CN110550014B - Vehicle brake control method and device - Google Patents
Vehicle brake control method and device Download PDFInfo
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- CN110550014B CN110550014B CN201910931853.XA CN201910931853A CN110550014B CN 110550014 B CN110550014 B CN 110550014B CN 201910931853 A CN201910931853 A CN 201910931853A CN 110550014 B CN110550014 B CN 110550014B
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- vehicle
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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
Abstract
The invention relates to the technical field of vehicle control, and provides a vehicle brake control method and a vehicle brake control device, wherein the vehicle brake control method comprises the following steps: receiving map marker data, wherein the map marker data includes attribute information of objects marked on a map; collecting attribute information of a vehicle; and determining whether to brake the current object according to the attribute information of the vehicle and the attribute information of the object marked on the map. The control method and the control device for vehicle braking can ensure accurate braking of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and device for vehicle braking.
Background
The automatic emergency braking system configured for the vehicle mainly detects the front of a self lane by a sensor arranged in the front of the vehicle, and reminds a driver to brake if an object exists in the front and a collision risk exists. However, due to the limitation of cost, most of the sensors of the vehicles on the market are single radars, and the radars cannot completely and accurately identify the road conditions due to the complicated and variable road conditions, so that the condition of wrong braking exists.
Disclosure of Invention
In view of the above, the present invention is directed to a method and an apparatus for controlling vehicle braking to ensure accurate braking of a vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method of controlling vehicle braking, the method comprising: receiving map marker data, wherein the map marker data includes attribute information of objects marked on a map; collecting attribute information of a vehicle; and determining whether to brake the current object according to the attribute information of the vehicle and the attribute information of the object marked on the map.
Further, the attribute information of the object includes: one or more of length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude of the object, and variance and standard deviation of the above attribute information.
Further, the attribute information of the current vehicle includes: one or more of a length, width, height, wheelbase, lateral speed, longitudinal speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, brake pedal position, accelerator pedal position, longitude, latitude, and altitude of the current vehicle.
Further, the map marking data is obtained by the following method: when a first vehicle brakes, collecting attribute information of an object, which is detected by the first vehicle and brakes the first vehicle, and attribute information of the first vehicle; acquiring attribute information of an object that is detected by a second vehicle and that brakes the first vehicle, wherein the second vehicle has a greater variety of detection devices than the first vehicle; judging whether the first vehicle is braked by mistake according to the attribute information of the object which is detected by the first vehicle and brakes the first vehicle, the attribute information of the first vehicle and the attribute information of the object which is detected by the second vehicle and brakes the first vehicle; and when the first vehicle is braked by mistake, marking the attribute information of the object which is detected by the second vehicle and brakes the first vehicle on the object which brakes the first vehicle on a map to form map marking data.
Further, determining whether to brake the current object according to the attribute information of the own vehicle, and the attribute information of the object marked on the map includes: determining the position of the vehicle on a map according to the position information of the vehicle; determining attribute information of the current object according to the position of the vehicle on the map and the attribute information of the object marked on the map; judging whether the current object blocks the running of the vehicle according to the attribute information of the current object and the attribute information of the vehicle; braking when the current object blocks the running of the vehicle; and not braking when the current object does not block the travel of the own vehicle.
Compared with the prior art, the control method for vehicle braking has the following advantages:
the method and the device for controlling the vehicle braking provided by the invention are adopted, firstly, map marking data are received, wherein the map marking data comprise attribute information of an object marked on a map, the attribute information of the vehicle is collected, and then whether the current object is braked or not is determined according to the attribute information of the vehicle and the attribute information of the object marked on the map. Because the attribute information of the current object is from the received map marking data, the correctness is ensured, and therefore whether the current object collides with the vehicle or not can be accurately judged, and the braking is accurately carried out.
