CN1736780A - Method and system for automobile brake in advance for emergency - Google Patents

Method and system for automobile brake in advance for emergency Download PDF

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Publication number
CN1736780A
CN1736780A CN 200410058183 CN200410058183A CN1736780A CN 1736780 A CN1736780 A CN 1736780A CN 200410058183 CN200410058183 CN 200410058183 CN 200410058183 A CN200410058183 A CN 200410058183A CN 1736780 A CN1736780 A CN 1736780A
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braking
advance
power
driver
sensor
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CN100348445C (en
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杨天舒
杨士朋
刘丽邦
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Beijing Debeixing Vehicle Safety Technology Company Limited
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杨天舒
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Abstract

Disclosed is a method for vehicle advance emergency brake, which is characterized in: once detecting that the speed of oil reducing operation obtains or is above a preset threshold value, figuring that the driver is doing 'emergency oil reducing' and figuring this is one of the most important character of ' the view of emergency brake of the driver'; further checking the 'the view of emergency brake of the driver' by detecting whether the other operation values corresponding to emergency brake obtain the preset threshold value of the 'emergency brake'; if the result is yes, figuring that 'the view of emergency brake of the driver' is true, then sending an order to make the ABS system brake advance; at the same time, the safety protection device advance entering into the preset protection state and emitting a alarming signal to the before-back vehicle. And the invention provides a system for vehicle advance emergency brake.

Description

A kind of method and system of vehicle advance emergency brake
Affiliated field
The present invention relates to a kind of method and system of vehicle advance emergency brake.
Background technology
As everyone knows, the deceleration and stopping performance of self-propelled vehicle is one of important indicator of weighing the self-propelled vehicle quality.Self-propelled vehicle in the process of moving, if run into emergency situation, vehicle is if can not live the car braking in a short period of time, this may cause the serious consequence of personal casualty.For this reason, thousands of scientific worker makes great efforts for addressing this problem to have made untiringly.At US5, in 611,606, provide a kind of brake pressure control setup, it places a pressure sensor, the output of an ECU (Electrical Control Unit) monitor pressures sensor in the brake fluid cylinder pressure.When driver's emergency braking, the power of stepping on brake pedal is very violent.At this moment, microcomputer control unit is found the pressure rising speed of pressure sensor greater than a predetermined threshold value, and microcomputer control unit thinks that the driver wishes emergency braking.So, just send instruction immediately, drive the electric piston motion and make the pressure in the brake fluid cylinder pressure be raised to maxim very soon, help the driver as early as possible the car braking to be lived.Though this technical scheme is given some helps of driver on the speed of brake activation power.But, it on the time that begins to brake without any in advance, but after the driver begins braking, and be under the very fast situation of the speed of driver's brake activation power, when pressure sensor detect to be found speed that the driver exerts pressure greater than a predetermined threshold value, just begin to use electric hydraulic pump, help the driver that braking force is increased to maxim quickly.Because the time that this help gets involved too late, so effect is limited.Show according to relevant report, this The Application of Technology only approximately can shorten 3% brake apart from (see SBC-braking new science and technology [automobile knowledge] forum: source: pcauto responsible editor: leenka[02-8-5 16:11] author: MOTOR.COM).
Summary of the invention
One of purpose of the present invention is the principle of applied forcasting, and " a kind of method and system of self-propelled vehicle advance braking " is provided.So-called " advance braking ", in case of emergency promptly, the driver does not also step on before the brake pedal, when driver's pin just will have been withdrawn acceleration pedal fast, vehicle emergency brake in advance automatically immediately.
According to China " automobile Da Bai section pandect " version in 1989 the 851st page of 4.3.2 about＜braking time the data that provide, the emergency braking F/s, the driver should carry out emergency brake signal from receiving, through the of short duration decision-making of his brain, he moves to brake pedal to pin apace from Das Gaspedal then, approximately will spend the 0.7-1 time of second.Wherein, the actual test of the effluxion of mobile pin, though everyone result difference to some extent all, assembly average is about 0.5 second.Subordinate phase provides in the book and steps on brake pedal from the driver to reach the peaked time to braking force be 0.2-0.7 second.If press calculation of mean value, the artificial emergency braking of driver promptly subtracts oil from the driver and begins to reach maxim to braking force, and the time spent is 0.85 second.And use method of the present invention, and promptly subtract oil about 0.1 second from the driver to the time that ECU (Electrical Control Unit) makes decisions, brake braking force from execution and reach maxim and be about 0.1 second, spent about 0.2 second time altogether.This wants Zao about about 0.65 second than the artificial braking of driver, like this, for 120 kilometers the speed of a motor vehicle per hour, can shift to an earlier date 22.5 meters the car braking firmly.By the car brakeing criterion distance computing formula of China, 120 kilometers stopping distances of speed per hour are 82 meters; Just can shorten brake apart from about 27%.This is crowded especially for vehicle on the road, under the fast again situation of the speed of a motor vehicle, prevents that rear-end collision has vital function; And vehicle can in time stop the car when travelling on the trail of perils in the moountains also significant.
How another object of the present invention when providing a kind of vehicle advance braking, makes safety protection equipment enter the method and system of predetermined state automatically in advance.As: safety strap is locking in advance in time before vehicle emergency slows down; And in time light stoplight stop lamp car early warning backward in advance;
So the present invention is initiatively keeping away calamity or significant aspect the passive mitigation.
1, theoretical basis of the present invention is prediction science
When prediction science will be studied a things generation exactly, prerequisite internal condition and external conditions were grasped the things change rule.Then, by observe or test these inherent conditions and and the maturity of external conditions, whether can make forecast correctly to this things.The maturation of these internal conditions and external conditions and complete, " sign ", " tendency " or " feature " before being about to take place by the appellation things usually.
Spreading the proverb of " plinth profit and rain, lunar halo and wind " for a long time in China.The plinth profit illustrates that the humidity of air is very big, and the corner has all absorbed a lot of moisture, and humidity becomes; The pacing factor that this explanation is rained is that air humidity is greatly to allowing people see " plinth profit "; But it still is not enough that this condition is only arranged, and also temperature conditions must be arranged; Weather is sultry, and this can make damp and hot air rise, and the air climb to altitude when damp and hot runs into cold air again, and at this moment, damp and hot air just can be condensed into water droplet; At this moment just can " rain ".
From here as can be seen, " there was dampness in the air " is the fundamental prerequisite of " raining ", and wants moist degree to " plinth profit ", and this is very early time " tendency " or " feature " of " raining "; The external conditions of " raining " is " temperature earlier heat back cold ", this be auxiliary " tendency " or " feature ".If these " tendencys " or " feature " occur simultaneously, or appellation these " tendencys " or " feature " can " with "; In view of the above, just can make forecast to " raining " more exactly.
The present invention is the principle with prediction science, and self-propelled vehicle emergency braking process is analyzed, and finds out " stepping on brake pedal suddenly " before, and the driver claims that to " feature " of vehicle performance these " features " are " tendency " of " emergency braking ".With the method that hyundai electronics is learned these " feature " electricity consumption signal indications are come out; By detecting the electric signal of these representatives " feature ", predict " driver's emergency braking intention " then.Realize the purpose of " self-propelled vehicle advance braking ".
To discovering of emergency braking process, the driver at first was " promptly subtracting an oil " stage before " stepping on brake pedal suddenly " implements emergency braking, it is characterized in that: driver's pin is withdrawn from quickening to step in the class apace; Acceleration pedal is got back to initial idle position fast under the effect of pull back spring power; Simultaneously, driver's pin moves to brake pedal apace from acceleration pedal, then, " steps on brake pedal suddenly " and implements emergency braking.
So " promptly subtracting oil " is of emergency braking early stage important " feature "; The pin that acceleration pedal is got back to initial idle position and driver fast moves to brake pedal apace from acceleration pedal, is two other important operation " feature " of driver's emergency braking vehicle;
Therefore, to correctly predict " driver's emergency braking intention ", at first to detect " promptly subtracting oil " signal, then, the signal that the pin that detects the driver again moves to brake pedal apace from acceleration pedal, and/or acceleration pedal gets back to the signal of initial idle position fast, further " driver's emergency braking intention " carried out " checking " with these signals, realizes the purpose of " self-propelled vehicle advance braking ".Here, what should emphasize is, wants to reach the purpose of correct prediction, and it is very necessary with other " characteristic signals " " promptly subtracting oil " signal being carried out " checking ".Use to check signal appropriate more many more, precision of prediction is just high more.
This " feature " can reflect immediately from the output signal of accelerator pedal position sensor or the output signal of throttle position sensor or the output signal of fuel injection systems airmoter " promptly to subtract oil ".These scales are " vehicle power is controlled sensor ".Acceleration pedal is got back to initial idle position this " feature " fast and can be reflected from the output signal of " Idle Switch ", and it illustrates that the driver subtracts " thoroughness " of oil.Driver's pin to the signal that brake pedal moves apace, also needs " brake pedal is near switch " that provide by bottom of the present invention and " pin move to left speed sensor " to detect from acceleration pedal.
