CN109927720A - A kind of dynamic brake auxiliary control method, apparatus and system - Google Patents
A kind of dynamic brake auxiliary control method, apparatus and system Download PDFInfo
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- CN109927720A CN109927720A CN201910226356.XA CN201910226356A CN109927720A CN 109927720 A CN109927720 A CN 109927720A CN 201910226356 A CN201910226356 A CN 201910226356A CN 109927720 A CN109927720 A CN 109927720A
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Abstract
The present invention relates to vehicle braking ancillary technique field, specifically a kind of dynamic brake auxiliary control method, apparatus and system, which comprises obtain vehicle and the relative status information of objects ahead object and the operation information of driver；Risk of collision is judged whether there is according to the relative status information and the operation information；If there is risk of collision, then the request deceleration of brake monitor transmission is obtained；Collision avoidance deceleration is calculated according to the relative status information and preset minimum safe distance；Desired deceleration is determined according to the request deceleration and the collision avoidance deceleration, and the desired deceleration is sent to brake monitor, so that the brake monitor carries out control for brake to vehicle according to the desired deceleration.A kind of dynamic brake auxiliary control method of the invention, apparatus and system can accurately judge the degree of risk of target, preferably avoid because mistake braking bring driver safety problem, user experience are more preferable.
Description
Technical field
The present invention relates to vehicle braking ancillary technique field, in particular to a kind of dynamic brake auxiliary control method, device
And system.
Background technique
With social progress development in science and technology and improvement of living standard, automobile starts to enter into general as the vehicles of people
The quickening of long and deep friendship between two families front yard, especially urbanization, more and more automobiles appear in us at one's side, and traffic safety problem hidden danger increases year by year
Long, the life security of people is also faced with more acute challenge.Therefore the safety of automobile is increasingly by market and user
Concern, automotive safety theory are also gradually changing.Automotive safety is divided into two kinds of active safety, passive security at present, actively
Safe design is that accident occurs for preventing car, avoids personnel from coming to harm and the safe design taken.
Along with the intelligentized continuous development of vehicle, more and more drive assistance functions are applied to real vehicle, for drop
Low driving fatigue, improving driving safety has very big help.Wherein, braking auxiliary or emergency braking system are to reducing and avoid to chase after
The generation of tail accident can play great role.Existing braking ancillary technique is based primarily upon the weight that driver steps on brake pedal
Emergency judges whether be currently emergency braking, i.e., forms variable quantity and rate of change or master cylinder pressure variation by brake pedal
Amount to determine whether need to provide additional brake force for driver, is avoided some urgent with rate of change by this means
In the case of the hypodynamic situation of operator brake.But this method easily determines error, causes not needing to be assisted some
In the case where assisted still according to maximum deceleration, be easy to cause safety problem, and user experience is poor.
Summary of the invention
In view of the above problems in the prior art, the purpose of the present invention is to provide a kind of dynamic brake auxiliary control method,
Apparatus and system can accurately judge the degree of risk of target, preferably avoid because of mistake braking bring driver peace
Full problem.
To solve the above-mentioned problems, the present invention provides a kind of dynamic brake auxiliary control method, comprising:
Obtain vehicle and the relative status information of objects ahead object and the operation information of driver；
Risk of collision is judged whether there is according to the relative status information and the operation information；
If there is risk of collision, then the request deceleration of brake monitor transmission is obtained；
Collision avoidance deceleration is calculated according to the relative status information and preset minimum safe distance；
Desired deceleration is determined according to the request deceleration and the collision avoidance deceleration, and the desired deceleration is sent out
Brake monitor is given, so that the brake monitor carries out control for brake to vehicle according to the desired deceleration.
Further, described to determine that desired deceleration includes: according to the request deceleration and the collision avoidance deceleration
Determine the degree of risk of the risk of collision；
Multiplication factor is obtained according to the degree of risk；
Times speed of increasing and decrease is calculated according to the request deceleration and the multiplication factor；
Compare the size of times speed of increasing and decrease and the collision avoidance deceleration；
If described times of speed of increasing and decrease is greater than the collision avoidance deceleration, using the collision avoidance deceleration as desired deceleration；
If described times of speed of increasing and decrease is less than or equal to the collision avoidance deceleration, by times speed of increasing and decrease as target deceleration
Degree.
