CN109878517B - System and method for automatically and forcibly decelerating and limiting speed of vehicle - Google Patents

Abstract

The invention relates to a system for automatic forced deceleration and speed limiting of vehicles, comprising a roadside unit, a vehicle speed monitoring unit, a vehicle speed optimization unit, and a vehicle speed control unit. The roadside unit includes a speed limit signal control and transmission module, and the vehicle speed monitoring unit includes a signal receiving unit. module, speedometer, first judgment module and information preprocessing module, vehicle speed optimization unit includes radar rangefinder, radar speedometer, vehicle control module, second judgment module, braking deceleration calculation module and communication module, vehicle speed control unit Including voice announcement actuator, vehicle speed control actuator, engine power control and ESC active braking control. The invention also relates to a method for automatic forced deceleration and speed limit of a vehicle. Starting from the distance and speed of the vehicle, the range of braking deceleration adopted by the vehicle to avoid conflict with the front and rear vehicles is accurately calculated. When the speed of the vehicle is controlled Improve driving safety and greatly reduce the risk of accidents caused by speeding vehicles in expressway maintenance operation areas.

Description

System and method for automatic forced deceleration and speed limit of vehicle

technical field

The invention relates to the fields of vehicle automatic control and traffic safety, in particular to a roadside unit set up facing an expressway maintenance operation area. At the same time, a vehicle speed monitoring unit, a vehicle speed optimization unit, and a vehicle speed control unit are set on the vehicle to force the vehicle to stay within a fixed distance. Complete safe automatic deceleration and speed limit methods within the

Background technique

With the sustained and rapid development of my country's economy and society, the traffic volume of expressways has grown rapidly, and the expressways built in my country in the early days have entered the stage of daily maintenance, major and medium repairs, or reconstruction and expansion. During highway maintenance operations, some lanes need to be closed, and vehicles need to perform actions such as early deceleration and forced merging in advance to ensure safe passage through the construction area. The existing speed limit methods mostly remind drivers to take correct driving behaviors by placing speed limit signs and construction signs. However, it is unavoidable that some drivers tend to ignore or ignore the speed limit signs when driving on the expressway, resulting in vehicles approaching. Conflicts are likely to occur in the working area, resulting in serious traffic accidents. Chinese patent (CN108297868A) discloses an automatic mandatory speed-limited cruise system for vehicles on speed-limited road sections. The system includes a speed-limit signal transmitter, a vehicle-mounted signal receiver, an adaptive cruise controller, a vehicle-mounted CAN bus, and an actuator. After the signal receiver receives the signal, it transmits an instruction to force the automatic cruise of the vehicle to be turned on. The invention is limited to fixed speed limit roads such as campuses and residential areas, and does not take into account whether the vehicle will collide with the vehicle in front or behind after the forced speed limit. , so that the system itself has limitations and cannot be applied to the situation where there are more vehicles and faster speeds in the expressway maintenance area.

SUMMARY OF THE INVENTION

Aiming at the problems existing in the prior art, the present invention discloses a system and method for automatic forced deceleration and speed limit of vehicles, which can force vehicles to complete safe automatic deceleration and speed limit within a specified distance and avoid traffic conflicts during the forced deceleration process. , the calculation is simple and efficient, the judgment is accurate, and the vehicle takes inappropriate braking and deceleration to avoid traffic conflicts.