Except " Idle Switch ", " brake pedal is near switch " and " pin move to left speed sensor " can be used as " checking sensor ", " the hand-operated brake switch " installed on bearing circle also can be used as " checking sensor ".
2, technical term agreement
Advance braking----is according to the principle of prediction science, detect, analyze and check by the action of sensor driver's operating and controlling vehicle, dope " driver's emergency braking intention ", before the driver does not also step on brake pedal, start the abs braking system in advance vehicle is carried out emergency braking.
Vehicle power----is meant the driving engine or the electrical motor of various fuel.
Power subtracts oil or oiling----owing to may be the driving engine or the electrical motor of various fuel.So said here " oil " might be real " fuel oil ", or " combustion gas ", or " voltage ".Refueling promptly increases power, subtracts oil and promptly reduces power; In addition, here use the notion of " subtracting oil " or " oiling " and need not " slow down " or " acceleration " notion, its reason is to subtract oil or gas filed notion notion prior to slowing down or quickening on the time sequence that takes place, and distinguishes the notion of traditional acceleration or deceleration with this.
Power is controlled sensor----, and it can become an electric signal with time correlation to the control action of vehicle power with the driver, and this electric signal can carry out the sensor of proportional control to the size of power.As accelerator pedal position sensor, throttle position sensor, and airmoter etc.
Power value----is meant the output valve of engine power, can control sensor output valve at a time with power here and represent, because their size is directly proportional.
Power pace of change----is meant power value speed over time.
Power reduce speed threshold value----it be one according to the experiment or the predefined value of experience, when the reducing speed and meet or exceed this threshold value of power, think that then this " promptly subtracting oil " is " feature " or " tendency " of " driver's emergency braking intention ".
Emergency braking check sensor----it be an energy with the driver in the emergency braking process, suddenly step on before the brake pedal, some motion characteristics of operating and controlling vehicle are transformed into the sensor of a feature electric signal, when its output valve reached some predetermined threshold values, it just further confirmed the authenticity of " driver's emergency braking intention " from another side.As, the closed conducting of Idle Switch, it has further confirmed the thoroughness of " promptly subtracting oil " process.And for example, be arranged on and check sensor near switching mode between acceleration pedal and the brake pedal, because it can confirm that driver's pin is close apace to brake pedal from acceleration pedal really, so, this switch is appellation " brake pedal is near switch " also, and this sensor can be photoelectricity interrupter-type or photoelectric reflection formula or induction; And for example, be installed in the hand brake switch on the bearing circle, and design-calculated of the present invention " pin move to left speed sensor " etc.
It is the control setup that can finish the advance emergency brake task for an ECU (Electrical Control Unit)----, and it can be to be the control core unit with numeral or analogue type micro computer, and it also can be numeral and simulation micro computer mixed type control unit
Microcomputer control unit-----be is the control core unit with digital micro computer, and the control program of writing with this computer-dependent language except installing operating system software, also has been installed to finishing the advance emergency brake task in micro computer.
Analog microcomputer control unit----it by the control unit formed of simulation integrated chip.
Safety protection equipment----as: but the safety strap of electric control locking, safety air bag, the telescoping anti-impact bumper and the children that can automatically controlledly in advance enter guard mode are with protective device etc.
Early warning signal equipment----is as stoplight stop lamp, high-mount stop lamp etc.
3, technical scheme
The present invention is considered as very early time " feature " or " tendency " of " driver's emergency braking intention " with " promptly subtracting oil " operation of driver; That is, meet or exceed a predetermined threshold value, then think to have occurred " promptly subtracting oil " signal, and think and this " promptly subtract oil " signal is " driver's emergency braking intention " " tendency " in case detect the speed that the driver subtracts oil operation.Then, detect other " feature " signal of driver's emergency brake operations again, as: driver's pin of controlling acceleration pedal is to brake pedal movable signal apace, whether acceleration pedal gets back to the idling mode signal, whether the driver uses manual emergency braking switch attempt vehicle to be carried out signals such as emergency braking, and signal is done and further checked checking " driver's emergency braking intention " " to check feature " with these.Can only check checking with " checking a feature " signal, also can check checking with a plurality of " checking feature " signal, confirm these operations of driver signal of " checking feature " if check the result, " feature " that also meets emergency braking thinks that then " driver's emergency braking intention " is real; In view of the above, ECU (Electrical Control Unit) is sent instruction immediately, makes electric control braking equipment carry out advance emergency brake to vehicle;
Can accomplish to go accurately and rapidly the drg of control vehicle that vehicle is carried out advance braking like this, and make safety protection equipment enter predetermined state in advance, simultaneously send early warning signal, reach and take precautions against natural calamities or the purpose of mitigation to front truck and back vehicle.
Technical scheme 1
The present invention's very early time " feature " or " tendency " of " promptly subtracting oil " conduct " driver's emergency braking intention "; Promptly, in the vehicle ' process, meet or exceed a predetermined threshold value in case detect the speed that the driver subtracts oil operation, think that then the driver " promptly subtracts oil ", and think that this is one of most important in early days " feature " signal of " driver's emergency braking intention "; Then, detect driver's one of them operational ton relevant again, whether also reach predetermined threshold value, " driver's emergency braking intention " done and further checked checking with emergency brake operations; Detected this signal of " checking feature " if check the result, confirmed that this operational ton of driver also reaches predetermined threshold value; At this moment, think then that " driver's emergency braking intention " is real; In view of the above, send instruction immediately vehicle is carried out emergency braking;
Implement advance emergency brake method of the present invention, hardware system will possess at least: a power is controlled sensor, and an emergency braking is checked sensor, an ECU (Electrical Control Unit), an electronic abs braking system; Power is controlled sensor and emergency braking and is checked on two predetermined input ends that sensor is connected on ECU (Electrical Control Unit) respectively, and the input control end of electronic abs braking system is connected on the pre-set output terminal of ECU (Electrical Control Unit);
Realize advance emergency brake method of the present invention in this system, ECU (Electrical Control Unit) will be carried out following operation at least:
(1) ECU (Electrical Control Unit) is controlled sensor sample to power, obtains power value at that time;
(2) ECU (Electrical Control Unit) calculates power value to the rate of change of time, i.e. power pace of change;
(3) ECU (Electrical Control Unit) reduces the speed threshold value with this power pace of change and power and compares, and meets or exceeds power and reduces fast threshold value if power reduces speed, thinks that then " promptly subtracting oil " signal occurs; Check immediately, further the authenticity of checking " driver's emergency braking intention ";
(4) ECU (Electrical Control Unit) is checked sensor sample to emergency braking, obtains the value of checking;
(5) ECU (Electrical Control Unit) will the value of checking be checked threshold value and is compared with predetermined,
★ if the value of checking less than checking threshold value, then think and check the characteristic signal that sensor does not detect emergency braking,
If do not reach predetermined checking the time as yet this moment the time of checking, then turn to sequence number (4) again to checking sensor sample,
If the time of checking this moment has reached predetermined checking the time, then turn to sequence number (1) that power is controlled sensor sample,
★ thinks that then " driver's emergency braking intention " is real if the value of checking meets or exceeds and checks threshold value; ECU (Electrical Control Unit) is exported an advance braking signal immediately, enters sequence number (6) and carries out advance emergency brake;
(6) the source switch closure of the electronic abs braking of advance braking signal control system is started working the abs braking system, and vehicle is produced braking force.
(7) reach predetermined time value when the advance braking time, then ECU (Electrical Control Unit) is sent the order that finishes braking, and the source switch of electronic abs braking system is disconnected, and the abs braking system is stopped vehicle brake activation power.
Why in (5), provide predetermined checking the time? this be because the driver in the emergency braking process, not every operation is all carried out simultaneously.In most cases, these actions all can successively take place in a minor time slice.But, because the speed of micro computer is very fast, after it detects an emergency braking characteristic signal, goes to visit another immediately and check sensor, see whether detect another emergency braking characteristic signal, at this moment, the driver may also not finish this action.So, check sensor less than this characteristic signal, after micro computer have to wait a minor time slice, visit this again and check sensor, up to detecting till this signal or the time of checking reaches predetermined time of checking.
Use the advantage of this technical scheme to be, the Timing Advance of advance braking is bigger, to shift to an earlier date about 0.5 second with the tramp with one's feet effect ratio of brake pedal of driver, add and use electronic brake activation power at the very start, it is faster than the speed of the artificial brake activation power of driver, and maximum braking force was finished in about 0.3 second in advance.This is for 120 kilometers the speed of a motor vehicle per hour, touches on the brake with driver oneself and compares, and can shift to an earlier date 20--26 rice vehicle is checked, and prevents or reduce the generation of rear-end collision effectively.
Technical scheme 2
This technical scheme is on the basis of technical scheme 1, use a plurality of sensors of checking simultaneously, " driver's emergency braking intention " checked near switch and the pin speed sensor etc. that moves to left as: Idle Switch, brake pedal, thereby reached the purpose of accurately checking.