Specifically, it is described according to the degree of risk obtain multiplication factor include: according to the degree of risk from first number
Multiplication factor corresponding with the degree of risk is obtained according to inquiry in table, first tables of data is for recording the degree of risk
With the mapping relations of multiplication factor.
Further, the operation information includes direction information, throttle information and brake information；
It is described risk of collision is judged whether there is according to the relative status information and the operation information to include:
The reaction time of driver is determined according to the direction information, throttle information and brake information；
Risk of collision is judged whether there is according to the relative status information and the reaction time.
Further, the relative status information includes relative distance and relative velocity；
It is described to include: according to the relative status information and preset minimum safe distance calculating collision avoidance deceleration
Collision time is calculated according to the relative distance and the relative velocity；
Collision avoidance deceleration is calculated according to the collision time and the minimum safe distance.
Further, the request deceleration is calculated according to wheel speed information and is obtained.
Another aspect of the present invention protects a kind of dynamic brake sub-controlling unit, comprising:
First acquisition unit, for obtaining the relative status information of vehicle and objects ahead object and the operation letter of driver
Breath；
Judging unit, for judging whether there is risk of collision according to the relative status information and the operation information；
Second acquisition unit, for when there are risk of collision, then obtaining the request deceleration of brake monitor transmission；
Computing unit, for calculating collision avoidance deceleration according to the relative status information and preset minimum safe distance；
Processing unit, for determining desired deceleration according to the request deceleration and the collision avoidance deceleration, and by institute
It states desired deceleration and is sent to brake monitor, so that the brake monitor is according to the desired deceleration to vehicle system
Dynamic control.
Another aspect of the present invention protects a kind of dynamic brake auxiliary system, including data acquisition device, entire car controller and
Brake monitor, the entire car controller are electrically connected with the data acquisition device and the brake monitor respectively, the system
Movement controller is electrically connected with the brake；
The data acquisition device, for acquiring vehicle and the relative status information of objects ahead object and the behaviour of driver
Make information, and the relative status information and the operation information are sent to entire car controller；
The entire car controller, for judging whether there is collision according to the relative status information and the operation information
Risk calculates collision avoidance deceleration according to the relative status information and preset minimum safe distance when there are risk of collision,
And the request deceleration and the collision avoidance deceleration sent according to brake monitor determines desired deceleration, and by the target
Deceleration is sent to the brake monitor；
The brake monitor, for when there are risk of collision, computation requests deceleration, and by the request deceleration
It is sent to the entire car controller, and control for brake is carried out to vehicle according to the desired deceleration that the entire car controller is sent.
Further, the data acquisition device includes camera, radar and sensor module.
Another aspect of the present invention protects a kind of automobile, including a kind of above-mentioned dynamic brake auxiliary system.
Due to above-mentioned technical proposal, the invention has the following advantages:
A kind of dynamic brake auxiliary control method of the invention, apparatus and system can pass through vehicle and objects ahead object
Relative status information and the operation information of driver accurately judge the degree of risk of target, and according to the request with driver
The output of desired deceleration is completed in the comparison of deceleration, is improved the accuracy of braking auxiliary, is preferably avoided wrong braking
The safety problem of bring driver improves the user experience of vehicle driver.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of flow chart of dynamic brake auxiliary control method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of dynamic brake sub-controlling unit provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of dynamic brake auxiliary system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1
Reference book attached drawing 1 and Fig. 2, the present embodiment provides a kind of dynamic brake auxiliary control methods, comprising:
Obtain vehicle and the relative status information of objects ahead object and the operation information of driver；
Risk of collision is judged whether there is according to the relative status information and the operation information；
If there is risk of collision, then the request deceleration of brake monitor transmission is obtained；
Collision avoidance deceleration is calculated according to the relative status information and preset minimum safe distance；
Desired deceleration is determined according to the request deceleration and the collision avoidance deceleration, and the desired deceleration is sent out
Brake monitor is given, so that the brake monitor carries out control for brake to vehicle according to the desired deceleration.
