CN109927720B - Dynamic braking auxiliary control method, device and system - Google Patents
Dynamic braking auxiliary control method, device and system Download PDFInfo
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- CN109927720B CN109927720B CN201910226356.XA CN201910226356A CN109927720B CN 109927720 B CN109927720 B CN 109927720B CN 201910226356 A CN201910226356 A CN 201910226356A CN 109927720 B CN109927720 B CN 109927720B
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Abstract
The invention relates to the technical field of vehicle brake assistance, in particular to a dynamic brake assistance control method, a device and a system, wherein the method comprises the following steps: acquiring relative state information of a vehicle and a front target object and operation information of a driver; judging whether collision risks exist according to the relative state information and the operation information; if there is a risk of collision, obtaining a requested deceleration sent by the brake controller; calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance; and determining a target deceleration according to the requested deceleration and the collision avoidance deceleration, and sending the target deceleration to a brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration. The dynamic braking auxiliary control method, the device and the system can accurately judge the risk degree of the target, well avoid the problem of driver safety caused by wrong braking, and have better user experience.
Description
Technical Field
The invention relates to the technical field of vehicle brake assistance, in particular to a dynamic brake assistance control method, device and system.
Background
With the development of science and technology and the improvement of living standard of society progress, automobiles are taken as vehicles of people to enter common families, especially, the urbanization is accelerated, more automobiles appear around people, potential traffic safety hazards are increased year by year, and the life safety of people also faces more serious challenges. Therefore, the safety of automobiles is more and more concerned by markets and users, and the safety concept of automobiles is gradually changed. At present, the automobile safety is divided into active safety and passive safety, and the active safety design is a safety design for preventing the automobile from accidents and avoiding the personnel from being injured.
Along with the continuous development of the intellectualization of the whole vehicle, more and more driving auxiliary functions are applied to the real vehicle, and great help is provided for reducing driving fatigue and improving driving safety. Wherein, the brake auxiliary or emergency brake system can play a great role in reducing and avoiding the occurrence of rear-end accidents. The conventional brake assisting technology mainly judges whether the current emergency brake is performed based on the degree of the brake pedal treading by a driver, namely, whether additional braking force needs to be provided for the driver is judged by forming a variation and a variation rate or a master cylinder pressure variation and a variation rate through the brake pedal, and the situation that the braking force of the driver is insufficient in some emergency situations is avoided by the means. However, this method is prone to errors in judgment, so that some cases where assistance is not needed still perform assistance according to the maximum deceleration, which is prone to cause safety problems and poor user experience.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a dynamic braking assistance control method, device and system, which can accurately determine the risk level of a target and better avoid the problem of driver safety caused by erroneous braking.
In order to solve the above problem, the present invention provides a dynamic braking assist control method, including:
acquiring relative state information of a vehicle and a front target object and operation information of a driver;
judging whether collision risks exist according to the relative state information and the operation information;
if there is a risk of collision, obtaining a requested deceleration sent by the brake controller;
calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance;
and determining a target deceleration according to the requested deceleration and the collision avoidance deceleration, and sending the target deceleration to a brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
Further, the determining a target deceleration from the requested deceleration and the collision avoidance deceleration comprises:
determining a risk degree of the collision risk;
obtaining a multiplication factor according to the risk degree;
calculating a multiplied deceleration from the requested deceleration and the multiplication factor;
comparing the magnitude of the multiplied deceleration with the magnitude of the collision avoidance deceleration;
if the multiplied deceleration is greater than the collision avoidance deceleration, taking the collision avoidance deceleration as a target deceleration;
and if the multiplied deceleration is less than or equal to the collision avoidance deceleration, taking the multiplied deceleration as a target deceleration.
Specifically, the obtaining the multiplication factor according to the risk degree includes: and inquiring and acquiring a multiplication factor corresponding to the risk degree from a first data table according to the risk degree, wherein the first data table is used for recording the mapping relation between the risk degree and the multiplication factor.
