CN209410029U - A kind of high low speed switching brake control of AEB system - Google Patents
A kind of high low speed switching brake control of AEB system Download PDFInfo
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- CN209410029U CN209410029U CN201821944085.9U CN201821944085U CN209410029U CN 209410029 U CN209410029 U CN 209410029U CN 201821944085 U CN201821944085 U CN 201821944085U CN 209410029 U CN209410029 U CN 209410029U
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Abstract
The utility model provides a kind of high low speed switching brake control of AEB system, including surveys current vehicle speed；When the critical value that current vehicle speed is reduced to the high low speed working condition of AEB system to define, whether the first deceleration desired signal value for judging that the AEB system last time sends is 0m/s2；If judging, the first deceleration desired signal value is not 0m/s2, then directly transmit one and automatic brake control do not carried out to this vehicle for 0 the second deceleration desired signal；Continue to monitor current vehicle speed and carry out corresponding automatic brake control, until the first deceleration desired signal that the AEB system last time sends is 0 or Ben Che and the risk of collision releasing of front truck；Monitor the static 2s or more of speed, then AEB system enters standby mode.A kind of high low speed of AEB system described in the utility model switches brake control, and ride comfort is bad when solving the high low speed brake working condition switching of AEB system, the problem of suddenly fluctuating change causes vehicle to collide occurs.
Description
Technical field
The utility model belongs to car steering technical field of auxiliary equipment, cuts more particularly, to a kind of high low speed of AEB system
Change brake control method and control device.
Background technique
Currently, in car steering ancillary equipment, AEB (Autonomous Emergency Braking, automatic emergency system
It is dynamic) system as a kind of active brake obstacle avoidance apparatus, starts to be used widely in vehicle security drive.
Existing AEB system control floor strategy is generally divided into AEB-LSpd (low speed control for brake) and AEB-HSpd (high speed
Control for brake) two kinds of braking operation modes, and in two kinds of control layer strategies, more practical parameter is ETTC (when current
The time required to starting at quarter to two vehicles to collide) and Asafe (realizing this vehicle deceleration required for collision avoidance), when two parameters
It, will automatic braking when reaching a given threshold.
When speed, which is in fast state operation, to be needed to brake, into AEB-HSpd mode, when speed is in lower-speed state
When operation needs to brake, into AEB-LSpd mode, and when high low speed control for brake mode switches over, vehicle braking process
In, when speed changes to low by height, if ETTC and Asafe are not up to activation threshold value, without braking, and in the danger collided with front truck
When danger is not yet eliminated, will appear of short duration severity of braking under AEB-LSpd mode is 0m/s2Period, i.e., do not made
It is dynamic；Then due to meeting trigger condition, AEB-LSpd state can send biggish severity of braking, and vehicle is braked suddenly.Meeting in this way
It causes AEB system high-speed and low speed braking strategy suddenly fluctuating change phenomenon occur when switching, collision is easy to happen when serious
It is dangerous.
Summary of the invention
In view of this, the utility model is directed to a kind of high low speed switching brake control method of AEB system, it is existing to solve
Ride comfort is bad when some high low speed brake working conditions of AEB system switch, and suddenly fluctuating change occurs and vehicle is caused to touch
Hit dangerous problem.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
One kind includes that the high low speed of AEB system switches brake control method, including surveys current vehicle speed；Current vehicle speed is reduced to
When the critical value that the high low speed working condition of AEB system defines, the first deceleration desired signal that the AEB system last time sends is judged
Whether value is 0m/s2；If judging, the first deceleration desired signal value is not 0m/s2, then directly transmit one for 0 the
Two deceleration desired signals carry out automatic brake control to this vehicle；Continue to monitor current vehicle speed and carries out corresponding automatic braking control
System, until the first deceleration desired signal that the AEB system last time sends is 0 or Ben Che and the risk of collision releasing of front truck
Until；Monitor the static 2s or more of speed, then AEB system enters standby mode.
Further, when the critical value that the current vehicle speed is reduced to the high low speed working condition of AEB system to define, judgement
Whether the first deceleration desired signal value that the AEB system last time sends is 0m/s2It include: to obtain this vehicle and front truck current
Multidate information is travelled, the traveling multidate information includes speed, position and acceleration；It is calculated according to the traveling multidate information
ETTC value and Asafe value, the ETTC are the time required to current time starting to two vehicles to collide, and the Asafe is to realize
This vehicle deceleration required for collision avoidance；Judge whether the ETTC value or Asafe value reach automatic braking activation threshold value；If ETTC
Value and Asafe value are not up to automatic braking activation threshold value, then the deceleration desired signal value for judging that the AEB system last time sends is
No is 0m/s2。
Further, the traveling multidate information further include: steering wheel angle information or wheel steering angle information；The acquisition
After current traveling multidate information, the method also includes turning according to steering wheel angle information or wheel for this vehicle and front truck
Angle information filters out the target front truck for needing to avoid collision in this vehicle driving trace from more front trucks.
