CN113771842A - Safety auxiliary system and safety auxiliary method for auxiliary parking of vehicle with brake failure - Google Patents

Safety auxiliary system and safety auxiliary method for auxiliary parking of vehicle with brake failure Download PDF

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Publication number
CN113771842A
CN113771842A CN202010524794.7A CN202010524794A CN113771842A CN 113771842 A CN113771842 A CN 113771842A CN 202010524794 A CN202010524794 A CN 202010524794A CN 113771842 A CN113771842 A CN 113771842A
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CN
China
Prior art keywords
vehicle
brake
parking
failure
failed
Prior art date
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Withdrawn
Application number
CN202010524794.7A
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Chinese (zh)
Inventor
曲彤
唐帅
孙铎
N·马蒙恩
杨岳
孙琬
李赫瑄
王宇
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Audi AG
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Audi AG
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Priority to CN202010524794.7A priority Critical patent/CN113771842A/en
Publication of CN113771842A publication Critical patent/CN113771842A/en
Withdrawn legal-status Critical Current

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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
    • B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
    • B60T1/16—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action by increasing air resistance, e.g. flaps
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • 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
    • 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
    • B60W2420/54—Audio sensitive means, e.g. ultrasound

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

The present disclosure relates to a safety assistance system and a safety assistance method for assisting parking of a vehicle with a brake failure. The security assistance system includes: a brake failure information acquisition unit configured to acquire information of the brake failed vehicle; a task allocation unit configured to allocate an auxiliary parking vehicle to the brake-failure vehicle based on at least information of the brake-failure vehicle, the auxiliary parking vehicle being located in the vicinity of the brake-failure vehicle and equipped with an auxiliary parking mechanism; an execution unit configured to send an instruction to the parking assist vehicle to park the brake-failed vehicle assisted. According to the safety auxiliary system and the auxiliary parking method for auxiliary parking of the brake fault vehicle, the brake fault vehicle can be subjected to auxiliary parking at an emergency, and major accidents caused by brake faults are effectively avoided.

Description

Safety auxiliary system and safety auxiliary method for auxiliary parking of vehicle with brake failure
Technical Field
The disclosure belongs to the technical field of vehicles, and particularly relates to a safety auxiliary system and a safety auxiliary method for assisting parking of a vehicle with a brake fault.
Background
The occurrence of brake failure during the running of a vehicle is a dangerous situation. The brake failure of the vehicle can cause the speed of the vehicle to be out of control, so that serious traffic accidents are easy to happen, and casualties and property loss are caused. The earlier the vehicle is controlled to stop after a brake failure occurs, the less loss occurs. Therefore, how to help the vehicle with the brake failure stop at the first time is an urgent problem to be solved.
Therefore, there is a need in the art for a safety assistance system and a safety assistance method for assisting parking of a vehicle with a brake failure.
Disclosure of Invention
An object of the present disclosure is to assist a vehicle with a brake failure in its surroundings in an emergency by installing a mechanism for assisting the parking of another vehicle in the vehicle.
In one aspect of the present disclosure, there is provided a safety assistance system for assisting parking of a vehicle having a brake failure, the safety assistance system including:
a brake failure information acquisition unit configured to acquire information of the brake failed vehicle;
a task allocation unit configured to allocate an auxiliary parking vehicle to the brake-failure vehicle based on at least information of the brake-failure vehicle, the auxiliary parking vehicle being located in the vicinity of the brake-failure vehicle and equipped with an auxiliary parking mechanism;
an execution unit configured to send an instruction to the parking assist vehicle to park the brake-failed vehicle assisted.
In one embodiment, the parking assist of the brake-failed vehicle comprises:
the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle;
parking assistance is performed by (i) and/or (ii) as follows:
(i) the auxiliary parking vehicle releases friction force increasing substances on the ground of a traveling path in front of the brake fault vehicle, so that the brake fault vehicle decelerates on the friction force increasing substances during traveling;
(ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates, so that the front of the vehicle with the brake fault is supported against the air bag to decelerate.
In one embodiment, the brake failure information acquisition unit acquires information of the brake failure vehicle from the brake failure vehicle or a roadside facility.