In the embodiment of the present invention, the vehicle and the relative status information of objects ahead object and the operation information of driver
It can be collected by the camera, radar and sensor module being set on vehicle.In a possible embodiment, institute
State the image or video information of camera acquisition objects ahead object；The radar includes millimetre-wave radar, acquisition vehicle with
The relative status information of objects ahead object, the relative status information include relative distance, relative velocity, relative acceleration；
The operation information and wheel speed information of sensor module acquisition driver, the operation information include direction information,
Throttle information and brake information.
Further, the operation information includes direction information, throttle information and brake information；
It is described risk of collision is judged whether there is according to the relative status information and the operation information to include:
The reaction time of driver is determined according to the direction information, throttle information and brake information；
Risk of collision is judged whether there is according to the relative status information and the reaction time.
In the embodiment of the present invention, the relative status information may include opposite transverse and longitudinal distance, opposite transverse and longitudinal speed
And opposite transverse and longitudinal acceleration.It can judge to drive in the operation (turning to, throttle, brake) of nearest a period of time according to driver
The current participation of the person of sailing, determines the reaction time of driver, in conjunction with the opposite transverse and longitudinal distance, opposite transverse and longitudinal speed
And opposite transverse and longitudinal acceleration judges whether there is risk of collision.
Further, the request deceleration is calculated according to wheel speed information and is obtained.
In the embodiment of the present invention, vehicle deceleration can be calculated by wheel speed information, and will based on vehicle braking
Wheel deceleration before beginning estimates road gradient, calculates asking for driver according to the vehicle deceleration and the road gradient
Seek deceleration.
In a possible embodiment, it can also be stepped on by detecting the stroke sensor acquisition braking of brake-pedal travel
Plate stroke calculates the request deceleration as brake operation amount, and according to the brake operation amount.
Further, the relative status information includes relative distance and relative velocity；
It is described to include: according to the relative status information and preset minimum safe distance calculating collision avoidance deceleration
Collision time is calculated according to the relative distance and the relative velocity；
Collision avoidance deceleration is calculated according to the collision time and the minimum safe distance.
In the embodiment of the present invention, collision avoidance deceleration can be calculated according to the following formula:
Wherein, a is collision avoidance deceleration, dminFor minimum safe distance, t is collision time.
Further, described to determine that desired deceleration includes: according to the request deceleration and the collision avoidance deceleration
Determine the degree of risk of the risk of collision；
Multiplication factor is obtained according to the degree of risk；
Times speed of increasing and decrease is calculated according to the request deceleration and the multiplication factor；
Compare the size of times speed of increasing and decrease and the collision avoidance deceleration；
If described times of speed of increasing and decrease is greater than the collision avoidance deceleration, using the collision avoidance deceleration as desired deceleration；
If described times of speed of increasing and decrease is less than or equal to the collision avoidance deceleration, by times speed of increasing and decrease as target deceleration
Degree.
Specifically, it is described according to the degree of risk obtain multiplication factor include: according to the degree of risk from first number
Multiplication factor corresponding with the degree of risk is obtained according to inquiry in table, first tables of data is for recording the degree of risk
With the mapping relations of multiplication factor.
It, can be according to reaction time of driver, the opposite transverse and longitudinal distance, opposite transverse and longitudinal in the embodiment of the present invention
Speed and opposite transverse and longitudinal acceleration, derive degree of risk in conjunction with vehicle brake model.In a possible embodiment, institute
Low-risk, risk and high risk three grades can be divided by stating degree of risk, the corresponding multiplication factor of the low risk level
It can be set to 1.5 times, the corresponding multiplication factor of the risk grade can be set to 2 times, and the high-risk grade is corresponding
Multiplication factor can be set to 3 times.