The present invention adopts the following technical means in order to achieve the above-mentioned target effect:

A method for automatically forced deceleration and speed limit of a vehicle, comprising the following steps:

Step 1, the speed limit signal transmitting module sends the real-time control information of the speed limit signal to the signal receiving module;

Step 2: The speedometer reads the current speed V ₁ of the vehicle and sends it to the first judgment module. The first judgment module compares V ₁ with the speed limit value V ₀ . If V ₁ >V ₀ , then step 3 is executed, the vehicle Perform forced deceleration, otherwise go to step 6, the vehicle will limit the speed;

Step 3: The information preprocessing module calculates the braking deceleration a ₀ required by the vehicle to adjust the vehicle speed to the speed limit within the maximum braking deceleration distance value D ₀ , and sends the current vehicle speed V ₁ and braking deceleration a ₀ . To the vehicle-mounted control module, the radar range finder sends the vehicle distance information between the vehicle and the front and rear vehicles to the vehicle-mounted control module, and the radar speedometer sends the vehicle speed information of the front and rear vehicles to the vehicle _- mounted control module; the vehicle control module sends the vehicle speed V2, The speed V ₃ of the rear vehicle, the distance D ₁ between the vehicle and the vehicle in front, and the distance D ₂ between the vehicle and the vehicle behind are sent to the second judgment module;

Step 4, the second judgment module sends the judgment result to the braking deceleration calculation module, so as to calculate the optimal braking deceleration range value that the vehicle should perform under the premise of not colliding with the front and rear vehicles, and communicate with The module sends the forced deceleration command to the voice broadcast actuator and the vehicle speed control actuator;

Step 5, the voice broadcast actuator prompts the driver that the vehicle enters the forced deceleration stage, and the vehicle speed control actuator takes corresponding deceleration measures according to the optimal braking deceleration range value to control the vehicle engine power and ESC active braking, at the maximum braking deceleration distance Adjust the vehicle speed within the speed limit range within the value D ₀ ;

Step 6: When the current vehicle speed is within the speed limit range, the vehicle _- mounted control module sends the current vehicle speed V1 and the speed limit command to the communication module, and the communication module issues the speed limit command to the vehicle speed control actuator and the voice broadcast actuator, and the vehicle speed control actuator Control the engine power of the vehicle so that the maximum speed of the vehicle does not exceed the speed limit value, and the voice broadcast actuator prompts the driver to limit the speed;

Step 7: The speed limit signal transmitting module transmits the speed limit release signal, the signal receiving module receives the information, and sends the speed limit release command to the communication module, and the communication module issues the speed limit release command to the voice broadcast actuator and the vehicle speed control actuator to release the vehicle control. .

Further, the speed limit information includes the real-time speed limit V ₀ of the maintenance work area and the maximum braking and deceleration distance value D ₀ of the vehicle.

Further, the braking deceleration

Further, the braking deceleration range that should be performed on the premise that the host vehicle does not collide with the front and rear vehicles includes a minimum braking deceleration a ₁ and a maximum braking deceleration a ₂ .

Further, the minimum braking deceleration

Further, the maximum braking deceleration

Further, the braking deceleration range is determined according to the magnitude relationship between V ₁ , V ₂ , and V ₃ . When V ₃ <V ₁ ≤ V ₂ , the value range of braking deceleration is a∈( a ₀ ,∞); when V ₁ ≤V ₂ and V ₁ ≤V ₃ , the value range of braking deceleration is a∈(a ₀ ,a ₂ ); when V ₁ >V ₂ and V ₁ >V ₃ , the value range of braking deceleration is a∈(max(a ₀ ,a ₁ ),∞); when V ₂ <V ₁ ≤V ₃ , the value range of braking deceleration is a∈( max(a ₀ ,a ₁ ),a ₂ ).