In one embodiment, the brake-failure vehicle or roadside facility detects information of the brake-failure vehicle by a combination selected from any one or any plurality of the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
In one embodiment, the information of the vehicle with the brake failure is any one or any combination of a plurality of items selected from the following items: the position, lane, speed, deceleration, steering angle, and predicted travel path of the vehicle.
In one embodiment, the execution unit is configured to send information of the brake-failed vehicle to vehicles around the brake-failed vehicle to avoid.
In one embodiment, the security assistance system is located on an online server.
In one embodiment, the assisted parking vehicle is an autonomous vehicle.
In one embodiment, the parking assist mechanism comprises the following (i) and/or (ii): (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle.
In one embodiment, assigning the parking assist vehicle to the brake-equipped vehicle is based on the location, driving conditions, and accessibility of the parking assist function of the brake-equipped vehicle and the vehicle equipped with the parking assist mechanism.
In another aspect of the present disclosure, there is provided a safety assistance method for parking assistance to a vehicle having a brake failure, the safety assistance method including:
(1) acquiring information of the brake fault vehicle;
(2) allocating an auxiliary parking vehicle to the brake-failure vehicle at least based on the information of the brake-failure vehicle, wherein the auxiliary parking vehicle is positioned near the brake-failure vehicle and is provided with an auxiliary parking mechanism;
(3) and sending an instruction for auxiliary parking of the vehicle with the brake fault to the auxiliary parking vehicle.
In one embodiment, in (3), the parking assist of the brake-failed vehicle includes:
the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle;
parking assistance is performed by (i) and/or (ii) as follows:
(i) the auxiliary parking vehicle releases friction force increasing substances on the ground of a traveling path in front of the brake fault vehicle, so that the brake fault vehicle decelerates on the friction force increasing substances during traveling;
(ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates, so that the front of the vehicle with the brake fault is supported against the air bag to decelerate.
In one embodiment, in (1), the information of the faulty brake vehicle is acquired from the faulty brake vehicle or a roadside facility.
In one embodiment, in (1), the brake-malfunction vehicle or roadside apparatus detects information of the brake-malfunction vehicle by a combination selected from any one or any plurality of the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
In one embodiment, in (1), the information on the vehicle with a failed brake is any one or a combination of any more selected from the following items: the position, lane, speed, deceleration, steering angle, and predicted travel path of the vehicle.
In one embodiment, in (3), information of the vehicle with the failed brake is sent to vehicles around the vehicle with the failed brake to avoid the vehicle with the failed brake.
In one embodiment, the security assistance method is performed on an online server.
In one embodiment, in (2), the parking-assist vehicle is an autonomous vehicle.
In one embodiment, in (2), the parking assist mechanism includes the following (i) and/or (ii): (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle.
In one embodiment, in (2), the assigning of the parking assist vehicle to the brake-failed vehicle is based on the location, driving conditions, and assist function availability of the brake-failed vehicle and the vehicle equipped with the parking assist mechanism.
According to yet another aspect of the disclosure, a computer-readable storage medium is provided, having stored thereon a computer program, which when executed by a processor, implements the method of any of the above.
By utilizing the safety auxiliary system and the safety auxiliary method for auxiliary parking of the brake fault vehicle, the auxiliary parking of the brake fault vehicle can be realized through the auxiliary vehicle provided with the auxiliary parking mechanism, and the major accident caused by the brake fault can be effectively avoided.
Drawings
The present disclosure may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like reference numerals identify identical or functionally similar elements.
FIG. 1 shows a schematic diagram of a safety assist system for assisting parking of a vehicle with a brake failure according to an embodiment of the present disclosure.
Fig. 2 shows a schematic view of an application scenario of a safety assistance system and a safety assistance method for assisting parking of a vehicle with a brake failure according to an embodiment of the present disclosure.
FIG. 3 shows a flow chart of a safety assist method for assisting parking of a vehicle with a brake failure according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure are described with reference to the drawings. The following detailed description and drawings are included to illustrate the principles of the disclosure, which is not to be limited to the preferred embodiments described, but is to be defined by the claims. The disclosure will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present disclosure. Rather, these aspects are merely examples of systems and methods according to various aspects of the present disclosure recited in the appended claims.