Further, the critical value that the high low speed working condition of the AEB system defines is 30km/h.
Further, described one is not 8m/s for 0 deceleration desired signal2。
Compared with the existing technology, the high low speed switching brake control method of AEB system described in the utility model has following
Advantage:
(1) the high low speed of AEB system described in the utility model switches brake control method, passes through described in real-time judge first
Whether deceleration desired signal value is 0, is judging that the first deceleration desired signal value is not 0m/s2, then directly transmit
One does not carry out automatic brake control to this vehicle for 0 the second deceleration desired signal, can avoid the occurrence of cut in high low speed in this way
The not braking situation that the of short duration severity of braking occurred when changing is 0, the risk that can reduce or avoid fore-aft vehicle to collide.
(2) the high low speed of AEB system described in the utility model switches brake control method, is switched by braking to high low speed
The technical solution of control process improves, monitor speed be reduced to the high low speed working condition of AEB system define it is critical
When value, do not need to judge ETTC value with whether Asafe value reaches automatic braking activation threshold value, but directly to the last time
Whether the first deceleration desired signal sent is 0 to be judged that the first deceleration signal value is not 0m/s if judging2, then directly
It receives and sends one and automatic brake control is not carried out to this vehicle for 0 the second deceleration signal, can eliminate exist in the prior art in this way
When high low speed braking strategy switches, when whether reaching automatic braking activation threshold value to ETTC and Asafe value and judge, if ETTC with
Asafe is not up to activation threshold value, does not carry out automatic braking to vehicle, then it is strong to will appear of short duration braking under AEB-LSpd state
Degree is 0m/s2Period, avoid and suddenly wave phenomenon occur when then sending a stronger brake signal, so that AEB system
There is preferable ride comfort when high low speed brake working condition of uniting switches.
The another object of the utility model is to propose a kind of high low speed switching brake control of AEB system, to solve
Ride comfort is bad when the existing high low speed brake working condition of AEB system switches, and suddenly fluctuating change occurs and vehicle is caused to occur
The problem of risk of collision.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of high low speed switching brake control of AEB system, including the first monitoring modular and electronic equipment, described first
Monitoring modular includes the radar and video camera being mounted on automobile, and the electronic equipment includes shell, processor, memory, electricity
Road plate and power circuit, the circuit board are placed in the space interior that shell surrounds, and processor and memory are arranged in circuit board
On；Each circuit or the device power supply that power circuit is used for as the electronic equipment；The processor receives the radar and institute
Video camera is stated, and stores data into processor signal described in the memory and is connected to AEB system.
Further, the electronic equipment exists in a variety of forms, including mobile phone, computer, PDA, MID and UMPC.
Further, the processor includes judgment module and brake signal sending module, and the judgment module includes obtaining
Take unit, computing unit, the first judging unit and second judgment unit, acquiring unit, for obtaining this vehicle and front truck current
Traveling multidate information；Computing unit calculates ETTC value and Asafe value according to the traveling multidate information, and the ETTC is to work as
The time required to the preceding moment starts to two vehicles to collide, the Asafe is this vehicle deceleration required for realizing collision avoidance；First sentences
Disconnected unit, for judging whether the ETTC value or Asafe value reach automatic braking activation threshold value；Second judgment unit is used for
If ETTC value and Asafe value are not up to automatic braking activation threshold value, judge that the deceleration demand that the AEB system last time sends is believed
Whether number value is 0m/s2。
Brake signal sending module, if for judging that the first deceleration desired signal value is not 0m/s2, then directly
It sends one and automatic brake control is not carried out to this vehicle for 0 the second deceleration desired signal.
Further, the material of the shell is isolation material.
Further, the processor is the single-chip microcontroller of STC series.
The high low speed switching brake control method of AEB system and a kind of above-mentioned high low speed of AEB system switch control for brake
Possessed advantage is identical compared with the existing technology for device, and details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.?