Technical scheme 3
This technical scheme is on the basis of technical scheme 1 or 2, increase an electric-controlled switch, its input control end is connected on the pre-set output terminal of ECU (Electrical Control Unit), its upper contact is connected on the Vehicle Power positive pole, the next contact is connected on the power end of stoplight stop lamp and the positive power source terminal of electric control locking safety strap, when " promptly subtracting oil " when signal occurs, with this electric-controlled switch conducting of this signal control, make stoplight stop lamp light car early warning backward in advance, prevent that rear-end collision from taking place, the electric control locking safety strap is locked in advance, prevent occupant's forward lean and injured when collision happens when emergency braking on the car.
Technical scheme 4
This technical scheme provides a kind of system of self-propelled vehicle advance braking, which comprises at least: a power is controlled sensor, checks sensor for one, an analog ECU (Electrical Control Unit), an electronic abs braking system.Here said analog ECU (Electrical Control Unit) constitutes, can finish the electronics package of advance braking process control task with analog chip.It is characterized in that this analog ECU (Electrical Control Unit) comprises at least: a voltage follower, a voltage derivative circuit, a voltage comparator, one promptly subtracts oily timing circuit, checks timing circuit for one, an AND circuit, an advance braking timing circuit.
The input end of voltage follower is connected on power and controls on the mouth of sensor, obtains the power value of vehicle at any time; The input end of voltage derivative circuit is connected on the mouth of voltage follower, and the output voltage of voltage follower is carried out differential, obtains power pace of change value; The signal input part of voltage comparator is connected on the mouth of voltage derivative circuit, and the normal voltage input end is connected on the predetermined threshold voltage, and when the voltage output of voltage derivative circuit met or exceeded threshold voltage, the output voltage of voltage comparator overturn; The triggering input end that promptly subtracts oily timing circuit is connected on the mouth of voltage comparator, when upset takes place the output voltage of voltage comparator, triggers timing circuit and picks up counting; The triggering input end of checking timing circuit is connected on the mouth of checking sensor, an input end of AND circuit is connected on the mouth that promptly subtracts oily timing circuit, another input end is connected on the mouth of checking timing circuit, when two timing circuits were definition status simultaneously, the output voltage of AND circuit overturn; The input end of advance braking timing circuit is connected on the mouth of AND circuit, and when upset took place the output voltage of AND circuit, the advance braking timing circuit was triggered and begins to enter time status; Its output potential makes the source switch closure of abs braking system, and vehicle is produced braking force.
This scheme is applicable to that the output of checking sensor is an on-off signal.It can be mounted in the hand-operated brake switch on the bearing circle, or brake pedal is near switch.And check signal and can appear at and promptly subtract before or after the oily signal.
Technical scheme 5
This technical scheme is on the basis of technical scheme 4, at the mouth of checking sensor with check and increase a voltage follower, a voltage derivative circuit and a voltage comparator between the input end of timing circuit; The input end of voltage follower is connected on the mouth of checking sensor, and the input end of voltage derivative circuit is connected on the mouth of voltage follower, and its mouth is connected on the signal input part of voltage comparator; The normal voltage input end of voltage comparator is connected on the predetermined threshold voltage, and its mouth is connected on the triggering input end of checking timing circuit.
The advantage of this scheme is, it not only goes for the situation that " checking signal " is on-off signal or analog voltage signal, and it is applicable to that also " checking signal " occurs in " promptly subtracting oily signal " afterwards or situation before, so commonality is good.
Technical scheme 6
This technical scheme is on the basis of 4 or 5 technical schemes, increases an electric-controlled switch, an electric control locking safety strap; The input control end of electric-controlled switch is connected on the mouth that promptly subtracts oily timing circuit, and its upper contact is connected on the Vehicle Power positive pole, and its next contact is connected on the positive power source terminal of electric control locking safety strap.The negative power end ground connection of electric control locking safety strap.In addition, the positive power source terminal of stoplight stop lamp, also be connected on the next contact of electric-controlled switch.
Except the task of finishing advance emergency brake, also increased following function like this:
(1) when promptly subtracting oil, just locking safety belt, prevent at emergency braking or when knocking into the back later on, health is suddenly to the discomfort of preshoot, or injured.Strengthened P.P to the occupant.
(2) with stoplight stop lamp and high-mount stop lamp backward car send early warning in advance, make its preparation that performs braking early, prevent to knock into the back.
The advantage of this method is clearly: not only retro-speed is fast for it, and its safety precaution is carried out in advance, and it just starts safety protection equipment with prior art after collision compares, and safety precaution is effective.And, before the advance braking just forwards, backwards car send out the advance braking early warning signal, prevent the effective of rear-end collision.
Why can obtain good like this effect, mainly have benefited from the thought and the advanced hyundai electronics and the computer technology of " prediction science ".Just make the present invention be full of the positive spirit of taking precautions against natural calamities, really accomplish " preventing trouble before it happens ".
Description of drawings
Fig. 1. prediction driver emergency braking intention realizes the functional block diagram of advance emergency brake;
Fig. 2. be used as power with accelerator pedal position sensor and control sensor, check sensor with brake pedal near switch, prediction driver emergency braking intention realizes the required device systems block diagram of advance emergency brake;
Fig. 3. use two to check the device systems block diagram that sensor is checked driver's emergency braking intention;
Fig. 4. the electric control locking safety strap is also lighted the equipment connection block diagram of stoplight stop lamp in advance when promptly subtracting oil
Fig. 5. control sensor with a power, check sensor, the operational flowchart of prediction driver emergency braking intention realization advance emergency brake method with one;
Fig. 6. use two to check the operational flowchart that sensor is checked driver's emergency braking intention;
Fig. 7. realize the equipment block diagram of advance emergency brake with the simulation ECU (Electrical Control Unit)
Fig. 8. realize the schematic circuit diagram of advance emergency brake with the simulation ECU (Electrical Control Unit)
Fig. 9. check the interconnecting wiring diagram that sensor is the photoelectric switch type
Figure 10. prediction driver emergency braking intention equipment block diagram when checking sensor and be linear voltage output
Figure 11. the schematic circuit diagram of prediction driver emergency braking intention when checking sensor and be linear voltage output
Figure 12. electric control locking safety strap schematic diagram
Figure 13. brake pedal is near the scheme of installation of switch
Figure 14. the reflective photoelectric switch principle schematic
Figure 15 a. pin positive diagrammatic sketch of speed sensor principle that moves to left
Figure 15 b. pin speed sensor principle side diagrammatic sketch that moves to left
The specific embodiment
Further specify specific embodiments of the present invention below in conjunction with Figure of description:
Label on the frame of broken lines among the figure: 100---represents it is the signal input device of system;
200--represents it is digital microcomputer control unit;
500--represents it is analogous circuit formula control unit;
300---represents it is the output actuating equipment of system;
Embodiment 1
With reference to figure 2, Fig. 5, it is a kind of with detecting " promptly subtracting oil " signal that present embodiment provides, predict " driver's emergency braking intention ", and control the pin of acceleration pedal whether in " promptly subtracting oil " with detecting the driver,, to the signal that brake pedal moves apace " driver's emergency braking intention " checked by acceleration pedal, realized the method for vehicle advance emergency brake;
In Fig. 2, provide and implemented the required device systems of this method, it should comprise at least:
● a vehicle power is controlled sensor 1, and it can be accelerator pedal position sensor W12;
● an emergency braking is checked sensor 6, and it can be that brake pedal is near switch S 62; It is a photoelectric reflection formula switch that is installed between acceleration pedal and the brake pedal, pin as the driver, by acceleration pedal to the brake pedal quick travel through it the time, the ejaculation light of opto-electronic pickup is blocked by pin, the photoelectric receiving tube that reflexes to, photoelectric switch is with regard to closed conducting, owing to be that pin as the driver just produces the sensor of signal when brake pedal is close, so be called brake pedal near switch S 62;
● a microcomputer control unit 200, it is equipped with the control program of advance emergency brake;
● electronic abs braking system 10.
Accelerator pedal position sensor W12 and brake pedal are connected on respectively on the predetermined input interface of microcomputer control unit 200 near the mouth of switch S 62; The control end of electronic abs braking system 10 is connected on the predetermined output interface of microcomputer control unit 200.
