CN112319439B - GPS-based automatic braking method and system for slope slipping - Google Patents
GPS-based automatic braking method and system for slope slipping Download PDFInfo
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- CN112319439B CN112319439B CN202011145696.9A CN202011145696A CN112319439B CN 112319439 B CN112319439 B CN 112319439B CN 202011145696 A CN202011145696 A CN 202011145696A CN 112319439 B CN112319439 B CN 112319439B
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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
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/04—Hill descent control
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Abstract
The invention discloses a slope slipping automatic braking method and system based on a GPS (global positioning system). the invention caches a plurality of groups of position data output at intervals by a GPS module as historical position data; and meanwhile, the position data of the vehicle to be detected at the current point output by the GPS module is received and used as the current position data, and the current gear state information of the vehicle to be detected fed back by the OBD module is received. Based on a method for sampling a plurality of points in a certain period and comparing, the slope slipping distance and the included angle between the vehicle body and the due north direction are calculated, and the accuracy of automatic braking of slope slipping is improved. And the position relation among the plurality of detection points is utilized, whether the vehicle slips down the slope or not is judged, and the speed of slipping down the slope is obtained at the same time, so that the automatic braking action is further optimized on the premise of realizing the automatic braking, and the reasonable and comfortable braking result is achieved while the safety is ensured.
Description
Technical Field
The application belongs to the field of automatic driving, and particularly relates to a slope slipping automatic braking method and system based on a GPS.
Background
The automatic driving technology is widely applied to the production and the life of people at present, and brings endless convenience to the production and the life of people. The automatic brake is an important component in the automatic driving technology, and plays a role in automatically stopping the vehicle.
The existing automatic brake system comprises a vehicle body, a foot brake arranged on the vehicle body, brake mechanical equipment, vehicle-mounted main control equipment and a GPS module. The vehicle-mounted main control equipment and the GPS module are arranged in the vehicle body, and the braking mechanical equipment is connected with the foot brake; the GPS module is connected to the vehicle-mounted main control equipment through a signal line, and the vehicle-mounted main control equipment is connected with the braking mechanical equipment through the signal line. The vehicle displacement condition can be automatically detected and whether vehicle sliding occurs or not can be judged, and active braking can be realized under the condition that vehicle sliding occurs.
The prior art can meet specific scene requirements, is basically suitable for fixed-point parking and starting on a slope in the field of driving training, but for daily-running automatic driving vehicles, the existing automatic braking technology cannot adapt to various environments to judge whether the vehicle slips or not due to various and complex driving environments. In addition, because the GPS module has problems of positioning drift, insufficient accuracy of positioning height values, and the like, it is difficult to identify whether the vehicle slips down on a gentle slope with a gentle slope and a short slope with a short slope, which leads to frequent occurrence of untimely braking.
Disclosure of Invention
The application aims to provide a slope slipping automatic braking method and system based on a GPS, which can adapt to the slope slipping detection under various complex environments and are accurate in slope slipping detection.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
the utility model provides a slope swift current slope automatic braking method based on GPS for control vehicle automatic braking when judging that the vehicle of awaiting measuring takes place to slide the slope, install GPS module and OBD module on the vehicle of awaiting measuring, slope swift current slope automatic braking method based on GPS includes:
caching a plurality of groups of position data output at intervals by the GPS module as historical position data, wherein each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal course angle and a solution state;
receiving position data of the vehicle to be detected at the current point output by the GPS module as current position data, and receiving current gear state information of the vehicle to be detected fed back by the OBD module;
two groups of historical position data at intervals in the cached historical position data are taken, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point;
judging whether the GPS module is in a fixed solution state or not according to the two sets of acquired historical position data, if the GPS module is in the fixed solution state, calculating a first slope sliding distance of the current point relative to a first detection point, a second slope sliding distance of the current point relative to a second detection point, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction, and a second included angle between a connecting line of the current point and the second detection point and the due north direction;
according to gear state information judges the current travel state of waiting to examine the vehicle, if the current travel state is not reverse gear state, then according to first swift current slope distance, second swift current slope distance, first contained angle, second contained angle judge the swift current slope condition of waiting to examine the vehicle, include:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action;
if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on a slope and is a slow slope, and controlling the vehicle to be detected to execute a second braking action;
and if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.