Further, the operation information comprises steering information, throttle information and brake information;
the judging whether the collision risk exists according to the relative state information and the operation information comprises the following steps:
determining the reaction time of the driver according to the steering information, the accelerator information and the brake information;
and judging whether collision risks exist or not according to the relative state information and the reaction time.
Further, the relative state information includes a relative distance and a relative speed;
the step of calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance comprises the following steps:
calculating collision time according to the relative distance and the relative speed;
and calculating the collision avoidance deceleration according to the collision time and the minimum safe distance.
Further, the requested deceleration is calculated based on the wheel speed information.
Another aspect of the present invention provides a dynamic braking assist control apparatus, including:
a first acquisition unit configured to acquire relative state information of the vehicle and a preceding target object and operation information of a driver;
the judging unit is used for judging whether collision risks exist according to the relative state information and the operation information;
a second acquisition unit for acquiring a requested deceleration sent by the brake controller when there is a risk of collision;
the calculating unit is used for calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance;
and the processing unit is used for determining a target deceleration according to the requested deceleration and the collision avoidance deceleration and sending the target deceleration to the brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
The invention protects a dynamic braking auxiliary system on the other hand, which comprises a data acquisition device, a vehicle control unit and a braking controller, wherein the vehicle control unit is respectively electrically connected with the data acquisition device and the braking controller, and the braking controller is electrically connected with a brake;
the data acquisition device is used for acquiring relative state information of the vehicle and a front target object and operation information of a driver and sending the relative state information and the operation information to the vehicle control unit;
the vehicle control unit is used for judging whether a collision risk exists according to the relative state information and the operation information, calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance when the collision risk exists, determining target deceleration according to the request deceleration sent by the brake controller and the collision avoidance deceleration, and sending the target deceleration to the brake controller;
and the brake controller is used for calculating a request deceleration when the collision risk exists, sending the request deceleration to the vehicle control unit, and performing brake control on the vehicle according to the target deceleration sent by the vehicle control unit.
Further, the data acquisition device includes a camera, a radar, and a sensor assembly.
In another aspect, the invention provides a vehicle including a dynamic braking assistance system as described above.
Due to the technical scheme, the invention has the following beneficial effects:
the dynamic braking auxiliary control method, the device and the system can accurately judge the risk degree of the target through the relative state information of the vehicle and the front target object and the operation information of the driver, and finish the output of the target deceleration according to the comparison with the requested deceleration of the driver, thereby improving the accuracy of braking auxiliary, better avoiding the safety problem of the driver caused by wrong braking, and improving the user experience of the vehicle driver.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a dynamic braking assistance control method provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a dynamic braking assist control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a dynamic braking assistance system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
Referring to fig. 1 and 2 of the specification, the present embodiment provides a dynamic braking assistance control method, including:
acquiring relative state information of a vehicle and a front target object and operation information of a driver;
judging whether collision risks exist according to the relative state information and the operation information;
if there is a risk of collision, obtaining a requested deceleration sent by the brake controller;
calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance;
and determining a target deceleration according to the requested deceleration and the collision avoidance deceleration, and sending the target deceleration to a brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
In the embodiment of the invention, the relative state information of the vehicle and the front target object and the operation information of the driver can be acquired through a camera, a radar and a sensor assembly which are arranged on the vehicle. In one possible embodiment, the camera acquires an image or video information of a front target object; the radar comprises a millimeter wave radar and is used for acquiring relative state information of the vehicle and a front target object, wherein the relative state information comprises relative distance, relative speed and relative acceleration; the sensor assembly collects operation information of a driver and wheel speed information, and the operation information comprises steering information, accelerator information and brake information.
Further, the operation information comprises steering information, throttle information and brake information;
the judging whether the collision risk exists according to the relative state information and the operation information comprises the following steps:
determining the reaction time of the driver according to the steering information, the accelerator information and the brake information;
and judging whether collision risks exist or not according to the relative state information and the reaction time.
