CN111016859A - Vehicle emergency brake protection system and method - Google Patents
Vehicle emergency brake protection system and method Download PDFInfo
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- CN111016859A CN111016859A CN201911323560.XA CN201911323560A CN111016859A CN 111016859 A CN111016859 A CN 111016859A CN 201911323560 A CN201911323560 A CN 201911323560A CN 111016859 A CN111016859 A CN 111016859A
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- 238000001514 detection method Methods 0.000 claims abstract description 180
- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 238000012544 monitoring process Methods 0.000 claims description 33
- 238000004891 communication Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
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- 230000003287 optical effect Effects 0.000 claims description 6
- 230000002411 adverse Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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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- 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
- B60W30/18172—Preventing, or responsive to skidding of wheels
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a vehicle emergency brake protection system which comprises a front vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a master control system, wherein the front vehicle body detection mechanism and the rear vehicle body detection mechanism are respectively connected with a vehicle head and a vehicle outlet of a parking space, the brake detection mechanism is connected with a vehicle brake system, the front vehicle body detection mechanism, the rear vehicle body detection mechanism and the brake detection mechanism are electrically connected with the master control system, and the master control system is embedded in a vehicle central console and is electrically connected with a vehicle running computer system. The protection method comprises three steps of equipment hardware assembly, software driving, brake judgment, protection and the like. The invention can effectively meet the requirements of various vehicle operation operations on one hand, and can accurately control the braking force distribution during the emergency braking of the vehicle by combining the actual vehicle operation turntable from a plurality of angles on the other hand, so that the damage to personnel in the vehicle and the vehicle per se during the braking of the vehicle is effectively reduced while the braking of the vehicle is met.
Description
Technical Field
The invention relates to a vehicle emergency brake protection system and a vehicle emergency brake protection method, and belongs to the technical field of driving monitoring.
Background
In the process of driving a vehicle, emergency braking is often required to be performed on the vehicle, and the vehicle is required to be decelerated and even stopped in the shortest possible time in a high-speed running state during emergency braking, so that when the braking force of the vehicle is too large during emergency braking, the mechanical structure of the vehicle and personnel in the vehicle are subjected to larger impulse, the structure of the vehicle is damaged, and the personnel in the vehicle are greatly uncomfortable and even hurt when the braking force is serious.
In view of the current situation, a brand-new vehicle running lane deviation detection system and a corresponding detection early warning method are urgently needed to be developed so as to meet the actual use requirement.
Disclosure of Invention
The invention aims to overcome the defects and provides a vehicle emergency brake protection system and a vehicle emergency brake protection method, which can effectively meet the requirements of various vehicle operation operations, can accurately control the braking force distribution during vehicle emergency braking by combining a vehicle actual operation turntable from multiple angles in detection and protection, and effectively reduce the damage to personnel in the vehicle and the vehicle per se during vehicle braking while meeting the vehicle braking.
In order to realize the purpose, the invention is realized by the following technical scheme:
a vehicle emergency brake protection system comprises a front vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a main control system, wherein the front vehicle body detection mechanism and the rear vehicle body detection mechanism are respectively connected with a vehicle head and a vehicle out of a parking space, the brake detection mechanism is connected with a vehicle brake system, the front vehicle body detection mechanism, the rear vehicle body detection mechanism and the brake detection mechanism are all electrically connected with the main control system, the main control system is embedded in a vehicle central console and is electrically connected with a vehicle running computer system, the front vehicle body detection mechanism and the rear vehicle body detection mechanism comprise a bearing base, a forward detection platform, a lateral detection platform, a monitoring camera, a laser ranging device, a millimeter wave ranging radar and a turntable mechanism, the bearing base is of a rectangular hollow cylindrical structure with a cross section, the rear end face of the bearing base is connected with a vehicle body, and the front end face of the bearing base abuts against the rear end face, the forward detection table and the lateral detection table are connected with the front end face of the bearing base through a turntable mechanism and exceed the front end face of a vehicle bumper by 0-10 mm, the forward detection table and the lateral detection table are distributed on the axis direction of a vehicle body and form an included angle of 0-60 degrees with the axis of the vehicle body, the lateral detection tables are at least two, the forward detection table and the lateral detection table are symmetrically distributed on two sides of the vehicle body, the axes of the forward detection table and the lateral detection table form an included angle of 30-90 degrees with the axis of the vehicle body, and the axes of the forward detection table and the lateral detection table form an included angle.