Preferably, the calculating a first slope distance of the current point relative to the first detection point and a second slope distance of the current point relative to the second detection point includes:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y axis coordinate of Y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y axis coordinate of Y2A horizontal course angle of beta2And areState is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S1 is the first slope distance, S2Is the second distance to grade.
Preferably, the calculating a first included angle between a connection line between the current point and the first detection point and the due north direction, and a second included angle between a connection line between the current point and the second detection point and the due north direction includes:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2The positive direction of the X axis coordinate in the position data output by the GPS module is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction;
when the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle to be detected runs from west to east, the first included angle alpha1Is 180 DEG and a second included angle alpha2Is 180 degrees;
or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 degrees;
or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
Preferably, the slope slipping condition is that the slope slipping distance is greater than a slope slipping threshold value, and the absolute value of the difference value between the included angle between the connecting line between the current point and the detection point and the due north direction and the horizontal heading angle at the corresponding detection point is within a preset angle range.
This application still provides a slope swift current slope automatic braking system based on GPS for judge to wait to examine control vehicle automatic brake when the vehicle takes place the swift current slope, wait to examine and install the service brake on the vehicle, slope swift current slope automatic braking system based on GPS is including installing GPS module, OBD module, master control equipment and the brake module on waiting to examine the vehicle, GPS module and OBD module passing signal line access master control equipment, master control equipment with the brake module links to each other, the brake module with the service brake is connected, master control equipment includes:
the historical data caching module is used for caching a plurality of groups of position data output at intervals by the GPS module as historical position data, and each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal course angle and a solution state;
the current data acquisition module is used for receiving position data, which is output by the GPS module and is positioned at a current point, of the vehicle to be detected as current position data, and receiving current gear state information, which is fed back by the OBD module, of the vehicle to be detected;
the data selection module is used for taking two groups of historical position data at intervals in the cached historical position data, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point;
the state calculation module is used for judging whether the GPS module is in a fixed solution state or not according to the two sets of acquired historical position data, if the GPS module is in the fixed solution state, calculating a first slope sliding distance of the current point relative to the first detection point, a second slope sliding distance of the current point relative to the second detection point, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction and a second included angle between the connecting line of the current point and the second detection point and the due north direction;
the slope slipping judgment module is used for judging the current driving state of the vehicle to be detected according to the gear state information, and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle if the current driving state is not the reverse gear state;
and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle, and executing the following operations:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action;
if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on a slope and is a slow slope, and controlling the vehicle to be detected to execute a second braking action;
and if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
Preferably, the state calculating module calculates a first slope distance of the current point relative to the first detection point and a second slope distance of the current point relative to the second detection point, and performs the following operations:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y axis coordinate of Y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y axis coordinate of Y2A horizontal course angle of beta2And the solution state is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S is1Is the first distance of slope, S2Is the second distance to grade.
Preferably, the state calculating module calculates a first included angle between a connection line between the current point and the first detection point and the due north direction, and a second included angle between a connection line between the current point and the second detection point and the due north direction, and executes the following operations:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2And output by GPS moduleThe positive direction of the X axis coordinate in the position data is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction;
when the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle to be detected runs from west to east, the first included angle alpha1Is 180 DEG and a second included angle alpha2Is 180 degrees;
or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 degrees;
or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
Preferably, the slope slipping condition is that the slope slipping distance is greater than a slope slipping threshold value, and the absolute value of the difference value between the included angle between the connecting line between the current point and the detection point and the due north direction and the horizontal heading angle at the corresponding detection point is within a preset angle range.
According to the GPS-based automatic braking method and system for the slope slipping of the slope, a plurality of detection points are sampled in a certain period, the slope slipping distance and the included angle between a vehicle body and the due north direction are calculated by using a method of comparing the current point with the plurality of detection points, and the accuracy of automatic braking for the slope slipping of the slope is improved. And the position relation among the plurality of detection points is utilized, whether the vehicle slips down the slope or not is judged, and the speed of slipping down the slope is obtained at the same time, so that the automatic braking action is further optimized on the premise of realizing the automatic braking, and the reasonable and comfortable braking result is achieved while the safety is ensured.
