CN110550026B - Automatic braking control method, device and system based on medium-time distance information - Google Patents
Automatic braking control method, device and system based on medium-time distance information Download PDFInfo
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- CN110550026B CN110550026B CN201910914272.5A CN201910914272A CN110550026B CN 110550026 B CN110550026 B CN 110550026B CN 201910914272 A CN201910914272 A CN 201910914272A CN 110550026 B CN110550026 B CN 110550026B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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Abstract
The application provides an automatic braking control method, device and system based on medium-time distance information, wherein the method comprises the following steps: acquiring intermediate time distance information of a vehicle at the current moment, wherein the intermediate time distance information comprises position information and motion information; determining a position of the vehicle to be parked on a preset map according to the position information and the motion information; and according to the position to be parked, the position information and the motion information, performing brake control on the vehicle. The parking area existing in the advancing process of the vehicle is judged by positioning the vehicle in real time and acquiring the corresponding speed, so that the parking position can be quickly and accurately determined when the vehicle needs to be parked subsequently, and the vehicle is braked and controlled.
Description
Technical Field
The application relates to the field of vehicle control, in particular to an automatic braking control method, device and system based on medium-time distance information.
Background
The traditional intelligent parking method mainly uses a sensor to acquire information of surrounding environment so as to automatically park in a parking lot, but for scenes needing parking on a conventional road, such as traffic light intersections, bus station-entering processes and the like, the sensor can inaccurately position the position to be parked, so that the situation that the parking accuracy affects the traffic order occurs.
Disclosure of Invention
An object of the embodiments of the present application is to provide an automatic braking control method, apparatus, and system based on medium-time distance information, so as to improve the problem that a parking position to be parked is not accurately positioned when a conventional intelligent parking method actually travels.
In a first aspect, an embodiment of the present invention provides an automatic braking control method based on medium-time distance information, including: acquiring intermediate time distance information of a vehicle at the current moment, wherein the intermediate time distance information comprises position information and motion information; determining a position of the vehicle to be parked on a preset map according to the position information and the motion information; and according to the position to be parked, the position information and the motion information, performing brake control on the vehicle.
According to the embodiment of the application, the vehicle is positioned in real time through the positioning device, and the corresponding speed is obtained through the sensor, so that the area to be parked in the advancing process of the vehicle is judged, and the parking position can be rapidly and accurately determined when the vehicle needs to be parked in the follow-up process, so that the vehicle is braked and controlled.
In an optional embodiment, the performing braking control on the vehicle according to the to-be-parked position, the position information, and the motion information includes: calculating to obtain expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information; and controlling a brake chamber corresponding to at least one tire in the vehicle to brake according to the expected reverse acceleration.
According to the embodiment of the application, the expected reverse acceleration can be calculated through the determined position to be parked, the position information of the vehicle and the motion information, and the brake air chamber in the vehicle is controlled according to the expected direction acceleration, so that the brake air chamber can brake the tire speed of the vehicle.
In an optional embodiment, the calculating, according to the to-be-parked position, the position information, and the motion information, a desired reverse acceleration corresponding to the vehicle includes: determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle; and calculating to obtain the expected reverse acceleration corresponding to the vehicle according to the motion information and the distance to be braked.
According to the embodiment of the application, the distance to be braked of the vehicle can be determined according to the position of the position to be parked and the position information of the vehicle, and the optimal expected direction acceleration of the vehicle can be calculated according to the actual motion information of the vehicle so as to realize gentle parking.
In an optional embodiment, after the obtaining the information of the intermediate time distance of the vehicle at the current time, the method further comprises: judging whether the vehicles meet a first preset condition and a second preset condition according to the position information and the motion information; the first preset condition is that a manual operation instruction is not received, and the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information; the determining the position of the vehicle to be parked on a preset map according to the position information and the motion information comprises the following steps: and if the vehicles meet the first preset condition and the second preset condition, determining one of all initial parking positions on a preset map as the to-be-parked position of the vehicle according to the position information and the motion information.
According to the embodiment of the application, whether a manual operation instruction exists or not is judged in advance, whether the initial position to be parked can be determined or not is judged, whether braking control over a vehicle is executed or not is determined according to the judgment result, so that the running state of the vehicle is not changed when the vehicle is operated manually or the position to be parked cannot be determined, and accidents are prevented.