In an embodiment of the present invention, the relative state information may include a relative lateral-longitudinal distance, a relative lateral-longitudinal speed, and a relative lateral-longitudinal acceleration. The current participation degree of the driver can be judged according to the operation (steering, accelerator and brake) of the driver in the last period of time, the reaction time of the driver is determined, and whether the collision risk exists is judged by combining the relative transverse and longitudinal distance, the relative transverse and longitudinal speed and the relative transverse and longitudinal acceleration.
Further, the requested deceleration is calculated based on the wheel speed information.
In the embodiment of the invention, the vehicle deceleration may be calculated from the wheel speed information, and the road surface gradient may be estimated based on the wheel deceleration immediately before the start of the vehicle braking, and the driver's requested deceleration may be calculated from the vehicle deceleration and the road surface gradient.
In one possible embodiment, it is also possible to acquire a brake pedal stroke as a brake operation amount by a stroke sensor that detects the brake pedal stroke, and calculate the requested deceleration based on the brake operation amount.
Further, the relative state information includes a relative distance and a relative speed;
the step of calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance comprises the following steps:
calculating collision time according to the relative distance and the relative speed;
and calculating the collision avoidance deceleration according to the collision time and the minimum safe distance.
In the embodiment of the invention, the collision avoidance deceleration can be calculated according to the following formula:
Further, the determining a target deceleration from the requested deceleration and the collision avoidance deceleration comprises:
determining a risk degree of the collision risk;
obtaining a multiplication factor according to the risk degree;
calculating a multiplied deceleration from the requested deceleration and the multiplication factor;
comparing the magnitude of the multiplied deceleration with the magnitude of the collision avoidance deceleration;
if the multiplied deceleration is greater than the collision avoidance deceleration, taking the collision avoidance deceleration as a target deceleration;
and if the multiplied deceleration is less than or equal to the collision avoidance deceleration, taking the multiplied deceleration as a target deceleration.
Specifically, the obtaining the multiplication factor according to the risk degree includes: and inquiring and acquiring a multiplication factor corresponding to the risk degree from a first data table according to the risk degree, wherein the first data table is used for recording the mapping relation between the risk degree and the multiplication factor.
In the embodiment of the invention, the risk degree can be deduced by combining the whole vehicle braking model according to the reaction time of the driver, the relative transverse and longitudinal distance, the relative transverse and longitudinal speed and the relative transverse and longitudinal acceleration. In one possible embodiment, the risk degree may be divided into three levels of low risk, medium risk and high risk, the multiplication factor corresponding to the low risk level may be set to 1.5 times, the multiplication factor corresponding to the medium risk level may be set to 2 times, and the multiplication factor corresponding to the high risk level may be set to 3 times.
In the embodiment of the present invention, the deceleration is treated as a positive value, and when the deceleration requested by the driver is calculated to be 2m/s2The collision avoidance deceleration is calculated to be 8m/s2When the risk degree is determined as the middle risk as an example, the multiplication multiple is judged to be 2 times, and the multiplication deceleration is 4m/s2Comparing the multiplied deceleration with the collision avoidance deceleration, and taking the smaller multiplied deceleration as the target deceleration, namely the target deceleration is 4m/s2。
In another aspect, the present embodiment provides a dynamic braking assistance control apparatus, including:
a first acquisition unit configured to acquire relative state information of the vehicle and a preceding target object and operation information of a driver;
the judging unit is used for judging whether collision risks exist according to the relative state information and the operation information;
a second acquisition unit for acquiring a requested deceleration sent by the brake controller when there is a risk of collision;
the calculating unit is used for calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance;
and the processing unit is used for determining a target deceleration according to the requested deceleration and the collision avoidance deceleration and sending the target deceleration to the brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
Example 2
Referring to the attached drawing 3 in the specification, the embodiment provides a dynamic braking auxiliary system, which includes a data acquisition device, a vehicle controller and a braking controller, wherein the vehicle controller is electrically connected to the data acquisition device and the braking controller respectively, and the braking controller is electrically connected to a brake;
the data acquisition device is used for acquiring relative state information of the vehicle and a front target object and operation information of a driver and sending the relative state information and the operation information to the vehicle control unit;
the vehicle control unit is used for judging whether a collision risk exists according to the relative state information and the operation information, calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance when the collision risk exists, determining target deceleration according to the request deceleration sent by the brake controller and the collision avoidance deceleration, and sending the target deceleration to the brake controller;
and the brake controller is used for calculating a request deceleration when the collision risk exists, sending the request deceleration to the vehicle control unit, and performing brake control on the vehicle according to the target deceleration sent by the vehicle control unit.