A system for automatic forced deceleration and speed limiting of vehicles, comprising a roadside unit, a vehicle speed monitoring unit, a vehicle speed optimization unit, and a vehicle speed control unit connected in sequence, the roadside unit comprising a connected speed limit signal control module and a speed limit signal a transmitting module; the vehicle speed monitoring unit includes a signal receiving module, a first judging module, a speedometer and an information preprocessing module, the signal receiving module is connected with the speed limit signal transmitting module, and the signal receiving module is also connected with the first judging module, the information preprocessing module The modules are connected in sequence, and the speed tester is connected with the first judgment module; the vehicle speed optimization unit includes a radar rangefinder, a radar speed tester, a vehicle-mounted control module, a second judgment module, a braking deceleration calculation module and a communication module, and the information predicts The processing module, the radar range finder, and the radar speed finder are connected to the vehicle-mounted control module, and the vehicle-mounted control module is sequentially connected to the second judgment module and the braking deceleration calculation module. The signal receiving module, the vehicle-mounted control module, and the braking deceleration calculation module are connected in turn. They are all connected with the communication module. The vehicle speed control unit includes a voice broadcast actuator, a vehicle speed control actuator, an engine power control, and an ESC active braking control. The communication module is connected to the voice broadcast actuator and the vehicle speed control actuator, respectively. Actuator is connected to engine power control, ESC active braking control

The beneficial effects of the present invention are: the present invention establishes the communication between the vehicle and the roadside signal transmitter, uses the radar sensor of the vehicle to obtain the speed and distance of the front and rear vehicles, and calculates the conditions for the current vehicle to avoid traffic conflicts with the front and rear vehicles. In order to achieve the optimal braking deceleration range value required by the speed limit value, the vehicle is controlled to forcefully decelerate automatically and ensure that the speed limit value is not exceeded. At the same time, the driver is reminded by the voice system that the vehicle will automatically adjust the speed. In this way, it can ensure that the vehicle is within a fixed distance and adjust the vehicle speed to pass the high-speed maintenance operation area within the speed limit range of the road section, which effectively improves the driving safety of the expressway maintenance operation area and reduces the road congestion caused by the sudden braking or acceleration of the vehicle. and traffic accidents.

Description of drawings

1 is a schematic structural diagram of a vehicle automatic forced deceleration and speed limit system for avoiding traffic conflicts in expressway maintenance areas according to the present invention;

FIG. 2 is a flow chart of the operation of a method for automatically forcibly decelerating and limiting the speed of vehicles for avoiding traffic conflicts in expressway maintenance areas according to the present invention.

Detailed ways

The present invention will be further described in detail below through specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figure 1, the present invention relates to a vehicle automatic forced deceleration and speed limiting system for avoiding traffic conflicts in expressway maintenance operation areas, including four parts: roadside unit, vehicle speed monitoring unit, vehicle speed optimization unit, and vehicle speed control unit; The side unit is arranged in the expressway maintenance operation area, and the vehicle speed monitoring unit, the vehicle speed optimization unit and the vehicle speed control unit are arranged on the vehicle.

The roadside unit includes a speed limit signal control module and a speed limit signal emission module. The speed limit signal control module is used to store the real-time control information of the speed limit signal. The real-time control information of the speed limit signal includes the real-time speed limit V ₀ of the expressway maintenance operation area, The vehicle adjusts the vehicle speed to the maximum braking deceleration distance D ₀ within the speed limit range and the speed limit release information. The speed limit signal transmitter module is used to transmit the real-time control information of the speed limit signal to the passing vehicles, which plays a role in communication.

The vehicle speed monitoring unit includes a signal receiving module, a first judging module, a speed detector and an information preprocessing module. The signal receiving module is used to receive the real-time control information of the speed limit signal, and the first judgment module is used to judge the difference between the current vehicle speed and the speed limit value. size, that is, to determine whether the vehicle needs to take automatic forced deceleration and speed limit, the speedometer is used to obtain the current vehicle speed V ₁ of the vehicle, and the information preprocessing module is used to calculate the vehicle reaches the real-time speed limit V within the maximum braking and deceleration distance D ₀ . ₀ braking deceleration a ₀ .