In an optional embodiment, after the obtaining the information of the intermediate time distance of the vehicle at the current time, the method further comprises: judging whether the vehicles meet a first preset condition, a second preset condition and a third preset condition according to the position information and the motion information; the first preset condition is that a manual operation instruction is not received; the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information; the third preset condition is that the movement speed of the vehicle is not zero; the determining the position of the vehicle to be parked on a preset map according to the position information and the motion information comprises the following steps: and if the vehicles meet the first preset condition, the second preset condition and the third preset condition, determining one of all initial parking positions on a preset map as a parking position of the vehicle according to the position information and the motion information.
According to the embodiment of the application, whether a manual operation instruction exists or not is judged in advance, whether the initial position to be parked can be determined or not, whether the movement speed of the vehicle is zero or not is determined, whether the braking control of the vehicle is executed or not is determined according to the judgment result, so that when the vehicle is operated manually, the position to be parked cannot be determined, or the braking of the vehicle is completed, the braking control of the vehicle is not performed, and traffic accidents are prevented.
In an optional embodiment, the acquiring the intermediate-time distance information of the vehicle at the current time includes: and determining that a braking and stopping command is received, and acquiring the intermediate time distance information of the vehicle at the current moment.
According to the embodiment of the application, after the braking and parking instruction is determined to be received, the position information and the motion information of the vehicle at the current moment are acquired, so that the accurate and rapid braking control of the vehicle is realized subsequently.
In an alternative embodiment, the method further comprises: judging whether an obstacle appears in a preset range corresponding to the vehicle; and if the obstacle appears in the preset range, controlling the vehicle to brake within a preset time length.
The embodiment of the application also detects whether the vehicle has the barrier in the preset range or not so as to realize emergency braking of the vehicle and avoid traffic accidents as much as possible.
In a second aspect, an embodiment of the present invention provides an automatic braking control apparatus, including: the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring the intermediate time distance information of the vehicle at the current moment, and the intermediate time distance information comprises position information and motion information; the positioning module is used for determining the position of the vehicle to be parked on a preset map according to the position information and the motion information; and the braking module is used for braking and controlling the vehicle according to the position to be parked, the position information and the motion information.
According to the embodiment of the application, the vehicle is positioned in real time and the corresponding speed is acquired through the acquisition module, and the area to be parked in the advancing process of the vehicle is judged through the positioning module, so that the parking position can be quickly and accurately determined when the vehicle needs to be parked in the follow-up process, and the vehicle is braked and controlled by the braking module.
In a third aspect, an embodiment of the present invention provides an automatic braking control system, including: a positioning device, an inertial sensor, and a controller; the controller is respectively connected with the positioning device and the inertial sensor, and the positioning device is used for collecting the position information of the vehicle; the inertial sensor is used for acquiring motion information of the vehicle; the controller is configured to perform the method of any of the preceding embodiments.
According to the embodiment of the application, the vehicle is positioned in real time through the positioning device, and the corresponding speed is obtained through the inertial sensor, so that the area to be parked in the advancing process of the vehicle is judged, the parking position can be rapidly and accurately determined when the vehicle needs to be parked in the follow-up process, and the vehicle is braked and controlled by the follow-up controller.
In a fourth aspect, embodiments of the invention provide a non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the method of any one of the preceding embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of an automatic braking control method based on medium-time distance information according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of another automatic braking control method based on intermediate time distance information according to an embodiment of the present application;
fig. 3 is a schematic flowchart of another automatic braking control method based on middle-time distance information according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an automatic braking control device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an automatic braking control system according to an embodiment of the present application.
Icon: 50-automatic brake control system; 510-a controller; 520-a positioning device; 530-an inertial sensor; 540-brake chamber; 550-an air pressure control unit; 560-brake control button; 570-a radar sensor; 580-Camera.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The traditional intelligent parking method mainly aims at the condition that a vehicle needs to park in a parking lot to perform braking control, obtains the parking environment of the vehicle by installing sensors or cameras around the vehicle, determines the parking space to be parked of the vehicle, and then controls the vehicle to perform braking parking. For a scene needing parking control in the normal driving process, the traditional intelligent parking method cannot accurately determine the position to be parked, and cannot control vehicles to accurately park subsequently, so that the traffic order is easily influenced.
Fig. 1 is a schematic flowchart of an automatic braking control method based on medium-time distance information according to an embodiment of the present application, where the method includes:
step 110: the controller acquires the intermediate time distance information of the vehicle at the current moment, wherein the intermediate time distance information comprises position information and motion information.
