CN110660268B - Server, vehicle and safe driving method and system of vehicle - Google Patents

Server, vehicle and safe driving method and system of vehicle Download PDF

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Publication number
CN110660268B
CN110660268B CN201810706242.0A CN201810706242A CN110660268B CN 110660268 B CN110660268 B CN 110660268B CN 201810706242 A CN201810706242 A CN 201810706242A CN 110660268 B CN110660268 B CN 110660268B
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vehicle
adhesion coefficient
road
target
coefficient
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CN110660268A (en
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刘效飞
范波
白军明
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BYD Co Ltd
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BYD Co Ltd
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Priority to PCT/CN2019/092850 priority patent/WO2020001447A1/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The invention discloses a server, a vehicle, and a safe driving method and system of the vehicle, wherein the method comprises the following steps: acquiring a road adhesion coefficient and position information of a first vehicle, which are sent by the first vehicle during braking; determining a current driving target road section of the first vehicle according to the position information of the first vehicle; determining a target adhesion coefficient of a target road section according to the road adhesion coefficient of the first vehicle; and acquiring a second vehicle which runs in the target road section and is not braked, and issuing a target adhesion coefficient to the second vehicle. According to the method, the target adhesion coefficient of the current running target road section is determined according to the road adhesion coefficient of the first vehicle, and the target adhesion coefficient is issued to the second vehicle which is not braked in the target road section, so that the second vehicle can be braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.

Description

Server, vehicle and safe driving method and system of vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a server, a vehicle and a safe driving method and system of the vehicle.
Background
The road adhesion coefficient is the adhesion capacity of the tire on different roads, directly determines the braking distance and stability of the vehicle, and the larger the road adhesion coefficient is, the more stable the vehicle runs, the shorter the braking distance is, the smaller the road adhesion coefficient is, the more easily the vehicle runs out of control, and the longer the braking distance is. The value of the road surface adhesion coefficient is mainly determined by the material of the road and the condition of the road surface. Generally, the adhesion coefficient of a dry, good asphalt or concrete pavement is the largest, which can be as high as 0.7-0.8. The adhesion coefficient of the ice and snow road surface is the smallest, and the ice and snow road surface is most easy to slip. The road surface adhesion coefficient of the dry pavement in rainy days is less than half of that of the dry pavement, and the braking force and the like are reduced along with the reduction of the coefficient, so that the vehicle is easy to slip. The road surface adhesion coefficient of the common cement road surface is 0.7-1.0, the road surface adhesion coefficient of the wet cement road surface is 0.4-0.6, the road surface adhesion coefficient in rainy days is 0.3-0.4, and the road surface adhesion coefficient in icy days is 0.2-0.3.
In the related art, one method mainly estimates an approximate road adhesion coefficient through a model such as a vehicle mass center slip angle, however, the estimation model of the road adhesion coefficient is not perfect, and the estimated road adhesion coefficient has a large deviation from an actual road adhesion coefficient. In another way, the road adhesion coefficient is set simply by judging whether the wiper is rainy. In practical application, when the rain is stopped, the wiper is closed, and the road adhesion coefficient set in the current non-rainy day is determined to be relatively large, and the road adhesion coefficient of the road immediately after the rain is completely closed is relatively low in practical situation, so that the problem of wrong setting of the road adhesion coefficient can occur. When the road adhesion coefficient is identified incorrectly, the assistant driving system can obtain the wrong braking distance according to the wrong road adhesion coefficient, and vehicle accidents are often caused by the fact that the braking distance is not enough.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a safe driving method for a first vehicle, which can determine a target adhesion coefficient of a current driving target road section according to the road adhesion coefficient of the first vehicle, issue the target adhesion coefficient to a second vehicle in the target road section without braking, do not rely on model estimation or wiper state for identification, acquire an actual road adhesion coefficient of the first vehicle during braking, and issue the actual road adhesion coefficient to the second vehicle, so that the second vehicle brakes in advance, thereby effectively improving the safety of the vehicle and reducing the probability of traffic accidents.
A second object of the invention is to propose a second method for safe driving of a vehicle.
A third object of the present invention is to propose a third method for safe driving of a vehicle.
A fourth object of the present invention is to provide a server.
A fifth object of the invention is to propose a vehicle.
A sixth object of the invention is to propose a second vehicle.
A seventh object of the present invention is to provide a safe driving system of a vehicle.
An eighth object of the present invention is to provide an electronic apparatus.
A ninth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, a first embodiment of the present invention provides a safe driving method for a vehicle, including the steps of: acquiring a road adhesion coefficient sent by a first vehicle and position information of the first vehicle during braking; determining a target road section currently driven by the first vehicle according to the position information of the first vehicle; determining a target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle; and acquiring a second vehicle which runs in the target road section and is not braked, and issuing the target adhesion coefficient to the second vehicle.
According to the safe driving method of the vehicle, the road adhesion coefficient sent by the first vehicle during braking and the position information of the first vehicle can be obtained, the target road section currently driven by the first vehicle is determined according to the position information of the first vehicle, the target adhesion coefficient of the target road section currently driven is determined according to the road adhesion coefficient of the first vehicle, the second vehicle which does not brake in the target road section is obtained, the target adhesion coefficient is issued to the second vehicle which does not brake in the target road section, model estimation or windshield wiper state identification is not relied on, the actual road adhesion coefficient of the first vehicle during braking is collected, and the actual road adhesion coefficient is issued to the second vehicle, so that the second vehicle can brake in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In one embodiment of the present invention, the determining the target adhesion coefficient of the target road segment according to the road adhesion coefficient of the first vehicle includes: obtaining a brake mechanism of the first vehicle during braking, and determining a proportionality coefficient of a road surface adhesion coefficient of the first vehicle according to the brake mechanism; and determining the target adhesion coefficient according to the road adhesion coefficient and the proportionality coefficient of the first vehicle.
In one embodiment of the present invention, the determining the target adhesion coefficient based on the road surface adhesion coefficient and the scaling factor of the first vehicle includes: and acquiring a first numerical value obtained by multiplying the road surface adhesion coefficient of the first vehicle by the proportionality coefficient, adding the first numerical values of all the first vehicles to obtain a second numerical value, adding the proportionality coefficients of all the first vehicles to obtain a third numerical value, and taking a ratio of the second numerical value to the third numerical value to obtain the target adhesion coefficient.