Another object of the present invention is to propose a control device for the braking of a vehicle to ensure an accurate braking of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control device for vehicle braking, the device comprising: the map marking device comprises a receiving unit, an acquisition unit and a braking unit, wherein the receiving unit is used for receiving map marking data, and the map marking data comprises attribute information of objects marked on a map; the acquisition unit is used for acquiring the attribute information of the vehicle; and the braking unit is used for determining whether to brake the current object according to the attribute information of the vehicle and the attribute information of the marked object on the map.
Further, the attribute information of the object includes: one or more of length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude of the object, and variance and standard deviation of the above attribute information.
Further, the attribute information of the current vehicle includes: one or more of a length, width, height, wheelbase, lateral speed, longitudinal speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, brake pedal position, accelerator pedal position, longitude, latitude, and altitude of the current vehicle.
Further, the acquisition unit is further configured to: when a first vehicle brakes, collecting attribute information of an object, which is detected by the first vehicle and brakes the first vehicle, and attribute information of the first vehicle; acquiring attribute information of an object that is detected by a second vehicle and that brakes the first vehicle, wherein the second vehicle has a greater variety of detection devices than the first vehicle; the device further comprises: a determination unit configured to determine whether the first vehicle is braked by mistake, based on attribute information of an object that is detected by the first vehicle and that brakes the first vehicle, the attribute information of the first vehicle, and attribute information of an object that is detected by the second vehicle and that brakes the first vehicle; and a marking unit configured to mark attribute information of an object that brakes the first vehicle, which is detected by the second vehicle, on an object that brakes the first vehicle on a map to form map mark data, in a case where the first vehicle is braked by mistake.
Further, the brake unit is further configured to: determining the position of the vehicle on a map according to the attribute information of the vehicle; determining attribute information of the current object according to the position of the vehicle on the map and the attribute information of the object marked on the map; judging whether the current object blocks the running of the vehicle according to the attribute information of the current object and the attribute information of the vehicle; braking when the current object blocks the running of the vehicle; and not braking when the current object does not block the travel of the own vehicle.
Compared with the prior art, the vehicle brake control device and the vehicle brake control method have the same advantages, and are not described again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a flow chart of a method for controlling vehicle braking according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling vehicle braking provided in accordance with another embodiment of the present invention;
fig. 3 is a flowchart of a method for obtaining map tag data according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle brake control device according to an embodiment of the present invention.
Description of reference numerals:
1 receiving unit 2 acquisition unit
3 brake unit 4 judging unit
And 5 marking the unit.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a flowchart of a control method for braking a vehicle according to an embodiment of the present invention. As shown in fig. 1, the method includes:
a step S11 of receiving map tag data, wherein the map tag data includes attribute information of an object tagged on a map;
specifically, the attribute information of the object may include: the object's length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude, and one or more of the variance and standard deviation of the above attribute information. When an object on a map is marked, it is first necessary to ensure that the object exists, for example, whether the object is a shadow or not, and whether the object reflects energy or not can be detected. In the case where an object exists, the detected attribute information may be marked on the object on the map to form map marking data (a plurality of objects may be marked a plurality of times, respectively), and a more detailed method of obtaining the map marking data will be described below.
Step S12, collecting the attribute information of the vehicle;
the attribute information of the current vehicle includes: one or more of the length, width, height, wheelbase, wheel base, lateral speed, longitudinal speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, brake pedal position, accelerator pedal position, longitude, latitude, and altitude of the current vehicle. The vehicle Positioning can be realized by, but not limited to, Global Positioning System (GPS), inertial navigation, vehicle-to-environment information exchange (V2X), and the like.
Step S13, determining whether or not to brake the current object based on the attribute information of the own vehicle and the attribute information of the object marked on the map.
Specifically, as shown in fig. 2, the method of determining whether to brake the current object includes:
step S21, determining the position of the vehicle on the map according to the attribute information of the vehicle;
specifically, which position on the map is determined, for example, from the longitude and latitude in the attribute information of the own vehicle.
Step S22, determining the attribute information of the current object according to the position of the vehicle on the map and the attribute information of the marked object on the map;
after finding the position of the own vehicle on the map, it is possible to find which object on the map the current object (even if the vehicle determines whether or not to brake) corresponds to, so that the attribute information of the object marked on the object in the map marking data can be called.