In order to implement the advance braking method, the computing machine in the microcomputer control unit 200 will be finished following operation at least under the instruction of advance braking program:
000: microcomputer control unit 200 opening initializations
201: 200 couples of accelerator pedal position sensor W12 of microcomputer control unit sample, and obtain the power value Pt of vehicle this moment;
202: microcomputer control unit 200 usefulness front and back double sampling gained power values poor, divided by the time step between the double sampling, calculate power value rate Rp over time, that is, and the said power pace of change of the present invention Rp;
R p＝(P t+Δt-P t)/Δt
Wherein:
P t-----t power sampled value constantly,
P T+ Δ t---t+ Δ t power sampled value constantly
The time gap of Δ t-----front and back double sampling is that time step is long
203: microcomputer control unit 200 is with power pace of change R pWith the predefined speed oil threshold value R that subtracts ThCompare,
If R p＞R Th
Illustrate that power reduces speed R pDo not reach the predefined speed oil threshold value R that subtracts Th, program turns back to sequence number 201, starts anew;
If R p≤ R Th
Illustrate that power reduces speed R pMeet or exceed the predefined speed oil threshold value R that subtracts Th, program is carried out sequence number 204 downwards, checks;
204: brake pedal near switch S 62 samplings, is obtained the value of checking S ChValue;
205: will the value of checking S ChWith the default switching threshold value S that checks Th=1 compares;
If S Ch=1
Illustrate that the eigenwert of " emergency braking " appears in the value of checking sensor, program turns to sequence number 213 immediately, carries out the advance braking process in a preset time;
If S Ch=0
Illustrate that the eigenwert of " emergency braking " does not appear in value as yet that check sensor, procedure turn sequence number 206,
206: check timing, t=t+1;
207: check whether check time t reaches Preset Time value T Ch1,
If t＜T Ch1
Illustrate that checking timing t does not arrive Preset Time value T Ch1, procedure turn sequence number 204 continues brake pedal is sampled near switch S 62,
If t 〉=T Ch1,
Explanation is at Preset Time value T Ch1In time, the eigenwert of " driver's emergency braking intention " did not appear in the value of checking sensor, illustrated that the value of checking sensor do not support to predict " driver's emergency braking intention "; This moment, program was returned sequence number 201;
213: under the control of microcomputer control unit 200, make the power switch conducts of electronic abs braking system 10, abs braking system 10 is started working; 200 pairs of advance braking time of microcomputer control unit t2 carries out timing simultaneously;
214：t2＝t2+1，
If t2＜T Ab,
Illustrate that braking time does not reach predetermined time value T Ab, should continue to keep the advance braking state, then turn to sequence number 214;
If t2 〉=T Ab,
Illustrate that braking time has reached predetermined time value T Ab, then microcomputer control unit 200 sends the order that finishes advance braking, and electronic abs braking system 10 is stopped car brakeing; Program is returned sequence number 201.
Embodiment 2
With reference to figure 2, Fig. 3, Fig. 5, Fig. 6, present embodiment 2 is on the basis of embodiment 1, increase again and further " driver's emergency braking intention " carried out " checking ", provide the example that a kind of usefulness a plurality of " checking sensor " is carried out " checking " with " Idle Switch " signal.
At first, in the system equipment configuration, increase an Idle Switch W63, its signal output terminates on the predetermined input interface of microcomputer control unit 200.
After if microcomputerized control single 200 is finished the operation that sequence number is 000-207, not only detect " promptly subtracting oil " signal, tentatively assert " driver's emergency braking intention ", and, also detect the signal of brake pedal within the predetermined time near switch S 62, passed through brake pedal near the checking of the signal of switch S 62, further assert " driver's emergency braking intention ".But according to the requirement of present embodiment, microcomputer control unit 200 also needs to finish checking of Idle Switch W63 signal, could confirm the true and false of " driver's emergency braking intention " at last, and it will increase following operation at least:
208: 200 pairs of Idle Switch W63 samplings of microcomputer control unit obtain the value of checking S Sl,
209: microcomputer control unit 200 will the value of checking S SlWith Idle Switch W63 threshold value S Th=1 compares,
If S Sl=1,
Illustrate that acceleration pedal got back to idling mode, this explanation driver subtracts the thoroughness of oil, further confirms the authenticity of " driver's emergency braking intention ", and program turns to sequence number 213 immediately, execution advance braking process in a preset time;
If S Sl=0,
Illustrate that speed pedal do not get back to idling mode, do not occur the eigenwert of " emergency braking " as yet, procedure turn sequence number 210,
210: check timing,
t＝t+1；
212: check whether check time t reaches Preset Time value T Ch2,
If t＜T Ch2,
Illustrate that checking timing t does not arrive Preset Time value T Ch2, procedure turn sequence number 208 continues brake pedal is sampled near switch S 62,
If t 〉=T Ch2,
Explanation is at Preset Time value T Ch2In time, the eigenwert of emergency braking had not appearred in the value of Idle Switch W63, illustrated that the value of Idle Switch W63 is not supported to predict " driver's emergency braking intention "; This moment, program was returned sequence number 201;
After having inserted aforesaid operations on the basis of embodiment 1, just finished with brake pedal near switch S 62 and Idle Switch W63 double checking " driver's emergency braking intention ", improved the levels of precision of prediction greatly.
Embodiment 3
With reference to figure 4, present embodiment 3, on the basis of embodiment 1 or 2, when finishing advance emergency brake, a kind of utilization signal that " promptly subtracts oil " is provided, or light in advance with " advance emergency brake " signal control stoplight stop lamp, caution back car prevents from follow-up emergency braking rear-end collision to take place early; Simultaneously, also can utilize these signals to make some safety protection equipments enter into armed state in advance, as: automatically controlled safety strap is locked in advance, and some collision prevention of vehicle equipment enter the state that can absorb Impact energy in advance.Like this, in case vehicle collision accident takes place, just can reduce to minimum to loss.
Electric control locking safety strap one is with reference to Figure 12, and it is made up of ratchet 141, ratchet shaft 142, safety strap 143, magnet coil 144, electromagnet armature 145 and pull back spring 146; Ratchet 141 is installed on the ratchet shaft 142 by mounting hole, one end of safety strap 143 is fixed and is wrapped on the ratchet 141, magnet coil 144 is when making alive not, electromagnet armature 145 is under the effect of pull back spring 146, in the withdrawal coil, ratchet on it and the ratchet 141 disengages, this moment, ratchet 141 can freely rotate, when magnet coil 144 during at making alive, armature of electromagnet 145 overcomes spring force under the effect of electromagnetic force, stretch out outside the magnet coil, block ratchet ratchet can not be rotated, safety strap is locked.Before vehicle slows down as yet, start electromagnet with locking safety belt with " promptly subtracting oily signal ", can prevent emergency brake of vehicle or when bumping, member's the body forward discomfort or injured of inclining on the car.
For this reason, system equipment must increase an electric-controlled switch 11 and an electric control locking safety strap 14; Electric-controlled switch 11 can be one and be made up of high-power semiconductor switch IRF9540, resistance R 111, R112 and aerotron T113.One of resistance R 111 terminates on the predetermined output interface of computer control unit 200, the other end is connected on the base stage of aerotron T113, the grounded emitter of aerotron T113, its collecting electrode is connected on the positive pole of Vehicle Power by pull-up resistor, the IRF9540 grid G is connected on the collecting electrode of T113, the source S of IRF9540 is connected on the positive pole of Vehicle Power, its drain D is connected on the positive power source terminal of stoplight stop lamp and the positive power source terminal of electric control locking safety strap 14, the negative power end ground connection of electric control locking safety strap 14.
Computer control unit 200 also will reduce speed R at power in the operation of program sequence number 203 except the task of can finish advance emergency brake like this pMeet or exceed the predefined speed oil threshold value R that subtracts ThAfterwards, increase the signal that will " promptly subtract oil " and deliver to operation on the mouth at electric-controlled switch 11 places, bottom is the description that increases the sequence number 203 after operating:
203: microcomputer control unit 200 is with power pace of change R pWith the predefined speed oil threshold value R that subtracts ThCompare,
If R p＞R Th
Illustrate that power reduces speed R pDo not reach the predefined speed oil threshold value R that subtracts Th, program turns back to sequence number 201, starts anew;
If R p≤ R Th
Illustrate that power reduces speed R pMeet or exceed the predefined speed oil threshold value R that subtracts Th, signal is delivered on the output interface at electric-controlled switch 11 places will " promptly to subtract oil ", and the control stoplight stop lamp lights 12,14 lockings of electric control locking safety strap, then, program continues to carry out sequence number 204 downwards;
The benefit of doing like this is obviously:
(1) when promptly subtracting oil, just electric control locking safety strap 14 locking, prevent at emergency braking or knock into the back later on or during collision case, the discomfort that occupant's health produces, or injure, strengthened P.P to the occupant;
(2) when promptly subtracting oil, just stoplight stop lamp and high-mount stop lamp are lighted, car sends early warning in advance backward, makes its preparation that performs braking early, prevents to knock into the back.
Embodiment 4
With reference to figure 7 and Fig. 8, present embodiment provides the prediction " driver's emergency braking intention " that " promptly subtracts oil " of a kind of usefulness, and with " a hand-operated brake switch " that is installed on the bearing circle " driver's emergency braking intention " checked, realize system for vehicle advance emergency brake.If before and after " promptly subtracting oil " signal occurs one very in minor time slice, " hand-operated brake switch " is also once by the closed conducting of driver, think that then " driver's emergency braking intention " is real, so ECU (Electrical Control Unit) is sent instruction, implements vehicle advance emergency brake;
The maximum difference of present embodiment and embodiment 1 or 2 is that used herein is not microcomputer control unit 200, but a kind of analog ECU (Electrical Control Unit) 500 that constitutes with the analogous circuit integrated chip.