The vehicle speed optimization unit includes a radar rangefinder, a radar speedometer, a vehicle-mounted control module, a second judgment module, a braking deceleration calculation module and a communication module. The radar rangefinder is used to measure the real-time vehicle distance D ₁ of the current vehicle and the front and rear vehicles. D ₂ , the radar speed detector is used to obtain the current vehicle speeds V ₂ and V ₃ of the preceding vehicle and the rear vehicle, and the vehicle-mounted control module is used to receive the response data from the information preprocessing module, the radar range finder and the radar speed detector, and send the limit to the communication module. The second judging module is used to compare the speed of the front and rear vehicles and the current vehicle, and the braking deceleration calculation module is used to calculate the optimal braking deceleration range value that does not collide with the front and rear vehicles, and send the information To the communication module, the communication module is used to receive the speed limit release command sent by the signal receiving module, the speed limit command sent by the vehicle control module, and the optimal braking deceleration range value and forced deceleration command sent by the braking deceleration calculation module, and The above information is transmitted to the voice announcement actuator and the vehicle speed control actuator.

The vehicle speed control unit includes a voice broadcast actuator, a vehicle speed control actuator, an engine power control, and an ESC active brake control. The voice broadcast actuator is used to receive the forced deceleration command, speed limit command and speed limit release command sent by the communication module, and voice prompts and warnings The driver, the vehicle speed control actuator is used to receive the optimal braking deceleration range value, the forced deceleration command, the speed limit command and the speed limit release command sent by the communication module, and select the corresponding method to control the forced deceleration and speed limit of the vehicle. In order to adjust the magnitude of the driving torque of the vehicle engine, the ESC active braking control is used to adjust the braking torque of the vehicle.

The output of the speed-limiting signal control module is connected to the input of the speed-limiting signal transmitting module, the output of the speed-limiting signal transmitting module is connected to the input of the signal receiving module, the outputs of the signal receiving module and the speedometer are all connected to the input of the first judgment module, The output of the first judgment module is connected to the input of the information preprocessing module, the output of the information preprocessing module is connected to the input of the vehicle control module, the outputs of the radar range finder and the radar speedometer are both connected to the input of the vehicle control module, and the vehicle control The output of the module is connected to the input of the second judgment module, the output of the second judgment module is connected to the input of the braking deceleration calculation module, and the outputs of the signal receiving module, the vehicle control module, and the braking deceleration calculation module are all connected to the communication module. Input connection, the output of the communication module is connected to the input of the voice broadcast actuator and the vehicle speed control actuator respectively, and the vehicle speed control actuator is connected to the input of the engine power control and ESC active braking control.

As shown in FIG. 2, the operation flow chart of a system and method for vehicle mandatory speed limit for avoiding traffic conflict in expressway maintenance area includes the following steps:

Step 1: The vehicle travels within the signal coverage of the roadside unit, and the speed limit signal transmitting module sends the real-time control information of the speed limit signal to the signal receiving module. The real-time control information of the speed limit signal includes the real-time speed limit V ₀ of the expressway maintenance operation area. . The vehicle adjusts the vehicle speed to the maximum braking deceleration distance value D ₀ within the speed limit range and the speed limit release information, and the signal receiving module sends the real-time control information of the speed limit signal to the information preprocessing module. The maximum deceleration distance value D ₀ is set in advance by the roadside unit according to the "Safety Operation Regulations for Highway Maintenance (JTG H30-2015)", and the specific values are shown in Table 1:

Table 1 Maximum deceleration distance value

Step 2: The speedometer reads the current speed V ₁ of the vehicle and sends it to the first judgment module, and the first judgment module compares the current speed V ₁ of the vehicle with the speed limit value V ₀ , if V ₁ >V ₀ , then execute the step 3. The vehicle enters the forced deceleration step, otherwise, step 6 is performed, and the vehicle enters the speed-limiting step.