Further, the data acquisition device includes a camera, a radar, and a sensor assembly.
In the embodiment of the invention, the camera is used for acquiring the image or video information of a front target object; the radar comprises a millimeter wave radar which is used for acquiring relative state information of the vehicle and a front target object, wherein the relative state information comprises relative distance, relative speed and relative acceleration; the sensor assembly is used for collecting operation information of a driver and wheel speed information, and the operation information comprises steering information, accelerator information and brake information.
The embodiment also provides an automobile comprising the dynamic braking auxiliary system.
The dynamic braking auxiliary control method, the device and the system can accurately judge the risk degree of the target through the relative state information of the vehicle and the front target object and the operation information of the driver, and finish the output of the target deceleration according to the comparison with the requested deceleration of the driver, thereby improving the accuracy of braking auxiliary, better avoiding the safety problem of the driver caused by wrong braking, and improving the user experience of the vehicle driver.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A dynamic braking assist control method, comprising:
acquiring relative state information of a vehicle and a front target object and operation information of a driver;
judging whether collision risks exist according to the relative state information and the operation information;
if there is a risk of collision, obtaining a requested deceleration sent by the brake controller;
calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance;
and determining a target deceleration according to the requested deceleration and the collision avoidance deceleration, and sending the target deceleration to a brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
2. A dynamic braking assistance control method according to claim 1, wherein the determining a target deceleration from the requested deceleration and the collision avoidance deceleration comprises:
determining a risk degree of the collision risk;
obtaining a multiplication factor according to the risk degree;
calculating a multiplied deceleration from the requested deceleration and the multiplication factor;
comparing the magnitude of the multiplied deceleration with the magnitude of the collision avoidance deceleration;
if the multiplied deceleration is greater than the collision avoidance deceleration, taking the collision avoidance deceleration as a target deceleration;
and if the multiplied deceleration is less than or equal to the collision avoidance deceleration, taking the multiplied deceleration as a target deceleration.
3. A dynamic brake assist control method as set forth in claim 2, wherein said obtaining a multiplication factor according to the risk degree includes: and inquiring and acquiring a multiplication factor corresponding to the risk degree from a first data table according to the risk degree, wherein the first data table is used for recording the mapping relation between the risk degree and the multiplication factor.
4. A dynamic brake assist control method according to claim 1 or 2,
the operation information comprises steering information, accelerator information and brake information;
the judging whether the collision risk exists according to the relative state information and the operation information comprises the following steps:
determining the reaction time of the driver according to the steering information, the accelerator information and the brake information;
and judging whether collision risks exist or not according to the relative state information and the reaction time.
5. A dynamic brake assist control method according to claim 1 or 2,
the relative state information includes a relative distance and a relative speed;
the step of calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance comprises the following steps:
calculating collision time according to the relative distance and the relative speed;
and calculating the collision avoidance deceleration according to the collision time and the minimum safe distance.
6. A dynamic brake assist control method according to claim 1 or 2, wherein the requested deceleration is calculated based on wheel speed information.
7. A dynamic braking assist control device, comprising:
a first acquisition unit configured to acquire relative state information of the vehicle and a preceding target object and operation information of a driver;
the judging unit is used for judging whether collision risks exist according to the relative state information and the operation information;
a second acquisition unit for acquiring a requested deceleration sent by the brake controller when there is a risk of collision;
the calculating unit is used for calculating the collision avoidance deceleration according to the relative state information and the preset minimum safe distance;
and the processing unit is used for determining a target deceleration according to the requested deceleration and the collision avoidance deceleration and sending the target deceleration to the brake controller so that the brake controller performs brake control on the vehicle according to the target deceleration.