The safety assistance system for parking assistance to a brake-failed vehicle according to the present disclosure is used for parking assistance to a brake-failed vehicle by allocating an auxiliary vehicle equipped with an auxiliary parking mechanism. Therefore, the safety auxiliary system for assisting the parking of the vehicle with the brake failure can be applied to the vehicle with the brake failure. The vehicle having a brake failure may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of them as drive sources, or a vehicle having another drive source. The assist vehicle equipped with the parking assist mechanism may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of them as drive sources, or a vehicle having another drive source. The auxiliary vehicle equipped with the auxiliary parking mechanism may be a human-driven vehicle or an autonomous vehicle, preferably an autonomous vehicle.
The autonomous vehicles referred to herein include fully autonomous vehicles, as well as vehicles having autonomous driving modes. The automatic driving vehicle applicable to the present disclosure has the following basic features: for example, such vehicles are mounted with a plurality of sensors or positioning devices, such as an image pickup device, a laser radar, a millimeter wave radar, an ultrasonic sensor, a vehicle-mounted communication (V2X) device, a Highly Automated Driving (HAD) map, and the like, which are capable of detecting the environment around the vehicle such as surrounding objects, obstacles, infrastructure, and the like; these vehicles are able to detect the location of the current vehicle through Global Navigation Satellite System (GNSS) and one or a combination of sensor detection and HAD maps; the vehicles can obtain navigation paths through the online server; these vehicles are able to plan a route to be traveled based on the perception and location results; such vehicles can also send control signals to the powertrain, steering system, gear system, etc. based on the planned route.
FIG. 1 shows a schematic view of a safety assist system 100 for assisting parking of a vehicle with a brake failure in accordance with an embodiment of the present disclosure. As shown in fig. 1, the safety assistance system 100 for assisting parking of a vehicle with a brake failure includes: a brake failure information acquisition unit 110, a task allocation unit 120, and an execution unit 130. In one example, the security assistance system is located on an online server.
In fig. 1, the brake failure information acquisition unit 110 is configured to acquire information of the brake-failed vehicle. In one example, the brake failure information acquisition unit acquires information of the brake failure vehicle from the brake failure vehicle or a roadside facility. Preferably, the brake failure information obtaining unit 110 includes a communication device configured to communicate with the brake failure vehicle and/or roadside facilities, for example, via a mobile network, Wi-Fi and/or bluetooth for information interaction. In one example, the brake-failure vehicle or roadside facility detects information of the brake-failure vehicle by a combination selected from any one or any plurality of the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor. In one example, the information of the vehicle with the brake failure is any one or any combination of a plurality of items selected from the following items: the position, lane, speed, deceleration, steering angle, and predicted travel path of the vehicle. For example, if a vehicle experiences a brake failure condition, it uploads the condition to an online server, which issues a request to assist in parking. In one example, the occurrence of a braking failure may be detected by the vehicle itself or by a report of an abnormality of the vehicle's own braking system. In one example, detecting a brake failure by the vehicle itself may include: based on the percentage of brake pedal depression, a predicted brake pressure or deceleration is calculated and compared to the actual brake pressure or deceleration from the vehicle-mounted sensors. In another example, the reporting of the vehicle's own brake system anomaly includes a Diagnostic Trouble Code (DTC) reporting the brake system anomaly.
In fig. 1, the task assigning unit 120 is configured to assign an auxiliary parking vehicle to the brake-failed vehicle based on at least information of the brake-failed vehicle, the auxiliary parking vehicle being located in the vicinity of the brake-failed vehicle and equipped with an auxiliary parking mechanism. In one example, the parking assist vehicle is an autonomous vehicle to reduce possible injury to personnel due to accidents during parking assist. In one example, the secondary parking mechanism comprises the following (i) and/or (ii): (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle. The means for releasing the friction enhancing substance comprises a vessel in which there is a friction enhancing substance. The vessel can be controlled to dump a substance that increases road friction behind the vehicle. The airbag-forming component may be similar to an airbag of an automobile, which is located at the rear of the vehicle. The airbag is released as needed. In one example, vehicles equipped with parking assist mechanisms around the brake-failed vehicle report their location, lane, speed, and functional availability to, for example, an online server. For example, a parking aid vehicle equipped with a release member of a substance that increases the friction of the road surface is not functionally usable when the substance that increases the friction of the road surface is used up. In one example, the position, lane and speed of the vehicle equipped with the parking assist mechanism are detected by a combination selected from any one or any plurality of the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor. And the online server calculates the positions, the driving conditions and the auxiliary function availability of the vehicle with the brake failure and the vehicle equipped with the auxiliary parking mechanism, determines an auxiliary parking vehicle and sends an auxiliary parking instruction to the auxiliary parking vehicle. Preferably, the determining of the parking assist vehicle further takes into account the mass of the brake-failed vehicle and the mass of the surrounding parking assist vehicle, and preferentially allocates the surrounding parking assist vehicle having a large mass.