In order to achieve the above object, a second embodiment of the invention provides a safe driving method for a vehicle, including the following steps: acquiring a road adhesion coefficient and position information when a vehicle is braked; and sending the road surface adhesion coefficient and the position information to a server.
According to the safe driving method of the vehicle, the road adhesion coefficient and the position information when the vehicle is braked can be obtained, and the road adhesion coefficient and the position information are sent to the server, so that the server can count the road adhesion coefficient of the nearby area and calculate the road adhesion coefficient, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In one embodiment of the present invention, the obtaining of the road adhesion coefficient when the vehicle brakes includes: and acquiring a brake mechanism when the vehicle brakes, and controlling to acquire the road adhesion coefficient under the brake mechanism.
In one embodiment of the present invention, the obtaining of the brake mechanism at the time of braking of the vehicle, under which the road adhesion coefficient is obtained, includes: judging whether an Antilock Brake System (ABS) is triggered when the vehicle brakes; if the ABS is triggered, the current braking deceleration of the vehicle is obtained, and the road surface adhesion coefficient is obtained according to the braking deceleration; and if the ABS is not triggered, acquiring the current wheel speed deceleration of the vehicle, and acquiring the road adhesion coefficient according to the wheel speed deceleration.
In order to achieve the above object, a third embodiment of the present invention provides a safe driving method for a third vehicle, comprising: the method comprises the following steps: acquiring a target road surface adhesion coefficient of a current running target road section issued by a server; and controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
According to the safe driving method of the vehicle, the target road surface adhesion coefficient of the current driving target road section issued by the server can be obtained, and the vehicle is controlled to drive on the target road section according to the target road surface adhesion coefficient so as to brake in advance, so that the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In one embodiment of the present invention, the controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient includes: obtaining the braking distance of the vehicle on the target road section according to the target road adhesion coefficient; and controlling the vehicle to follow under the limitation of the braking distance.
In one embodiment of the present invention, the controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient includes: judging whether the target road section is a curved road section; if the target road section is a curved road section, acquiring the turning radius of the target road section; and determining the safe running speed of the vehicle during turning according to the target road adhesion coefficient and the turning radius, and controlling the vehicle to run under the limit of the safe running speed.
In one embodiment of the present invention, the controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient includes: obtaining the braking distance of the vehicle according to the target road surface adhesion coefficient; acquiring a road condition image of a road in front of the vehicle, and identifying whether an obstacle exists in the road condition image; if the obstacle exists, acquiring the distance between the obstacle and the vehicle according to the road condition image; and if the distance between the obstacle and the vehicle is greater than or equal to the braking distance, controlling the vehicle to brake in advance before the distance between the obstacle and the vehicle is equal to the braking distance.
In order to achieve the above object, a fourth aspect of the present invention provides a server, including: the information acquisition module is used for acquiring a road adhesion coefficient sent by a first vehicle and position information of the first vehicle during braking; the road section determining module is used for determining a target road section currently driven by the first vehicle according to the position information of the first vehicle; the coefficient determining module is used for determining a target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle; and the coefficient sending module is used for acquiring a second vehicle which runs in the target road section and is not braked, and issuing the target adhesion coefficient to the second vehicle.
The server of the embodiment of the invention can obtain the road adhesion coefficient sent by the first vehicle and the position information of the first vehicle during braking through the information acquisition module, determine the current target road section of the first vehicle according to the position information of the first vehicle through the road section determination module, determine the target adhesion coefficient of the current target road section of the driving through the coefficient determination module according to the road adhesion coefficient of the first vehicle, obtain the second vehicle which does not generate braking in the target road section through the coefficient sending module, send the target adhesion coefficient to the second vehicle which does not generate braking in the target road section, do not depend on model estimation or wiper state for identification any more, acquire the actual road adhesion coefficient of the first vehicle during braking, send the actual road adhesion coefficient to the second vehicle so as to brake the second vehicle in advance, effectively improve the safety of vehicles and reduce the probability of traffic accidents.
In order to achieve the above object, an embodiment of a fifth aspect of the invention proposes a first vehicle including: the acquisition module is used for acquiring the road adhesion coefficient and the position information when the vehicle is braked; and the sending module is used for sending the road adhesion coefficient and the position information to a server.
According to the vehicle provided by the embodiment of the invention, the road adhesion coefficient and the position information when the vehicle is braked can be obtained through the obtaining module, and the road adhesion coefficient and the position information are sent to the server through the sending module, so that the server can count the road adhesion coefficient of the nearby area and calculate the road adhesion coefficient, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In order to achieve the above object, a sixth aspect of the present invention provides a vehicle comprising: the coefficient acquisition module is used for acquiring a target road surface adhesion coefficient of a current running target road section issued by the server; and the control module is used for controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
According to the vehicle provided by the embodiment of the invention, the coefficient acquisition module can be used for acquiring the target road adhesion coefficient of the current running target road section issued by the server, and the control module is used for controlling the vehicle to run on the target road section according to the target road adhesion coefficient so as to brake in advance, so that the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In order to achieve the above object, a seventh aspect of the present invention provides a safe driving system for a vehicle, which includes the above server, the vehicle according to the fifth aspect of the present invention, and the vehicle according to the sixth aspect of the present invention.
The safe driving system of the vehicle of the embodiment of the invention can obtain the road adhesion coefficient and the position information of the first vehicle sent by the first vehicle during braking, and determines a current traveling target road section of the first vehicle according to the position information of the first vehicle, determining a target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle, and acquiring a second vehicle which runs in the target road section and is not braked, and issues a target adhesion coefficient to a second vehicle which is not braked in the target road section, and does not depend on model estimation or wiper state for identification, and the actual road adhesion coefficient of the first vehicle during braking is collected and sent to the second vehicle, so that the second vehicle is braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In order to achieve the above object, an eighth aspect of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the safe driving method of the vehicle according to the embodiment of the first aspect of the present invention, or the safe driving method of the vehicle according to the embodiment of the second aspect of the present invention, or the safe driving method of the vehicle according to the embodiment of the third aspect of the present invention.
When the electronic device of the embodiment of the present invention is executed, the programs stored thereon and corresponding to the vehicle safe driving methods of the first, second, and third embodiments may not rely on model estimation or wiper state for identification, and collect the actual road adhesion coefficient of the first vehicle during braking, and send the actual road adhesion coefficient to the second vehicle, so that the second vehicle is braked in advance, thereby effectively improving the safety of the vehicle and reducing the probability of traffic accidents.
