CN105584469B - A kind of motor vehicle braking system, braking method and the vehicle with the braking system - Google Patents
A kind of motor vehicle braking system, braking method and the vehicle with the braking system Download PDFInfo
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- CN105584469B CN105584469B CN201410555166.XA CN201410555166A CN105584469B CN 105584469 B CN105584469 B CN 105584469B CN 201410555166 A CN201410555166 A CN 201410555166A CN 105584469 B CN105584469 B CN 105584469B
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Abstract
The present invention provides a kind of motor vehicle braking systems, including：Distance measuring unit, the distance of measurement front vehicles, pedestrian or barrier；Test the speed unit, measures the travel speed of vehicle；The distance and driving speed information that control unit, reception distance measuring unit and the unit that tests the speed are sent, and one braking instruction of output；Brake unit executes brake operating to vehicle according to braking instruction；Further include：Precipitation rain fall sensor sends a signal comprising rainfall size to control unit according to rainfall；Control unit determines Current terrestrial friction coefficient μ according to rainfall size, and determines safe speed according to distance, friction coefficient μ；Control unit compares safe speed and travel speed, and when safe speed is less than the travel speed, control unit sends braking instruction to brake unit；When safe speed is greater than travel speed, vehicle continues to travel.After adopting the above technical scheme, determining safe speed according to different road conditions, self-actuating brake is more targeted, and safety is higher.
Description
Technical field
The present invention relates to vehicle electric field more particularly to a kind of motor vehicle braking system, braking method and there is the braking
The vehicle of system.
Background technique
In recent years, with rapid economic development, more and more people, which are added, garage's column, and traffic accident also has become the " world
First evil ", and China is one of the country that toll on traffic is most in the world.Data show, 2009, Chinese automobile
Ownership accounts for about the 3% of world car ownership, but the 16% of the world toll on traffic Que Zhan.2009, the whole nation was altogether
Road traffic accident, which occurs, causes 67759 people death, 27.5 ten thousand people injured, and 9.1 hundred million yuan of direct property loss；2010 and 2011
Year, the traffic accident number that causes death is 65225 and 62387 people respectively, is ranked first in the world in continuous more than ten year.According to statistics,
In traffic accident 1/2 be because speed it is too fast caused by, wherein have again, to be greatly that speed is too fast cause pedestrian to be wounded to die.
Existing pedestrian passive detection anticollision device, collision-prevention device only gives driver and provides alarm, but because people needs centainly
Reaction time or driver has little time to brake doing other things at this time, traffic accident just occurs therewith.Another automobile primary
Dynamic detection anticollision device, collision-prevention device is one fixed safe distance of setting, but the safe distance wherein utilized in default of theoretical calculation according to
According to being inaccurate.Safe distance and speed and automobile and the coefficient of friction on ground have certain relationship in reality, not permanent
Definite value.Then the theory α coefficient distance used in automobile active detecting anticollision device, collision-prevention device and practical safe distance error are larger.
Therefore, it is necessary to the new vehicle braking systems that one kind can determine safe distance according to different road conditions, improve and calculate
Safe distance precision and travel safety.
Summary of the invention
In order to overcome the above technical defects, the purpose of the present invention is to provide a kind of motor vehicle braking system, braking method and
Vehicle with the braking system.
The invention discloses a kind of motor vehicle braking systems, including：Distance measuring unit, for measuring front vehicles, pedestrian or barrier
Hinder the distance of object；Test the speed unit, for measuring the travel speed of vehicle；Control unit receives the distance measuring unit and the list that tests the speed
The distance and driving speed information that member is sent, and one braking instruction of output；Brake unit, according to the braking instruction to vehicle
Execute brake operating；Further include：Precipitation rain fall sensor, sending one to described control unit according to the rainfall of acquisition includes that rainfall is big
Small signal；Described control unit determines that Current terrestrial rubs according to the corresponding ground friction coefficient μ of rainfall size in the signal
Coefficient μ is wiped, and safe speed is determined by theorem of kinetic energy according to the distance, coefficient of friction；Described control unit is relatively more described
Safe speed and the travel speed, when the safe speed is less than the travel speed, described in described control unit transmission
Braking instruction is to the brake unit.
Preferably, the distance measuring unit includes infrared sensor, the infrared ray of detection pedestrian's radiation.
Preferably, the distance measuring unit further includes Fresnel Lenses, the infrared ray that focusing pedestrian radiates to the infrared biography
Sensor.