Drawings
FIG. 1 is a flow chart of a GPS based hill-slip automatic braking method of the present application;
FIG. 2 is a schematic structural diagram of the GPS-based hill-slip automatic braking system of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In one embodiment, the slope slipping automatic braking method based on the GPS is used for controlling automatic braking of the vehicle when the vehicle to be detected slips off the slope, and has a high application value in the driving training field and the unmanned driving field.
The vehicle to be detected can be a driving training teaching vehicle, can also be a common vehicle, or can be applied to an unmanned vehicle and the like, the type of the vehicle to be detected is not limited, but the vehicle can normally run, namely the vehicle to be detected comprises a basic power mechanism, a foot brake, a frame and the like, in addition, the vehicle to be detected is also provided with a GPS module and an OBD module, the GPS module is used for acquiring GPS position data of the vehicle to be detected, the OBD module is used for acquiring vehicle data of the vehicle to be detected, and the vehicle data comprises but is not limited to gear state information.
As shown in fig. 1, the automatic braking method for slope slipping based on GPS of the embodiment includes the following steps:
and S1, caching a plurality of groups of position data output at intervals by the GPS module as historical position data, wherein each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal heading angle and a solution state.
The GPS module can report the position data at regular time, and the position data output by the GPS module at intervals is cached in the application so as to facilitate slope sliding detection. When the position data is cached, the latest multiple groups of data may be cached, or multiple groups of data having a certain time interval from the current time may be cached. The GPS module used in the present embodiment may be a general GPS module or a differential GPS module, and is implemented based on the existing GPS module, but does not limit the type of the GPS module.
In the embodiment, in order to flexibly reflect whether the vehicle to be detected slips down a slope, the latest multiple sets of position data are cached as historical position data, and 3 sets of latest position data are selected as the historical position data according to the characteristic that the GPS module outputs one set of position data every 100 ms. The positive direction of the X axis coordinate in each set of position data is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction.
And step S2, receiving the position data of the vehicle to be detected at the current point output by the GPS module as the current position data, and receiving the current gear state information of the vehicle to be detected fed back by the OBD module.
After the calculation is completed, the current position data is used to replace the position data cached in step S1 with the earliest time, so as to ensure that the position data in step S1 is the latest 3 sets of data in real time.
And step S3, two groups of historical position data separated from the cached historical position data are taken, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point.
Since 3 groups of historical position data are cached in the method, the obtained historical position data of the two groups at intervals, namely the first group and the third group, are obtained, the plurality of groups are detected, different slope slipping states can be detected, and the detection accuracy is improved. The first group and the last group are taken to utilize cached data as much as possible, time span between two detection points is increased, slope slipping conditions of a current point relative to the two detection points are reflected more intuitively, appropriate calculated amount is controlled at the same time, and slope slipping detection sensitivity is improved.
If the number of sets cached in step S1 is large, any two or more sets of historical position data in the plurality of sets may be taken for calculation, and the plurality of sets of data taken are preferably all interval data in order to better reflect the slope slip situation.
And step S4, judging whether the GPS module is in a fixed solution state or not according to the two sets of acquired historical position data, if the GPS module is in the fixed solution state, calculating a first slope sliding distance of the current point relative to the first detection point, a second slope sliding distance of the current point relative to the second detection point, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction and a second included angle between the connecting line of the current point and the second detection point and the due north direction.
If the solution states in the two sets of the historical position data are both fixed solutions, the GPS module is in the fixed solution state, the acquired position data is stable, and the accuracy is high; otherwise, the GPS module is not in a fixed solution state, the current position data at the moment is abandoned, and the slope sliding detection is finished.