8. A dynamic braking auxiliary system is characterized by comprising a data acquisition device, a vehicle control unit and a braking controller, wherein the vehicle control unit is electrically connected with the data acquisition device and the braking controller respectively, and the braking controller is electrically connected with a brake;
the data acquisition device is used for acquiring relative state information of the vehicle and a front target object and operation information of a driver and sending the relative state information and the operation information to the vehicle control unit;
the vehicle control unit is used for judging whether a collision risk exists according to the relative state information and the operation information, calculating collision avoidance deceleration according to the relative state information and a preset minimum safe distance when the collision risk exists, determining target deceleration according to the request deceleration sent by the brake controller and the collision avoidance deceleration, and sending the target deceleration to the brake controller;
and the brake controller is used for calculating a request deceleration when the collision risk exists, sending the request deceleration to the vehicle control unit, and performing brake control on the vehicle according to the target deceleration sent by the vehicle control unit.
9. The dynamic brake assist system of claim 8, wherein the data acquisition device includes a camera, a radar, and a sensor assembly.
10. A vehicle comprising a dynamic brake assist system as claimed in claim 8 or 9.
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| CN112046452A (en) * | 2020-08-31 | 2020-12-08 | 江西太空机器人科技有限公司 | Low-speed unmanned control method and system |
| CN112124320A (en) * | 2020-09-10 | 2020-12-25 | 恒大新能源汽车投资控股集团有限公司 | Vehicle control method and system and vehicle |
| CN112966613A (en) * | 2021-03-10 | 2021-06-15 | 北京家人智能科技有限公司 | Automobile operation environment multi-stage early warning method and device, electronic equipment and storage medium |
| WO2022193137A1 (en) * | 2021-03-16 | 2022-09-22 | 华为技术有限公司 | Vehicle control method and device |
| CN112793572B (en) * | 2021-03-19 | 2022-06-03 | 成都安智杰科技有限公司 | Adaptive cruise control method and device, electronic equipment and storage medium |
| CN113734161B (en) * | 2021-09-15 | 2023-12-26 | 浙江吉利控股集团有限公司 | Vehicle brake control method, device, equipment, medium and program product |
| CN114347985B (en) * | 2022-01-14 | 2023-09-15 | 重庆长安汽车股份有限公司 | Automatic emergency braking framework with two-stage verification function and operation method |
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| DE102005033087A1 (en) * | 2005-07-15 | 2007-01-25 | Robert Bosch Gmbh | Method and device for avoiding rear-end collisions |
| CN102666240B (en) * | 2009-11-27 | 2014-04-16 | 丰田自动车株式会社 | Collision prevention device |
| JP5267963B1 (en) * | 2011-11-02 | 2013-08-21 | トヨタ自動車株式会社 | Braking control device |
| CN104200704B (en) * | 2014-08-19 | 2016-05-18 | 奇瑞汽车股份有限公司 | Vehicle intelligent collision warning method and apparatus |
| CN105270398B (en) * | 2015-10-21 | 2018-06-12 | 北京新能源汽车股份有限公司 | Spacing control method, device and the electric vehicle of electric vehicle |
| CN107264523B (en) * | 2017-06-14 | 2019-06-04 | 北京新能源汽车股份有限公司 | Control method for vehicle and system |
| CN108238026B (en) * | 2017-12-28 | 2020-04-28 | 浙江吉利汽车研究院有限公司 | Control method and system for automatic emergency braking of vehicle |
| CN109017729A (en) * | 2018-07-31 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of vehicle braking auxiliary system and its control method |
| CN108944948B (en) * | 2018-08-07 | 2020-03-27 | 安徽工程大学 | Vehicle brake control system and 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. |
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