement again.
4. method according to claim 1 or 2, which is characterized in that be based on the target braking force described, control the vehicle
Travel speed after, which comprises
If detecting, the ramp angles of travel locating for the vehicle change, the variation based on the ramp angles
Value calculates the second compensation brake force when the vehicle driving；
Based on the second compensation brake force, the target braking force is compensated, and use compensated target braking force
Control the vehicle driving.
5. method according to claim 1 or 2, which is characterized in that be based on the target braking force described, control the vehicle
Travel speed after, which comprises
If detecting, the gas pedal of the vehicle generates displacement, and/or, if detecting, travel locating for the vehicle is
Horizontal road stops the monitoring to the displacement information of the brake pedal.
6. such as the described in any item methods of claim 1 and 2, which is characterized in that it is described to be based on the target braking force, control institute
State the travel speed of vehicle, comprising:
Based on the target braking force, braking moment corresponding with the target braking force and/or distributive value are calculated；
Based on the braking moment and/or distributive value, the travel speed of the vehicle is controlled.
7. a kind of The vehicle stabilization servicing unit, which is characterized in that the auxiliary device includes:
Monitoring modular, for monitoring the displacement information of vehicle brake pedal；
Acquisition control module, for acquiring vehicle when institute's displacement information shows that the brake pedal generates the first displacement
First Speed, and control vehicle corresponding initial brake power is braked when driving according to the First Speed；
First detection module, for detecting the second speed of the vehicle when the brake pedal generates second displacement；
First computing module calculates first when the vehicle driving for being based on the First Speed and the second speed
Compensate brake force；
Second computing module, for calculating the vehicle driving based on the initial brake power and the first compensation brake force
When target braking force；
Control module controls the travel speed of the vehicle for being based on the target braking force.
8. auxiliary device as claimed in claim 7, which is characterized in that the auxiliary device further include:
Second detection module, the angle between driving direction and horizontal direction for detecting the vehicle；
Determining module determines that travel locating for the vehicle is descending road for being based on the angle.
9. auxiliary device as claimed in claim 7 or 8, which is characterized in that
The second displacement is displacement caused by the brake pedal resets after generating first displacement；Or
The second displacement is that the brake pedal is trampled generated displacement after generating first displacement again.
10. auxiliary device as claimed in claim 7 or 8, which is characterized in that the auxiliary device further include:
Third computing module, if being based on institute for detecting that the ramp angles of travel locating for the vehicle change
The changing value for stating ramp angles calculates the second compensation brake force when the vehicle driving；
Control module is compensated, for compensating brake force, target braking force when to the vehicle driving based on described second
It compensates, and controls the vehicle driving using compensated target braking force.
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| CN201910169526.5A CN109910871B (en) | 2019-03-06 | 2019-03-06 | Vehicle stability auxiliary method and auxiliary device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910169526.5A CN109910871B (en) | 2019-03-06 | 2019-03-06 | Vehicle stability auxiliary method and auxiliary device |
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| CN109910871B (en) | 2020-10-27 |
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