In an optional implementation process of the present application, in order to determine a position to be parked where the vehicle needs to be parked subsequently, a controller may be set in the vehicle, and the controller may acquire the middle-time distance information of the vehicle, that is: and acquiring the position information and the motion information of the vehicle at the current moment so as to determine the position to be parked corresponding to the vehicle in the following and perform braking control on the vehicle.
It should be noted that the intermediate-time distance information of the vehicle may represent the state of the vehicle itself, and the intermediate-time distance information may specifically include position information of the vehicle; the intermediate time range information may also include the speed of movement, acceleration of movement, direction of movement of the vehicle.
The controller may have a plurality of implementation manners for acquiring the location information of the vehicle, for example, the location information of the vehicle may be obtained by detecting a positioning device disposed in the vehicle, such as positioning the vehicle by using a GPS positioning device or a beidou satellite positioning device, and acquiring the longitude and latitude location information of the vehicle at the current time. Taking a GPS positioning device as an example, a GPS receiver provided on a vehicle is used to receive a positioning signal of a corresponding GPS satellite, and the satellite positioning signal is subjected to methods, changes, and processing, so that a three-dimensional position of the vehicle corresponding to the GPS receiver can be analyzed. The specific method for acquiring the position information of the vehicle is not limited, and can be adjusted according to the actual braking control requirement.
In addition, the controller can also detect through an inertial sensor arranged in the vehicle to obtain the motion information of the vehicle, for example, an angular rate gyroscope can be used for measuring the motion direction of the vehicle at the current moment to determine the subsequent motion trend of the vehicle, and a linear accelerometer can be used for measuring the speed and the acceleration of the vehicle at the current moment so as to know the subsequent running state of the vehicle. The specific method for acquiring the motion information of the vehicle and the type of the motion information are not limited, and can be adjusted according to the actual braking control requirement.
Step 120: and the controller determines the position of the vehicle to be parked on a preset map according to the position information and the motion information.
In the optional implementation process of the application, in order to determine the position of the vehicle to be parked more accurately, the controller can judge the movement trend of the subsequent vehicle according to the position information, the movement speed and the movement direction of the vehicle at the current moment, and determine the position of the vehicle to be parked more quickly and accurately on a preset map stored in the controller in advance, so that the vehicle can be braked and controlled later.
The intermediate time distance information can also represent the road state of the vehicle in the movement direction, and can comprise a preset map, and the distance between the vehicle and the position to be parked can be determined according to the preset map.
It is worth to be noted that, the preset map can be marked with scenes of traffic light intersections, bus stops or pedestrian crossings in advance. Specifically, the plane position where parking is needed can be determined according to the characteristics of each scene, so that the corresponding position to be parked can be determined according to the position, the movement speed and the movement direction of the vehicle. For example, a road behind a zebra crossing may be determined as a specific position for subsequent parking at a red/green intersection, and an intra-station road corresponding to a bus stop may be determined as a specific position for subsequent parking at a bus stop. The specific type of the preset map is not limited, and can be adjusted according to actual requirements.
The controller can also acquire a new preset map from the server at intervals of preset time to update the map, and can also acquire a real-time map to represent the real-time traffic condition so as to more accurately determine the position of the vehicle to be parked. Taking a traffic light intersection as an example, the controller can acquire a real-time map, and can determine a red light intersection needing to be parked according to the position, the movement speed and the movement direction of the vehicle, and a green light intersection needing not to be parked can not be used as a position to be parked at the current moment.
Step 130: and the controller performs braking control on the vehicle according to the position to be parked, the position information and the motion information.
In the optional implementation process of the application, after the position of the vehicle to be parked at the current moment is determined, the vehicle can be braked and controlled according to the position information and the motion information of the vehicle, so that the vehicle stays in the first preset range of the position to be parked when the running speed is zero, and the vehicle can be braked and parked accurately, safely and smoothly without the operation of a driver.
The first preset range of the position to be parked can be a quadrangle and an ellipse which take the position to be parked as the center, and the first preset range can be slightly larger than the area of the overlooking surface of the vehicle, so that the vehicle can complete braking in the first preset range of the position to be parked more accurately.