In attached drawing:
Fig. 1 is that the high low speed of AEB system of the embodiment of the present invention one switches the flow diagram of brake control method；
Fig. 2 is that the high low speed of AEB system of the embodiment of the present invention one switches the data flow transmitting schematic diagram of brake control method；
Fig. 3 is that the high low speed of AEB system switches control for brake one effect picture of braking in the prior art；
Fig. 4 is that the high low speed of AEB system switches another effect picture of control for brake braking in the prior art；
Fig. 5 is that the high low speed of AEB of embodiment of the present invention system switches control for brake braking effect figure；
Fig. 6 is that another data flow transmitting of the high low speed switching brake control method of AEB system of the embodiment of the present invention one is shown
It is intended to；
Fig. 7 is the high low speed switching brake control signal flow figure of AEB system that the present invention implements two；
Fig. 8 is electronic devices structure schematic diagram described in the embodiment of the present invention.
Description of symbols:
1- shell；2- processor；3- memory；4- circuit board；5- power circuit.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Professional term is explained:
The high low speed switching of AEB system, refers in the vehicle for being equipped with AEB system by higher relative to current time speed
Operating status is decelerated to a certain critical speed value hereinafter, AEB system is braked under two kinds of working conditions or mode in high speed and low speed
The process converted；
Acceleration described herein refers to the acceleration in physical significance, and deceleration is the velocity variations under on-position
The amount of speed, with the essence of acceleration, the only velocity variations speed of the former more in broad sense, the latter be then
Under specific brake application scene, the term of appearance during speed reduces；
Asafe and a hereinsafeSame term, meaning is identical, be intended merely to write it is convenient and herein not
Same place uses corresponding literary style, should not be construed as referring to two different concepts.
AEB-HSpd refers to that AEB system is in high speed braking operation mode；
AEB-LSpd refers to that AEB system is in low speed braking operation mode；
AEB-Standby, refer to AEB system be in standby severity of braking signal be 0, neither alarm sounds also without
Braking.
A kind of high low speed switching brake control method of AEB system, shown in as shown in Figure 1, Figure 2, Fig. 5 to Fig. 8, including step 101:
Current vehicle speed is monitored by monitoring device, and is uploaded to controller in real time；
The monitoring approach of the speed has: it can be tested the speed by the radar being installed on vehicle, it can also be by vehicle
Upper installation video camera carries out video frequency speed-measuring to vehicle, passes through after being obtained above- mentioned information by equipment such as radar or video cameras
Vehicle CAN (Controller Area Network, the abbreviation of control area net(CAN)) bus is sent to AEB system control unit, institute
The equipment used for stating progress above- mentioned information acquisition can integrate in AEB system, can also set up separately with AEB system, the present embodiment
This is not construed as limiting.
Step 102: when the critical value that current vehicle speed is reduced to the high low speed working condition of AEB system to define, judging AEB system
Whether the first deceleration desired signal value that the last time sends is 0m/s2；The high low speed working condition of AEB system can basis
The artificial critical value for needing freely to be arranged high low speed working condition, such as can be using 40km/h as point of high low speed working condition
Boundary；The time can be fixed in the AEB system in working condition by logical timer or the time of being not fixed sends pulse letter
Number, the first deceleration desired signal is exactly the form and specific appellation of a kind of concrete application of pulse signal；Pass through judgement
Whether the first deceleration desired signal that the AEB system last time sends is 0 to determine whether AEB system needs automatic brake control.
Step 103: if judging, the first deceleration desired signal value is not 0m/s2, then directly transmitting one not is 0
Second deceleration desired signal carries out automatic brake control to this vehicle；Continue to monitor current vehicle speed and carries out corresponding automatic braking
Control, until the first deceleration desired signal of AEB system last time transmission is the risk of collision solution of 0 or Ben Che and front truck
Until removing；Monitor the static 2s or more of speed, then AEB system enters standby mode.
The high low speed of a kind of AEB system provided in an embodiment of the present invention switches brake control method and device, by height
The technical solution of speed braking switching control process improves, and is monitoring that speed is reduced to the high low speed working condition of AEB system
When the critical value defined, do not need to judge ETTC value with whether Asafe value reaches automatic braking activation threshold value, but it is straight
Connect whether the first deceleration desired signal sent to the last time is 0 to judge that the first deceleration signal value is not if judging
0m/s2, then directly transmit one and automatic brake control do not carried out to this vehicle for 0 the second deceleration signal, can eliminate so existing
Have in technology in the switching of high low speed braking strategy, whether the judgement of automatic braking activation threshold value is being reached to ETTC and Asafe value
When, if ETTC and Asafe are not up to activation threshold value, automatic braking are not carried out to vehicle, then will appear under AEB-LSpd state
Of short duration severity of braking is 0m/s2Period, avoid that suddenly fluctuation occurs when then sending a stronger brake signal is existing
As so that AEB system high low speed brake working condition has preferable ride comfort when switching.