Position data with low accuracy are abandoned in the judgment of the solution state, the accuracy of slope sliding detection of the vehicle to be detected is improved, and the concrete steps of calculating slope sliding distance and included angle by taking the stable position data are as follows:
specifically, calculating a first slope distance of the current point relative to the first detection point, and a second slope distance of the current point relative to the second detection point, includes:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y-axis seatMarked y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y axis coordinate of Y2A horizontal course angle of beta2And the solution state is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S is1Is the first distance of slope, S2Is the second distance to grade. It should be noted that, in this embodiment, the slope distance is calculated based on a conventional trigonometric function, the calculation speed is fast, and the calculation is easy to understand, but it does not mean that the calculation of the slope distance in the present application can only adopt the above method, and for example, the slope distance between the current point, the first detection point, and the second detection point and the slope ground may be directly calculated, and then the slope distance is obtained by subtracting the slope distance.
Specifically, calculating a first included angle between a connecting line between the current point and the first detection point and the due north direction, and a second included angle between a connecting line between the current point and the second detection point and the due north direction includes:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2And GPSThe positive direction of the X axis coordinate in the position data output by the module is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction.
When the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle to be detected runs from west to east, the first included angle alpha1Is 180 DEG and a second included angle alpha2Is 180 deg..
Or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 deg..
Or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
In the prior art, whether the vehicle slides down the slope is often judged directly by using the horizontal course angle of the GPS module, even whether the vehicle slides down the slope is judged in a unilateral manner directly according to the positioning coordinate of the GPS module, the modes are single in judgment and limited by the driving direction of the vehicle, and the GPS module judges based on a fixed preset coordinate, so that the detection of the vehicle sliding down the slope is often inaccurate. In order to overcome the defects, the included angle between the vehicle to be detected and the due north direction is calculated according to different driving directions of the vehicle to be detected by utilizing an angle conversion algorithm, namely, the included angle is converted into the included angle between the driving direction and the due north direction no matter how the driving direction of the vehicle is, so that the slope slipping detection can adapt to the situation that the vehicle slips in any direction, and the adaptability in various complex environments is improved.
And step S5, judging the current driving state of the vehicle to be detected according to the gear state information, and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle if the current driving state is not the reverse gear state.
The normal range state information includes a forward travel state, a neutral state, a P range state, a reverse range state, and the like, which can reflect the running state of the vehicle. In the above gear state information, since the hill-slip detection is required except for the reverse gear state, if the current driving state of the vehicle to be detected is not the reverse gear state, the hill-slip condition determination is required.
Since the present embodiment adopts a mode of a plurality of detection points, the following mode is preferably adopted for determining the slope slipping condition in the present embodiment:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action.
If the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, it is judged that the vehicle to be detected slides on the slope and slides on the slow slope, and the vehicle to be detected is controlled to execute a second braking action.
And if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
Because the first detection point is closer to the current point, if the data of the first detection point meets the slope slipping condition, the vehicle to be detected generates a larger slope slipping in a short time, namely the vehicle to be detected slips fast, at the moment, a first braking action can be executed, for example, braking is carried out to the maximum extent, and the reaction speed of automatic braking is increased, so that the vehicle body is prevented from colliding; if the inching brake is adopted, the injury of people or objects in the vehicle caused by large brake force can be avoided.
Because the second detection point is farther away from the current point, if the data of the first detection point does not meet the slope slipping condition and the data of the second detection point meets the slope slipping condition, the vehicle to be detected generates a larger slope slipping within a longer time, namely the vehicle to be detected slips on the slope at a low speed, and at the moment, a second braking action can be executed, for example, braking is performed with low force, so that the automatic braking is realized and the energy consumption is reduced.
Compared with the existing automatic brake, the automatic brake has the advantages that the slope slipping detection and judgment are high in accuracy, the slope slipping type can be further analyzed, the targeted brake can be carried out according to the slope slipping type and the required brake requirement (the required brake requirement can be set according to factors such as driving environment, people taking the vehicle and goods loaded) when the automatic brake is executed, the requirement for personalized brake is met while safe driving is guaranteed, and the application value of the automatic brake is improved.
The braking condition in this embodiment may be that the slope slipping distance is greater than the slope slipping threshold, and the vehicle to be detected is judged to send a slope slipping within the preset angle range, or only the slope slipping distance is used for judgment, or only the included angle is used for judgment.
In one embodiment, in order to improve the accuracy of slope slide judgment, the slope slide condition is that the slope slide distance is greater than the slope slide threshold, and the absolute value of the difference between the included angle between the connecting line between the current point and the detection point and the due north direction and the horizontal heading angle at the corresponding detection point is within a preset angle range.