Preferably, the motor vehicle braking system further includes：Signal processing unit set on the distance measuring unit and/or tests the speed
Between unit and control unit, the signal amplification and/or filtering that carry the distance and/or travel speed and rainfall and A/D are turned
It changes.
Preferably, the motor vehicle braking system further includes：Display unit shows the distance and/or travel speed.
Preferably, the brake unit includes：Self-actuating brake circuit, according to the braking instruction abrupt deceleration vehicle.
Preferably, the self-actuating brake circuit includes：Laser field-effect tube and brake module, the laser field-effect tube root
It is turned on or off according to the braking instruction, whether controlling brake module braking.
The invention also discloses a kind of vehicle braking methods, include the following steps：S1：Measure front vehicles, pedestrian or barrier
Hinder object at a distance from vehicle；S2：Measure the travel speed of current vehicle；S3:The distance and travel speed are sent to vehicle
Control unit；S4:Precipitation rain fall sensor acquires rainfall size, and sends the signal comprising rainfall size to described control unit；
S5:Described control unit determines Current terrestrial friction coefficient μ according to the corresponding ground friction coefficient μ of rainfall size；S6:The control
Unit processed determines safe speed by theorem of kinetic energy according to the distance, coefficient of friction；S7:The described control unit peace
The size of full speed, when the safe speed is less than the travel speed, described control unit sends a braking instruction to vehicle
Brake unit execute brake operating.
Preferably, in the step S5, rainfall size relationship corresponding with ground friction coefficient μ is：When rainfall size is
When raining heavyly, the ground friction coefficient μ is 0.5；When rainfall size is moderate rain, the ground friction coefficient μ is 0.6；Work as rain
When amount size is light rain, the ground friction coefficient μ is 0.7；When rainfall size is no rain, the ground friction coefficient μ is
0.8。
Preferably, in the step S6, when calculating the safe speed, the distance is that the distance measured subtracts driver
Reaction distance, then subtract a margin value.
Preferably, the margin value is the 20% of the distance measured.
The present invention discloses a kind of vehicle with above-mentioned motor vehicle braking system again.
After above-mentioned technical proposal, compared with prior art, have the advantages that：
1. calculate practical safe distance between vehicles according to different road conditions, avoid brake in time in unalterable safe distance between vehicles still without
Method hides the case where front pedestrian or barrier.
A possibility that 2. front pedestrian or obstacle detection range are wider, reduce blind spot.
Detailed description of the invention
Fig. 1 is the system structure diagram of motor vehicle braking system in one embodiment of the invention；
Fig. 2 is the circuit diagram of self-actuating brake circuit in one embodiment of the invention；
Fig. 3 is Fresnel lens detection angle schematic diagram in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the advantages of the present invention are further explained with specific embodiment.
It refering to fig. 1, is the system structure diagram of motor vehicle braking system in one embodiment of the invention.Motor vehicle braking system packet
It has included：Distance measuring unit can measure this vehicle at a distance from front pedestrian, vehicle or barrier, and be sent out comprising the distance
Signal, signified distance, refers between the two o'clock after Ben Che and front pedestrian, vehicle or barrier to be considered as to unit point herein
Distance；Test the speed unit, can measure the current travel speed of vehicle, is equally also sent out the letter comprising the driving speed information
Number；Control unit, i.e. vehicle MCU receive above-mentioned two signals comprising distance and driving speed information respectively.In order to road conditions into
Row is analyzed, and in the present invention, motor vehicle braking system further includes having a precipitation rain fall sensor, and it is strong to can be used for telemetering liquid precipitation, precipitation
The data such as degree, precipitation beginning and ending time, which will analyze collected rainfall size, and connect with control unit, will
Signal comprising current rainfall size data is sent to control unit, and control unit compares rainfall size data, finds out current
The corresponding ground friction coefficient μ of rainfall size, to judge the friction coefficient μ of Current terrestrial.Subsequent control unit is according to survey
Measured away from unit with the unit that tests the speed at a distance from front pedestrian, vehicle or barrier and travel speed, and in theorem of kinetic energy(μ is coefficient of friction, and N=mg, g take 9.8m/s2, m is the quality of vehicle, and s is positive the distance of front obstacle,
vtFor safe speed) on the basis of calculate safe speed.Calculate coefficient of friction weighting after safe speed after, control unit will
The safe speed is compared with current driving speed, and when safe speed is less than travel speed, control unit will send a system
Dynamic instruction is to the brake unit of vehicle, and after receiving braking instruction, brake unit executes brake operating to vehicle；And when safety
When speed is greater than travel speed, control unit will not send braking instruction to brake unit, and vehicle just continues traveling and goes down.