Further, surveillance camera head, laser rangefinder, millimeter wave range radar are a plurality of, and a surveillance camera head, a laser rangefinder and a millimeter wave range radar constitute a workgroup, just forward examine test table, side direction and examine test table preceding terminal surface and all establish a workgroup, and the surveillance camera head in each workgroup is respectively with its forward examine test table, the coaxial distribution of side direction test table at place, laser rangefinder, millimeter wave range radar surround the first equipartition of surveillance camera, and laser rangefinder, millimeter wave range radar axis and surveillance camera axis are 0-60 contained angle, surveillance camera head, laser rangefinder, millimeter wave range radar and revolving stage mechanism all are connected with master control system electricity.
Furthermore, when the axis of the forward detection table is intersected with the horizontal plane, the focal point is positioned at the rear side of the vehicle bumper; when the axis of the lateral detection table is intersected with the horizontal direction, the focus is located at the position of at least 10 cm outside the vehicle body, and when the axis of the millimeter wave distance measuring radar is intersected with the axis of the monitoring camera, the focus is located on the axis of the monitoring camera and located at the position of at least 30 cm right in front of the monitoring camera.
Furthermore, the brake detection mechanism comprises a pressure sensor, an angle sensor, a rotating speed sensor, a torque sensor and an oil pressure sensor, wherein the pressure sensor is positioned at a vehicle brake disc, at least one pressure sensor is arranged at each brake disc, and a plurality of angle sensors are respectively connected with a steering wheel transmission shaft and a vehicle front wheel ball head through hinges; the torque sensors are connected with a front wheel ball joint hinge and a steering power-assisted system respectively; the oil pressure sensors are respectively positioned at the connecting positions of the brake oil pipe and the brake, and the pressure sensor, the angle sensor, the rotating speed sensor, the torque sensor and the oil pressure sensor are connected in parallel and are respectively electrically connected with the master control system.
Furthermore, the control system comprises a main control system, wherein the main control system comprises a data processing module based on an IGBT chip, a graphic accelerator based on an FPGA chip, a timing circuit module, a data communication bus module, an alarm circuit, a data serial port communication module, a data cache module and a driving circuit module, the data communication bus module is electrically connected with the data processing module based on the IGBT chip, the graphic accelerator based on the FPGA chip, the timing circuit module, the alarm circuit, the data serial port communication module, the data cache module and the driving circuit module respectively, the driving circuit module is electrically connected with a front vehicle body detection mechanism, a rear vehicle body detection mechanism and a brake detection mechanism respectively, and the data serial port communication module is electrically connected with a vehicle running computer system.
The protection method of the vehicle emergency brake protection system comprises the following steps:
s1, equipment hardware is assembled, namely, the vehicle body detection mechanism, the rear vehicle body detection mechanism, the brake detection mechanism and the master control system which form the automobile brake device are assembled with the automobile, the optical axis of a monitoring camera on a forward detection table of the vehicle body detection mechanism and the rear vehicle body detection mechanism is adjusted to form an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned behind a bumper of the automobile; the optical axis of a monitoring camera of the lateral detection table forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, and respectively communicating and addressing addresses for a vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a vehicle running computer circuit by the main control system;
s3, brake judging and protecting, after the step S2 is completed, under the normal running state of the vehicle, the main control system respectively drives the bearing base, the main detection mechanism and the auxiliary detection mechanism to run, the main control system continuously detects the running speed of the current vehicle, then after the brake pedal is stepped, the main detection mechanism and the auxiliary detection mechanism respectively continuously detect the distance between the obstacles in front of, behind and on two sides of the current vehicle and the vehicle, the detection result is fed back to the vehicle running computer system through the main control system, the running computer system adjusts the brake force according to the obstacles and the distance between the vehicles, the impact force to vehicle energy personnel during sudden strong braking is reduced while the vehicle braking is met, and the distance between the two sides of the vehicle and the lane and the road edge during the running and braking of the vehicle is detected through the adjustment of the lateral detection platforms of the main detection mechanism and the auxiliary detection mechanism, when the angle sensor and the torque sensor of the brake detection mechanism do not detect that the steering operation of the vehicle occurs and the distance between the vehicle and the lane on one side is continuously reduced or increased, the vehicle sideslips in the braking process, the sideslip information is fed back to the vehicle running computer system through the master control system, the running computer system adjusts the braking force of the vehicle according to the sideslip direction and the sideslip amount, recovers the traction force of part of the vehicle, reduces the adverse effect of the sideslip on the vehicle control, finally, the braking force, the rotating speed and the running direction of each wheel are detected when the vehicle is emergently braked through the brake detection mechanism, the detection result is fed back to the vehicle running computer system through the master control system, and the running computer system obtains the actual braking force distribution condition of the current vehicle after being compared with the detection results of the vehicle body detection mechanism and the rear vehicle body detection mechanism according to the actual detection, and the braking force of the vehicle is further adjusted according to the actual braking force distribution condition of the vehicle at present, so that the purposes of realizing rapid emergency braking under the condition of ensuring the safety of the vehicle and protecting the vehicle and people in the vehicle in the braking process are achieved.