It is worth to be noted that the automatic braking control method based on the medium-time distance information provided by the application can be suitable for most types of vehicles, and different positions to be parked can be determined in a preset map according to different types of vehicles. By taking different types of vehicles as an example, for a household car running on a road, a parking position corresponding to the car can be determined to be a traffic light intersection needing to be parked according to the motion state and the position information of the car. For buses running on the road, the positions of the to-be-parked buses, which are traffic light intersections and bus stations needing to be parked, can be determined according to the motion states and the position information of the buses. The specific method for determining the position to be parked corresponding to the vehicle can be adjusted according to actual requirements.
Fig. 2 is a schematic flowchart of another automatic braking control method based on the intermediate-time distance information according to an embodiment of the present application, where the step 130 includes:
step 131: and the controller calculates the expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information.
In an optional implementation process of the application, after the to-be-parked position of the vehicle is determined, the expected reverse acceleration which needs to be applied to the vehicle can be calculated according to the position information and the motion information of the vehicle, so that the vehicle can complete braking within a preset range of the to-be-parked position.
It should be noted that, step 131 may specifically be: determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle; and calculating to obtain the expected reverse acceleration corresponding to the vehicle according to the motion information and the distance to be braked.
After the position to be parked is determined on the preset map, a plurality of paths from the vehicle to the position to be parked can be acquired according to the position information of the vehicle at the current moment. The controller may randomly select a distance of one path from the plurality of paths as the distance to be braked of the vehicle, and the controller may also select a distance corresponding to a path having the shortest distance from the plurality of paths as the distance to be braked of the vehicle. Meanwhile, according to the movement speed in the movement information of the vehicle, the expected reverse acceleration corresponding to the vehicle can be calculated, so that the subsequent vehicle can perform deceleration movement until the vehicle is braked.
For example, assuming that the obtained to-be-braked distance of the vehicle is x and the current speed of the vehicle is v, the calculated expected reverse acceleration is:
the vehicle can then be braked according to the magnitude of the desired reverse acceleration.
It should be further noted that the specific manner of acquiring the multiple paths of the vehicle to the to-be-parked position and the specific manner of determining the to-be-braked distance by the controller are not limited, and may be adjusted according to the actual brake control requirement.
With continued reference to FIG. 2, after step 131, step 132 is performed.
Step 132: and the controller controls a brake air chamber corresponding to at least one tire in the vehicle to brake according to the expected reverse acceleration.
It is worth mentioning that the controller may send the expected reverse acceleration as a deceleration control command to the Pneumatic Control Unit (PCU), which performs a closed-loop regulation of the braking control of the vehicle according to the expected reverse acceleration by means of the longitudinal acceleration in the motion information of the vehicle.
It should be further noted that the controller may send a deceleration control instruction to an air pressure control unit in the vehicle according to the expected magnitude of the reverse acceleration, so that the air pressure control unit may control the air in the high-pressure air storage tank according to the deceleration control instruction, so as to control the air to enter the brake air chamber, deform a diaphragm in the brake air chamber under the action of the air pressure, push the push rod, and drive the brake adjusting arm to rotate the brake cam, so as to press the brake shoe friction plate to the brake drum of the tire, thereby implementing the brake control of the vehicle.
Fig. 3 is a schematic flowchart of another automatic braking control method based on the intermediate-time distance information according to an embodiment of the present application, where after step 110, the method further includes:
step 310: and the controller judges whether the vehicles meet a first preset condition and a second preset condition according to the position information and the motion information.
The first preset condition is that a manual operation instruction is not received, and the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information.
With continued reference to fig. 3, step 120 may specifically be:
step 320: and if the vehicles meet the first preset condition and the second preset condition, the controller determines one of all initial parking positions on a preset map as the parking position of the vehicle according to the position information and the motion information.
In an optional implementation process of the application, before determining the position to be parked corresponding to the vehicle, whether the state of the vehicle meets some preset conditions or not can be judged to judge whether the position to be parked of the vehicle needs to be determined or not, and then the vehicle is subjected to braking control.
Taking the first preset condition as an example, in some special scenes, for example, a traffic accident occurs in the front, or a driver does not want to stop at the moment, when it may need to stop manually, the driver may send a manual operation instruction to the controller by stepping on an accelerator pedal and a brake pedal. The controller can judge whether to enter the manual operation process of the vehicle by detecting whether the manual operation instruction is received or not, so that the vehicle is not manually operated and is also subjected to brake control in the following process.