It in the embodiment of the present invention, is treated deceleration as positive value, when the request deceleration calculation of driver is 2m/s2,
The collision avoidance deceleration calculation is 8m/s2, when the degree of risk is determined as risk as example, the multiplication factor judgement
It is 2 times, then times speed of increasing and decrease is 4m/s2, then the relatively more described times speed of increasing and decrease and the collision avoidance deceleration, take lesser institute
Times speed of increasing and decrease is stated as desired deceleration, i.e. desired deceleration is 4m/s2。
On the other hand the present embodiment provides a kind of dynamic brake sub-controlling unit, comprising:
First acquisition unit, for obtaining the relative status information of vehicle and objects ahead object and the operation letter of driver
Breath；
Judging unit, for judging whether there is risk of collision according to the relative status information and the operation information；
Second acquisition unit, for when there are risk of collision, then obtaining the request deceleration of brake monitor transmission；
Computing unit, for calculating collision avoidance deceleration according to the relative status information and preset minimum safe distance；
Processing unit, for determining desired deceleration according to the request deceleration and the collision avoidance deceleration, and by institute
It states desired deceleration and is sent to brake monitor, so that the brake monitor is according to the desired deceleration to vehicle system
Dynamic control.
Embodiment 2
Reference book attached drawing 3, the present embodiment provides a kind of dynamic brake auxiliary system, including it is data acquisition device, whole
Vehicle controller and brake monitor, the entire car controller are electrically connected with the data acquisition device and the brake monitor respectively
It connects, the brake monitor is electrically connected with the brake；
The data acquisition device, for acquiring vehicle and the relative status information of objects ahead object and the behaviour of driver
Make information, and the relative status information and the operation information are sent to entire car controller；
The entire car controller, for judging whether there is collision according to the relative status information and the operation information
Risk calculates collision avoidance deceleration according to the relative status information and preset minimum safe distance when there are risk of collision,
And the request deceleration and the collision avoidance deceleration sent according to brake monitor determines desired deceleration, and by the target
Deceleration is sent to the brake monitor；
The brake monitor, for when there are risk of collision, computation requests deceleration, and by the request deceleration
It is sent to the entire car controller, and control for brake is carried out to vehicle according to the desired deceleration that the entire car controller is sent.
Further, the data acquisition device includes camera, radar and sensor module.
In the embodiment of the present invention, the camera is used to acquire the image or video information of objects ahead object；It is described
Radar includes millimetre-wave radar, for acquiring the relative status information of vehicle Yu objects ahead object, the relative status information
Including relative distance, relative velocity, relative acceleration；The sensor module is used to acquire the operation information and vehicle of driver
Wheel speed information, the operation information include direction information, throttle information and brake information.
The present embodiment also provides a kind of automobile, including a kind of above-mentioned dynamic brake auxiliary system.
A kind of dynamic brake auxiliary control method of the invention, apparatus and system can pass through vehicle and objects ahead object
Relative status information and the operation information of driver accurately judge the degree of risk of target, and according to the request with driver
The output of desired deceleration is completed in the comparison of deceleration, is improved the accuracy of braking auxiliary, is preferably avoided wrong braking
The safety problem of bring driver improves the user experience of vehicle driver.
Above description sufficiently discloses a specific embodiment of the invention.It should be pointed out that being familiar with the field
Range of any change that technical staff does a specific embodiment of the invention all without departing from claims of the present invention.
Correspondingly, the scope of the claims of the invention is also not limited only to previous embodiment.
Claims (10)
1. a kind of dynamic brake auxiliary control method characterized by comprising
Obtain vehicle and the relative status information of objects ahead object and the operation information of driver；
Risk of collision is judged whether there is according to the relative status information and the operation information；
If there is risk of collision, then the request deceleration of brake monitor transmission is obtained；
Collision avoidance deceleration is calculated according to the relative status information and preset minimum safe distance；
Desired deceleration is determined according to the request deceleration and the collision avoidance deceleration, and the desired deceleration is sent to
Brake monitor, so that the brake monitor carries out control for brake to vehicle according to the desired deceleration.
2. a kind of dynamic brake auxiliary control method according to claim 1, which is characterized in that described according to the request
Deceleration and the collision avoidance deceleration determine that desired deceleration includes:
Determine the degree of risk of the risk of collision；
Multiplication factor is obtained according to the degree of risk；
Times speed of increasing and decrease is calculated according to the request deceleration and the multiplication factor；
Compare the size of times speed of increasing and decrease and the collision avoidance deceleration；
If described times of speed of increasing and decrease is greater than the collision avoidance deceleration, using the collision avoidance deceleration as desired deceleration；
If described times of speed of increasing and decrease is less than or equal to the collision avoidance deceleration, by times speed of increasing and decrease as desired deceleration.