The invention has simple system structure and good universality, can effectively meet the requirements of various vehicle operation operations, and can accurately control the braking force distribution during the emergency braking of the vehicle by combining the actual vehicle operation turntable from multiple angles, thereby effectively reducing the damage to personnel in the vehicle and the vehicle during the braking of the vehicle while meeting the braking of the vehicle.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a front vehicle body detection mechanism and a rear vehicle body detection mechanism;
FIG. 3 is a schematic diagram of a master control system;
FIG. 4 is a schematic flow chart of an emergency brake protection method according to the present invention.
Detailed Description
To describe the present invention in more detail, the present embodiment is described as follows:
as shown in fig. 1, 2 and 3, a vehicle emergency brake protection system includes a front vehicle body detection mechanism 1, a rear vehicle body detection mechanism 2, a brake detection mechanism 3 and a main control system 4, wherein the front vehicle body detection mechanism 1 and the rear vehicle body detection mechanism 2 are respectively connected with a vehicle head and a vehicle outlet of a parking space, the brake detection mechanism 3 is connected with the vehicle brake system, the front vehicle body detection mechanism 1, the rear vehicle body detection mechanism 2 and the brake detection mechanism 3 are all electrically connected with the main control system 4, and the main control system 4 is embedded in a vehicle central console and is electrically connected with a vehicle running computer system.
In this embodiment, the front vehicle body detection mechanism 1 and the rear vehicle body detection mechanism 2 include a bearing base 101, a forward detection platform 102, a lateral detection platform 103, a monitoring camera 104, a laser ranging device 105, a millimeter wave ranging radar 106 and a turntable mechanism 107, wherein the bearing base 101 is a rectangular hollow cylindrical structure with a cross section, a rear end surface of the bearing base 101 is connected with a vehicle body, a front end surface of the bearing base abuts against a rear end surface of a vehicle bumper, the forward detection platform 102 and the lateral detection platform 103 are both connected with the front end surface of the bearing base 101 through the turntable mechanism 107 and exceed the front end surface of the vehicle bumper by 0-10 mm, wherein the forward detection platform 102 is distributed in a vehicle body axis direction and forms an included angle of 0-60 degrees with the vehicle body axis, at least two lateral detection platforms 103 are symmetrically distributed on two sides of the vehicle body, and the axes of the forward detection platform 102 and the lateral detection platform 103 form an included angle of 30-90 degrees with the vehicle body axis, and the axes of the forward detection platform 102, the monitoring camera 104, the laser ranging device 105 and the millimeter wave ranging radar 106 are a plurality of, a monitoring camera 104, a laser ranging device 105 and a millimeter wave ranging radar 106 form a working group, the front end faces of the forward detection platform 102 and the lateral detection platform 103 are respectively provided with a working group, the monitoring cameras 104 in each working group are respectively coaxially distributed with the forward detection platform 102 and the lateral detection platform 103 where the monitoring cameras are located, the laser ranging device 105 and the millimeter wave ranging radar 106 are uniformly distributed around the monitoring cameras 104, the axes of the laser ranging device 105 and the millimeter wave ranging radar 106 and the axes of the monitoring cameras 104 form an included angle of 0-60 degrees, and the monitoring cameras 104, the laser ranging device 105, the millimeter wave ranging radar 106 and the rotary table mechanism 107 are electrically connected with the main control system 4.