Taking the second preset condition as an example, in some special occasions, the vehicle may not be able to determine the position to be parked, for example, when the vehicle runs on a highway, the vehicle is not allowed to park; or in the driving direction of the vehicle, scenes such as parking and the like are not needed within a certain distance, the position of the vehicle to be parked cannot be determined, and then the vehicle cannot be braked and controlled subsequently. Therefore, the controller can determine that at least one initial position to be parked exists in a second preset range taking the vehicle as the center from the preset map according to the current position and the movement direction of the vehicle, so that the position to be parked of the vehicle can be determined subsequently, and the vehicle is braked and controlled.
It should be noted that the determining steps of the first preset condition and the second preset condition may be performed simultaneously; or after judging whether the state of the vehicle meets the first preset condition, if not, the vehicle does not meet the second preset condition; after judging whether the state of the vehicle meets the second preset condition, if the state of the vehicle does not meet the second preset condition, judging whether the state of the vehicle meets the first preset condition. The execution sequence of the judging step of the first preset condition and the judging step of the second preset condition is not limited, and the braking control requirement of the vehicle can be adjusted according to the actual requirement.
It should be further noted that, if the vehicle meets the second preset condition while meeting the first preset condition, an initial parking position closest to the vehicle may be determined from all initial parking positions obtained in the determination process of determining whether the second preset condition is met according to the position information and the motion information of the vehicle, and the initial parking position is used as a parking position corresponding to the vehicle, so as to perform subsequent braking control on the vehicle. The specific mode for selecting the position to be parked is not limited, and can be limited according to actual requirements.
And if the vehicle does not meet the first preset condition or the second preset condition, the vehicle is judged to be not suitable for parking at the current moment, the position to be parked corresponding to the vehicle can not be determined, and the vehicle is not subjected to brake control. The controller can detect whether the vehicles meet the preset conditions at intervals so as to timely perform braking control on the vehicles.
On the basis of the above embodiment, after step 110, the method further includes: and judging whether the vehicles meet a first preset condition, a second preset condition and a third preset condition according to the position information and the motion information. Step 120 may specifically be: and if the vehicles meet the first preset condition, the second preset condition and the third preset condition, determining one of all initial parking positions on a preset map as a parking position of the vehicle according to the position information and the motion information.
In an optional implementation process of the application, before determining the position to be parked corresponding to the vehicle, whether the state of the vehicle meets some preset conditions or not can be judged to judge whether the position to be parked of the vehicle needs to be determined or not, and then the vehicle is subjected to braking control. The first preset condition and the second preset condition are already described above, and are not described herein again.
On the basis of the above embodiment, a third preset condition may be added, where the third preset condition is that the moving speed of the vehicle is not zero. Namely: when the speed of the vehicle is zero, it is determined that the vehicle has completed braking, and the vehicle is no longer subjected to braking control. The execution sequence of the judging step of the first preset condition, the judging step of the second preset condition and the judging step of the third preset condition is not limited, and the braking control requirement of the vehicle can be adjusted according to the actual requirement. Meanwhile, the judgment sequence, specific number and specific type of the preset conditions are not limited, and can be adjusted according to the actual braking control requirement.
On the basis of any of the above embodiments, step 110 may specifically be: and determining that a braking and stopping command is received, and acquiring the position information and the motion information of the vehicle at the current moment.
In the implementation process of the application, two control modes of manual brake control and controller brake control can be switched by arranging a brake control button in a vehicle. As an alternative embodiment, the brake control button may be set as a tact switch, and the driver may send a brake control instruction to the controller by pressing the brake control button, and after determining that the brake stop instruction is received, the controller may obtain the position information and the motion information of the vehicle at the current time, so as to perform subsequent brake control on the vehicle.
It should be noted that, as another alternative embodiment, the brake control button may be set as a button switch, and when the button switch is pressed, the brake control button is in a control mode for performing brake control on the controller, and when the button switch is reset, the brake control button is in a control mode for performing brake control manually, and the controller may determine whether brake control on the vehicle is needed by detecting a state of the button switch.
On the basis of any of the above embodiments, the method further comprises: judging whether an obstacle appears in a preset range corresponding to the vehicle; and if the obstacle appears in the preset range, controlling the vehicle to brake within a preset time length.