This system comprises at least: a power is controlled sensor 1, and it can be throttle position sensor W13, and he is a potential device usually; Check sensor 6 for one, it can be mounted in the hand-operated brake switch S on the bearing circle 64An analog ECU (Electrical Control Unit) 500; With electronic abs braking system 10.
The hand-operated brake switch S 64Upper contact be connected on the Vehicle Power positive pole by resistance R 61, its upper contact is the mouth of sensor, its the next contact ground connection, the mouth of its mouth and throttle position sensor W13 is connected on respectively on 500 two predetermined input interfaces of analog ECU (Electrical Control Unit), and the input control end of electronic abs braking system 10 is connected on 500 1 predetermined output interfaces of analog ECU (Electrical Control Unit).
Here said analog ECU (Electrical Control Unit) 500 is characterized in which comprises at least: 2, one voltage derivative circuit 3 of a voltage follower, 4, one of a voltage comparator promptly subtracts 5, one of oily timing circuits and checks timing circuit 7,8, one advance braking timing circuits 9 of an AND circuit.
The mouth of throttle position sensor W13 is connected on the input end of voltage follower 2, the mouth of voltage follower 2 is connected on the input end of voltage derivative circuit 3, the mouth of voltage derivative circuit 3 is connected on the signal input part of voltage comparator 4, the normal voltage input end of voltage comparator 4 is connected on the predetermined threshold voltage, its mouth is connected on the input trigger end that promptly subtracts oily timing circuit 5, and the mouth that promptly subtracts oily timing circuit 5 is connected on the input end of AND circuit 8; The hand-operated brake switch S 64Mouth be connected on the input trigger end of checking timing circuit 7, the mouth of checking timing circuit 7 is connected on another input end of AND circuit 8, the mouth of AND circuit 8 is connected on the control end of electronic abs braking system 10 source switchs.
Fig. 8 has provided the circuitry figure of this system; It is throttle position sensor W13 that power is controlled sensor 1, it is a potential device normally, and its end is connected on the Vehicle Power positive pole by resistance R 11, other end ground connection, middle wipe contact is the mouth of power signal, and its output voltage is changed to low by height when subtracting oil; Voltage follower 2 is made up of the code name LM258 integrated chip that is IC23 and resistance R 21 and R22; One of R21 terminates on the mouth of throttle position sensor W13, in addition ... terminate on normal phase input end 3 pin as the input end IC23 of voltage follower, R22 is connected across between mouth 1 pin and negative-phase input 2 pin of IC23, and 1 pin is as the mouth of voltage follower; Voltage derivative circuit 3, form with resistance R 32 and R33 by capacitor C 31, one of R32 terminates on the Vehicle Power positive pole, ground connection after the other end is connected with R33, the positive pole of capacitor C 31 is as input end, be connected on 1 pin of IC23, negative pole is connected on the point of connection of resistance R 32 and R33, and this point of connection is the mouth of differential circuit; Voltage comparator 4 is made up of the code name LM258 integrated chip that is IC42 and resistance R 41 and R43; IC42 positive input 5 as the signal input part of voltage comparator, is connected on the mouth of voltage derivative circuit 3, and one of resistance R 41 terminates on the IC42 negative input 6, other end ground connection, and the normal voltage that provides voltage comparator is zero; When the input voltage of IC42 positive input 5 is less than or equal to zero voltage, the mouth of voltage comparator, promptly the 7 pin voltages of IC42 are " 0 " voltage by the saltus step of Vehicle Power positive voltage immediately; Promptly subtract oily timing circuit 5, the negative voltage that base chip, resistance R 51 and capacitor C 52, C54 form during by the code name NE555 that is IC53 triggers the timing circuit that positive voltage is exported; 2 pin of IC53 are connected on the mouth of voltage comparator 4 as the triggering input end of timing circuit, and one of resistance R 51 terminates on the Vehicle Power positive pole, the other end and capacitor C 52 series connection back ground connection; 6,7 pin of IC53 all are connected on R51 and the capacitor C 52 serial connections point, and its 4,8 pin all are connected on the Vehicle Power positive pole, its 1 pin ground connection, and 5 pin are by capacitor C 54 ground connection, and its 3 pin are timing voltage mouths; Check timing circuit 7, base chip, resistance R 71 and capacitor C 72, C74 form during by the code name NE555 that is IC73, and its mode of connection is with promptly to subtract oily timing circuit 5 identical; 2 pin of its input end IC73 are connected on hand switch S 64Mouth on; AND circuit 8 is the CC4011 " 2 input nand gate " that are IC81 by a code name, and its an input end A is connected on the mouth that promptly subtracts oily timing circuit 5; Its another input end B is connected on the mouth of checking timing circuit 7; Its mouth C connects on the Vehicle Power positive pole by pull-up resistor; Advance braking timing circuit 9, the timing circuit that base chip, resistance R 91 and capacitor C 92, C94 form during by the code name NE555 that is IC93; Its timing circuit part is identical with the mode of connection that promptly subtracts oily timing circuit 5, no longer repeated description; 2 pin of its input end IC93 are connected on the mouth C of " NAND gate 8 ", and 3 pin of its mouth IC93 are connected on the input control end of electronic abs braking system 10 by resistance R 95.
In case of emergency, when the driver wanted urgent abrupt deceleration vehicle, his pin will " promptly subtract oil " on the one hand, and his the urgently needed hand that is critical goes to touch " the hand-operated brake switch S that is located on the bearing circle on the other hand 64",
When driver's pin unclamps Das Gaspedal fast, the output voltage of throttle position sensor W13 descends fast, the output voltage of voltage follower 2 is also and then descended fast, when the descending speed of output voltage reached predetermined threshold value, it made the signal output part of voltage derivative circuit 3 present zero voltage or negative voltage; At this moment, the output voltage of voltage comparator 4 has original Vehicle Power positive voltage, and upset suddenly is zero voltage; This change of voltage makes and promptly subtracts oily timing circuit 5 and be triggered, and enters definition status, and its output voltage is the Vehicle Power high potential by the zero voltage upset; On the other hand, when the hand-operated brake switch S 64During the closure conducting, make the input end of checking timing circuit 7 present zero voltage, it makes the output voltage of checking timing circuit 7 is high potential by the zero voltage upset also; If the output HIGH voltage that promptly subtracts oily timing circuit 5 and check timing circuit 7 appears at two input end A and the B of IC81 in the AND circuit 8 simultaneously, then the voltage of the mouth C of IC81 is zero voltage, it is triggered advance braking timing circuit 9 and enters definition status, and making the 3 pin output end voltages of IC93 is the Vehicle Power high potential by the zero voltage upset.This high potential imposes on the input control end of electronic abs braking system 10 source switchs by resistance R 95, makes the closed conducting of source switch of abs braking system 10, and 10 pairs of vehicles of electronic abs braking system are braked.
The advantage of this embodiment is the hand-operated brake switch S 64The speed of control emergency braking is fast, still, and its easy false triggering.Now, carry out mutual correction, like this, make emergency braking that standard be arranged again soon with " promptly subtracting oil " signal and it.
Embodiment 5
With reference to Figure 10 and Figure 11, present embodiment provides the prediction " driver's emergency braking intention " that " promptly subtracts oil " of a kind of usefulness, and with " pin move to left speed sensor " that is installed on the acceleration pedal " driver's emergency braking intention " checked, realize system for vehicle advance emergency brake.If before and after " promptly subtracting oil " signal occurs one very in minor time slice, the output signal of " pin move to left speed sensor " also once met or exceeded predetermined threshold value, think that then " driver's emergency braking intention " is real, so ECU (Electrical Control Unit) is sent instruction, implement vehicle advance emergency brake;
Pin moves to left speed sensor----with reference to figure 15a and 15b, and it is made up of a small-sized potential device W62, a runner 61 and a pull back spring 66; On circuit, a fixed end of potential device W62 resistance is connected on the positive pole of Vehicle Power by a resistance R 61, and another fixed end is connected on the earth potential of Vehicle Power, and wipe contact is as the mouth of potential device; Install at machinery, potential device W62 is fixed on the flanging 21.2 of support 21 by its nut 65, and its rotating shaft 64 is injected in the axis hole of runner 61, and closely cooperated after passing hole on another flanging 21.1 of support 21; Pull back spring 66 1 ends are fixed on the support 21, and in the horizontal aperture 63 of other end reeve on potentiometer shaft 64, under initial condition, pull back spring 66 makes the wipe contact of potential device W62 be in the clws end position; Support 21 is fixed on the acceleration pedal 20, makes the axle 64 of potential device parallel with acceleration pedal longitudinal axis A-A, and runner 61 is more outstanding than the plane of acceleration pedal 20 slightly, guarantees that like this pin one of driver's stepping on accelerator pedal contacts with the surface of runner 61 surely; In the emergency braking process, when driver's pin from acceleration pedal 20 when brake pedal is mobile apace, runner 61 along with driver's pin move to left to do and rotate counterclockwise; And its rotating speed is directly proportional with the moving velocity of driver's pin, and therefore, the pace of change of potential device output voltage also is directly proportional with the moving velocity of driver's pin;
This system comprises at least: a power is controlled sensor 1, it can be throttle position sensor W13, usually it is a potential device, wherein resistance fixed end is connected on the positive pole of Vehicle Power by resistance R 11, another fixed end ground connection of resistance, its middle wipe contact is a mouth; Check sensor 6 for one, it can be the pin speed sensor W62 that moves to left, and it also is a potential device usually, and wherein resistance fixed end is connected on the positive pole of Vehicle Power by resistance R 61, another fixed end ground connection of resistance, its middle wipe contact is a mouth; An analog ECU (Electrical Control Unit) 500; With electronic abs braking system 10.