It is worth mentioning that when the axes of the forward direction detecting 102 of the present embodiment intersect with the horizontal plane, the focus is located at the rear side of the bumper of the vehicle; when the axis of the lateral detection table 103 is intersected with the horizontal direction, the focal point is located at least 10 cm outside the vehicle body, and when the axis of the millimeter wave range radar 106 is intersected with the axis of the monitoring camera 104, the focal point is located on the axis of the monitoring camera 104 and at least 30 cm in front of the monitoring camera 104.
In addition, the brake detection mechanism 3 comprises a pressure sensor, an angle sensor, a rotating speed sensor, a torque sensor and an oil pressure sensor, wherein the pressure sensor is positioned at a vehicle brake disc, at least one pressure sensor is arranged at each brake disc, and a plurality of angle sensors are respectively connected with a steering wheel transmission shaft and a vehicle front wheel ball head through hinges; the torque sensors are connected with a front wheel ball joint hinge and a steering power-assisted system respectively; the oil pressure sensors are respectively positioned at the connecting positions of the brake oil pipe and the brake, and the pressure sensor, the angle sensor, the rotating speed sensor, the torque sensor and the oil pressure sensor are connected in parallel and are respectively electrically connected with the master control system.
The control system of this embodiment includes 4 major control systems include data processing module based on the IGBT chip as the basis, the figure accelerator based on FPGA chip, timing circuit module, data communication bus module, warning circuit, data serial communication module, data cache module, drive circuit module, data communication bus module respectively with data processing module based on the IGBT chip as the basis, figure accelerator based on FPGA chip, timing circuit module, warning circuit, data serial communication module, data cache module, drive circuit module electrical connection, drive circuit module in addition respectively with preceding automobile body detection mechanism, back automobile body detection mechanism, braking detection mechanism electrical connection, data serial communication module and vehicle driving computer system electrical connection.
As shown in fig. 4, the protection method of the vehicle emergency brake protection system in the embodiment includes the following steps:
s1, assembling equipment hardware; firstly, assembling a vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a master control system which form the invention with a vehicle, and adjusting the included angle of the optical axis of a monitoring camera on a forward detection platform of the vehicle body detection mechanism and the rear vehicle body detection mechanism to be 0-60 degrees with the horizontal plane, wherein the focus is positioned behind a vehicle bumper; the optical axis of a monitoring camera of the lateral detection table forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, and respectively communicating and addressing addresses for a vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a vehicle running computer circuit by the main control system;
s3, brake judging and protecting, after the step S2 is completed, under the normal running state of the vehicle, the main control system respectively drives the bearing base, the main detection mechanism and the auxiliary detection mechanism to run, the main control system continuously detects the running speed of the current vehicle, then after the brake pedal is stepped, the main detection mechanism and the auxiliary detection mechanism respectively continuously detect the distance between the obstacles in front of, behind and on two sides of the current vehicle and the vehicle, the detection result is fed back to the vehicle running computer system through the main control system, the running computer system adjusts the brake force according to the obstacles and the distance between the vehicles, the impact force to vehicle energy personnel during sudden strong braking is reduced while the vehicle braking is met, and the distance between the two sides of the vehicle and the lane and the road edge during the running and braking of the vehicle is detected through the adjustment of the lateral detection platforms of the main detection mechanism and the auxiliary detection mechanism, when the angle sensor and the torque sensor of the brake detection mechanism do not detect that the steering operation of the vehicle occurs and the distance between the vehicle and the lane on one side is continuously reduced or increased, the vehicle sideslips in the braking process, the sideslip information is fed back to the vehicle running computer system through the master control system, the running computer system adjusts the braking force of the vehicle according to the sideslip direction and the sideslip amount, recovers the traction force of part of the vehicle, reduces the adverse effect of the sideslip on the vehicle control, finally, the braking force, the rotating speed and the running direction of each wheel are detected when the vehicle is emergently braked through the brake detection mechanism, the detection result is fed back to the vehicle running computer system through the master control system, and the running computer system obtains the actual braking force distribution condition of the current vehicle after being compared with the detection results of the vehicle body detection mechanism and the rear vehicle body detection mechanism according to the actual detection, and the braking force of the vehicle is further adjusted according to the actual braking force distribution condition of the vehicle at present, so that the purposes of realizing rapid emergency braking under the condition of ensuring the safety of the vehicle and protecting the vehicle and people in the vehicle in the braking process are achieved.