In one preferred embodiment, distance measuring unit is configured to infrared sensor, and rpyroelectric infrared biography more preferably can be used
Sensor, the infrared ray given off for detecting road pedestrian, since infrared line pollution is small, cloud and mist penetration power is stronger, and most of
Traffic accident be that therefore, can be carried out for pedestrian using infrared sensor tight caused by pedestrian does not observe traffic rules and regulations
It brings to a halt evacuation.Then, one is additionally provided in distance measuring unit according to the principle that infrared ray straightline propagation itself is difficult diffusion
Fresnel Lenses.Refering to Fig. 3, for Fresnel lens detection angle schematic diagram in the present invention, search angle α can be in infrared sensing
Install the Fresnel Lenses before device additional, so that the investigative range of infrared sensor is in coniform shape, and the distance of investigative range can
Reach tens meters, even if pedestrian not in the front of vehicle but in front of side when (such as jaywalking), still can be infrared
Sensor detects.Fresnel Lenses can focus on the infrared ray that pedestrian radiates on infrared sensor simultaneously, generate alternating
The highly sensitive area of the infra-red radiation of variation and blind area, to adapt to the continually changing characteristic of pyroelectric infrared sensor requirement signal.
It is conceivable, that in above-described embodiment, it is possible to use the survey comprising other distance-measuring equipments such as electromagnetic sensor etc.
Away from unit, using the functional measurement of itself at a distance from front pedestrian, vehicle or barrier, be not limited to the above embodiments in mention
And mode.
The calculation method of safe speed in above preferred embodiment is discussed in detail herein：
After infrared sensor detects the infrared signal that pedestrian issues, since Fresnel Lenses has detected row in front of side
The distance d (spacing of vehicle and pedestrian) of people, but vehicle is to move forward, and distance d is not positive in forward direction and can brake
Distance s therefore according to Fresnel Lenses search angle α, can be calculated the distance s=dcos α that front can brake upwards.Separately
Outside, it is contemplated that driver from observing reaction time of the danger ahead to practical brake pedal, this can braking distance s
On the basis of should subtract reaction distance △ s=vttInstead, then obtain subtracting the braking distance s=dcos α-v after reaction distancettInstead, so that
The safe distance that can be braked is more accurate.Meanwhile for further safety, on the basis of braking distance s, subtract more than part
Magnitude (takes 20% in this embodiment), prevent the special circumstances such as reaction time too long, driver fault misstepping on accelerator occur when brake away from
Braking distance s=0.8* (dcos α-v from inadequate condition, then after finally obtaining a weightingttInstead), by braking distance s band
Enter into theorem of kinetic energy, and obtains safety shut-down speed after abbreviation：
Wherein tInstead0.7 second desirable, d is then according to different phenanthrene
The parameter of Nie Er lens determines.
Drive a vehicle when due to different rainfalls ground friction coefficient μ it is different, the value of μ it is of different sizes with rainfall and
Change, in an embodiment, the corresponding relationship of the two is：
When raining heavyly, μ=0.5, then
When moderate rain, μ=0.6, then
When light rain, μ=0.7, then
When without rain, μ=0.8, then
The selection of above-mentioned friction coefficient μ can be adjusted according to road conditions, and the example above is not limited in any way the value of μ.And
The judgement of rainfall can be divided according to the rainfall judgment criteria of meteorological field routine, also or be manually adjusted.
It after calculating safe speed v, is just compared with actual vehicle speed, to determine the need for holding by control unit
Row self-actuating brake.
With continued reference to Fig. 1, in order to ensure distance measuring unit and the unit that tests the speed measurement range data and current driving vehicle speed data
It is transferred to the accuracy of control unit, motor vehicle braking system further includes having signal processing unit, and the signal processing unit is settable
Between distance measuring unit, the unit that tests the speed, precipitation rain fall sensor and control unit, distance measuring unit, the unit that tests the speed, precipitation rain fall sensor are sent
Carry distance and/or the signal of travel speed and rainfall amplifies filtering and/or A/D conversion, with prevent distance measuring unit,
The signal that unit, precipitation rain fall sensor are sent that tests the speed is excessively faint, can not identify or identify that the situation of mistake occurs.