Here said analog ECU (Electrical Control Unit) 500 constitutes, can finish the electronics package of advance braking process control task with analog chip.It is characterized in that this analog ECU (Electrical Control Unit) 500 comprises at least: a voltage follower 2, a voltage derivative circuit 3, a voltage comparator 4, one promptly subtracts 2.6, one voltage derivative circuit 3.6 of 5, one voltage followers of oily timing circuit, a voltage comparator 4.6, check 8, one advance braking timing circuits 9 of 7, one AND circuit of timing circuit for one.
Throttle position sensor W13, voltage follower 2, voltage derivative circuit 3, voltage comparator 4 promptly subtracts oily timing circuit 5, AND circuit 8 and advance braking timing circuit 9, the method for attachment between these circuit is identical with embodiment 4, no longer repeats at this.
The move to left mouth of speed sensor W62 of pin is connected on the input end of voltage follower 2.6, the mouth of voltage follower 2.6 is connected on the input end of voltage derivative circuit 3.6, the mouth of voltage derivative circuit 3.6 is connected on the signal input part of voltage comparator 4.6, the normal voltage input end of voltage comparator 4.6 is connected on the predetermined threshold voltage, its mouth is connected on the input end of checking timing circuit 7, the mouth of checking timing circuit 7 still is connected on another input end B of AND circuit 8, and the mouth of AND circuit 8 still is connected on the control end of source switch of electronic abs braking system 10.
Figure 11 has provided the circuitry figure of this system; (1) throttle position sensor W13 is a potential device, and its end is connected on the Vehicle Power positive pole by resistance R 11, other end ground connection, and middle wipe contact is the mouth of power signal; Voltage follower 2, voltage derivative circuit 3, voltage comparator 4 promptly subtracts oily timing circuit 5, checks timing circuit 7, AND circuit 8, advance braking timing circuit 9 is identical with embodiment 4 with the circuit part of electronic abs braking system 10, does not repeat them here.
Voltage follower 2.6, voltage derivative circuit 3.6, voltage follower 2 among the circuit structure of voltage comparator 4.6 and the embodiment 4, voltage derivative circuit 3, the circuit structure of voltage comparator 4 is identical, and only the numerical digit difference in the element title only underdraws at this.Voltage follower 2.6 is made up of the code name LM258 integrated chip that is IC263 and resistance R 261 and R262; One of R261 terminates at pin and moves to left on the mouth of speed sensor W62, the other end is connected on normal phase input end 3 pin as the input end IC263 of voltage follower, R262 is connected across between mouth 1 pin and negative-phase input 2 pin of IC263, and 1 pin is as the mouth of voltage follower; Voltage derivative circuit 3.6 is made up of with resistance R 362 and R363 capacitor C 361, the positive pole of the termination Vehicle Power of R362, ground connection after the other end is connected with R363, the positive pole of capacitor C 361 is as input end, be connected on 1 pin of IC263, negative pole is connected on the point of connection of resistance R 362 and R363, and this point of connection is the mouth of differential circuit; When the descending speed of output voltage reached predetermined threshold value, it made the signal output part of voltage derivative circuit 3.6 present zero voltage or negative voltage; Voltage comparator 4.6 is made up of the code name LM258 integrated chip that is IC462 and resistance R 461 and R463; IC462 positive input 5 as the signal input part of voltage comparator, is connected on the mouth of voltage derivative circuit 3.6, and one of resistance R 461 terminates on the IC462 negative input 6, other end ground connection, and the normal voltage that provides voltage comparator is zero; The mouth of voltage comparator 4.6, promptly 7 pin of IC462 are connected on the input end of checking timing circuit 7, promptly on 2 pin of IC73.
When driver's pin unclamps Das Gaspedal fast, the output voltage of throttle position sensor W13 descends fast, the output voltage of voltage follower 2 is also and then descended fast, when the descending speed of output voltage reached predetermined threshold value, it made the signal output part of voltage derivative circuit 3 present zero voltage or negative voltage; At this moment, the output voltage of voltage comparator 4 has original Vehicle Power positive voltage, and upset suddenly is zero voltage; This change of voltage makes and promptly subtracts oily timing circuit 5 and be triggered, and enters definition status, and its output voltage is a high potential by the zero voltage upset;
On the other hand, in the emergency braking process, when driver's pin from acceleration pedal when brake pedal is mobile apace, driver's sole friction force drives the move to left runner 61 of speed sensor W62 of pin and rotates counterclockwise fast, and its rotating speed is directly proportional with the moving velocity of driver's pin, therefore, the pace of change of potential device output voltage also is directly proportional with the moving velocity of driver's pin; The output voltage of potential device W62 is descended fast, the output voltage of voltage follower 2.6 is also and then descended fast, when the descending speed of output voltage reached predetermined threshold value, it made the signal output part of voltage derivative circuit 3.6 present zero voltage or negative voltage; At this moment, the output voltage of voltage comparator 4.6 is from original Vehicle Power positive voltage, and upset suddenly is zero voltage; This change of voltage makes to be checked timing circuit 7 and is triggered, and enters definition status, and its output voltage is a high potential by the zero voltage upset;
If the output HIGH voltage that promptly subtracts oily timing circuit 5 and check timing circuit 7 appears at two input end A and the B of IC81 in the AND circuit 8 simultaneously, then the voltage of the mouth C of IC81 is zero voltage, it is triggered advance braking timing circuit 9 and enters definition status, and making the 3 pin output end voltages of IC93 is high potential by the zero voltage upset.This high potential imposes on the input control end of electronic abs braking system 10 source switchs by resistance R 95, makes the closed conducting of source switch of abs braking system 10, and 10 pairs of vehicles of electronic abs braking system are braked.When the definition status of advance braking timing circuit 9 finishes, make electronic abs braking system 10 lose voltage, and stop vehicle being braked.
The advantage of this system is that power controls that sensor 1 " promptly subtracts oily signal " and the signal of " pin move to left speed sensor W62 ", almost occurs simultaneously, so early warning speed is fast; And caught the principal character of " promptly subtracting oil " and " pin moves to left fast " these two sudden stops, so, the precision of prediction height.
Another advantage of this system is, its highly versatile, and checking sensor 6 not only can be the linear voltage output type, but also can be various switching modes.
Embodiment 6
With reference to Figure 10, Figure 11, on the basis of embodiment 4 or embodiment 5, increase an electric-controlled switch 11 and an electric control locking safety strap 14; Electric-controlled switch 11 can be one and be made up of high-power semiconductor switch IRF9540, resistance R 111, R112 and aerotron T113.One of resistance R 111 terminates on the mouth 3 that promptly subtracts IC53 in the oily timing circuit 5, the other end is connected on the base stage of aerotron T113, the grounded emitter of aerotron T113, its collecting electrode is connected on the positive pole of Vehicle Power by pull-up resistor, the IRF9540 grid G is connected on the collecting electrode of T113, the source S of IRF9540 is connected on the positive pole of Vehicle Power, its drain D is connected on the positive power source terminal of stoplight stop lamp and the positive power source terminal of electric control locking safety strap 14, the negative power end ground connection of electric control locking safety strap 14.
Such system has also increased following function except the task of can finish advance emergency brake:
(1) when promptly subtracting oil, just electric control locking safety strap 14 locking, prevent at emergency braking or knock into the back later on or during collision case, the discomfort that occupant's health produces, or injure, strengthened P.P to the occupant;
(2) when promptly subtracting oil, just stoplight stop lamp and high-mount stop lamp are lighted, car sends early warning in advance backward, makes its preparation that performs braking early, prevents to knock into the back.
The advantage of this method is clearly: not only retro-speed is fast for it, and its safety precaution is carried out in advance, and it just starts safety protection equipment with prior art after collision compares, and safety precaution is effective.And, before the advance braking just forwards, backwards car send out the advance braking early warning signal, prevent the effective of rear-end collision.