In fig. 1, the execution unit 130 is configured to send an instruction to the parking assist vehicle to assist parking of the vehicle with the brake failure. In one example, the parking assist for the brake-failed vehicle includes: the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle; parking assistance is performed by (i) and/or (ii) as follows: (i) the auxiliary parking vehicle releases friction force increasing substances in front of the brake failure vehicle or on the ground of a predicted driving path of the auxiliary parking vehicle, so that the brake failure vehicle drives to decelerate on the friction force increasing substances until parking; (ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates to enable the front of the vehicle with the brake fault to be propped against the air bag for deceleration, and the auxiliary parking vehicle is braked by the aid of a brake system of the auxiliary parking vehicle until the auxiliary parking vehicle stops. For example, the parking assist vehicle travels ahead of the predicted travel trajectory of the brake-failed vehicle, and adjusts the speed and the distance to the brake-failed vehicle in real time by calculation. Said friction force increasing substance, such as a gum and/or glue, is preferably chosen to facilitate cleaning. In one example, the execution unit is further configured to send information of the brake-failed vehicle to vehicles around the brake-failed vehicle. And the surrounding vehicles detect the running conditions of the surrounding vehicles and compare the running conditions with the information of the vehicle with the brake fault, so that the vehicles can avoid or keep the distance to continue running.
It will be understood by those skilled in the art that the functional division and association of the various elements of the security assistance system of the present disclosure is merely illustrative and not restrictive and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.
Referring to fig. 2, an application example of a safety assistance system and a safety assistance method for parking assistance to a brake-failed vehicle according to an embodiment of the present disclosure is shown. In fig. 2, the vehicle with a failed brake 0 sends a request for assisted parking to the online server 5, and sends information of the vehicle with a failed brake 0, for example, any one or any combination of a plurality of items selected from the following items: the position, lane, speed, deceleration, steering angle, and predicted travel path of the brake-failed vehicle 0. The presence server 5 transmits the information of the brake-failed vehicle 0 to the surrounding vehicles 1, 2, 3, and 4. The vehicles 1 and 2 equipped with the auxiliary parking mechanism report their position, lane, speed and functional availability to the presence server 5. The online server 5 determines the parking assist vehicle 1 by calculating the positions, driving conditions, and the availability of the parking assist function of the brake-failed vehicle 0 and the vehicles 1 and 2 equipped with the parking assist mechanism, and transmits a parking assist instruction thereto. And after receiving the information of the brake fault vehicle 0, the other vehicles 3 and 4 avoid the lane where the brake fault vehicle 0 is located. As shown in fig. 2, the vehicle 4 changes lane from the lane in which the brake-failed vehicle 0 is located to the lane beside. And after receiving the auxiliary parking instruction of the online server 5, the vehicle 1 changes the lane to the lane where the brake fault vehicle 0 is located, and performs auxiliary parking on the brake fault vehicle 0. Vehicles 0, 1, 2, 3 and 4 are connected to the online server 5 via a mobile network, Wi-Fi or bluetooth.
A security assistance method according to an embodiment of the present disclosure will be described below with reference to the accompanying drawings. Fig. 3 illustrates a safety assistance method S100 for assisting parking of a vehicle with a brake failure according to an embodiment of the present disclosure. The safety assistance method S100 for parking assistance for a brake-failed vehicle is performed by the safety assistance system 100 for parking assistance for a brake-failed vehicle. The method of the present disclosure may be performed using a computer program, such as a computer program installed on an online server. Accordingly, the present disclosure may also include a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method S100 described in embodiments of the present disclosure.