Alternatively and preferably, motor vehicle braking system further includes having a display unit, is connect with control unit, when control is single
Member obtains current vehicle at a distance from front pedestrian, vehicle or barrier and after travel speed, and above- mentioned information are sent to display
Unit, and show on the display unit, to inform driver's above- mentioned information.It is appreciated that display unit can be setting with
The common display equipment such as interior display screen, touch screen.
In the present embodiment, brake unit includes self-actuating brake circuit, according to the instruction abrupt deceleration vehicle of control unit.More
Body, self-actuating brake circuit includes laser field-effect tube (LSDMOSFET), is connected by laser field-effect tube (LSDMOSFET)
Or the state change of cut-off drives the rotation of motor to control brake pedal.When safe speed v is less than travel speed, control is single
Member control exports high level and gives self-actuating brake circuit, so that laser field-effect tube (LSDMOSFET) is connected, drives motor rotation control
System steps on brake pedal, and safe speed v and travel speed are compared in subsequent control unit stopping.As braking stops vehicle, detect
When the actual vehicle speed arrived is 0, control unit control output low level turns off laser field-effect tube (LSDMOSFET), motor
It stops rotating so that brake pedal unclamps.
The invention also discloses a kind of vehicle braking methods, include the following steps：
S1：Measurement front, pedestrian or barrier and this vehicle distance d；
S2：Measure the travel speed of vehicle (S1 and S2 are without front and back sequence requirement)；
S3：Above-mentioned distance d and driving speed information are converted into the control unit that pulse signal is sent to vehicle,；
S4：Precipitation rain fall sensor acquires current rainfall size, and sends the information comprising rainfall size to control unit, such as works as
Preceding heavy rain, moderate rain, light rain or without rain, similarly, the above-mentioned information signal comprising rainfall size is also converted into pulse signal；
S5：After control unit digital-to-analogue conversion, specifying information is converted by above-mentioned pulse signal, and corresponding according to rainfall size
Ground friction coefficient μ determine Current terrestrial friction coefficient μ；
S6：Control unit determines safe speed by theorem of kinetic energy according to distance, coefficient of friction；
S7：Control unit compares the size of safe speed, and when safe speed is less than travel speed, control unit sends one
The brake unit of braking instruction to vehicle executes brake operating.
In above-mentioned braking method, even if heavy rain just stops, also being judged according to the liquid level of precipitation rain fall sensor as road surface
Coefficient of friction is smaller.It or is when front side has multiple pedestrians, distance measuring unit will select the smallest distance, i.e., immediate
Pedestrian is standard as the distance for being sent to control unit.
In a preferred embodiment, the corresponding relationship of rainfall size and friction coefficient μ is：
When rainfall size is that when raining heavyly, the ground friction coefficient μ is 0.5；
When rainfall size is moderate rain, the ground friction coefficient μ is 0.6；
When rainfall size is light rain, the ground friction coefficient μ is 0.7；
When rainfall size is no rain, the ground friction coefficient μ is 0.8.
As was mentioned above, the selection of friction coefficient μ and revocable, can be according to driving experience or actually measured
Coefficient of friction is adjusted.
Other are preferably or in alternative embodiment, and when calculating safe speed, distance subtracts driver's reaction for the distance measured
Distance, then subtract set margin value, in view of special circumstances occur when practical safe distance shortening.The embodiment
In, margin value 20%, i.e., by the front distance measured multiplied by 80% as calculate when distance s reference value.
Vehicle with above-mentioned braking system or using the braking of above-mentioned mode of braking vehicle can according to the variation of road conditions,
Safety shut-down distance and safe speed are accurately calculated, the generation of peril is avoided.
It should be noted that the embodiment of the present invention has preferable implementation, and not the present invention is made any type of
Limitation, any one skilled in the art change or are modified to possibly also with the technology contents of the disclosure above equivalent effective
Embodiment, as long as without departing from the content of technical solution of the present invention, it is to the above embodiments according to the technical essence of the invention
Any modification or equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of motor vehicle braking system, including：
Distance measuring unit, for measuring front vehicles, pedestrian or the distance of barrier；
Test the speed unit, for measuring the travel speed of vehicle；
Control unit receives the distance measuring unit and the distance and driving speed information that the unit that tests the speed is sent, and output one
Braking instruction；
Brake unit executes brake operating to vehicle according to the braking instruction；It is characterized in that,
Further include：
Precipitation rain fall sensor sends a signal comprising rainfall size to described control unit according to the rainfall of acquisition；The control
Unit determines Current terrestrial friction coefficient μ according to the corresponding ground friction coefficient μ of rainfall size in the signal, and according to described
Distance, coefficient of friction determine safe speed by theorem of kinetic energy；
The described control unit safe speed and the travel speed, when the safe speed is less than the travel speed
When, described control unit sends the braking instruction to the brake unit；
The brake unit includes：Self-actuating brake circuit, according to the braking instruction abrupt deceleration vehicle；The self-actuating brake circuit packet
It includes：Laser field-effect tube and brake module, the laser field-effect tube is turned on or off according to the braking instruction, described in control
Whether brake module is braked.