In the embodiment, the judgment is not directly carried out based on the included angle, but is carried out according to the included angle by the difference value of the horizontal course angle, the changed angle of the vehicle to be detected in the slope slipping process is calculated by utilizing the difference value, the error caused by GPS data drift can be further eliminated, and the slope slipping detection accuracy is improved.
After a plurality of tests, the slope slipping threshold value is preferably set to be 30cm, the preset angle range is 135-225 degrees, namely the first slope slipping distance S is set1Greater than 30cm, first included angle alpha1Angle beta to horizontal course1The absolute value of the difference value of (a) is in the range of 135 to 225,the first slope slipping distance and the first included angle meet the preset slope slipping condition; otherwise, the first slope slipping distance and the first included angle do not meet the preset slope slipping condition.
Second slope distance S in the same way2Greater than 30cm, second included angle alpha2Angle beta to horizontal course2The absolute value of the difference value of (1) is within the range of 135-225 degrees, namely the second slope slipping distance and the second included angle meet the preset slope slipping condition; otherwise, the second slope slipping distance and the second included angle do not meet the preset slope slipping condition.
It should be noted that a 30cm hill drop threshold and an angle range of 135 ° to 225 ° are a preferable setting in the present application, and the setting is sensitive to the reaction speed of the vehicle hill drop detection, high in detection accuracy, and applicable to many slopes. However, this setting is not the only setting in the present application, and for example, the hill-fall threshold may be 10cm, 20cm, 40cm, 60cm, or the like, and the preset angle range may be 100 ° to 200 °, 125 ° to 210 °, 155 ° to 255 °, or the like, and may be actually adjusted according to the actual vehicle running environment, the hill-fall detection speed, or the like.
As shown in fig. 2, in another embodiment, a slope swift current slope automatic braking system based on GPS is still provided for control vehicle automatic brake when judging that waiting to examine the vehicle and taking place the swift current slope, it installs the service brake on the vehicle to examine, slope swift current slope automatic braking system based on GPS is including installing GPS module, OBD module, master control equipment and the brake module on waiting to examine the vehicle, GPS module and OBD module passing signal line access master control equipment, master control equipment with the brake module links to each other, the brake module with the service brake is connected, and wherein master control equipment includes:
and the historical data caching module is used for caching a plurality of groups of position data output at intervals by the GPS module as historical position data, and each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal course angle and a solution state.
And the current data acquisition module is used for receiving the position data of the vehicle to be detected at the current point output by the GPS module as the current position data and receiving the current gear state information of the vehicle to be detected fed back by the OBD module.
And the data selection module is used for taking two groups of historical position data at intervals in the cached historical position data, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point.
And the state calculation module is used for judging whether the GPS is in a fixed solution state or not according to the two sets of acquired historical position data, calculating a first slope sliding distance of the current point relative to the first detection point and a second slope sliding distance of the current point relative to the second detection point if the GPS is in the fixed solution state, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction and a second included angle between a connecting line of the current point and the second detection point and the due north direction.
And the slope slipping judgment module is used for judging the current driving state of the vehicle to be detected according to the gear state information, and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle if the current driving state is not the reverse gear state.
And judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle, and executing the following operations:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action.
If the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, it is judged that the vehicle to be detected slides on the slope and slides on the slow slope, and the vehicle to be detected is controlled to execute a second braking action.
And if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
Specific limitations on the GPS-based hill-drop automatic braking system can be found in the above limitations on the GPS-based hill-drop automatic braking method, and will not be described herein again. The modules in the main control device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Correspondingly, in one embodiment, the state calculating module calculates a first slope distance of the current point relative to the first detection point and a second slope distance of the current point relative to the second detection point, and performs the following operations:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y axis coordinate of Y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y axis coordinate of Y2A horizontal course angle of beta2And the solution state is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S is1Is the first slope of slideDistance, S2Is the second distance to grade.
