CN110435614A - A kind of vehicle drive control method based on the judgement of barrier sound state - Google Patents
A kind of vehicle drive control method based on the judgement of barrier sound state Download PDFInfo
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- CN110435614A CN110435614A CN201910757381.0A CN201910757381A CN110435614A CN 110435614 A CN110435614 A CN 110435614A CN 201910757381 A CN201910757381 A CN 201910757381A CN 110435614 A CN110435614 A CN 110435614A
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- brake
- judgement
- vehicle
- sound state
- control method
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of vehicle brake brake control methods based on the judgement of barrier sound state, comprising the following steps: step 101, the range difference Δ d for detecting current vehicle and front obstacle；Step 102, the operating range d for obtaining current vehicle；Step 103, disturbance in judgement object sound state: the comparison module poor Δ d and operating range d that adjusts the distance is compared, if Δ d ≈ d, then it is assumed that front obstacle is static state, enters step 104；If Δ d < d, then it is assumed that front obstacle is dynamic, enters step 105；Step 104, static brake；Step 105, dynamic brake braking.The method of the present invention is simple, design is reasonable, whether computer is static-obstacle thing or dynamic barrier according to the front obstacle during dynamic state algorithm identification follow the bus, according to the brake time of the dynamic static reservations difference duration of front truck barrier, executing agency's brake, it avoids the occurrence of too early or brakes too late, improve the reliability of automatic emergency brake system.
Description
Technical field
The invention belongs to automatic Pilot technical fields, and in particular to a kind of vehicle drive based on the judgement of barrier sound state
Control method.
Background technique
With the rapid development of China's economy, national income and living standard are increasingly improved, and traffic condition persistently improves, this
All private car is gradually popularized in average family a bit, vehicle on road because the mistake of driver or it is unexpected caused by personal wound
It dies or the event of property loss frequently occurs, for the generation for avoiding automobile collision accident, market mainstream depot and technology supply
It is preceding to collision warning systems and automatic emergency brake system that quotient is substantially all offer.
Automatic emergency brake (Autonomous Emergency Break, AEB) system is real using Modern Sensor Technology
When the ambient enviroment and vehicle running state of vehicle are detected, and according to algorithm prejudge current environment degree of danger, when
When detecting that there is potential risk of collision in front, system is given a warning to driver to remind driver to take measures to evade danger,
And when driver does not make correct response to caution signal in time and risk of collision becomes very urgent, driving device is provided
Brake force avoids collision the generation of accident or the serious journey of reducing collisions accident by the actives such as automatic braking intervening mode
Degree.The key of AEB is anti-collision algorithm, and anti-collision algorithm determines that opportunity and the logic of early warning, key problem are determining conjunctions
The suitable intervention moment.Collision time (TTC) is the Microscopic Indexes of evaluation on traffic safety, when referring to a certain carving copy vehicle and target carriage it
Between collide before remaining time, the opposite speed of collision time (TTC)=two vehicle spacing/two vehicles.
Running environment perception is the basis that autonomous driving vehicle carries out driving decision.Whether cognitive disorders object is static-obstacle
Object or dynamic barrier are links the most key in running environment perception.But in the anti-collision algorithm of most AEB only at present
Low speed and high speed are distinguished, does not distinguish whether barrier is static-obstacle thing or dynamic barrier.
When spacing is certain, if the opposite speed of the target carriage of current vehicle and driving status is equal to current vehicle and static shape
The opposite speed of the target carriage of state, then the TTC time of two kinds of situations is the same.But by dividing a large amount of measured datas
Analysis shows that the TTC when sound state corresponding A EB intervention of front obstacle has differences: when front obstacle is static, TTC's
Ying Geng great is set, the safe distance reserved after brake is longer, and braking effect is more preferable；When front obstacle is dynamic, the setting of TTC
Ying Geng little, following distance is shorter, to promote user experience.Therefore need it is a kind of it is simple and convenient, front obstacle can be distinguished
Whether be static-obstacle thing or dynamic barrier vehicle drive control method.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on obstacle
The vehicle brake brake control method of object sound state judgement, method is simple, design is reasonable, identifies the front barrier during follow the bus
Hinder whether object is static-obstacle thing or dynamic barrier, according to the brake of the dynamic static reservations difference duration of front truck barrier
Time avoids the occurrence of too early or brakes too late, improves the reliability of automatic emergency brake system.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: it is a kind of based on barrier sound state judgement
Vehicle brake brake control method, which comprises the following steps:
Step 101, detection module obtain current vehicle and front obstacle in [t1, t2] range difference Δ d in the time；
Step 102, detection module obtain current vehicle in [t1, t2] operating range d in the time；
Step 103, disturbance in judgement object sound state: the comparison module poor Δ d and operating range d that adjusts the distance is compared, if Δ d
≈ d, then it is assumed that front obstacle is static state, enters step 104；If Δ d < d, then it is assumed that front obstacle is dynamic, into step
Rapid 105；
Step 104, static brake: actuating mechanism controls current vehicle is in α tTTCBrake in time, wherein α
> 1, tTTCIndicate current vehicle and front obstacle in t2The required time is mutually collided when moment hold mode is constant；
Step 105, dynamic brake braking: actuating mechanism controls current vehicle is in β tTTCBrake in time, wherein β
< 1.