In the above-described embodiments, enumerated the application example of doing ECU (Electrical Control Unit) with digital microcomputer control unit 200 or analog control unit 500.But, in actual applications, also needing sometimes signal is handled earlier on the spot, detection, amplification, shaping, computing, comparison, A/D or D/A conversion etc. as signal then, are sent to the main frame in a distant place again.Here, if these signals are incoming signals, only need the mouth of these signals is connected on respectively on the predetermined accordingly input end of distant place main frame, and in application program, write exactly when where program is carried out, go that predetermined input end of main frame to read data and get final product; If the output command signal of main frame in commission also needs branch, timing etc., only need that these branches, timer-operated circuit are connected on distant place main frame and get final product on the set output terminal in advance accordingly; In today that computer technology has been popularized day by day, on the basis of digital microcomputer control unit 200 and analog control unit 500, the hybrid electric control unit that is combined into needs has been to be relatively easy to thing, in this illustrated in greater detail no longer.

Claims (11)

1, a kind of method of vehicle advance emergency brake, it is characterized in that: in the vehicle ' process, meet or exceed a predetermined threshold value in case detect the speed that the driver subtracts oil operation, think that then the driver " promptly subtracts oil ", and think that this is one of most important in early days " feature " signal of " driver's emergency braking intention "; Then, detect driver's other operational ton relevant again, whether also reach the predetermined threshold of " emergency braking ", like this " driver's emergency braking intention " done and further checked checking with emergency braking; Detected the signal of " checking feature " accordingly if check the result, confirmed these operational tons relevant of driver, also reached predetermined threshold separately with emergency braking; At this moment, think then that " driver's emergency braking intention " is real; In view of the above, send instruction immediately vehicle is carried out emergency braking;
Implement advance emergency brake method of the present invention, hardware system will possess at least: a power is controlled sensor, and an emergency braking is checked sensor, an ECU (Electrical Control Unit), an electronic abs braking system; Power is controlled sensor and emergency braking and is checked on two predetermined input ends that sensor is connected on ECU (Electrical Control Unit) respectively, and the input control end of electronic abs braking system is connected on the pre-set output terminal of ECU (Electrical Control Unit);
Realize advance emergency brake method of the present invention in this system, ECU (Electrical Control Unit) will be carried out following operation at least:
(1) ECU (Electrical Control Unit) is controlled sensor sample to power, obtains power value at that time;
(2) ECU (Electrical Control Unit) calculates power value to the rate of change of time, i.e. power pace of change;
(3) ECU (Electrical Control Unit) reduces the speed threshold value with this power pace of change and power and compares, and meets or exceeds power and reduces fast threshold value if power reduces speed, thinks that then " promptly subtracting oil " signal occurs; Check immediately, further the authenticity of checking " driver's emergency braking intention ";
(4) ECU (Electrical Control Unit) is checked sensor sample to emergency braking and is calculated the acquisition value of checking;
(5) ECU (Electrical Control Unit) will the value of checking be checked threshold value and is compared with predetermined,
★ if the value of checking less than checking threshold value, then think and check the characteristic signal that sensor does not detect emergency braking,
If do not reach predetermined checking the time as yet this moment the time of checking, then turn to sequence number (4) again to checking sensor sample,
If the time of checking this moment has reached predetermined checking the time, then turn to sequence number (1) that power is controlled sensor sample,
★ thinks that then " driver's emergency braking intention " is real if the value of checking meets or exceeds and checks threshold value; ECU (Electrical Control Unit) is exported an advance braking signal immediately, enters sequence number (6) and carries out advance emergency brake;
(6) the source switch closure of the electronic abs braking of advance braking signal control system is started working the abs braking system, and vehicle is produced braking force;
(7) reach predetermined time value when the advance braking time, then ECU (Electrical Control Unit) is sent the instruction that finishes braking, and the source switch of controlling electronic abs braking system disconnects, and the abs braking system is stopped vehicle brake activation power.
2, the method for vehicle advance emergency brake as claimed in claim 1 is characterized in that: can control the sensor signal that " promptly subtracts oil " as power with accelerator pedal position sensor W12; Then, can check sensor near switch S 62 as emergency braking with the brake pedal that is installed between acceleration pedal and the brake pedal, detect the pin that the driver controls acceleration pedal, whether move this characteristic signal to the brake pedal direction apace, " driver's emergency braking intention " further checked; And can control whole process as ECU (Electrical Control Unit) with a microcomputer control unit 200 that the advance braking control program is installed; With the car brakeing of electronic abs braking system implementation;
The signal output part of accelerator pedal position sensor W12 and brake pedal are connected on respectively on two predetermined input interfaces of microcomputer control unit 200 near the signal output part of switch S 62; The input control end of electronic abs braking system 10 is connected on the predetermined output interface of microcomputer control unit 200; Here said advance braking control program, write with this machine language exactly, command calculations machine hardware stream of computer instructions that carry out successively, that can finish advance braking process control task;
Microcomputer control unit 200 is invented said advance emergency brake task for finishing this under the instruction of advance braking control program, will carry out following operation at least:
000: microcomputer control unit 200 opening initializations
201: 200 couples of accelerator pedal position sensor W12 of microcomputer control unit sample, and obtain the power value Pt of vehicle this moment;
202: microcomputer control unit 200 usefulness front and back double sampling gained power values poor, divided by the time step between the double sampling, calculate power value rate Rp over time, that is, and the said power pace of change of the present invention Rp;
Rp＝(Pt+Δt-Pt)/Δt
Wherein:
Pt-----t power sampled value constantly
Pt+ Δ t----t+ Δ t power sampled value constantly
The time gap of double sampling is that time step is long before and after the Δ t-----
203: microcomputer control unit 200 compares power pace of change Rp and the predefined speed oil threshold value Rth that subtracts,
If Rp＞Rth
Illustrate that power reduces speed Rp and do not reach the predefined speed oil threshold value Rth that subtracts, program turns back to sequence number 201, starts anew;
If Rp≤Rth
Illustrate that power reduces speed Rp and meets or exceeds the predefined speed oil threshold value Rth that subtracts, program continues to carry out sequence number 204 downwards;
204: brake pedal near switch S 62 samplings, is obtained the value of checking Sch value;
205: will the value of checking Sch check switching threshold value Sth=1 and compare with default;
If Sch=1
Illustrate that the eigenwert of " emergency braking " appears in the value of checking sensor, program turns to sequence number 213 immediately, carries out the advance braking process in a preset time;
If Sch=0
Illustrate that procedure turn sequence number 206,206 eigenwert of " emergency braking " do not appear, in value as yet that check sensor: check timing,
t＝t+1；
207: check whether check time t reaches Preset Time value Tch1,
If t＜Tch1
Illustrate that checking timing t does not arrive Preset Time value Tch1, procedure turn sequence number 204 continues brake pedal is sampled near switch S 62,
If t 〉=Tch1
In time, the eigenwert of " driver's emergency braking intention " did not appear in the value of checking sensor at Preset Time value Tch1 in explanation, and this moment, program was returned sequence number 201;
213: under the control of microcomputer control unit 200, make the power switch conducts of electronic abs braking system 10, abs braking system 10 is started working; 200 pairs of advance braking time of microcomputer control unit t2 carries out timing simultaneously;
214：t2＝t2+1
If t2＜Tab
Illustrate that braking time does not reach predetermined time value Tab, should continue to keep the advance braking state, then turn to sequence number 214;
If t2 〉=Tab
Illustrate that braking time has reached predetermined time value Tab, then microcomputer control unit 200 sends the order that finishes advance braking, and electronic abs braking system 10 is stopped car brakeing; Program is returned sequence number 201.
3, the method for vehicle advance emergency brake as claimed in claim 1 or 2, it is characterized in that: computing machine 200 can be in a preset time, by the different sensors 6 of checking of making feature of a plurality of representative emergency braking behaviour are sampled, obtain a plurality of value of checking Sch, " driver's emergency braking intention " checked from many aspects.