It is understood that in the prior art, when vehicle braking, speed changes to high low speed critical value or less by height
When, that is, when entering lower-speed state, AEB system is not up to activation threshold value, and not yet eliminates with the danger of front truck collision, in AEB-
Will appear of short duration severity of braking under LSpd state is 0m/s2Period, i.e., without braking, then when meeting system trigger
When condition, AEB-LSpd state can send biggish severity of braking.When will cause AEB high speed and the switching of low speed braking strategy in this way
Severity of braking wave phenomenon, the danger of collision is easy to happen when serious.
Whether it is 0 by the first deceleration desired signal value described in real-time judge in the present embodiment, is judging described
One deceleration desired signal value is not 0m/s2, then directly transmit one and this vehicle do not carried out certainly for 0 the second deceleration desired signal
Dynamic control for brake, can avoid the occurrence of so the above-mentioned of short duration severity of braking occurred in the switching of high low speed be 0 it is not braking
Situation, the risk that can reduce or avoid fore-aft vehicle to collide.
The high low speed of a kind of AEB system provided in an embodiment of the present invention switches brake control method and device, by height
The technical solution of speed braking switching control process improves, and is monitoring that speed is reduced to the high low speed working condition of AEB system
When the critical value defined, do not need to judge ETTC value with whether Asafe value reaches automatic braking activation threshold value, but it is straight
Connect whether the first deceleration desired signal sent to the last time is 0 to judge that the first deceleration signal value is not if judging
0m/s2, then directly transmit one and automatic brake control do not carried out to this vehicle for 0 the second deceleration signal, can eliminate so existing
Have in technology in the switching of high low speed braking strategy, whether the judgement of automatic braking activation threshold value is being reached to ETTC and Asafe value
When, if ETTC and Asafe are not up to activation threshold value, automatic braking are not carried out to vehicle, then will appear under AEB-LSpd state
Of short duration severity of braking is 0m/s2Period, avoid that suddenly fluctuation occurs when then sending a stronger brake signal is existing
As so that AEB system high low speed brake working condition has preferable ride comfort when switching.
In the present embodiment, as an optionally embodiment, current vehicle speed described in step 102 is reduced to the high low speed of AEB system
When the critical value that working condition defines, whether the first deceleration desired signal value for judging that the AEB system last time sends is 0m/s2
Include: that THW value is calculated according to the traveling multidate information, judges whether the THW value reaches automatic braking activation threshold value；If institute
State THW value and be not up to the automatic trigger threshold value, then judge deceleration desired signal that the AEB system last time sends whether be
0m/s2。
It is understood that since THW is as a judgement AEB system trigger condition, using only the speed and two vehicles of this vehicle
Between relative distance the two parameters determined, suitable for the follow the bus situation that two vehicle speeds are closer to, before being usually used in calculating
To collision warning systems trigger condition or judge the degree of danger of current following distance.
Alternatively, it is also possible to calculate TTC value according to traveling multidate information, the TTC is to assume that two vehicles remain current
Speed drives at a constant speed, and does not consider acceleration or the brake condition of fore-aft vehicle, actual vehicle speed be generally not it is invariable,
Therefore, it is deviated as the decision condition for determining whether to trigger AEB system with the situation in practical driving, if as
Decision condition, according to the variation of car speed, it may occur that braking erroneous judgement.