Step S23, according to the attribute information of the current object and the attribute information of the own vehicle, judging whether the current object blocks the running of the own vehicle;
for example, the driving route of the vehicle is determined by the vehicle lateral speed, the longitudinal speed, the lateral acceleration, the longitudinal acceleration, the yaw rate, and the steering wheel angle, and it is determined whether the current object is on the driving route, if the current object is on the driving route, the chassis height of the vehicle can be roughly inferred from the brake pedal position and the accelerator pedal position, and in combination with the height of the current object, it is determined whether the vehicle will be blocked.
Step S24, braking when the current object blocks the running of the own vehicle;
and step S25, not braking when the current object does not block the running of the own vehicle.
For example, if the current object is a rail, it is found that the vehicle can travel over the rail, and therefore the rail, although in front of the vehicle, does not block the vehicle from traveling, no braking is required; if the current object is a pier, the pier is found to block the running of the vehicle, and the vehicle cannot run over the pier, so that collision or rubbing is inevitable, and braking is performed.
One embodiment of obtaining map marker data is provided in detail below. It will be appreciated that there may be other ways to obtain map marking data, such as by manual measurement or the like, in addition to the following.
Fig. 3 is a flowchart of a method for obtaining map marking data according to an embodiment of the present invention. As shown in fig. 3, the method includes:
step S31, when a first vehicle brakes, collecting attribute information of an object which is detected by the first vehicle and brakes the first vehicle and attribute information of the first vehicle;
specifically, after collecting the attribute information of the object for braking the first vehicle and the attribute information of the first vehicle, the attribute information and the attribute information of the first vehicle are uniformly packaged and sent to the communication module, and the communication module sends the information to the control center. The communication mode can send information in real time through a wireless network, and can also wait for the position with a quick network to send information through a specific network, such as Wifi. In addition, many vehicles are provided with a driving recorder, and image information during braking is also sent to the control center through the communication module.
A step S32 of acquiring attribute information of an object that brakes the first vehicle, which is detected by a second vehicle having more kinds of detection devices than the first vehicle;
after receiving the information of the first vehicle, a second vehicle nearby may be tracked or requested to feed back the characteristics of the object braking the first vehicle, and when the second vehicle travels over the object, the attribute information of the object braking the first vehicle may be detected. In this regard, the second vehicle may store the attribute information of the object detected by itself, or feed back the attribute information of the detected object to the control platform. In this case, the second vehicle has to have a greater variety of detection devices than the first vehicle in order to ensure a more accurate detection of the second vehicle. For example, a first vehicle has radar and a second vehicle is a system of radar and camera fused systems (or multi-sensor fused systems).
Step S33, determining whether the first vehicle is braked by mistake, based on the attribute information of the object that brakes the first vehicle detected by the first vehicle, the attribute information of the first vehicle, and the attribute information of the object that brakes the first vehicle detected by the second vehicle;
in particular, this step may be performed on the second vehicle or at the control platform. If the second vehicle stores the attribute information of the object detected by the second vehicle, the attribute information of the object detected by the first vehicle and the attribute information of the first vehicle can be directly acquired, and the misbraking judgment is carried out, or if the second vehicle feeds the attribute information of the object detected by the second vehicle back to the control platform, the misbraking judgment can be carried out by the control platform. And if the attribute information of the object detected by the second vehicle is different from the attribute information of the object detected by the first vehicle, and the conclusion that the first vehicle does not need to be braked is judged by using the attribute information of the object detected by the second vehicle and the attribute information of the first vehicle, judging that the first vehicle is braked by mistake. And if the attribute information of the object detected by the second vehicle is basically the same as the attribute information of the object detected by the first vehicle, or the attribute information of the object detected by the second vehicle and the attribute information of the first vehicle are used together to judge that the first vehicle needs to be braked, judging that the first vehicle does not brake by mistake.