A kind of above-mentioned vehicle drive control method based on the judgement of barrier sound state, it is characterised in that: the step
Detection module includes ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor or radar sensing in 101
Device.
A kind of above-mentioned vehicle drive control method based on the judgement of barrier sound state, it is characterised in that: the step
Detection module further includes vehicle speed sensor in 101.
A kind of above-mentioned vehicle drive control method based on the judgement of barrier sound state, it is characterised in that: the step
In 102, d=VT, wherein V indicates current vehicle in [t1, t2] average speed in the time, T indicates detection duration, T=t2-
t1。
A kind of above-mentioned vehicle drive control method based on the judgement of barrier sound state, it is characterised in that: 1.3 < α <
1.8。
A kind of above-mentioned vehicle drive control method based on the judgement of barrier sound state, it is characterised in that: 0.75 < β <
0.9。
Compared with the prior art, the present invention has the following advantages:
1, simple structure and reasonable design of the invention is realized and easy to use and operate.
2, whether it is static-obstacle thing or dynamic barrier that the front obstacle during present invention identification follow the bus is known, according to
The brake time of the dynamic static reservations difference duration of front truck barrier avoids the occurrence of too early or brakes too late, using effect
It is good.
In conclusion the method for the present invention is simple, design is reasonable, identify whether the front obstacle during follow the bus is static
Barrier or dynamic barrier, according to the brake time of the dynamic static reservations difference duration of front truck barrier, preceding object
When object is static, reduces the setting time of TTC, reserve longer safe distance, braking effect is more preferable；Front obstacle is dynamic
When, increase the setting time of TTC, shorten following distance, AEB system is comfortable, smoothly intervenes, and using effect is good, to promote use
Family experience.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is schematic block circuit diagram of the invention.
Specific embodiment
With reference to the accompanying drawing and the embodiment of the present invention is described in further detail method of the invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
As depicted in figs. 1 and 2, a kind of vehicle brake control for brake side based on the judgement of barrier sound state of the invention
Method, comprising the following steps:
Step 101, distance detection: detection module obtains current vehicle and front obstacle in [t1, t2] distance in the time
Poor Δ d.In actual use, detection module includes range sensor.Using distance detection sensor in t1Front truck is worked as in moment detection
With the distance between front obstacle D1, using distance detection sensor in t2Moment detects current vehicle and front obstacle
The distance between D2, D1-D2=Δ d.Ultrasonic distance-measuring sensor, laser range sensor, red can be selected in distance detection sensor
One of outside line distance measuring sensor or radar sensor use millimetre-wave radar in the present embodiment.
In the present invention, distance detection sensor, speed probe are prior art device, can directly purchase and with meter
The connection of calculation machine uses.
Step 102, detection module obtain current vehicle in [t1, t2] operating range d in the time.In actual use, it detects
Module further includes vehicle speed sensor.The calculation formula of operating range d is d=VT, and wherein V indicates that vehicle speed sensor detects to obtain
Current vehicle is in [t1, t2] average speed in the time, T indicates detection duration, T=t2-t1, when it is implemented, T takes 0.5s.
Step 103, disturbance in judgement object sound state: the comparison module poor Δ d and operating range d that adjusts the distance is compared, if Δ d
≈ d, then it is assumed that front obstacle is static state, enters step 104；If Δ d < d, then it is assumed that front obstacle is dynamic, into step
Rapid 105.
It should be noted that then there is no collisions when the speed of front vehicles is greater than or equal to the speed of current vehicle
Risk.Therefore in the application, by the speed that the speed of front vehicles divides into front vehicles be zero or the speed of front vehicles is small
In the speed of current vehicle.
Theoretically, when vehicle and front obstacle are in [t1, t2] the range difference Δ d in the time is equal to current vehicle in [t1,
t2] operating range d in the time, that is, think that front obstacle does not move.But in actual use, it is contemplated that calculate error with
And measurement error, set Δ d ≈ d, then it is assumed that front obstacle is static state, therefore introduces range error δ.When Δ d is located at [d, d+
δ] between section, that is, think Δ d ≈ d.When it is implemented, δ=VTδ, wherein V indicates current vehicle in [t1, t2] in the time
Average speed, TδIndicate error duration, V is as unit of stepping, i.e. miles per hour, error duration TδDetectable calculate obtains, this reality
It applies in example, error duration TδValue range be 3~5 seconds, i.e., 3/3600~5/3600 hour.
If Δ d < d, that is, think that front vehicles are in the speeds of driving status and front vehicles and are less than the vehicle of current vehicle
Speed.
In actual use, the foundation judged using the comparison result of Δ d and d as barrier sound state, judgment method is simple,
Calculating process is quick, therefore shortens the reaction time of automatic emergency brake system, so that brake is much sooner.