In another embodiment, the state calculating module calculates a first angle between a connection line between the current point and the first detecting point and the due north direction, and a second angle between a connection line between the current point and the second detecting point and the due north direction, and performs the following operations:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2The positive direction of the X axis coordinate in the position data output by the GPS module is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction;
when the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle to be detected runs from west to east, the first included angle alpha1Is 180 DEG and a second included angle alpha2Is 180 degrees;
or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 degrees;
or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
In another embodiment, the slope slipping condition is that the slope slipping distance is greater than the slope slipping threshold, and the absolute value of the difference between the included angle between the connecting line between the current point and the detection point and the due north direction and the horizontal heading angle at the corresponding detection point is within a preset angle range.
In this application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any particular order or number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The utility model provides a slope swift current slope automatic braking method based on GPS for control vehicle automatic braking when judging that waiting to examine the vehicle takes place to slide the slope, wait to examine and install GPS module and OBD module on the vehicle, its characterized in that, slope swift current slope automatic braking method based on GPS includes:
caching a plurality of groups of position data output at intervals by the GPS module as historical position data, wherein each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal course angle and a solution state;
receiving position data of the vehicle to be detected at the current point output by the GPS module as current position data, and receiving current gear state information of the vehicle to be detected fed back by the OBD module;
two groups of historical position data at intervals in the cached historical position data are taken, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point;
judging whether the GPS module is in a fixed solution state or not according to the two sets of acquired historical position data, if the GPS module is in the fixed solution state, calculating a first slope sliding distance of the current point relative to a first detection point, a second slope sliding distance of the current point relative to a second detection point, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction, and a second included angle between a connecting line of the current point and the second detection point and the due north direction;
according to gear state information judges the current travel state of waiting to examine the vehicle, if the current travel state is not reverse gear state, then according to first swift current slope distance, second swift current slope distance, first contained angle, second contained angle judge the swift current slope condition of waiting to examine the vehicle, include:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action;
if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on a slope and is a slow slope, and controlling the vehicle to be detected to execute a second braking action;
and if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
2. The GPS-based hill-drop automatic braking method according to claim 1, wherein calculating a first hill-drop distance of the current point relative to the first detection point and a second hill-drop distance of the current point relative to the second detection point comprises:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y axis coordinate of Y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y axis coordinate of Y2A horizontal course angle of beta2And the solution state is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S is1Is the first distance of slope, S2Is the second distance to grade.
3. The GPS-based automatic braking method for slope slipping according to claim 2, wherein the calculating of a first angle between a line connecting the current point and the first detection point and the due north direction and a second angle between a line connecting the current point and the second detection point and the due north direction includes:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2The positive direction of the X axis coordinate in the position data output by the GPS module is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction;
when the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle to be detected runs from west to east, the first included angle alpha1Is 180 DEG and a second included angle alpha2Is 180 degrees;
or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 degrees;
or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
4. The GPS-based automatic braking method for a slope slipping through a slope according to claim 1, wherein the condition of the slope slipping is that the distance of the slope slipping is greater than the threshold value of the slope slipping, and an absolute value of a difference between a line connecting a current point and a detection point and a due north direction and a horizontal heading angle at the corresponding detection point is within a preset angle range.