It is worth mentioning that, during the running process, when the vehicle is in the emergency braking operation during the turning and lane changing operation, the steering angle and the torque of the vehicle are detected by the torque sensor and the angle sensor, the steering direction and the steering angle of the vehicle are preliminarily judged, meanwhile, the monitoring camera, the laser ranging device and the millimeter wave ranging radar of the invention are utilized to carry out synchronous detection on the vehicle, the road surface barrier and the barriers at two sides, detecting and early warning the distance between the vehicle and the obstacle in the current turning state, simultaneously comparing the steering offset of the vehicle body with the theoretical vehicle steering offset synthesized by preliminarily judging the steering direction and the steering angle of the vehicle, and when the comparison result is consistent, the vehicle has no offset phenomenon, when the comparison results are inconsistent, the lane deviation conditions of sideslip, drift and the like which seriously affect the running safety of the vehicle are shown to occur in the steering process of the vehicle; on the other hand, in the braking process, the master control system comprehensively summarizes the vehicle deceleration condition, the vehicle lane deviation condition and the vehicle-obstacle distance data according to the currently acquired braking force, the vehicle braking state, comprehensively brakes to obtain an optimal braking main force distribution scheme and performs braking, and when collision is unavoidable, through braking force distribution adjustment, on one hand, the collision part of the vehicle is far away from the position of personnel in the vehicle, on the other hand, the collision acting force is reduced to the minimum, so that the purposes of improving the vehicle operation stability and braking protection are achieved.
Based on the above, the system has simple structure and good universality, can effectively meet the requirements of various vehicle operation operations, can accurately control the braking force distribution during the emergency braking of the vehicle by combining the actual vehicle operation turntable from multiple angles in detection and protection, and effectively reduces the damage to personnel in the vehicle and the vehicle during the braking of the vehicle while meeting the braking of the vehicle.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A vehicle emergency brake protection system is characterized by comprising a front vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a main control system, wherein the front vehicle body detection mechanism and the rear vehicle body detection mechanism are respectively connected with a vehicle head and a vehicle parking position outlet body, the brake detection mechanism is connected with a vehicle brake system, the front vehicle body detection mechanism, the rear vehicle body detection mechanism and the brake detection mechanism are electrically connected with the main control system, the main control system is embedded in a vehicle central console and is electrically connected with a vehicle running computer system, the front vehicle body detection mechanism and the rear vehicle body detection mechanism comprise a bearing base, a forward detection platform, a lateral detection platform, a monitoring camera, a laser ranging device, a millimeter wave ranging radar and a turntable mechanism, wherein the bearing base is of a rectangular hollow cylindrical structure with a cross section, the rear end face of the front detection platform is abutted to the rear end face of a bumper of the vehicle body, the forward detection platform and the lateral detection platform are connected with the front end face of the bearing base through the turntable mechanism and exceed the front end face of the bumper of the vehicle by 0-10 mm, the forward detection platform and the lateral detection platform are distributed on the axis direction of the vehicle body and form an included angle of 0-60 degrees with the axis of the vehicle body, the lateral detection platforms are at least two and are symmetrically distributed on two sides of the vehicle body, the axis of the lateral detection platforms and the axis of the vehicle body form an included angle of 30-90 degrees, and the axes of the forward detection platform and the lateral detection platforms and the horizontal plane.
2. The vehicle emergency brake protection system of claim 1, wherein: the monitoring camera, the laser range finder, the millimeter wave range radar are a plurality of, and a monitoring camera, a laser range finder and a millimeter wave range radar constitute a workgroup, just forward detect the platform, the preceding terminal surface of side direction detection platform all establishes a workgroup, and the monitoring camera in each workgroup respectively with its forward detect the platform, the coaxial distribution of side direction detection platform at place, laser range finder, millimeter wave range radar encircle the first equipartition of monitoring camera, and laser range finder, millimeter wave range radar axis and monitoring camera axis are 0-60 contained angle, monitoring camera, laser range finder, millimeter wave range radar and revolving stage mechanism all with major control system electrical connection.
3. The vehicle emergency brake protection system of claim 1, wherein: when the axis of the forward detection table is intersected with the horizontal plane, the focus is positioned at the rear side of a vehicle bumper; when the axis of the lateral detection table is intersected with the horizontal direction, the focus is located at the position of at least 10 cm outside the vehicle body, and when the axis of the millimeter wave distance measuring radar is intersected with the axis of the monitoring camera, the focus is located on the axis of the monitoring camera and located at the position of at least 30 cm right in front of the monitoring camera.