Referring to shown in Fig. 6, for the more preferable assurance to braking opportunity, the embodiment of the present invention introduces ETTC as braking triggering
The decision condition of threshold value, the ETTC are the velocity variations situations that two vehicles are considered on the basis of TTC, it is assumed that two vehicles remain current
Relative velocity and relative acceleration it is constant, the time required to colliding since current time to two vehicles.Therefore, ETTC can
The degree of danger of current working is more intuitively described.In the present embodiment, as an optionally embodiment, step 102 described is worked as
When the critical value that front truck prompt drop is defined down to the high low speed working condition of AEB system, judge that the AEB system last time sends first subtracts
Whether speed demand signal value is 0m/s2It include: to obtain this vehicle and front truck in current traveling multidate information；According to the traveling
Multidate information calculates ETTC value and Asafe value, and the ETTC is to start to two vehicles the required time that collides current time, described
Asafe is this vehicle deceleration required for realizing collision avoidance；Judge whether the ETTC value or Asafe value reach automatic braking triggering
Threshold value；If ETTC value and Asafe value are not up to automatic braking activation threshold value, the deceleration that the AEB system last time sends is judged
Whether desired signal value is 0m/s2。
It is understood that the activation threshold value is according to circumstances demarcated in the present embodiment, the threshold value specifically demarcated is big
It is small to be chosen generally by experiment or empirical value.The traveling multidate information includes but is not limited to: speed, position, spacing and
Acceleration.Spacing can be determined according to the current location of front and back, can also measure spacing.
In the present embodiment, during the parameter ETTC considers collision avoidance, the velocity variations situation of fore-aft vehicle, it is assumed that
In the case that two vehicles maintain current relative velocity and relative acceleration constant, indicate that current time starts to two vehicles to collide
Required time.Since the parameter considers the situation of change of actual vehicle speed, can relatively intuitively and really describe in reality
Degree of danger under operating condition of driving a vehicle.
The asafeFor safe acceleration, be consider two vehicles speed and front truck deceleration in the case where, realize
This vehicle deceleration required for collision avoidance, reflection will realize that collision avoidance needs to reach the mark of the big small quantization of deceleration to this vehicle in vehicle
It is quasi-.
The present invention implement in, specifically obtain it is described traveling multidate information method, can by onboard install radar or
Video camera etc. tests the speed, distance-measuring equipment.The ETTC value and Asafe value are as the pass for judging whether AEB system needs automatic braking
Bond parameter, in the prior art, if usually ETTC and Asafe are not up to activation threshold value, without braking, braking is strong at this time
Degree is 0, when after abruptly reach activation threshold value, then send a stronger brake signal so that high low speed handoff procedure occur it is steep
Right wave phenomenon, handoff procedure operation are unstable.The present embodiment is then to reach automatic braking firing level in ETTC value and Asafe value
When value, whether the deceleration desired signal value for judging that the AEB last time sends is 0, in this way by prejudging last braking in advance
Strength signal, to avoid there is the period that severity of braking signal is 0.
It is described that ETTC value and a are calculated according to the traveling multidate information as an alternative embodiment in the present embodimentsafe
Value, can be calculated by the following formula, ETTC solution procedure is as follows:
If ETTC < min (ttargetStop,tegostop)
Otherwise, using following formula:
Wherein
The above-mentioned THW solution procedure referred to is as follows:
In formula, vegoFor this vehicle speed, aegoIt is this vehicle acceleration, vtargetIt is target carriage speed, atargetIt is that this vehicle accelerates
Degree, drelThe relative distance or practical relative distance that can be two vehicle of current time subtract safety allowance, vrelIt is relatively fast for vehicle
Degree, arelIt is two vehicle relative accelerations.
asafeFour kinds of situations are divided to discuss:
(1) relative velocity and target carriage acceleration are negative value；
WhenWhen:
WhenWhen:
(2) relative velocity is negative, and target carriage acceleration is positive or zero；
(3) relative velocity is positive, and target carriage deceleration is negative；
(4) relative velocity and target carriage acceleration are positive value；
asafe=0.
It is understood that in the embodiment of the present invention, by providing a kind of specific calculating ETTC, asafeAnd THW
Calculation formula, AEB system calculate described ETTC, a according to the said firmsafeAnd THW, real-time specific value can be accurately acquired, with
Accurately determine whether to reach activation threshold value, promptly and accurately be braked with realizing.
Referring to shown in Fig. 6, in this step, as an alternative embodiment, the traveling multidate information further include: steering wheel
Corner information or wheel steering angle information；The traveling multidate information further include: steering wheel angle information or wheel steering angle information；Institute
State and obtain this vehicle and front truck after current traveling multidate information, the method also includes, according to steering wheel angle information or
Wheel steering angle information filters out the target front truck for needing to avoid collision in this vehicle driving trace from more front trucks.
It is understood that in the present embodiment, the steering wheel angle information and wheel steering angle information include steering wheel
And wheel deflection direction and rotational angle can be determined effectively by being monitored to steering wheel angle or wheel steering angle information
The front truck or other objects that may be collided out with this vehicle have so that accurately locking needs the target of collision avoidance only for this
Effect target carries out relevant prediction and takes brake measure.