To achieve the above object, a seventh embodiment of the present invention proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements a safe driving method of a vehicle as described in the first embodiment of the present invention, or a safe driving method of a vehicle as described in the second embodiment of the present invention, or a safe driving method of a vehicle as described in the third embodiment of the present invention.
When the non-transitory computer readable storage medium of the embodiment of the present invention is executed, the programs stored thereon and corresponding to the safe driving methods of the vehicles of the embodiments of the first aspect, the second aspect, and the third aspect are executed, the actual road adhesion coefficient of the first vehicle during braking is collected and sent to the second vehicle, so that the second vehicle is braked in advance, thereby effectively improving the safety of the vehicle and reducing the probability of traffic accidents.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a safe driving method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of safely driving a vehicle according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method for safe driving of a vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of a safe driving method of a vehicle according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle communicating with a server according to one embodiment of the present invention;
fig. 6 is a flowchart of a safe driving method of a vehicle according to still another embodiment of the present invention;
fig. 7 is a flowchart of a safe driving method of a vehicle according to still another embodiment of the present invention;
fig. 8 is a flowchart of a safe driving method of a vehicle according to still another embodiment of the present invention;
fig. 9 is a flowchart of a safe driving method of a vehicle according to still another embodiment of the present invention;
fig. 10 is a flowchart of a safe driving method of a vehicle according to still another embodiment of the present invention;
FIG. 11 is a block diagram of a server according to an embodiment of the invention;
FIG. 12 is a block schematic diagram of a vehicle according to one embodiment of the invention;
fig. 13 is a block schematic diagram of a vehicle according to another embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The server, the vehicle, and the safe driving method and system of the vehicle according to the embodiments of the present invention will be described below with reference to the accompanying drawings, and first, the safe driving method of the service vehicle according to the embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a safe driving method of a vehicle according to an embodiment of the present invention. As shown in fig. 1, the safe driving method of a vehicle includes the steps of:
and S1, acquiring the road adhesion coefficient sent by the first vehicle and the position information of the first vehicle during braking.
When the first vehicle brakes, the adhesion coefficient of the road surface may be calculated by measuring the deceleration of the first vehicle, or by measuring the angular deceleration of the wheels.
Generally, an electronic map may be installed on a vehicle, and navigation information may be stored on the electronic map and may mark the situation of each area or section on the electronic map. In the embodiment of the present invention, the position information of the first vehicle can be obtained based on a Global Positioning System (GPS) on the vehicle.
Optionally, a road surface image of a road on which the vehicle is currently running can be acquired through an image acquisition device on the vehicle, and the road surface image is compared with the electronic map to identify the position information of the first vehicle.
And S2, determining the current target road section driven by the first vehicle according to the position information of the first vehicle.
Specifically, after the position information of the first vehicle is obtained, the target road segment currently traveled by the first vehicle may be determined according to the position information of the first vehicle.
Specifically, the position information of the first vehicle may be collected and compared with the electronic map to obtain a target road segment currently traveled by the first vehicle.
And S3, determining the target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle.
Specifically, after the road adhesion coefficient of the first vehicle is obtained, the target adhesion coefficient of the target road section can be determined according to the road adhesion coefficient of the first vehicle, so that the road adhesion coefficient can be obtained more accurately, and the accuracy of obtaining the adhesion coefficient is effectively improved.
It should be noted that the road adhesion force that can be used when an automobile is braked has a certain relationship with the vehicle weight, the tire air pressure and the contact area between the tire and the ground, the rubber and the pattern of the tire also influence the friction coefficient of the tire, and the vehicle can calibrate these parameters when leaving the factory, so as to obtain a more accurate road adhesion coefficient.
And S4, acquiring a second vehicle which runs in the target road section and is not braked, and issuing the target adhesion coefficient to the second vehicle.
Specifically, after the target adhesion coefficient of the target road section is determined, the second vehicle which runs in the target road section and is not braked can be obtained to send the target adhesion coefficient to the second vehicle, so that the second vehicle can brake in advance according to the received target adhesion coefficient, rear-end accidents are effectively prevented, the safety of the vehicle is effectively improved, and the use experience of a user is improved.
As a possible implementation, the second vehicle may actively send a braking request to the server for requesting the road adhesion coefficient of the traveled road section.
That is to say, the server stores the road adhesion coefficient sent by the first vehicle during braking and the position information of the first vehicle, and when the second vehicle sends the position of the second vehicle to the server, the server can send the target adhesion coefficient according to the current position of the second vehicle, the road adhesion coefficient sent by the first vehicle during braking and the position information of the first vehicle, so as to brake in advance, thereby effectively preventing rear-end accidents, improving the safety of the vehicle and improving the user experience. Thus, according to the safe driving method of the vehicle of the embodiment of the present invention, by acquiring the road surface adhesion coefficient transmitted by the first vehicle at the time of braking and the position information of the first vehicle, determining a target road section currently driven by the first vehicle according to the position information of the first vehicle, determining a target adhesion coefficient of the target road section currently driven by the first vehicle according to the road adhesion coefficient of the first vehicle, and a second vehicle which runs in the target road section and is not braked is obtained, a target adhesion coefficient is issued to the second vehicle which is not braked in the target road section, the model estimation or the wiper state is not relied on for identification, and the actual road adhesion coefficient of the first vehicle during braking is collected and sent to the second vehicle, so that the second vehicle is braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In an embodiment of the present invention, as shown in fig. 2, the method for safely driving a vehicle further includes the following steps:
s201, obtaining a brake mechanism of the first vehicle during braking, and determining a proportionality coefficient of a road surface adhesion coefficient of the first vehicle according to the brake mechanism.
Specifically, when the first vehicle is braked, if the ABS brake mechanism is triggered, the proportionality coefficient of the road adhesion coefficient of the first vehicle is determined to be 1, and if the ABS brake mechanism is not triggered, the proportionality coefficient of the road adhesion coefficient of the first vehicle is determined to be 0.1.
S202, determining a target adhesion coefficient according to the road surface adhesion coefficient and the proportionality coefficient of the first vehicle.
Specifically, the road adhesion coefficient of the first vehicle is related to whether the vehicle triggers a brake mechanism.