4. The vehicle emergency brake protection system of claim 1, wherein: the brake detection mechanism comprises a pressure sensor, an angle sensor, a rotating speed sensor, a torque sensor and an oil pressure sensor, wherein the pressure sensor is positioned at a vehicle brake disc, at least one pressure sensor is arranged at each brake disc, and a plurality of angle sensors are respectively connected with a steering wheel transmission shaft and a vehicle front wheel ball head through hinges; the torque sensors are connected with a front wheel ball joint hinge and a steering power-assisted system respectively; the oil pressure sensors are respectively positioned at the connecting positions of the brake oil pipe and the brake, and the pressure sensor, the angle sensor, the rotating speed sensor, the torque sensor and the oil pressure sensor are connected in parallel and are respectively electrically connected with the master control system.
5. The vehicle emergency brake protection system of claim 1, wherein: the main control system comprises a data processing module based on an IGBT chip, a graphic accelerator based on an FPGA chip, a timing circuit module, a data communication bus module, an alarm circuit, a data serial port communication module, a data cache module and a driving circuit module, wherein the data communication bus module is electrically connected with the data processing module based on the IGBT chip, the graphic accelerator based on the FPGA chip, the timing circuit module, the alarm circuit, the data serial port communication module, the data cache module and the driving circuit module respectively, the driving circuit module is electrically connected with a front vehicle body detection mechanism, a rear vehicle body detection mechanism and a brake detection mechanism respectively, and the data serial port communication module is electrically connected with a vehicle running computer system.
6. A protection method of the vehicle emergency brake protection system according to any one of claims 1 to 5, characterized in that: which comprises the following steps:
s1, equipment hardware is assembled, namely, the vehicle body detection mechanism, the rear vehicle body detection mechanism, the brake detection mechanism and the master control system which form the automobile brake device are assembled with the automobile, the optical axis of a monitoring camera on a forward detection table of the vehicle body detection mechanism and the rear vehicle body detection mechanism is adjusted to form an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned behind a bumper of the automobile; the optical axis of a monitoring camera of the lateral detection table forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, and respectively communicating and addressing addresses for a vehicle body detection mechanism, a rear vehicle body detection mechanism, a brake detection mechanism and a vehicle running computer circuit by the main control system;
s3, brake judging and protecting, after the step S2 is completed, under the normal running state of the vehicle, the main control system respectively drives the bearing base, the main detection mechanism and the auxiliary detection mechanism to run, the main control system continuously detects the running speed of the current vehicle, then after the brake pedal is stepped, the main detection mechanism and the auxiliary detection mechanism respectively continuously detect the distance between the obstacles in front of, behind and on two sides of the current vehicle and the vehicle, the detection result is fed back to the vehicle running computer system through the main control system, the running computer system adjusts the brake force according to the obstacles and the distance between the vehicles, the impact force to vehicle energy personnel during sudden strong braking is reduced while the vehicle braking is met, and the distance between the two sides of the vehicle and the lane and the road edge during the running and braking of the vehicle is detected through the adjustment of the lateral detection platforms of the main detection mechanism and the auxiliary detection mechanism, when the angle sensor and the torque sensor of the brake detection mechanism do not detect that the steering operation of the vehicle occurs and the distance between the vehicle and the lane on one side is continuously reduced or increased, the vehicle sideslips in the braking process, the sideslip information is fed back to the vehicle running computer system through the master control system, the running computer system adjusts the braking force of the vehicle according to the sideslip direction and the sideslip amount, recovers the traction force of part of the vehicle, reduces the adverse effect of the sideslip on the vehicle control, finally, the braking force, the rotating speed and the running direction of each wheel are detected when the vehicle is emergently braked through the brake detection mechanism, the detection result is fed back to the vehicle running computer system through the master control system, and the running computer system obtains the actual braking force distribution condition of the current vehicle after being compared with the detection results of the vehicle body detection mechanism and the rear vehicle body detection mechanism according to the actual detection, and the braking force of the vehicle is further adjusted according to the actual braking force distribution condition of the vehicle at present, so that the purposes of realizing rapid emergency braking under the condition of ensuring the safety of the vehicle and protecting the vehicle and people in the vehicle in the braking process are achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911323560.XA CN111016859B (en) | 2019-12-20 | 2019-12-20 | Vehicle emergency brake protection system and method |
Applications Claiming Priority (1)
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