As shown in fig. 3, in S110, information of the vehicle with the failed brake is acquired. In one example, information of the brake-failed vehicle is obtained from the brake-failed vehicle or a roadside facility. Preferably, the online server communicates with the brake-failure vehicle and/or roadside equipment, for example, by exchanging information via a mobile network, Wi-Fi, and/or bluetooth. In one example, the brake-failure vehicle or roadside facility detects information of the brake-failure vehicle by a combination selected from any one or any plurality of the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor. In one example, the information of the vehicle with the brake failure is any one or any combination of a plurality of items selected from the following items: the position, lane, speed, deceleration, steering angle, and predicted travel path of the vehicle. For example, if a vehicle experiences a brake failure condition, it uploads the condition to an online server, which issues a request to assist in parking. In one example, the occurrence of a braking failure may be detected by the vehicle itself or by a report of an abnormality of the vehicle's own braking system. In one example, detecting a brake failure by the vehicle itself may include: based on the percentage of brake pedal depression, a predicted brake pressure or deceleration is calculated and compared to the actual brake pressure or deceleration from the vehicle-mounted sensors. In another example, the reporting of the vehicle's own brake system anomaly includes a Diagnostic Trouble Code (DTC) reporting the brake system anomaly.
In S120, an auxiliary parking vehicle is assigned to the brake-failed vehicle based on at least information of the brake-failed vehicle, the auxiliary parking vehicle being located in the vicinity of the brake-failed vehicle and equipped with an auxiliary parking mechanism. In one example, the park assist vehicle is an autonomous vehicle to reduce possible injury to personnel during park assist. In one example, the secondary parking mechanism comprises the following (i) and/or (ii): (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle. In one example, vehicles equipped with parking assist mechanisms around the brake-failed vehicle report their location, lane, speed, and functional availability to, for example, an online server. And the online server calculates the positions, the driving conditions and the auxiliary function availability of the vehicle with the brake failure and the vehicle equipped with the auxiliary parking mechanism, determines an auxiliary parking vehicle and sends an auxiliary parking instruction to the auxiliary parking vehicle. Preferably, the determining of the parking assist vehicle further takes into account the mass of the brake-failed vehicle and the mass of the surrounding parking assist vehicle, and preferentially allocates the surrounding parking assist vehicle having a large mass.
In S130, a command for parking assistance for the vehicle with the failed brake is transmitted to the parking assistance vehicle. In one example, the parking assist for the brake-failed vehicle includes: the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle; parking assistance is performed by (i) and/or (ii) as follows: (i) the auxiliary parking vehicle releases friction force increasing substances in front of the brake failure vehicle or on the ground of a predicted driving path of the auxiliary parking vehicle, so that the brake failure vehicle drives to decelerate on the friction force increasing substances until parking; (ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates to enable the front of the vehicle with the brake fault to be propped against the air bag for deceleration, and the auxiliary parking vehicle is braked by the aid of a brake system of the auxiliary parking vehicle until the auxiliary parking vehicle stops. For example, the parking assist vehicle travels ahead of the predicted travel trajectory of the brake-failed vehicle, and adjusts the speed and the distance to the brake-failed vehicle in real time by calculation. Said friction force increasing substance, such as a gum and/or glue, is preferably chosen to facilitate cleaning. In one example, S130 is further included to transmit information of the brake-failed vehicle to vehicles around the brake-failed vehicle. And the surrounding vehicles detect the running conditions of the surrounding vehicles and compare the running conditions with the information of the vehicle with the brake fault, so that the vehicles can avoid or keep the distance to continue running.
It will be understood by those skilled in the art that the division and order of the various steps in the security assistance method of the present disclosure are merely illustrative and not restrictive, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the present disclosure has been described with reference to exemplary embodiments, it is to be understood that the disclosure is not limited to the construction and methods of the above-described embodiments. On the contrary, the disclosure is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps disclosed are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the disclosure.