When the critical value that the current vehicle speed is reduced to the high low speed working condition of AEB system to define, judge one in AEB system
Whether the first deceleration desired signal value of secondary transmission is 0m/s2It include: to obtain this vehicle and front truck to believe in current traveling dynamic
Breath, the traveling multidate information includes speed, position and acceleration；According to the traveling multidate information calculate ETTC value with
Asafe value, the ETTC are the time required to current time starting to two vehicles to collide, and the Asafe is needed for realizing collision avoidance
This vehicle deceleration wanted；Judge whether the ETTC value or Asafe value reach automatic braking activation threshold value；
In order to clearly demonstrate the technical solution and its advantages of the embodiment of the present invention, now with answering on a specific highway
It is as follows with being described in detail for scene:
If this vehicle is A vehicle, A vehicle is travelled on highway, successively runs B vehicle and C vehicle in the front side A, when traveling is to close
When a certain crossing, there is pedestrian across the crossing, at this moment the corresponding braking deceleration of three vehicles passes through the AEB system being mounted on A vehicle
Judge that C vehicle steering wheel or wheel are deflected towards a direction by video capture, then the vehicle may be diverted away from the operation
Track is then marked as the target unrelated with collision avoidance, then only consider when being braked in front of B vehicle related traveling dynamic
Information B vehicle is then the effective target for needing collision avoidance, then only obtains B vehicle and the traveling multidate information of this vehicle subsequent, reduce
The quantity for the uncorrelated target information that AEB system receives further increases AEB system and judges whether to brake the accurate of foundation
Property.
In the present embodiment, it is to be understood that the critical value that the high low speed working condition of AEB system defines is according to reality
Situation setting, as a preferred embodiment, the critical value is 30km/h.
It is understood that AEB system is in AEB-HSpd (high speed braking operation) mould when speed is greater than 30km/h
Formula, when being equal to or less than 30km/h, AEB system is then in AEB-LSpd (low speed braking operation) mode；It is in AEB system
Under AEB-Standby (standby) state, severity of braking signal is 0, and neither alarm sounds are also without braking.
In the present embodiment, as an alternative embodiment, described one is not 8m/s for 0 deceleration desired signal2。
It is understood that the value of the deceleration desired signal is not fixation, according to height working condition critical value
Setting it is different, it is also possible to be varied.
In the present embodiment, if judging, this vehicle deceleration is not 0m/s2, then 8m/s is directly transmitted2Deceleration signal to this
Vehicle carries out automatic brake control.
In the present embodiment, it is to be understood that due in the prior art, judging that above-mentioned parameter is not up to automatic braking
After activation threshold value, it will appear temporary severity of braking reaching the interior for the previous period of activation threshold value for 0m/s2The case where, it is subsequent
After reaching activation threshold value, stronger brake signal is sent suddenly, it may appear that a speed switching control process variation suddenly becomes
Change phenomenon.
In the present embodiment, as an alternative embodiment, the method also includes: monitor the static 2s or more of speed, then AEB
System enters standby mode.
It is understood that the present embodiment can be realized AEB energy saving of system power saving by above-mentioned technical characteristic.
In the present embodiment, as an alternative embodiment, the second deceleration desired signal that one is not 0 is directly transmitted described
After carrying out automatic brake control to this vehicle, the method also includes:
Continue to monitor current vehicle speed and carry out corresponding automatic brake control, until what the AEB system last time sent
Until first deceleration desired signal is 0 or Ben Che and the risk of collision of front truck releases.
It is understood that for vehicle when colliding possible, danger simultaneously can not be by primary in actual scene
Braking just releases, it may be necessary to by that repeatedly could release, the present embodiment passes through the multiple cycle criterion of setting, with clear for
Stop monitoring vehicle speed standard, can guarantee the risk for avoiding vehicle collision to the greatest extent.
The innovative point of the present embodiment at least that, provide a kind of scheme that technical concept is different, monitor current vehicle speed；When
When the critical value that front truck prompt drop is defined down to the high low speed working condition of AEB system, judge that the AEB system last time sends first subtracts
Whether speed demand signal value is 0m/s2；If judging, the first deceleration desired signal value is not 0m/s2, then vehicle itself
In retarding braking state, then directly transmits one and automatic brake control is not carried out to this vehicle for 0 the second deceleration desired signal.