In the implementation process of the application, in order to prevent traffic accidents under the control mode that the controller performs braking control, the radar sensor or the camera can be arranged in the vehicle, the controller can acquire the middle-time distance information through the radar sensor or the camera, the middle-time distance information can also represent whether obstacles appear in the preset range of the vehicle, and if the obstacles are detected, the situation that the vehicle needs to avoid the obstacles can be judged, so that the collision between the vehicle and the obstacles can be avoided. As an alternative embodiment, the controller may start an Autonomous Braking function (AEB) to control the vehicle to brake within a preset time period, so as to complete Braking within a safe distance to avoid collision with an obstacle, thereby preventing traffic accidents.
It is worth to say that, when the AEB performs braking control on the vehicle, the AEB firstly measures the distance to the obstacle by using the radar, and then compares the measured distance with the alarm distance and the safety distance by using the data analysis module in the AEB, and performs alarm prompt when the distance is smaller than the alarm distance, and when the distance is smaller than the safety distance, even if the driver does not have to step on the brake pedal, the automobile can be automatically braked, thereby effectively preventing traffic accidents.
Fig. 4 is a schematic structural diagram of an automatic braking control device provided in an embodiment of the present application, and based on the same inventive concept, an automatic braking control device 400 is further provided in the embodiment of the present application, and includes: the obtaining module 410 is configured to obtain the intermediate-time distance information of the vehicle at the current time, where the intermediate-time distance information includes position information and motion information. And the positioning module 420 is configured to determine a to-be-parked position of the vehicle on a preset map according to the position information and the motion information. And the braking module 430 is used for performing braking control on the vehicle according to the position to be parked, the position information and the motion information.
On the basis of the above embodiment, the braking module 430 is specifically configured to: calculating to obtain expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information; and controlling a brake chamber corresponding to at least one tire in the vehicle to brake according to the expected reverse acceleration.
On the basis of the above embodiment, the braking module 430 is specifically configured to: determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle; and calculating to obtain the expected reverse acceleration corresponding to the vehicle according to the motion information and the distance to be braked.
On the basis of the above embodiment, the automatic brake control apparatus 400 further includes: and the first judgment module is used for judging whether the transportation means meet a first preset condition and a second preset condition according to the position information and the motion information. The first preset condition is that a manual operation instruction is not received, and the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information. When the vehicles meet the first preset condition and the second preset condition, the positioning module 420 is specifically configured to determine one of all initial parking positions on a preset map as the to-be-parked position of the vehicle according to the position information and the motion information.
On the basis of the above embodiment, the automatic brake control apparatus 400 further includes: and the second judgment module is used for judging whether the transportation means meet a first preset condition, a second preset condition and a third preset condition according to the position information and the motion information. The first preset condition is that a manual operation instruction is not received; the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information; the third preset condition is that the movement speed of the vehicle is not zero. When the vehicles all satisfy the first preset condition, the second preset condition, and the third preset condition, the positioning module 420 is specifically configured to determine one of all initial parking positions on a preset map as a to-be-parked position of the vehicle according to the position information and the motion information.
On the basis of any of the above embodiments, the obtaining module 410 is specifically configured to: and determining that a braking and stopping command is received, and acquiring the position information and the motion information of the vehicle at the current moment.
On the basis of any of the above embodiments, the automatic brake control device 400 further includes: keep away barrier module and be used for: judging whether an obstacle appears in a preset range corresponding to the vehicle; and if the obstacle appears in the preset range, controlling the vehicle to brake within a preset time length.
The embodiment of the present application provides an automatic braking control device 400 for executing the above method, and the specific implementation thereof is consistent with the implementation of the automatic braking control method based on the middle time distance information, and is not described herein again.
Fig. 5 is a schematic structural diagram of an automatic braking control system according to an embodiment of the present application, and based on the same inventive concept, an automatic braking control system 50 according to an embodiment of the present application further includes: positioning device 520, inertial sensor 530, and controller 510; the controller 510 is respectively connected to the positioning device 520 and the inertial sensor 530, and the positioning device 520 is used for collecting position information of a vehicle; the inertial sensor 530 is used to collect motion information of the vehicle, and the controller 510 is used to execute the automatic braking control method based on the middle-time distance information.
According to the embodiment of the application, the vehicle is positioned in real time through the positioning device 520, and the corresponding speed is obtained through the inertial sensor 530, so that the area to be parked in the traveling process of the vehicle is determined, and when the vehicle needs to be parked subsequently, the parking position can be determined quickly and accurately, so that the subsequent controller 510 can brake and control the vehicle.