As an example, when the first vehicle brakes, if the ABS brake mechanism is triggered, the first vehicle fully utilizes the adhesion force of the road surface, and the adhesion coefficient of the road surface can be calculated by measuring the deceleration of the vehicle when the first vehicle brakes
M g μ M a, then
μ＝a/g。
Mu is a road adhesion coefficient, M is the mass of the vehicle body, g is the gravity acceleration, and a is the deceleration of the vehicle, and the road adhesion coefficient obtained by calculation at the moment is close to the real road adhesion coefficient, so that the accuracy of the road adhesion coefficient is effectively improved.
As another example, when a first vehicle is braking, if the ABS brake mechanism is not activated, the road adhesion coefficient may be calculated by measuring the wheel speed deceleration at which time
J*w＝Mb-N*R*μ，
Where J is the moment of inertia of the tire, w is the wheel angular deceleration, MbThe wheel brake braking force is N, the pressure of the wheel to the road surface is N, and the road adhesion coefficient is mu. It can be seen from the above formula that when the wheel cylinder pressures are the same, i.e., the wheel brake braking forces are the same, the larger the adhesion coefficient of the road surface, the smaller the wheel speed deceleration; the smaller the adhesion coefficient of the road surface is, the larger the wheel speed deceleration is, the more easily the wheels are violently killed, so that the adhesion coefficient of the road surface can be calculated. The calculated road adhesion coefficient can be obtained by looking up a table according to the corresponding decelerations of the tires under different braking forces, is relatively close to the real road adhesion coefficient, and has higher accuracy.
Thus, a target adhesion coefficient may be determined from the road adhesion coefficient and the scaling factor of the first vehicle, including: the method comprises the steps of obtaining a first numerical value obtained by multiplying a road surface adhesion coefficient of a first vehicle by a proportionality coefficient, adding the first numerical values of all the first vehicles to obtain a second numerical value, adding the proportionality coefficients of all the first vehicles to obtain a third numerical value, and obtaining a ratio of the second numerical value to the third numerical value to obtain a target adhesion coefficient.
Specifically, the target adhesion coefficient may be obtained by the following formula:
Figure BDA0001714770000000081
namely:
Figure BDA0001714770000000082
for example, suppose that 100 vehicles are braked in the target road segment, and each vehicle corresponds to an adhesion coefficient μ1～μ100The proportionality coefficient of each vehicle is I1～I100Then, the road adhesion coefficient of the target road segment obtained by the above formula is:
Figure BDA0001714770000000083
as shown in fig. 3, the safe driving method of a vehicle according to an embodiment of the present invention includes the following steps:
s301, the vehicle is started normally.
S302, judging whether the vehicle is braked, if so, executing step S304, and if not, executing step S303.
And S303, acquiring the geographic position of the current vehicle through the GPS, transmitting the geographic position to a cloud server through a remote communication module, inquiring the road surface adhesion coefficient of the current road, making a corresponding vehicle control strategy, and executing the step S302.
S304, judging whether the vehicle triggers the ABS, if so, executing a step S306, and otherwise, executing a step S305.
S305, obtaining wheel speed by a wheel speed sensor and integrating the wheel speed to obtain wheel speed deceleration, obtaining master cylinder pressure by a pressure sensor, obtaining a corresponding road adhesion coefficient μ by looking up a table after the master cylinder pressure and the wheel speed deceleration are determined, and executing step S307.
In step S306, the deceleration of the vehicle is measured, and the adhesion coefficient μ of the road surface is calculated as a/g, and step S307 is executed.
S307, the geographical position of the current vehicle when braking occurs is obtained through the GPS, and the calculated road surface attachment system and the geographical position are transmitted to a server through a remote communication module.
According to the safe driving method of the vehicle provided by the embodiment of the invention, by acquiring the road adhesion coefficient sent by the first vehicle during braking and the position information of the first vehicle, determining a target road section currently driven by the first vehicle according to the position information of the first vehicle, determining a target adhesion coefficient of the target road section currently driven by the first vehicle according to the road adhesion coefficient of the first vehicle, and a second vehicle which runs in the target road section and is not braked is obtained, a target adhesion coefficient is issued to the second vehicle which is not braked in the target road section, the model estimation or the wiper state is not relied on for identification, and the actual road adhesion coefficient of the first vehicle during braking is collected and sent to the second vehicle, so that the second vehicle is braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
Fig. 4 is a flowchart of a safe driving method of a second vehicle according to an embodiment of the present invention.
As shown in fig. 4, the safe driving method of a vehicle includes the steps of:
s401, road surface adhesion coefficient and position information when the vehicle is braked are obtained.
Specifically, as shown in fig. 5, the vehicle may include a GPS module, an acceleration sensor module, a wheel speed sensor module, an ESP module, a master cylinder pressure sensor module, and a remote communication module, wherein the remote communication module is connected to the vehicle through a CAN bus, a road surface adhesion coefficient of the vehicle is related to whether the vehicle triggers a brake mechanism, and whether the ABS function of the vehicle is triggered may be determined through an ESP (Electronic Stability Program) module.
As an example, when the vehicle brakes, if the ABS braking mechanism is triggered, indicating that the vehicle fully utilizes the adhesion of the road surface, the adhesion coefficient of the road surface can be calculated by measuring the deceleration of the vehicle, when:
m g μ M a, then
μ＝a/g。
Mu is a road adhesion coefficient, M is the mass of the vehicle body, g is the gravity acceleration, and a is the deceleration of the vehicle, and the road adhesion coefficient obtained by calculation at the moment is close to the real road adhesion coefficient, so that the accuracy is effectively improved.
As another example, when the vehicle is braking, if the ABS brake mechanism is not activated, the adhesion coefficient of the road surface may be calculated by measuring the angular deceleration of the wheels, at which time
J*w＝Mb-N*R*μ，
Where J is the moment of inertia of the tire, w is the wheel angular deceleration, MbIs the braking force of a wheel brake, N is the pressure of the wheel to the road surface,μ is a road surface adhesion coefficient. It can be seen from the above formula that when the wheel cylinder pressures are the same, i.e., the wheel brake braking forces are the same, the greater the adhesion coefficient of the road surface, the smaller the angular deceleration of the tire; the smaller the adhesion coefficient of the road surface is, the larger the angular deceleration of the tire is, the more easily the wheel is suddenly killed, and the adhesion coefficient of the road surface can be calculated. The calculated road adhesion coefficient can be obtained by looking up a table according to the corresponding decelerations of the tires under different braking forces, is relatively close to the real road adhesion coefficient, and has higher accuracy.