Step S34, in the case where the first vehicle is braked erroneously, marks attribute information of an object that brakes the first vehicle, which is detected by the second vehicle, on an object that brakes the first vehicle on a map to form map mark data.
Specifically, attribute information of an object that brakes the first vehicle is marked on a corresponding object on the map, for example, on coordinates where the corresponding object is located, and map marking data is updated. The upgrade mode can be manually updated by using a cloud or a 4S store. In addition, the updated map marking data can automatically identify the vehicle updating range according to the vehicle VIN code, for example, only a certain configured vehicle or a vehicle in a certain area is updated.
The embodiment of the invention is designed to mark the first vehicle in case of error braking. Firstly, even if the vehicle only has a radar, the condition of false detection is rare, so that the object braked by the first vehicle by mistake can cause other vehicles to brake by mistake; and secondly because it helps to reduce the amount of data stored. Of course, it is also possible to mark whether the first vehicle is being braked by mistake.
Fig. 4 is a schematic structural diagram of a vehicle brake control device according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: the system comprises a receiving unit 1, an acquisition unit 2 and a braking unit 3, wherein the receiving unit 1 is used for receiving map marking data, and the map marking data comprises attribute information of an object marked on a map; the acquisition unit 2 is used for acquiring the attribute information of the vehicle; and the braking unit 3 is configured to determine whether to brake the current object based on the attribute information of the own vehicle and the attribute information of the object marked on the map.
Further, the attribute information of the object includes: one or more of length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude of the object, and variance and standard deviation of the above attribute information.
Further, the attribute information of the current vehicle includes: one or more of a length, width, height, wheelbase, lateral speed, longitudinal speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, brake pedal position, accelerator pedal position, longitude, latitude, and altitude of the current vehicle.
Further, the acquisition unit 2 is further configured to: when a first vehicle brakes, collecting attribute information of an object, which is detected by the first vehicle and brakes the first vehicle, and attribute information of the first vehicle; acquiring attribute information of an object that is detected by a second vehicle and that brakes the first vehicle, wherein the second vehicle has a greater variety of detection devices than the first vehicle; the device further comprises: a determination unit 4 configured to determine whether the first vehicle is braked by mistake, based on the attribute information of the object that is detected by the first vehicle and that brakes the first vehicle, the attribute information of the first vehicle, and the attribute information of the object that is detected by the second vehicle and that brakes the first vehicle; and a marking unit 5 configured to mark, when the first vehicle is braked by mistake, attribute information of an object that brakes the first vehicle, which is detected by the second vehicle, on an object that brakes the first vehicle on a map to form map mark data.
Further, the brake unit 3 is further configured to: determining the position of the vehicle on a map according to the attribute information of the vehicle; determining attribute information of the current object according to the position of the vehicle on the map and the attribute information of the object marked on the map; judging whether the current object blocks the running of the vehicle according to the attribute information of the current object and the attribute information of the vehicle; braking when the current object blocks the running of the vehicle; and not braking when the current object does not block the travel of the own vehicle.
The embodiment of the control device for vehicle braking is similar to the embodiment of the control method for vehicle braking, and is not described again here.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of controlling braking of a vehicle, the method comprising:
receiving map marker data, wherein the map marker data includes attribute information of objects marked on a map;
collecting attribute information of a vehicle;
judging whether the current object on the driving route of the self-vehicle blocks the driving of the self-vehicle or not according to the attribute information of the self-vehicle and the attribute information of the object marked on the map;
braking when the current object blocks the running of the vehicle; and
not braking when the current object does not obstruct the travel of the own vehicle, wherein
The map marking data is obtained by the following method:
in the case of a false braking of a first vehicle, attribute information of an object braking the first vehicle, which is detected by a second vehicle, is marked on an object braking the first vehicle on a map to form map marking data.
2. The control method of vehicle braking according to claim 1, characterized in that the attribute information of the object includes:
one or more of length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude of the object, and variance and standard deviation of the above attribute information.