Step 104, static brake: actuating mechanism controls current vehicle is in α tTTCBrake in time, wherein
1.3 < α < 1.8, tTTCIndicate current vehicle and front obstacle in t2When mutually colliding required when moment hold mode is constant
Between.When judging front obstacle is stationary state, current vehicle needs timely brake as early as possible, to reserve longer peace
Full distance plays the role of anticollision, it is contemplated that the threshold value of safe distance, setting brake time are α tTTC, wherein 1.3
< α < 1.8, since α is greater than 1, so that the setting time of TTC is longer, braking effect is more preferable.In actual use, α=1.5.
Step 105, dynamic brake braking: actuating mechanism controls current vehicle is in β tTTCBrake in time, wherein
0.75 < β < 0.9.When judging that front obstacle is in dynamic driving status, when current vehicle is in following state, it is believed that preceding
Square vehicle moves forward with current vehicle, therefore safe distance is elongated, and brake is current vehicle in time in safe distance
Can, do not need too early brake.Since β is less than 1, so that the setting time of TTC is smaller, automatic emergency brake system can relax
It fits, smoothly intervene, following distance can be shorter, to promote user experience.In actual use, β=0.8.
The judgement of sound state is carried out to the front obstacle during follow the bus, it is different according to the dynamic static reservations of front truck barrier
The brake time of duration avoids the occurrence of too early or brakes too late, improves the reliability of automatic emergency brake system, uses
Effect is good.
The above is only the embodiment of the present invention, is not intended to limit the invention in any way, all technologies according to the present invention
Essence any simple modification to the above embodiments, change and equivalent structural changes, still fall within the technology of the present invention side
In the protection scope of case.
Claims (6)
1. a kind of vehicle brake brake control method based on the judgement of barrier sound state, which comprises the following steps:
Step 101, detection module obtain current vehicle and front obstacle in [t1, t2] range difference Δ d in the time；
Step 102, detection module obtain current vehicle in [t1, t2] operating range d in the time；
Step 103, disturbance in judgement object sound state: the comparison module poor Δ d and operating range d that adjusts the distance is compared, if Δ d ≈ d,
Then think that front obstacle for static state, enters step 104；If Δ d < d, then it is assumed that front obstacle is dynamic, is entered step
105；
Step 104, static brake: actuating mechanism controls current vehicle is in α tTTCBrake in time, wherein α > 1,
tTTCIndicate current vehicle and front obstacle in t2The required time is mutually collided when moment hold mode is constant；
Step 105, dynamic brake braking: actuating mechanism controls current vehicle is in β tTTCBrake in time, wherein β < 1.
2. a kind of vehicle drive control method based on the judgement of barrier sound state described in accordance with the claim 1, feature exist
In: detection module includes ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor in the step 101
Or radar sensor.
3. a kind of vehicle drive control method based on the judgement of barrier sound state, feature exist according to claim 2
In: detection module further includes vehicle speed sensor in the step 101.
4. a kind of vehicle drive control method based on the judgement of barrier sound state described in accordance with the claim 1, feature exist
In: in the step 102, d=VT, wherein V indicates current vehicle in [t1, t2] average speed in the time, T indicates detection
Duration, T=t2-t1。
5. a kind of vehicle drive control method based on the judgement of barrier sound state described in accordance with the claim 1, feature exist
In: 1.3 < α < 1.8.
6. a kind of vehicle drive control method based on the judgement of barrier sound state described in accordance with the claim 1, feature exist
In: 0.75 < β < 0.9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910757381.0A CN110435614A (en) | 2019-08-16 | 2019-08-16 | A kind of vehicle drive control method based on the judgement of barrier sound state |
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| CN201910757381.0A CN110435614A (en) | 2019-08-16 | 2019-08-16 | A kind of vehicle drive control method based on the judgement of barrier sound state |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111652060A (en) * | 2020-04-27 | 2020-09-11 | 宁波吉利汽车研究开发有限公司 | Laser radar-based height-limiting early warning method and device, electronic equipment and storage medium |
| CN112172761A (en) * | 2020-10-05 | 2021-01-05 | 黎云 | Emergency braking method and device for new energy vehicle |
| CN113619581A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium in following cruise state |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111652060A (en) * | 2020-04-27 | 2020-09-11 | 宁波吉利汽车研究开发有限公司 | Laser radar-based height-limiting early warning method and device, electronic equipment and storage medium |
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| CN112172761A (en) * | 2020-10-05 | 2021-01-05 | 黎云 | Emergency braking method and device for new energy vehicle |
| CN112172761B (en) * | 2020-10-05 | 2021-06-11 | 陕西华兴汽车制动科技有限公司 | Emergency braking method and device for new energy vehicle |
| CN113619581A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium in following cruise state |
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Effective date of registration: 20201104 Address after: 701-659, 7th floor, building 1, guangyuanzha 5, Haidian District, Beijing 100089 Applicant after: Beijing Zhongke Yichi Technology Co., Ltd Address before: 043200 the second residential group, Yuanqu village, Jifeng Town, Jishan County, Yuncheng City, Shanxi Province Applicant before: Zhang Dianying |
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Application publication date: 20191112 |