On the basis of the above embodiment, the automatic braking control system 50 further includes: the pneumatic brake system comprises at least one brake chamber 540 and an air pressure control unit 550, wherein all the brake chambers 540 are respectively connected with the air pressure control unit 550, the air pressure control unit 550 is connected with a controller 510, the brake chambers 540 correspond to tires of a vehicle one by one, the air pressure control unit 550 is used for driving the brake chambers 540 according to a deceleration control instruction of the controller 510, and the brake chambers 540 are used for slowing down the speed of the corresponding tires.
On the basis of the above embodiment, the automatic braking control system 50 further includes: a brake control button 560, the brake control button 560 being connected to the controller 510, the brake control button 560 being configured to issue a brake control command when depressed.
On the basis of the above embodiment, the automatic braking control system 50 further includes: a radar sensor 570 and/or a camera 580, the radar sensor 570 and/or the camera 580 being connected to the controller 510, the radar sensor 570 and/or the camera 580 being used to detect whether an obstacle is present within a preset range of the vehicle.
As an embodiment, the controller 510 is disposed in the vehicle, and after the controller 510 determines that the braking control command sent by the braking control button 560 is received, the controller 510 determines whether the driver operates the accelerator pedal and/or the brake pedal. If the driver does not operate the accelerator pedal and the brake pedal, the controller acquires the intermediate time distance information of the vehicle at the current moment through the positioning device 520 and the inertia sensor 530. Specifically, the position information of the vehicle at the current time is acquired by the positioning device 520, and the motion information of the vehicle at the current time is acquired by the inertial sensor 530. The controller 510 determines whether at least one initial parking position corresponding to the vehicle can be confirmed on the preset map according to the position information and the motion information of the vehicle at the current time, and if the at least one initial parking position can be confirmed, selects one of all the initial parking positions as the parking position of the vehicle according to the position and the motion direction of the vehicle. The controller 510 calculates an expected reverse acceleration required for controlling the vehicle to brake according to the determined position to be parked and the position information of the vehicle at the current moment, and sends a deceleration control command to the pneumatic control unit 550 of the vehicle according to the expected reverse acceleration so as to drive the brake chamber 540 to control the tire speed of the vehicle to brake. Until the controller 510 acquires through the inertial sensor 530 that the moving speed of the vehicle is zero, it determines that the braking control of the vehicle is completed. While the controller 510 performs braking control on the vehicle, the controller 510 further detects whether an obstacle is present within a preset range of the vehicle through the radar sensor 570 and/or the camera 580, and if an obstacle is present within the preset range, the controller 510 starts an autonomous braking function (AEB) to control the vehicle to brake for a preset time period.
It is worth mentioning that the automatic braking control system 50 further includes: the memory, the input and output unit, and the display unit are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. At least one software or firmware (firmware) is stored in the memory or is a software functional module that is solidified in an Operating System (OS). The controller 510 is used to execute executable modules, software functional modules or computer programs stored in memory.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing a program, and the controller 510 executes the program after receiving an execution instruction, and the method executed by the server defined by the flow process disclosed in any of the foregoing embodiments of the present application may be applied to the controller 510, or implemented by the controller 510.
The controller 510 may be an integrated circuit chip having signal processing capabilities. The controller 510 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the controller 510 may be any conventional processor or the like.
The input and output unit is used for providing input data for a user to realize the interaction of the user and the server (or the local terminal). The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
The display unit provides an interactive interface (e.g., a user interface) between the autobrake control system 50 and a user or for displaying image data to a user reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the display can be a capacitive touch screen or a resistive touch screen, which supports single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations from one or more locations on the touch display at the same time, and the sensed touch operations are sent to the controller 510 for calculation and processing.