3. The control method of vehicle braking according to claim 1, characterized in that the attribute information of the own vehicle includes:
one or more of a length, a width, a height, a wheel base, a lateral speed, a longitudinal speed, a lateral acceleration, a longitudinal acceleration, a yaw rate, a steering wheel angle, a brake pedal position, an accelerator pedal position, a longitude, a latitude, and an altitude of the own vehicle.
4. The control method of vehicle braking according to claim 1, wherein forming the map flag data further includes:
when a first vehicle brakes, collecting attribute information of an object, which is detected by the first vehicle and brakes the first vehicle, and attribute information of the first vehicle;
acquiring attribute information of an object that is detected by a second vehicle and that brakes the first vehicle, wherein the second vehicle has a greater variety of detection devices than the first vehicle;
and judging whether the first vehicle is braked by mistake according to the attribute information of the object which is detected by the first vehicle and brakes the first vehicle, the attribute information of the first vehicle and the attribute information of the object which is detected by the second vehicle and brakes the first vehicle.
5. The control method of vehicle braking according to claim 1, characterized by further comprising:
determining the position of the vehicle on a map according to the attribute information of the vehicle;
and determining the attribute information of the current object on the driving route of the self-vehicle according to the position of the self-vehicle on the map and the attribute information of the object marked on the map.
6. A control device for vehicle braking, characterized in that said device comprises:
a receiving unit, a collecting unit, a braking unit and a marking unit, wherein,
the receiving unit is used for receiving map marking data, wherein the map marking data comprises attribute information of objects marked on a map;
the acquisition unit is used for acquiring the attribute information of the vehicle;
the brake unit is used for:
judging whether the current object on the driving route of the self-vehicle blocks the driving of the self-vehicle or not according to the attribute information of the self-vehicle and the attribute information of the object marked on the map;
braking when the current object blocks the running of the vehicle; and
not braking when the present object does not obstruct the travel of the own vehicle, an
The marking unit is used for marking the attribute information of the object which is detected by the second vehicle and brakes the first vehicle on the object which brakes the first vehicle on the map to form map marking data under the condition that the first vehicle is braked by mistake.
7. The control device of vehicle braking according to claim 6, wherein the attribute information of the object includes:
one or more of length, width, height, lateral distance, longitudinal distance, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, longitude, latitude, altitude of the object, and variance and standard deviation of the above attribute information.
8. The control apparatus of vehicle braking according to claim 6, wherein the attribute information of the own vehicle includes:
one or more of a length, a width, a height, a wheel base, a lateral speed, a longitudinal speed, a lateral acceleration, a longitudinal acceleration, a yaw rate, a steering wheel angle, a brake pedal position, an accelerator pedal position, a longitude, a latitude, and an altitude of the own vehicle.
9. The control apparatus of vehicle braking according to claim 6,
the acquisition unit is further configured to:
when a first vehicle brakes, collecting attribute information of an object, which is detected by the first vehicle and brakes the first vehicle, and attribute information of the first vehicle;
acquiring attribute information of an object that is detected by a second vehicle and that brakes the first vehicle, wherein the second vehicle has a greater variety of detection devices than the first vehicle;
the device further comprises:
and the judging unit is used for judging whether the first vehicle is braked by mistake according to the attribute information of the object which is detected by the first vehicle and used for braking the first vehicle, the attribute information of the first vehicle and the attribute information of the object which is detected by the second vehicle and used for braking the first vehicle.
10. The control device of vehicle braking according to claim 6, wherein the brake unit is further configured to:
determining the position of the vehicle on a map according to the attribute information of the vehicle;
and determining the attribute information of the current object on the driving route of the self-vehicle according to the position of the self-vehicle on the map and the attribute information of the object marked on the map.
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| CN201910931853.XA CN110550014B (en) | 2019-09-29 | 2019-09-29 | Vehicle brake control method and device |
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| CN201910931853.XA CN110550014B (en) | 2019-09-29 | 2019-09-29 | Vehicle brake control method and device |
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| CN110550014A CN110550014A (en) | 2019-12-10 |
| CN110550014B true CN110550014B (en) | 2022-02-25 |
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