Generally, an electronic map may be installed on a vehicle, and navigation information may be stored on the electronic map and may mark the situation of each area or section on the electronic map. In the embodiment of the invention, the position information of the vehicle, such as the position of the vehicle with the target road section adhesion coefficient and the position of the vehicle with the braking can be obtained based on the GPS on the vehicle.
And S402, sending the road adhesion coefficient and the position information to a server.
Specifically, as shown in fig. 5, the road adhesion coefficient and the position information calculated by braking the vehicle can be uploaded to the server through the remote communication module of the vehicle, so that the accuracy of calculating the road adhesion coefficient is effectively improved, and the server can count the road adhesion coefficient and the position information of the vehicle in the area in real time according to the position of the vehicle. The remote communication module can be one of a GSM communication module, a 3G communication module, a 4G communication module, a 5G communication module and a V2X communication module.
For example, a 2KM area near the vehicle is counted if the vehicle position is at a high speed, a 500 m area near the vehicle is counted if the vehicle position is on an urban road, the number of vehicles braked in a recent period of time (e.g., 0.5 hour) and the road surface adhesion coefficient measured at the time of braking are counted for statistical analysis.
According to the safe driving method of the vehicle, the road adhesion coefficient and the position information when the vehicle is braked can be obtained, and the road adhesion coefficient and the position information are sent to the server, so that the server can count the road adhesion coefficient of the nearby area and calculate the road adhesion coefficient, and the safety of the vehicle is effectively improved.
In one embodiment of the present invention, obtaining a road adhesion coefficient at the time of braking of a vehicle includes: and acquiring a brake mechanism when the vehicle brakes, and controlling to acquire the road adhesion coefficient under the brake mechanism.
In one embodiment of the present invention, as shown in fig. 6, obtaining a brake mechanism when a vehicle brakes and obtaining a road adhesion coefficient under the brake mechanism comprises the following steps:
s601, judging whether the ABS is triggered when the vehicle brakes, if so, executing step S602, otherwise, executing step S603.
Specifically, it may be determined by an ESP module of the vehicle whether a brake anti-lock braking system ABS function of the vehicle is triggered.
And S602, if the ABS is triggered, acquiring the current braking deceleration of the vehicle, and acquiring the road adhesion coefficient according to the braking deceleration.
Specifically, the braking deceleration refers to the ability of the vehicle to rapidly reduce the running speed until the vehicle stops while running, so if the ABS is triggered, the vehicle braking deceleration can be obtained by the acceleration sensor module of the vehicle to obtain the road adhesion coefficient according to the current braking deceleration of the vehicle, wherein the road adhesion coefficient can be obtained by the following formula:
Figure BDA0001714770000000111
s603, if the ABS is not triggered, the current wheel speed deceleration of the vehicle is obtained, and the road adhesion coefficient is obtained according to the wheel speed deceleration.
Specifically, the rotation speed of each wheel may be obtained by a wheel speed sensor of the vehicle, the cylinder pressure sensor module may obtain the brake pressure of a master cylinder of the vehicle, and the deceleration of each wheel, i.e., the wheel speed deceleration, may be obtained by integrating the rotation speed of each wheel, that is, the larger the road surface adhesion coefficient is, the smaller the deceleration of the tire is when the brake pressure of the master cylinder is determined; the smaller the road adhesion coefficient, the greater the deceleration of the tire, which can be obtained by looking up a table. Therefore, according to the safe driving method of the vehicle, whether the ABS is triggered when the vehicle brakes can be judged, if the ABS is triggered, the current braking deceleration of the vehicle is obtained, the road adhesion coefficient is obtained according to the braking deceleration, if the ABS is not triggered, the current wheel speed deceleration of the vehicle can be obtained, the road adhesion coefficient is obtained according to the wheel speed deceleration, and the accuracy of obtaining the road adhesion coefficient is effectively improved.
According to the safe driving method of the vehicle, provided by the embodiment of the invention, the road adhesion coefficient and the position information when the vehicle is braked can be obtained, and the road adhesion coefficient and the position information are sent to the server, so that the server can count the road adhesion coefficient of the nearby area and calculate the road adhesion coefficient, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
Fig. 7 is a flowchart of a safe driving method of a third vehicle according to an embodiment of the present invention.
As shown in fig. 7, the safe driving method of a vehicle includes the steps of:
and S701, acquiring a target road surface adhesion coefficient of a current running target road section issued by the server.
And S702, controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
Specifically, the vehicle may obtain a target road adhesion coefficient of a target road section currently driven, which is counted by the server, so as to control the vehicle to drive in the steam target road section according to the target road adhesion coefficient, so as to set a lower vehicle speed when the road adhesion coefficient is lower, prevent vehicle instability, or perform braking in advance, effectively improve the safety of the vehicle, and ensure the safety of the driver.
In an embodiment of the present invention, as shown in fig. 8, the method for safely driving a vehicle further includes the following steps:
and S801, acquiring the braking distance of the vehicle on the target road section according to the target road adhesion coefficient.
And S802, controlling the vehicle to follow the vehicle under the limitation of the braking distance.
Specifically, after the target road adhesion coefficient is accurately obtained, the braking distance of the vehicle on the target road section can be set according to the target road adhesion coefficient, so that rear-end accidents are prevented, reasonable vehicle speed can also be set according to the road adhesion coefficient, for example, a low vehicle speed is set on a road with a low adhesion coefficient, so that vehicle instability is prevented, and a vehicle for advanced driving assistance, such as an AEB system, can brake in advance when the road adhesion coefficient is low, so that the safety of the vehicle is effectively improved, and the safety of a driver is ensured.
In an embodiment of the present invention, as shown in fig. 9, the safe driving method of the vehicle further includes the following steps:
and S901, judging whether the target road section is a curved road section.
And S902, if the target road section is a curved road section, acquiring the turning radius of the target road section.
Specifically, when the vehicle passes through a curve, the low-attachment road surface is more likely to cause instability of the vehicle, so that the vehicle sideslips, and therefore, the target road section needs to be judged, whether the target road section is a curved road section or not is judged, and when the target road section is the curved road section, the turning radius of the target road section can be acquired.
And S903, determining the safe running speed when the vehicle turns according to the target road adhesion coefficient and the turning radius, and controlling the vehicle to run under the limit of the safe running speed.
Specifically, on a low-adhesion-coefficient road surface, when the vehicle passes through the same curve, the vehicle speed needs to be reduced to a reasonable range (assuming that the vehicle speed is V and the turning radius is R, the lateral acceleration is V × V/R), so the over-bending speed is in proportion to the road adhesion coefficient to control the vehicle to run under the limit of the safe running speed, and the safety of the vehicle is improved.