将制动减速度a₀和当前车速V₁发送给车载控制模块，雷达测距器将本车与前后车的车距信息发送给车载控制模块，雷达测速器将前后车的车速信息发送给车载控制模块，车载控制模块将前车车速V₂、后车车速V₃、本车与前车距离D₁和本车与后车距离D₂发送给第二判断模块。Step 3: The information preprocessing module calculates the braking deceleration required for the vehicle to adjust the vehicle speed to the speed limit range within the maximum braking deceleration distance value D ₀

Send the braking deceleration a ₀ and the current vehicle speed V ₁ to the vehicle control module, the radar range finder sends the vehicle distance information between the vehicle and the front and rear vehicles to the vehicle control module, and the radar speedometer sends the vehicle speed information of the front and rear vehicles to the vehicle The control module, the vehicle-mounted control module sends the vehicle speed V ₂ of the preceding vehicle, the vehicle speed V ₃ of the rear vehicle, the distance D ₁ between the vehicle and the vehicle in front, and the distance D ₂ between the vehicle and the vehicle behind to the second judgment module.

Step 4: The second judgment module sends the judgment result to the braking deceleration calculation module, and the braking deceleration calculation module calculates the value of the braking deceleration range that the vehicle should perform under the premise of not colliding with the front and rear vehicles. The minimum braking deceleration that does not collide with the preceding vehicle is a ₁ , and the maximum braking deceleration that the vehicle does not collide with the rear vehicle is a ₂ . The calculation formula is as follows:

According to the magnitude relationship between V ₁ , V ₂ and V ₃ , the range of braking deceleration required for forced deceleration of the vehicle is judged: when V ₃ < V ₁ ≤ V ₂ , the value range of braking deceleration is a∈(a ₀ ,∞); when V ₁ ≤V ₂ and V ₁ ≤V ₃ , the value range of braking deceleration is a∈(a ₀ ,a ₂ ); when V ₁ >V ₂ and When V ₁ >V ₃ , the value range of braking deceleration is a∈(max(a ₀ ,a ₁ ),∞); when V ₂ <V ₁ ≤V ₃ , the value range of braking deceleration is a∈(max(a ₀ ,a ₁ ),a ₂ ); the braking deceleration calculation module uses the communication module to send the optimal braking deceleration range value and the forced deceleration command to the voice broadcast actuator and the vehicle speed control execution device.

Step 5: The voice broadcast actuator sends a notification to the driver that the vehicle is about to be forced to decelerate, and the driver is asked to prepare in advance. The vehicle speed control actuator executes the forced deceleration command according to the obtained optimal braking deceleration range value information to control the engine power and speed of the vehicle. ESC active braking takes corresponding deceleration measures. Under the condition of avoiding traffic conflict with the front and rear vehicles, the vehicle speed is adjusted to the speed limit within the maximum braking deceleration distance value D ₀ .

Step ₆ : When the current vehicle speed is within the speed limit range, the vehicle control module sends the current vehicle speed V1 and the speed limit command to the communication module, and the communication module issues the speed limit command to the vehicle speed control actuator and the voice broadcast actuator, and the vehicle speed control actuator Control the engine power of the vehicle so that the maximum speed of the vehicle does not exceed the speed given by the speed limit signal, without affecting other operations of the driver, and the voice broadcast actuator prompts the driver to limit the speed.

Step 7: The speed limit signal transmitter module transmits the speed limit release signal, the signal receiving module receives the information, and sends the speed limit release signal to the communication module, and the communication module issues the speed limit release command to the vehicle speed control actuator and the voice broadcast actuator, and the vehicle speed The control actuator releases the vehicle speed limit control, and the voice broadcast actuator prompts the driver to release the vehicle speed limit, and the driver can freely control the vehicle.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or deformations that can be made are still within the protection scope of the present invention.