Before severity of braking is not 0, one deceleration demand is given, it is made to keep certain before triggering AEB system automatic braking
The braking amount of intensity, avoiding the occurrence of severity of braking is 0m/s2Period, thus can avoid height speed braking switching control in make
Momentum suddenly changes the wave phenomenon of appearance, so that high low speed switching control process has preferable ride comfort.
Referring to shown in Fig. 1 to Fig. 6, in order to clearly demonstrate technical solution of the embodiment of the present invention and beneficial effect, now in conjunction with
The prior art and an of the invention specific embodiment stationary vehicle knock into the back operating condition (CCRs) application scenarios be described in detail it is as follows:
Travelled on highway vehicle speed is 40km/h, passes through radar or video camera by the AEB system itself loaded
Deng obtaining the information such as the speed, relative distance and acceleration of this vehicle and front vehicles；
It is about 0.3g to this vehicle reduction of speed front half section deceleration, g is acceleration of gravity in the prior art shown in referring to Fig. 3
Value, duration general 1s or so, i.e. reduction of speed about 10km/h, into after 30km/h, before determining that ETTC is not up to activation threshold value,
There is apparent deceleration fluctuation in handoff procedure.
Referring in Fig. 4, the fluctuation of first time deceleration is before ETTC is not up to threshold value, caused by AEB brake wild effect.
Referring to shown in Fig. 5, using the improved method of this implementation, after determining whether ETTC reaches threshold value, and carry out pair
Last moment this vehicle deceleration carries out judging whether it is 0, if not 0, then it directly transmits a severity of braking signal and realizes braking
Control does not have to eliminate the period that severity of braking occurs 0 so that high low speed control for brake handoff procedure brake comfort is preferable
Occur larger fluctuation phenomenon.
Embodiment two
A kind of control device using the high low speed switching brake control method of AEB system, as shown in Figure 7 and Figure 8, including the
One monitoring modular and electronic equipment, first monitoring modular include the radar and video camera being mounted on automobile, the electronics
Equipment includes shell 1, processor 2, memory 3, circuit board 4 and power circuit 5, and the circuit board 4 is placed in what shell 1 surrounded
Space interior, processor 2 and the setting of memory 3 are on the circuit board 4；Each electricity that power circuit 5 is used for as the electronic equipment
Road or device power supply；The processor 2 receives the radar and the video camera, and stores data into 3 institute of memory
It states 2 signal of processor and is connected to AEB system.
The processor 2 includes judgment module and brake signal sending module, and the judgment module includes acquiring unit, meter
Calculate unit, the first judging unit and second judgment unit, acquiring unit, for obtaining this vehicle and front truck in current traveling dynamic
Information；Computing unit calculates ETTC value and Asafe value according to the traveling multidate information, and the ETTC starts for current time
The time required to colliding to two vehicles, the Asafe is this vehicle deceleration required for realizing collision avoidance；First judging unit is used
In judging whether the ETTC value or Asafe value reach automatic braking activation threshold value；Second judgment unit, if for ETTC value and
Asafe value is not up to automatic braking activation threshold value, then judge deceleration desired signal value that the AEB system last time sends whether be
0m/s2。
Brake signal sending module, if for judging that the first deceleration desired signal value is not 0m/s2, then directly
It sends one and automatic brake control is not carried out to this vehicle for 0 the second deceleration desired signal.
The material of the shell 1 is isolation material.The processor 2 is the single-chip microcontroller of STC series.Memory 3 is for depositing
Store up executable program code；Processor 2 is run and executable journey by reading the executable program code stored in memory 3
The corresponding program of sequence code, for executing control method described in aforementioned any embodiment.
Processor 2 to the specific implementation procedures of above-mentioned steps and processor 2 by operation executable program code come into
The step of one step executes, may refer to the description of Fig. 1-2 illustrated embodiment of the present invention, details are not described herein.
The electronic equipment exists in a variety of forms, including but not limited to:
(1) mobile communication equipment: the characteristics of this kind of equipment is that have mobile communication function, and to provide speech, data
Communication is main target.This Terminal Type includes: smart phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(2) PC device: this kind of equipment has calculating and processing function, generally also has mobile Internet access characteristic.This
Terminal Type includes: PDA, MID and UMPC equipment etc., such as iPad.
(3) server: providing the equipment of the service of calculating, and the composition of server includes that processor, hard disk, memory, system are total
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, in processing energy
Power, stability, reliability, safety, scalability, manageability etc. are more demanding.
(4) other electronic equipments with data interaction function.