It should be noted that, the braking distance is inversely proportional to the road adhesion coefficient, the smaller the road adhesion coefficient, the larger the braking distance, and the smaller the turning radius is, when the turning radius is the same, the passable speed is proportional to the road adhesion coefficient, and the larger the road adhesion coefficient, the higher the passable speed is, and on a road surface with a low adhesion coefficient, because the vehicle is likely to have accidents such as rollover and tail flicking, the steering speed of the vehicle needs to be limited, and the lower the road adhesion coefficient, the slower the steering speed is.
Therefore, according to the safe driving method of the vehicle, whether the target road section is the curved road section or not can be judged, the turning radius of the target road section is obtained when the target road section is the curved road section, the safe driving speed of the vehicle during turning is determined according to the target road surface adhesion coefficient and the turning radius, the vehicle is controlled to drive under the limit of the safe driving speed, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
In an embodiment of the present invention, as shown in fig. 10, the safe driving method of a vehicle further includes the following steps:
and S1001, acquiring the braking distance of the vehicle according to the target road surface adhesion coefficient.
Specifically, when the vehicle speed is 100 km/h, the braking distance of the vehicle is 42.86 m on a cement road surface with an adhesion coefficient of 0.9, (assuming that the vehicle speed is V, the adhesion coefficient is μ, and the gravitational acceleration is g, the braking distance is V × V/2/g/μ), the same vehicle speed is 100 km/h, and the braking distance of the vehicle is 96.45 m on a cement road surface with an adhesion coefficient of 0.45 that is raining, so when the adhesion coefficient is low, the braking distance is increased, and the braking distance of the vehicle (ensuring that the following distance is greater than the braking distance of the vehicle) needs to be set according to the real-time ground adhesion coefficient to prevent rear-end collision accidents.
S1002, acquiring a road condition image of a road in front of the vehicle, and identifying whether an obstacle exists in the road condition image.
Specifically, during the driving process of the vehicle, an image acquisition device (such as a camera) in front of the vehicle acquires an image of a road on which the vehicle is currently driving, so as to obtain a road surface image of the road on which the vehicle is driving, and then identifies the road surface image, so as to identify whether an obstacle exists in the road condition image.
S1003, if the obstacle exists, acquiring the distance between the obstacle and the vehicle according to the road condition image.
Specifically, when an obstacle exists in the road condition image, the distance between the obstacle and the vehicle may be calculated by the millimeter wave radar, and a specific manner of obtaining the distance between the obstacle and the vehicle may be designed by a person skilled in the art according to actual conditions, which is not specifically limited herein.
And S1004, if the distance between the obstacle and the vehicle is greater than or equal to the braking distance, controlling the vehicle to brake in advance before the distance between the obstacle and the vehicle is equal to the braking distance.
On the road surface with low adhesion coefficient, the braking distance of the vehicle is increased, so when an obstacle is found and the distance between the obstacle and the vehicle is larger than or equal to the braking distance, the vehicle is braked or steered in advance to avoid the obstacle, so that the collision accident is prevented, and the driving safety is improved.
Therefore, according to the safe driving method of the vehicle, the braking distance of the vehicle can be obtained according to the target road surface adhesion coefficient, the road condition image of the road in front of the vehicle is collected, whether the obstacle exists in the road condition image is identified, the distance between the obstacle and the vehicle is obtained when the obstacle exists in the road condition image is identified, and the vehicle is controlled to brake in advance before the distance between the obstacle and the vehicle is equal to the braking distance when the distance between the obstacle and the vehicle is larger than or equal to the braking distance, so that the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
According to the safe driving method of the vehicle, which is provided by the embodiment of the invention, the target road surface adhesion coefficient of the current running target road section issued by the server can be obtained, and the vehicle is controlled to run on the target road section according to the target road surface adhesion coefficient so as to brake in advance, so that the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
Fig. 11 is a block schematic diagram of a server of an embodiment of the invention.
As shown in fig. 11, the server includes: the system comprises an information acquisition module 100, a road section determination module 200, a coefficient determination module 300 and a coefficient sending module 400.
The information acquiring module 100 is configured to acquire a road adhesion coefficient sent by a first vehicle during braking and position information of the first vehicle. The road segment determining module 200 is configured to determine a target road segment currently traveled by the first vehicle according to the position information of the first vehicle. The coefficient determination module 300 is configured to determine a target adhesion coefficient of the target road segment according to the road adhesion coefficient of the first vehicle. The coefficient sending module 400 is configured to obtain a second vehicle traveling in the target road segment without braking, and issue the target adhesion coefficient to the second vehicle.
Further, the coefficient determining module 300 is specifically configured to: obtaining a brake mechanism of a first vehicle during braking, and determining a proportionality coefficient of a road adhesion coefficient of the first vehicle according to the brake mechanism; and determining a target adhesion coefficient according to the road adhesion coefficient and the proportionality coefficient of the first vehicle.
Further, the coefficient determining module 300 is specifically configured to: the method comprises the steps of obtaining a first numerical value obtained by multiplying a road surface adhesion coefficient of a first vehicle by a proportionality coefficient, adding the first numerical values of all the first vehicles to obtain a second numerical value, adding the proportionality coefficients of all the first vehicles to obtain a third numerical value, and obtaining a ratio of the second numerical value to the third numerical value to obtain a target adhesion coefficient.
It should be noted that the foregoing explanation of the embodiment of the safe driving method for a vehicle is also applicable to the server of the embodiment, and is not repeated here.
According to the server provided by the embodiment of the invention, the road adhesion coefficient sent by the first vehicle and the position information of the first vehicle during braking are obtained by the information obtaining module, the target road section currently driven by the first vehicle is determined by the road section determining module according to the position information of the first vehicle, the target adhesion coefficient of the target road section currently driven is determined by the coefficient determining module according to the road adhesion coefficient of the first vehicle, the second vehicle which is not braked and driven in the target road section is obtained by the coefficient sending module, the target adhesion coefficient is issued to the second vehicle which is not braked and is not dependent on model estimation or wiper state for identification, the actual road adhesion coefficient of the first vehicle during braking is collected, the actual road adhesion coefficient is issued to the second vehicle so as to brake the second vehicle in advance, effectively improve the safety of vehicles and reduce the probability of traffic accidents.