3. a kind of dynamic brake auxiliary control method according to claim 2, which is characterized in that described according to the risk
Degree obtain multiplication factor include: inquire from the first tables of data according to the degree of risk acquisition it is corresponding with the degree of risk
Multiplication factor, first tables of data is used to record the mapping relations of the degree of risk and multiplication factor.
4. a kind of dynamic brake auxiliary control method according to claim 1 or 2, which is characterized in that
The operation information includes direction information, throttle information and brake information；
It is described risk of collision is judged whether there is according to the relative status information and the operation information to include:
The reaction time of driver is determined according to the direction information, throttle information and brake information；
Risk of collision is judged whether there is according to the relative status information and the reaction time.
5. a kind of dynamic brake auxiliary control method according to claim 1 or 2, which is characterized in that
The relative status information includes relative distance and relative velocity；
It is described to include: according to the relative status information and preset minimum safe distance calculating collision avoidance deceleration
Collision time is calculated according to the relative distance and the relative velocity；
Collision avoidance deceleration is calculated according to the collision time and the minimum safe distance.
6. a kind of dynamic brake auxiliary control method according to claim 1 or 2, which is characterized in that
The request deceleration is calculated according to wheel speed information and is obtained.
7. a kind of dynamic brake sub-controlling unit characterized by comprising
First acquisition unit, for obtaining vehicle and the relative status information of objects ahead object and the operation information of driver；
Judging unit, for judging whether there is risk of collision according to the relative status information and the operation information；
Second acquisition unit, for when there are risk of collision, then obtaining the request deceleration of brake monitor transmission；
Computing unit, for calculating collision avoidance deceleration according to the relative status information and preset minimum safe distance；
Processing unit, for determining desired deceleration according to the request deceleration and the collision avoidance deceleration, and by the mesh
Mark deceleration is sent to brake monitor, so that the brake monitor carries out braking control to vehicle according to the desired deceleration
System.
8. a kind of dynamic brake auxiliary system, which is characterized in that including data acquisition device, entire car controller and control for brake
Device, the entire car controller are electrically connected with the data acquisition device and the brake monitor respectively, the brake monitor
It is electrically connected with the brake；
The data acquisition device, for acquiring the relative status information of vehicle and objects ahead object and the operation letter of driver
Breath, and the relative status information and the operation information are sent to entire car controller；
The entire car controller, for judging whether there is collision wind according to the relative status information and the operation information
Danger calculates collision avoidance deceleration according to the relative status information and preset minimum safe distance when there are risk of collision, and
And the request deceleration sent according to brake monitor and the collision avoidance deceleration determine desired deceleration, and the target is subtracted
Speed is sent to the brake monitor；
The brake monitor, for when there are risk of collision, computation requests deceleration, and the request deceleration is sent
Control for brake is carried out to vehicle to the entire car controller, and according to the desired deceleration that the entire car controller is sent.
9. a kind of dynamic brake auxiliary system according to claim 8, which is characterized in that the data acquisition device includes
Camera, radar and sensor module.
10. a kind of automobile, which is characterized in that including a kind of dynamic brake auxiliary system described in claim 8 or 9.
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| CN112793572A (en) * | 2021-03-19 | 2021-05-14 | 成都安智杰科技有限公司 | Adaptive cruise control method and device, electronic equipment and storage medium |
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| CN114347985A (en) * | 2022-01-14 | 2022-04-15 | 重庆长安汽车股份有限公司 | Automatic emergency braking architecture with two-stage verification and operation method |
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Effective date of registration: 20221209 Address after: No.1528 Hengshan Road, xingai Town, Ningbo Economic and Technological Development Zone, Ningbo, Zhejiang 315000 Patentee after: ZHEJIANG JIRUN AUTOMOBILE Co.,Ltd. Patentee after: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Patentee after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Address before: 318000 Chengdong gate head, Linhai City, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Patentee before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. |