Fig. 7 is that the high low speed of AEB system of the embodiment of the present invention two switches brake control composed structure schematic block diagram, the
One monitoring modular, for for monitoring current vehicle speed；
Judgment module, when the critical value for being reduced to the high low speed working condition of AEB system to define for current vehicle speed, judgement
Whether the first deceleration desired signal value that the AEB system last time sends is 0m/s2；
Brake signal sending module, if for judging that the first deceleration desired signal value is not 0m/s2, then directly
It sends one and automatic brake control is not carried out to this vehicle for 0 the second deceleration desired signal.
A kind of high low speed of AEB system of the embodiment of the present invention switches brake control, by braking switching control to high low speed
The technical solution of process processed improves, and is monitoring that speed is reduced to the critical value that the high low speed working condition of AEB system defines
When, do not need to judge ETTC value with whether Asafe value reaches automatic braking activation threshold value, but directly the last time is sent out
Whether the first deceleration desired signal sent is 0 to be judged that the first deceleration signal value is not 0m/s if judging2, then directly
It sends one and automatic brake control is not carried out to this vehicle for 0 the second deceleration signal, can eliminate in the prior art in height in this way
When low speed braking strategy switches, when whether reaching automatic braking activation threshold value to ETTC and Asafe value and judge, if ETTC with
Asafe is not up to activation threshold value, does not carry out automatic braking to vehicle, then it is strong to will appear of short duration braking under AEB-LSpd state
Degree is 0m/s2Period, avoid and suddenly wave phenomenon occur when then sending a stronger brake signal, so that AEB system
There is preferable ride comfort when high low speed brake working condition of uniting switches.
In the present embodiment, the traveling multidate information further include: steering wheel angle information or wheel steering angle information；
Described device further includes screening module, for going out this vehicle according to steering wheel angle information or wheel steering angle information sifting
The target front truck for needing to avoid collision in driving trace.
Described device further include: the second monitoring modular, for monitoring the static 2s or more of speed, then AEB system enter to
Machine state
In the present embodiment, as an alternative embodiment, described device further includes third monitoring modular, is worked as continuing monitoring
Preceding speed simultaneously carries out corresponding automatic brake control, until the first deceleration desired signal that the AEB system last time sends
Until being released for the risk of collision of 0 or Ben Che and front truck.
The device of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 1, realization principle and skill
Art effect is similar, can be cross-referenced, and details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (4)
1. a kind of high low speed of AEB system switches brake control, it is characterised in that: set including the first monitoring modular and electronics
Standby, first monitoring modular includes the radar and video camera being mounted on automobile, and the electronic equipment includes shell (1), place
Reason device (2), memory (3), circuit board (4) and power circuit (5), the circuit board (4) are placed in the space that shell (1) surrounds
Inside, processor (2) and memory (3) are arranged on circuit board (4)；Power circuit (5) is used for as each of the electronic equipment
A circuit or device power supply；The processor (2) receives the data of the radar and the video camera, and stores data into institute
It states memory (3), processor (2) signal is connected to AEB system.
2. the high low speed of a kind of AEB system according to claim 1 switches brake control, it is characterised in that: the electricity
Sub- equipment exists in a variety of forms, including mobile phone, computer, PDA, MID and UMPC.
3. the high low speed of a kind of AEB system according to claim 1 switches brake control, it is characterised in that: the shell
The material of body (1) is isolation material.
4. the high low speed of a kind of AEB system according to claim 1 switches brake control, it is characterised in that: the place
Manage the single-chip microcontroller that device (2) are STC series.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821944085.9U CN209410029U (en) | 2018-11-23 | 2018-11-23 | A kind of high low speed switching brake control of AEB system |
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|---|---|---|---|
| CN201821944085.9U CN209410029U (en) | 2018-11-23 | 2018-11-23 | A kind of high low speed switching brake control of AEB system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624942A (en) * | 2018-11-23 | 2019-04-16 | 中汽研（天津）汽车工程研究院有限公司 | A kind of high low speed switching brake control method of AEB system and control device |
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2018
- 2018-11-23 CN CN201821944085.9U patent/CN209410029U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624942A (en) * | 2018-11-23 | 2019-04-16 | 中汽研（天津）汽车工程研究院有限公司 | A kind of high low speed switching brake control method of AEB system and control device |
| CN109624942B (en) * | 2018-11-23 | 2024-05-28 | 中汽研（天津）汽车工程研究院有限公司 | AEB system high-low speed switching braking control method and control device |
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