5. The utility model provides a ramp swift current slope automatic brake system based on GPS for judge to wait to examine the vehicle and take place the swift current slope time control vehicle automatic brake, wait to examine and install the service brake on the vehicle, a serial communication port, ramp swift current slope automatic brake system based on GPS is including installing GPS module, OBD module, master control unit and the brake module on waiting to examine the vehicle, GPS module and OBD module passing signal line access master control unit, master control unit with the brake module links to each other, the brake module with the service brake is connected, master control unit includes:
the historical data caching module is used for caching a plurality of groups of position data output at intervals by the GPS module as historical position data, and each group of position data comprises an X-axis coordinate, a Y-axis coordinate, a horizontal course angle and a solution state;
the current data acquisition module is used for receiving position data, which is output by the GPS module and is positioned at a current point, of the vehicle to be detected as current position data, and receiving current gear state information, which is fed back by the OBD module, of the vehicle to be detected;
the data selection module is used for taking two groups of historical position data at intervals in the cached historical position data, wherein one group of historical position data is used as the position data of a first detection point, the other group of historical position data is used as the position data of a second detection point, and the first detection point is closer to the current point than the second detection point;
the state calculation module is used for judging whether the GPS module is in a fixed solution state or not according to the two sets of acquired historical position data, if the GPS module is in the fixed solution state, calculating a first slope sliding distance of the current point relative to the first detection point, a second slope sliding distance of the current point relative to the second detection point, and calculating a first included angle between a connecting line of the current point and the first detection point and the due north direction and a second included angle between the connecting line of the current point and the second detection point and the due north direction;
the slope slipping judgment module is used for judging the current driving state of the vehicle to be detected according to the gear state information, and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle if the current driving state is not the reverse gear state;
and judging the slope slipping condition of the vehicle to be detected according to the first slope slipping distance, the second slope slipping distance, the first included angle and the second included angle, and executing the following operations:
if the first slope sliding distance and the first included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on the slope and is a fast slope sliding, and controlling the vehicle to be detected to execute a first braking action;
if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle meet the preset slope sliding condition, judging that the vehicle to be detected slides on a slope and is a slow slope, and controlling the vehicle to be detected to execute a second braking action;
and if the first slope sliding distance and the first included angle do not meet the preset slope sliding condition, and meanwhile, the second slope sliding distance and the second included angle do not meet the preset slope sliding condition, judging that the vehicle to be detected does not slide, and controlling the vehicle to be detected to execute automatic braking.
6. The GPS-based hill-drop automatic braking system of claim 5, wherein the status calculation module calculates a first hill-drop distance for the current point relative to the first detection point and a second hill-drop distance for the current point relative to the second detection point by:
if the historical position data corresponding to the first detection point comprises X-axis coordinates of X1Y axis coordinate of Y1A horizontal course angle of beta1And the solution state is QF1The historical position data corresponding to the second detection point comprises X-axis coordinates of X2Y-axis coordinateIs y2A horizontal course angle of beta2And the solution state is QF2The current position data corresponding to the current point comprises an X-axis coordinate of X, a Y-axis coordinate of Y, a horizontal course angle of beta and a solution state of QF;
the offset from the current point to the first detection point in the X-axis direction is X-X1The offset from the current point to the second detection point is x-x2(ii) a The offset of the current point to the first detection point in the Y-axis direction is Y-Y1The offset from the current point to the second detection point is y-y2；
Calculating a first hill drop distance and a second hill drop distance according to the following formulas:
wherein S is1Is the first distance of slope, S2Is the second distance to grade.
7. The GPS-based automatic braking system for a slope slipping through a slope according to claim 6, wherein the state calculating module calculates a first angle between a connecting line between the current point and the first detection point and the due north direction, and a second angle between a connecting line between the current point and the second detection point and the due north direction, and performs the following operations:
let the first angle between the connecting line between the current point and the first detecting point and the north direction be alpha1The second included angle between the connecting line of the current point and the second detection point and the due north direction is alpha2The positive direction of the X axis coordinate in the position data output by the GPS module is the positive east direction, and the positive direction of the Y axis coordinate is the positive north direction;
when the vehicle to be detected runs in a straight line parallel to the X axis, if the vehicle to be detected runs from east to west, the first included angle alpha1Is 0 DEG and a second included angle alpha2Is 0 degree; if the vehicle is to be inspectedWhen driving from west to east, the first angle alpha is1Is 180 DEG and a second included angle alpha2Is 180 degrees;
or when the vehicle to be detected runs in a straight line parallel to the Y axis and if the vehicle to be detected runs from north to south, the first included angle alpha1Is 90 DEG and the second included angle alpha2Is 90 degrees; if the vehicle to be inspected runs from south to north, the first included angle alpha1Is 270 DEG and the second included angle alpha2Is 270 degrees;
or when the vehicle to be detected does not run in a straight line parallel to the X axis or the Y axis, calculating the first included angle and the second included angle by the following formula:
wherein alpha is1Is a first angle, alpha2Is the second included angle.
8. The GPS-based hill-slip automatic brake system according to claim 5, wherein the hill-slip condition is that a hill-slip distance is greater than a hill-slip threshold value, and an absolute value of a difference between a line connecting the current point and the detection point and a due north direction and a horizontal heading angle at the corresponding detection point is within a preset angle range.
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