2. motor vehicle braking system as described in claim 1, which is characterized in that
The distance measuring unit includes infrared sensor, the infrared ray of detection pedestrian's radiation.
3. motor vehicle braking system as claimed in claim 2, which is characterized in that
The distance measuring unit further includes Fresnel Lenses, the infrared ray that focusing pedestrian radiates to the infrared sensor.
4. motor vehicle braking system as described in claim 1, which is characterized in that
The motor vehicle braking system further includes：Signal processing unit, set on the distance measuring unit and/or test the speed unit and control list
Between member, the signal amplification and/or filtering that carry the distance and/or travel speed and rainfall and A/D are converted.
5. motor vehicle braking system as described in claim 1, which is characterized in that
The motor vehicle braking system further includes：Display unit shows the distance and/or travel speed.
6. a kind of vehicle braking method, which is characterized in that it is realized based on motor vehicle braking system described in claim 1, including with
Lower step：
S1：Front vehicles, pedestrian or barrier are measured at a distance from vehicle；
S2：Measure the travel speed of current vehicle；
S3:The distance and travel speed are sent to the control unit of vehicle；
S4:Precipitation rain fall sensor acquires rainfall size, and sends the signal comprising rainfall size to described control unit；
S5:Described control unit determines Current terrestrial friction coefficient μ according to the corresponding ground friction coefficient μ of rainfall size；
S6:Described control unit determines safe speed by theorem of kinetic energy according to the distance, coefficient of friction；
S7:The size of the described control unit safe speed, when the safe speed is less than the travel speed, institute
It states the brake unit that control unit sends a braking instruction to vehicle and executes brake operating.
7. vehicle braking method as claimed in claim 6, which is characterized in that
In the step S5, rainfall size relationship corresponding with ground friction coefficient μ is：
When rainfall size is that when raining heavyly, the ground friction coefficient μ is 0.5；
When rainfall size is moderate rain, the ground friction coefficient μ is 0.6；
When rainfall size is light rain, the ground friction coefficient μ is 0.7；
When rainfall size is no rain, the ground friction coefficient μ is 0.8.
8. vehicle braking method as claimed in claims 6 or 7, which is characterized in that
In the step S6, when calculating the safe speed, the distance is that the distance measured subtracts driver perception reaction distance, then
Subtract a margin value.
9. vehicle braking method as claimed in claim 8, which is characterized in that
The margin value is the 20% of the distance measured.
10. a kind of vehicle with motor vehicle braking system as described in claim 1.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106218612B (en) * | 2016-07-27 | 2019-07-16 | 宇龙计算机通信科技(深圳)有限公司 | A kind of method, apparatus and terminal of vehicle safety travel |
| CN106114478B (en) * | 2016-07-29 | 2019-03-26 | 北京车和家信息技术有限公司 | Brake control method, device and vehicle |
| CN110549999B (en) * | 2018-05-30 | 2021-08-27 | 上海海拉电子有限公司 | Accelerator pedal system for vehicle |
| CN108956156B (en) * | 2018-06-01 | 2021-06-01 | 上汽通用五菱汽车股份有限公司 | Performance test method and device for brake locking system of vehicle |
| CN110979278B (en) * | 2019-12-31 | 2021-06-29 | 浙江合众新能源汽车有限公司 | An automatic emergency braking control method based on rainfall |
| CN114166527A (en) * | 2021-12-06 | 2022-03-11 | 应急管理部上海消防研究所 | A fire-fighting robot driving data detection device and method |
| CN118494333B (en) * | 2024-07-18 | 2024-10-29 | 深圳市蓝鲸智联科技股份有限公司 | Vehicle brake lamp control method, device and system and readable storage medium thereof |
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