Claims (15)

1. A safety assist system for assisting parking of a vehicle having a brake failure, the safety assist system comprising:
a brake failure information acquisition unit configured to acquire information of the brake failed vehicle;
a task allocation unit configured to allocate an auxiliary parking vehicle to the brake-failure vehicle based on at least information of the brake-failure vehicle, the auxiliary parking vehicle being located in the vicinity of the brake-failure vehicle and equipped with an auxiliary parking mechanism;
an execution unit configured to send an instruction to the parking assist vehicle to park the brake-failed vehicle assisted.
2. The safety assistance system of claim 1, wherein assisting the parking of the brake-failed vehicle comprises:
the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle;
parking assistance is performed by (i) and/or (ii) as follows:
(i) the auxiliary parking vehicle releases friction force increasing substances on the ground of a traveling path in front of the brake fault vehicle, so that the brake fault vehicle decelerates on the friction force increasing substances during traveling;
(ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates, so that the front of the vehicle with the brake fault is supported against the air bag to decelerate.
3. The safety assistance system according to claim 1 or 2, wherein the brake failure information acquisition unit acquires information of the brake failure vehicle from the brake failure vehicle or a roadside facility.
4. The safety assistance system according to claim 1 or 2, wherein the information of the brake-failed vehicle is any one or a combination of any plurality of items selected from the group consisting of: the position, lane, speed, deceleration, steering angle and predicted travel path of the brake-failed vehicle.
5. The safety assistance system according to claim 1 or 2, wherein the execution unit is configured to transmit information of the brake-failed vehicle to vehicles around the brake-failed vehicle to avoid.
6. A safety assistance system according to claim 1 or 2, wherein the secondary parking mechanism comprises (i) and/or (ii) as follows: (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle.
7. The safety assistance system according to claim 1 or 2, characterized in that the allocation of the parking assist vehicle to the brake-failed vehicle is based on the location, driving conditions and assist function availability of the brake-failed vehicle and the vehicle equipped with the parking assist mechanism.
8. A safety assistance method for assisting parking of a vehicle having a brake failure, the safety assistance method comprising:
(1) acquiring information of the brake fault vehicle;
(2) allocating an auxiliary parking vehicle to the brake-failure vehicle at least based on the information of the brake-failure vehicle, wherein the auxiliary parking vehicle is positioned near the brake-failure vehicle and is provided with an auxiliary parking mechanism;
(3) and sending an instruction for auxiliary parking of the vehicle with the brake fault to the auxiliary parking vehicle.
9. The method of claim 8, wherein in (3), the assisted parking of the brake-failed vehicle comprises:
the auxiliary parking vehicle runs in front of the brake failure vehicle and keeps the speed and/or the distance from the brake failure vehicle;
parking assistance is performed by (i) and/or (ii) as follows:
(i) the auxiliary parking vehicle releases friction force increasing substances on the ground of a traveling path in front of the brake fault vehicle, so that the brake fault vehicle decelerates on the friction force increasing substances during traveling;
(ii) the auxiliary parking vehicle releases the air bag at the rear and gradually decelerates, so that the front of the vehicle with the brake fault is supported against the air bag to decelerate.
10. The method according to claim 8 or 9, wherein in (1) comprises obtaining information of the faulty brake vehicle from the faulty brake vehicle or a roadside facility.
11. The method according to claim 8 or 9, wherein in (1), the information of the brake-failed vehicle is any one or a combination of any more selected from the following: the position, lane, speed, deceleration, steering angle, and predicted travel path of the vehicle.
12. The method of claim 8 or 9, wherein in (3) comprises sending information of the brake-failed vehicle to vehicles around the brake-failed vehicle to avoid.
13. The method of claim 8 or 9, wherein in (2), the secondary parking mechanism comprises (i) and/or (ii) as follows: (i) a release member for a substance that increases frictional force of the pavement; (ii) an airbag-forming component located at the rear of the vehicle.
14. The method according to claim 8 or 9, wherein in (2), the assigning of the parking assist vehicle to the brake-failed vehicle is based on the locations, driving conditions, and assist function availability of the brake-failed vehicle and a vehicle equipped with a parking assist mechanism.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 8-14.
CN202010524794.7A 2020-06-10 2020-06-10 Safety auxiliary system and safety auxiliary method for auxiliary parking of vehicle with brake failure Withdrawn CN113771842A (en)

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Application publication date: 20211210