FIG. 12 is a block schematic diagram of a vehicle in accordance with one embodiment of the present invention. As shown in fig. 12, the vehicle includes: an acquisition module 10 and a sending module 20.
The obtaining module 10 is configured to obtain a road adhesion coefficient and position information when the vehicle is braked. The sending module 20 is configured to send the road adhesion coefficient and the position information to a server.
In one embodiment of the present invention, the obtaining of the road adhesion coefficient when the vehicle brakes includes: and acquiring a brake mechanism when the vehicle brakes, and controlling to acquire the road adhesion coefficient under the brake mechanism.
In one embodiment of the present invention, the obtaining of the brake mechanism at the time of braking of the vehicle, under which the road adhesion coefficient is obtained, includes: judging whether a brake anti-lock braking system ABS is triggered or not when the vehicle is braked; if the ABS is triggered, the current braking deceleration of the vehicle is obtained, and the road surface adhesion coefficient is obtained according to the braking deceleration; and if the ABS is not triggered, acquiring the current wheel speed deceleration of the vehicle, and acquiring the road adhesion coefficient according to the wheel speed deceleration.
It should be noted that the foregoing explanation of the embodiment of the safe driving method for a vehicle is also applicable to the vehicle of this embodiment, and is not repeated here.
According to the vehicle provided by the embodiment of the invention, the acquisition module is used for acquiring the road adhesion coefficient and the position information when the vehicle is braked, and the sending module is used for sending the road adhesion coefficient and the position information to the server, so that the server can count the road adhesion coefficient of the nearby area and calculate the road adhesion coefficient, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
Fig. 13 is a block schematic diagram of a vehicle according to another embodiment of the invention. As shown in fig. 13, the vehicle includes: a coefficient acquisition module 1 and a control module 2.
The coefficient obtaining module 1 is configured to obtain a target road adhesion coefficient of a current driving target road segment issued by a server. The control module 2 is used for controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
In one embodiment of the present invention, controlling a vehicle to travel on a target road segment according to a target road adhesion coefficient includes: obtaining the braking distance of the vehicle on a target road section according to the target road adhesion coefficient; and controlling the vehicle to follow the vehicle under the limitation of the braking distance.
In one embodiment of the present invention, controlling a vehicle to travel on a target road segment according to a target road adhesion coefficient includes: judging whether the target road section is a curved road section; if the target road section is a curved road section, acquiring the turning radius of the target road section; and determining the safe running speed of the vehicle during turning according to the target road surface adhesion coefficient and the turning radius, and controlling the vehicle to run under the limit of the safe running speed.
In one embodiment of the present invention, controlling a vehicle to travel on a target road segment according to a target road adhesion coefficient includes: obtaining the braking distance of the vehicle according to the target road adhesion coefficient; acquiring a road condition image of a road in front of a vehicle, and identifying whether an obstacle exists in the road condition image; if the obstacle exists, acquiring the distance between the obstacle and the vehicle according to the road condition image; and if the distance between the obstacle and the vehicle is greater than or equal to the braking distance, controlling the vehicle to brake in advance before the distance between the obstacle and the vehicle is equal to the braking distance.
It should be noted that the foregoing explanation of the embodiment of the safe driving method for a vehicle is also applicable to the vehicle of this embodiment, and is not repeated here.
According to the vehicle provided by the embodiment of the invention, the coefficient acquisition module can be used for acquiring the target road adhesion coefficient of the current running target road section issued by the server, and the control module is used for controlling the vehicle to run on the target road section according to the target road adhesion coefficient so as to brake in advance, so that the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
The embodiment of the invention also provides a block schematic diagram of the safe driving system of the vehicle. The safe driving system of the vehicle includes the server described above, the vehicle of the embodiment shown in fig. 12 described above, and the vehicle of the embodiment shown in fig. 13 described above.
According to the safe driving system of the vehicle provided by the embodiment of the invention, the road adhesion coefficient sent by the first vehicle during braking and the position information of the first vehicle can be obtained, the target road section currently driven by the first vehicle is determined according to the position information of the first vehicle, the target road section currently driven by the first vehicle is determined according to the road adhesion coefficient of the first vehicle, the target adhesion coefficient of the target road section is determined according to the road adhesion coefficient of the first vehicle, the second vehicle which is driven in the target road section and does not generate braking is obtained, the target adhesion coefficient is issued to the second vehicle which does not generate braking in the target road section, the model estimation or the wiper state is not relied on for identification, the actual road adhesion coefficient of the first vehicle during braking is collected, and the actual road adhesion coefficient is issued to the second vehicle, so that the second vehicle is braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the safe driving method of the vehicle as in the embodiment shown in fig. 1, or the safe driving method of the vehicle as in the embodiment shown in fig. 4, or the safe driving method of the vehicle as in the embodiment shown in fig. 7.
According to the electronic device provided by the embodiment of the invention, when the program stored on the electronic device and corresponding to the safe driving method of the vehicle shown in the embodiment of the invention shown in the figure 1, or the safe driving method of the vehicle shown in the embodiment shown in the figure 4, or the safe driving method of the vehicle shown in the embodiment shown in the figure 7 is executed, the identification can be carried out without depending on the model estimation or the wiper state, the actual road adhesion coefficient of the first vehicle during braking is collected, and the actual road adhesion coefficient is issued to the second vehicle, so that the second vehicle is braked in advance, the safety of the vehicle is effectively improved, and the probability of traffic accidents is reduced.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for safe driving of a vehicle as in the embodiment shown in fig. 1, or a method for safe driving of a vehicle as in the embodiment shown in fig. 4, or a method for safe driving of a vehicle as in the embodiment shown in fig. 7.