It will be appreciated that the configuration shown in FIG. 5 is merely illustrative and that the automatic brake control system 50 may include more or fewer components than shown in FIG. 5, or may have a different configuration than shown in FIG. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
In summary, the embodiment of the present application provides an automatic braking control method, an automatic braking control device, and an automatic braking control system based on medium-time distance information, where the method includes: acquiring intermediate time distance information of a vehicle at the current moment, wherein the intermediate time distance information comprises position information and motion information; determining a position of the vehicle to be parked on a preset map according to the position information and the motion information; and according to the position to be parked, the position information and the motion information, performing brake control on the vehicle. According to the method and the device, the area to be parked existing in the advancing process of the vehicle is judged by positioning the vehicle in real time and acquiring the corresponding speed, so that the parking position can be quickly and accurately determined when the vehicle needs to be parked subsequently, and the vehicle is braked and controlled.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An automatic braking control method based on intermediate time distance information is characterized by comprising the following steps:
acquiring intermediate time distance information of a vehicle at the current moment, wherein the intermediate time distance information comprises position information and motion information;
determining a position of the vehicle to be parked on a preset map according to the position information and the motion information;
according to the position to be parked, the position information and the motion information, performing brake control on the vehicle;
the brake control of the vehicle according to the position to be parked, the position information, and the motion information includes:
calculating to obtain expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information;
controlling a brake chamber corresponding to at least one tire in the vehicle to brake according to the expected reverse acceleration;
the calculating to obtain the expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information comprises:
determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle;
calculating to obtain expected reverse acceleration corresponding to the vehicle according to the motion information and the distance to be braked;
the determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle comprises the following steps:
acquiring a plurality of paths from the vehicle to the position to be parked according to the position information corresponding to the vehicle;
randomly selecting the distance of one path from the plurality of paths as the distance to be braked of the vehicle; or selecting the distance corresponding to the path with the shortest distance from the plurality of paths as the distance to be braked of the vehicle.
2. The method of claim 1, wherein after the obtaining the time-slot information of the vehicle at the current time, the method further comprises:
judging whether the vehicles meet a first preset condition and a second preset condition according to the position information and the motion information;
the first preset condition is that a manual operation instruction is not received, and the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information;
the determining the position of the vehicle to be parked on a preset map according to the position information and the motion information comprises the following steps:
and if the vehicles meet the first preset condition and the second preset condition, determining one of all initial parking positions on a preset map as the to-be-parked position of the vehicle according to the position information and the motion information.
3. The method of claim 1, wherein after the obtaining the time-slot information of the vehicle at the current time, the method further comprises:
judging whether the vehicles meet a first preset condition, a second preset condition and a third preset condition according to the position information and the motion information;
the first preset condition is that a manual operation instruction is not received; the second preset condition is that at least one initial position to be parked can be determined on a preset map according to the position information and the motion information; the third preset condition is that the movement speed of the vehicle is not zero;
the determining the position of the vehicle to be parked on a preset map according to the position information and the motion information comprises the following steps:
and if the vehicles meet the first preset condition, the second preset condition and the third preset condition, determining one of all initial parking positions on a preset map as a parking position of the vehicle according to the position information and the motion information.
4. The method according to any one of claims 1-3, wherein the obtaining of the intermediate-time distance information of the vehicle at the current time comprises:
and determining that a braking and stopping command is received, and acquiring the intermediate time distance information of the vehicle at the current moment.
5. The method according to any one of claims 1-3, further comprising:
judging whether an obstacle appears in a preset range corresponding to the vehicle;
and if the obstacle appears in the preset range, controlling the vehicle to brake within a preset time length.
6. An automatic brake control apparatus, characterized by comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring the intermediate time distance information of the vehicle at the current moment, and the intermediate time distance information comprises position information and motion information;
the positioning module is used for determining the position of the vehicle to be parked on a preset map according to the position information and the motion information;
the braking module is used for braking and controlling the vehicle according to the position to be parked, the position information and the motion information;
the brake module is further configured to:
calculating to obtain expected reverse acceleration corresponding to the vehicle according to the position to be parked, the position information and the motion information;
controlling a brake chamber corresponding to at least one tire in the vehicle to brake according to the expected reverse acceleration;
the brake module is further configured to:
determining the distance to be braked of the vehicle according to the position of the position to be parked and the position information corresponding to the vehicle;
calculating to obtain expected reverse acceleration corresponding to the vehicle according to the motion information and the distance to be braked;
the brake module is further configured to:
acquiring a plurality of paths from the vehicle to the position to be parked according to the position information corresponding to the vehicle;
randomly selecting the distance of one path from the plurality of paths as the distance to be braked of the vehicle; or selecting the distance corresponding to the path with the shortest distance from the plurality of paths as the distance to be braked of the vehicle.
7. An automatic brake control system, comprising: a positioning device, an inertial sensor, and a controller;
the controller is respectively connected with the positioning device and the inertial sensor, and the positioning device is used for collecting the position information of the vehicle; the inertial sensor is used for acquiring motion information of the vehicle; the controller is configured to perform the method of any one of claims 1-5.
8. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the method of any one of claims 1-5.
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