4, a kind of system for vehicle advance emergency brake, it has a power and controls the electronic abs braking of 1, one of sensor system 10, it is characterized in that: it will comprise that at least also an emergency braking checks 6, one analog ECU (Electrical Control Unit) 500 of sensor; Here said analog ECU (Electrical Control Unit) constitutes, can finish the electronics package of advance braking process control task with analog chip; Which comprises at least: voltage follower 2, voltage derivative circuit 3, voltage comparator 4 promptly subtracts oily timing circuit 5, checks timing circuit 7, AND circuit 8, advance braking timing circuit 9;
The input end of voltage follower 2 is connected on power and controls on the mouth of sensor 1, makes its output voltage all equal the power value Pt of vehicle at any time; The input end of voltage derivative circuit 3 is connected on the mouth of voltage follower 2, and the output voltage of voltage follower 2 is carried out differential, obtains power pace of change value Rp; The signal input part of voltage comparator 4 is connected on the mouth of voltage derivative circuit 3, the normal voltage input end is connected on the predetermined threshold voltage Rth, when the driver subtracted oily speed of operating near certain value, the output voltage Rp of voltage derivative circuit 3 overturn the output voltage of voltage comparator 4; The input end that promptly subtracts oily timing circuit 5 is connected on the mouth of voltage comparator 4, and when upset took place the output voltage of voltage comparator 4, triggering promptly subtracted oily timing circuit 5 and picks up counting, and this moment, it was output as high potential; The mouth of checking sensor 6 is connected on the input end of checking timing circuit 7, and when the output voltage Sch that checks sensor 6 is equal to or greater than the predetermined threshold voltage Sth that checks, its triggers and checks timing circuit 7 and pick up counting, and this moment, it was output as high potential; An input end A of AND circuit 8 is connected on the mouth that promptly subtracts oily timing circuit 5, and its another input end B is connected on the mouth of checking timing circuit 7; The input end of advance braking timing circuit 9 is connected on the mouth of AND circuit 8; When two input end A of AND circuit 8 and B were high potential simultaneously, its output voltage overturn, and triggers advance braking timing circuit 9, makes it to enter the triggering timing state; Electronic abs braking system 10 input control ends are connected on the mouth of advance braking timing circuit 9, when timing circuit 9 picks up counting output, its output voltage makes the power switch conducts of electronic abs braking system 10, makes electronic ABS system produce braking force to vehicle; When timing circuit 9 stop timings were got back to stabilized conditions, its output voltage disconnected the source switch of electronic abs braking system 10, made electronic ABS system stop vehicle being produced braking force.
5, system for vehicle advance emergency brake as claimed in claim 4 is characterized in that: described power is controlled sensor 1, can be accelerator pedal position sensor W12, or throttle position sensor W13.
6, system for vehicle advance emergency brake as claimed in claim 4 is characterized in that: can check sensor 6 and check between the timing circuit 7 at emergency braking, increase a voltage follower 2.6, voltage derivative circuit 3.6, voltage comparator 4.6; The input end of voltage follower 2.6 is connected on the mouth that emergency braking is checked sensor 6, the input end of voltage derivative circuit 3.6 is connected on the mouth of voltage follower 2.6, the signal input part of voltage comparator 4.6 is connected on the mouth of voltage derivative circuit 3.6, its normal voltage input end is connected on the default threshold voltage, and its mouth is connected on the input end B of AND circuit 8.
7, as claim 4 or 6 described system for vehicle advance emergency brake, it is characterized in that: described emergency braking is checked sensor 6 can be arranged on brake pedal between acceleration pedal and the brake pedal near switch S 62, or is installed in the hand brake switch S 64 on the bearing circle.
8, system for vehicle advance emergency brake as claimed in claim 6 is characterized in that: it can be " pin move to left speed sensor " that is installed on the acceleration pedal that emergency braking is checked sensor 6; It is made up of a potential device W62, a runner 61 and a pull back spring 66; On circuit, a fixed end of potential device W62 resistance is connected on the positive pole of Vehicle Power by resistance R 61, and another fixed end is connected on the earth potential of Vehicle Power, and wipe contact is as the mouth of potential device; Install at machinery, potential device W62 is fixed on the flanging 21.2 of support 21 by its nut 65, and its rotating shaft 64 is injected in the axis hole of runner 61, and closely cooperated after passing hole on another flanging 21.1 of support 21; Pull back spring 66 1 ends are fixed on the support 21, and in the horizontal aperture 63 of other end reeve on potentiometer shaft 64, under initial condition, pull back spring 66 makes the wipe contact of potential device W62 be in the clws end position; Support 21 is fixed on the acceleration pedal 20, makes the axle 64 of potential device parallel with acceleration pedal longitudinal axis A-A, and runner 61 is more outstanding than the plane of acceleration pedal 20 slightly, guarantees that like this pin one of driver's stepping on accelerator pedal contacts with the surface of ball-type runner 61 surely; In the emergency braking process, when driver's pin from acceleration pedal 20 when brake pedal is mobile apace, runner 61 along with driver's pin move to left to do and rotate counterclockwise; And its rotating speed is directly proportional with the moving velocity of driver's pin, and therefore, the pace of change of potential device output voltage also is directly proportional with the moving velocity of driver's pin.
9, as claim 4 or 6 described system for vehicle advance emergency brake, it is characterized in that: can be simultaneously with n the dissimilar sensor 6 of checking, check circuit with the AND circuit 8 of a n+1 input end is formed, " driver's emergency braking intention " checked; The span of n can be 1-6.
10, as claim 4 or 6 or 8 described system for vehicle advance emergency brake, it is characterized in that: it also comprises an electric-controlled switch 11, its input control end is connected on the mouth that promptly subtracts oily timing circuit 5, its upper contact is connected on the Vehicle Power positive pole, and its next contact is connected on the stoplight stop lamp 12 of vehicle and the positive power source terminal of electric control locking safety strap 14.
11, system for vehicle advance emergency brake as claimed in claim 10 is characterized in that: electric control locking safety strap 14, form by ratchet 141, ratchet shaft 142, safety strap 143, magnet coil 144, electromagnet armature 145 and pull back spring 146; Ratchet 141 is installed on the ratchet shaft 142 by mounting hole, one end of safety strap 143 is fixed and is wrapped on the ratchet 141, magnet coil 144 is when making alive not, electromagnet armature 145 is under the effect of pull back spring 146, in the withdrawal coil 144, ratchet on it and the ratchet 141 disengages, and this moment, ratchet can freely rotate; When magnet coil during at making alive, armature of electromagnet overcomes spring force under the effect of electromagnetic force, stretch out outside the magnet coil, blocks ratchet ratchet can not be rotated, and safety strap is locked.
CNB2004100581839A 2004-08-18 2004-08-18 Method and system for automobile brake in advance for emergency Expired - Fee Related CN100348445C (en)

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Cited By (6)

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CN101415590B (en) * 2006-04-03 2011-04-20 罗伯特·博世有限公司 Method and device for controlling the braking system of a vehicle
CN102343860A (en) * 2011-07-11 2012-02-08 北京理工大学 Intelligent control device for automobile brake lamp
CN104062966A (en) * 2013-03-20 2014-09-24 博世汽车部件(苏州)有限公司 Verification method used for automatic emergency braking system and corresponding verification system
CN105416295A (en) * 2014-09-22 2016-03-23 现代自动车株式会社 System and method for determining starting tendency of driver
CN105799674A (en) * 2011-05-12 2016-07-27 捷豹路虎有限公司 Monitoring apparatus
CN110626339A (en) * 2019-07-10 2019-12-31 聊城大学 Emergency obstacle avoidance automatic driving assistance torque calculation method based on driver intention

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CN1042714C (en) * 1992-09-12 1999-03-31 陈金生 Method and system for emergency brake of vehicle
DE19641470A1 (en) * 1996-10-09 1998-04-16 Dieter Wagels Braking device e.g. for motor vehicle with ABS
JP4227231B2 (en) * 1997-12-12 2009-02-18 本田技研工業株式会社 Integrated control device for vehicle
DE50106312D1 (en) * 2000-02-09 2005-06-30 Continental Teves Ag & Co Ohg CIRCUIT ARRANGEMENT AND DEVICE FOR CONTROLLING AND CONTROLLING THE DRIVING SPEED OF A MOTOR VEHICLE
CN2611210Y (en) * 2002-12-06 2004-04-14 东风汽车公司 Mixed power type electric motor vehicle integrated control system for whole vehicle

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CN101415590B (en) * 2006-04-03 2011-04-20 罗伯特·博世有限公司 Method and device for controlling the braking system of a vehicle
CN105799674A (en) * 2011-05-12 2016-07-27 捷豹路虎有限公司 Monitoring apparatus
CN105799674B (en) * 2011-05-12 2019-05-17 捷豹路虎有限公司 Monitoring device
US10535267B2 (en) 2011-05-12 2020-01-14 Jaguar Land Rover Limited Monitoring apparatus and method
US11436925B2 (en) 2011-05-12 2022-09-06 Jaguar Land Rover Limited Monitoring apparatus and method
CN102343860A (en) * 2011-07-11 2012-02-08 北京理工大学 Intelligent control device for automobile brake lamp
CN104062966A (en) * 2013-03-20 2014-09-24 博世汽车部件(苏州)有限公司 Verification method used for automatic emergency braking system and corresponding verification system
CN104062966B (en) * 2013-03-20 2016-12-28 博世汽车部件(苏州)有限公司 For the verification method of automatic emergency brake system and verify system accordingly
CN105416295A (en) * 2014-09-22 2016-03-23 现代自动车株式会社 System and method for determining starting tendency of driver
US10190677B2 (en) 2014-09-22 2019-01-29 Hyundai Motor Company System and method for determining starting tendency of driver
CN105416295B (en) * 2014-09-22 2019-06-04 现代自动车株式会社 A kind of system and method starting tendency for determining driver
CN110626339A (en) * 2019-07-10 2019-12-31 聊城大学 Emergency obstacle avoidance automatic driving assistance torque calculation method based on driver intention

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