According to the non-transitory computer readable storage medium provided by the embodiment of the invention, when the program stored thereon corresponding to the safe driving method of the vehicle shown in the above-mentioned embodiment of fig. 1, or the safe driving method of the vehicle shown in the above-mentioned embodiment of fig. 4, or the safe driving method of the vehicle shown in the above-mentioned embodiment of fig. 7 is executed, the identification can be performed without depending on the model estimation or the wiper state, and the actual road adhesion coefficient of the first vehicle during braking is collected and sent to the second vehicle, so that the second vehicle performs braking in advance, thereby effectively improving the safety of the vehicle and reducing the probability of occurrence of traffic accidents.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (15)

1. A method for safe driving of a vehicle, characterized in that the method comprises the steps of:
acquiring a road adhesion coefficient sent by a first vehicle and position information of the first vehicle during braking;
determining a target road section currently driven by the first vehicle according to the position information of the first vehicle;
determining a target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle;
acquiring a second vehicle which runs in the target road section and is not braked, and issuing the target adhesion coefficient to the second vehicle;
the determining the target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle comprises:
obtaining a brake mechanism of the first vehicle during braking, and determining a proportionality coefficient of a road surface adhesion coefficient of the first vehicle according to the brake mechanism;
determining the target adhesion coefficient according to the road adhesion coefficient and the proportionality coefficient of the first vehicle; if the brake mechanism is triggered, calculating a road adhesion coefficient according to the vehicle deceleration of the first vehicle, and determining the target adhesion coefficient according to a proportional coefficient corresponding to the triggered brake mechanism; and if the brake mechanism is not triggered, calculating a road adhesion coefficient according to the wheel speed deceleration of the first vehicle, and determining the target adhesion coefficient according to a proportionality coefficient corresponding to the brake mechanism which is not triggered.
2. The method of claim 1, wherein determining the target adhesion coefficient from the road adhesion coefficient and the scaling factor of the first vehicle comprises:
and acquiring a first numerical value obtained by multiplying the road surface adhesion coefficient of the first vehicle by the proportionality coefficient, adding the first numerical values of all the first vehicles to obtain a second numerical value, adding the proportionality coefficients of all the first vehicles to obtain a third numerical value, and taking a ratio of the second numerical value to the third numerical value to obtain the target adhesion coefficient.
3. A method for safe driving of a vehicle, characterized in that the method comprises the steps of:
acquiring a road adhesion coefficient and position information when a vehicle is braked;
transmitting the road adhesion coefficient and the position information to a server to cause the server to perform the method of claim 1 or 2.
4. The method of claim 3, wherein the obtaining of the road adhesion coefficient when the vehicle is braking comprises:
and acquiring a brake mechanism when the vehicle brakes, and controlling to acquire the road adhesion coefficient under the brake mechanism.
5. The method of claim 4, wherein the obtaining a braking regime under which the road adhesion coefficient is obtained when the vehicle is braked comprises:
judging whether a brake anti-lock braking system ABS is triggered or not when the vehicle is braked;
if the ABS is triggered, the current braking deceleration of the vehicle is obtained, and the road surface adhesion coefficient is obtained according to the braking deceleration;
and if the ABS is not triggered, acquiring the current wheel speed deceleration of the vehicle, and acquiring the road adhesion coefficient according to the wheel speed deceleration.
6. A method for safe driving of a vehicle, characterized in that the method comprises the steps of:
acquiring a target road adhesion coefficient of a current running target road section issued by a server, wherein the target road adhesion coefficient is obtained by the server by adopting the method of claim 1 or 2;
and controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
7. The method of claim 6, wherein controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient comprises:
obtaining the braking distance of the vehicle on the target road section according to the target road adhesion coefficient;
and controlling the vehicle to follow under the limitation of the braking distance.
8. The method of claim 6, wherein controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient comprises:
judging whether the target road section is a curved road section;
if the target road section is a curved road section, acquiring the turning radius of the target road section;
and determining the safe running speed of the vehicle during turning according to the target road adhesion coefficient and the turning radius, and controlling the vehicle to run under the limit of the safe running speed.
9. The method of claim 6, wherein controlling the vehicle to travel on the target road segment according to the target road adhesion coefficient comprises:
obtaining the braking distance of the vehicle according to the target road surface adhesion coefficient;
acquiring a road condition image of a road in front of the vehicle, and identifying whether an obstacle exists in the road condition image;
if the obstacle exists, acquiring the distance between the obstacle and the vehicle according to the road condition image;
and if the distance between the obstacle and the vehicle is larger than the braking distance, controlling the vehicle to brake in advance before the distance between the obstacle and the vehicle is equal to the braking distance.
10. A server, comprising:
the information acquisition module is used for acquiring a road adhesion coefficient sent by a first vehicle and position information of the first vehicle during braking;
the road section determining module is used for determining a target road section currently driven by the first vehicle according to the position information of the first vehicle;
the coefficient determining module is used for determining a target adhesion coefficient of the target road section according to the road adhesion coefficient of the first vehicle;
the coefficient sending module is used for acquiring a second vehicle which runs in the target road section and is not braked, and issuing the target adhesion coefficient to the second vehicle;
the coefficient determination module is specifically configured to:
obtaining a brake mechanism of the first vehicle during braking, and determining a proportionality coefficient of a road surface adhesion coefficient of the first vehicle according to the brake mechanism;
determining the target adhesion coefficient according to the road adhesion coefficient and the proportionality coefficient of the first vehicle; if the brake mechanism is triggered, calculating a road adhesion coefficient according to the vehicle deceleration of the first vehicle, and determining the target adhesion coefficient according to a proportional coefficient corresponding to the triggered brake mechanism; and if the brake mechanism is not triggered, calculating a road adhesion coefficient according to the wheel speed deceleration of the first vehicle, and determining the target adhesion coefficient according to a proportionality coefficient corresponding to the brake mechanism which is not triggered.
11. A vehicle, characterized by comprising:
the acquisition module is used for acquiring the road adhesion coefficient and the position information when the vehicle is braked;
a transmission module for transmitting the road adhesion coefficient and the position information to a server to cause the server to perform the method of claim 1 or 2.
12. A vehicle, characterized by comprising:
the system comprises a coefficient acquisition module, a road surface adhesion detection module and a road surface adhesion detection module, wherein the coefficient acquisition module is used for acquiring a target road surface adhesion coefficient of a current running target road section issued by a server, and the target road surface adhesion coefficient is obtained by the server by adopting the method of claim 1 or 2;
and the control module is used for controlling the vehicle to run on the target road section according to the target road adhesion coefficient.
13. A safe driving system of a vehicle, characterized by comprising: the server of claim 10, the vehicle of claim 11, and the vehicle of claim 12.
14. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the safe driving method of the vehicle as claimed in any one of claims 1 to 2, or the safe driving method of the vehicle as claimed in any one of claims 3 to 5, or the safe driving method of the vehicle as claimed in any one of claims 6 to 9.
15. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for safe driving of a vehicle according to any one of claims 1-2, or a method for safe driving of a vehicle according to any one of claims 3-5, or a method for safe driving of a vehicle according to any one of claims 6-9.
CN201810706242.0A 2018-06-29 2018-06-29 Server, vehicle and safe driving method and system of vehicle Active CN110660268B (en)

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