Claims (5)

1. a method for automatic forced deceleration and speed limit of vehicle, is characterized in that, comprises the following steps: Step 1, the speed limit signal transmitting module sends the real-time control information of the speed limit signal to the signal receiving module; Step ₂ : The speedometer reads the current speed V ₁ of the vehicle and sends it to the first judgment module. The _first judgment module compares V ₁ with the speed limit value V ₀ . Perform forced deceleration, otherwise go to step 6, the vehicle will limit the speed; Step 3: The information preprocessing module calculates the braking deceleration a ₀ required by the vehicle to adjust the vehicle speed to the speed limit within the maximum braking deceleration distance value D ₀ , and sends the current vehicle speed V ₁ and braking deceleration a ₀ . To the vehicle-mounted control module, the radar range finder sends the vehicle distance information between the vehicle and the front and rear vehicles to the vehicle-mounted control module, and the radar speedometer sends the vehicle speed information of the front and rear vehicles to the vehicle _- mounted control module; the vehicle control module sends the vehicle speed V2, The speed V ₃ of the rear vehicle, the distance D ₁ between the vehicle and the vehicle in front, and the distance D ₂ between the vehicle and the vehicle behind are sent to the second judgment module; Step 4, the second judgment module sends the judgment result to the braking deceleration calculation module, so as to calculate the optimal braking deceleration range value that the vehicle should perform under the premise of not colliding with the front and rear vehicles, and communicate with The module sends the forced deceleration command to the voice broadcast actuator and the vehicle speed control actuator; The braking deceleration range includes a minimum braking deceleration a1 and _a maximum braking deceleration a2 _; the minimum braking deceleration

The maximum braking deceleration

Step 5, the voice broadcast actuator prompts the driver that the vehicle enters the forced deceleration stage, and the vehicle speed control actuator takes corresponding deceleration measures according to the optimal braking deceleration range value to control the vehicle engine power and ESC active braking, at the maximum braking deceleration distance Adjust the vehicle speed within the speed limit range within the value D ₀ ; Step 6: When the current vehicle speed is within the speed limit range, the vehicle _- mounted control module sends the current vehicle speed V1 and the speed limit command to the communication module, and the communication module issues the speed limit command to the vehicle speed control actuator and the voice broadcast actuator, and the vehicle speed control actuator Control the engine power of the vehicle so that the maximum speed of the vehicle does not exceed the speed limit value, and the voice broadcast actuator prompts the driver to limit the speed; Step 7: The speed limit signal transmitting module transmits the speed limit release signal, the signal receiving module receives the information, and sends the speed limit release command to the communication module, and the communication module issues the speed limit release command to the voice broadcast actuator and the vehicle speed control actuator to release the vehicle control. . 2 . The method for automatic forced deceleration and speed limit of a vehicle according to claim 1 , wherein the speed limit information includes the real-time speed limit V ₀ of the maintenance work area and the maximum braking deceleration distance value D ₀ of the vehicle. 3 . 3. The method for automatic forced deceleration and speed limiting of a vehicle according to claim 1, wherein the braking deceleration

4. The method for automatic forced deceleration and speed limiting of a vehicle according to claim 1, wherein the braking deceleration range is judged according to the magnitude relationship between V ₁ , V ₂ and V ₃ , and when V ₃ When <V ₁ ≤ V ₂ , the value range of braking deceleration is a>a ₀ ; when V ₁ ≤ V ₂ and V ₁ ≤ V ₃ , the value range of braking deceleration is a∈(a ₀ ,a ₂ ); when V ₁ >V ₂ and V ₁ >V ₃ , the value range of braking deceleration is a>max(a ₀ ,a ₁ ); when V ₂ <V ₁ ≤V ₃ , The value range of the braking deceleration is a∈(max(a ₀ ,a ₁ ),a ₂ ). 5. A system for automatic forced deceleration and speed limiting of a vehicle according to claim 1, characterized in that it comprises a roadside unit, a vehicle speed monitoring unit, a vehicle speed optimization unit, and a vehicle speed control unit connected in sequence, and the roadside unit It includes a speed limit signal control module and a speed limit signal transmission module which are connected to each other; the vehicle speed monitoring unit includes a signal receiving module, a first judgment module, a speedometer and an information preprocessing module, and the signal receiving module is connected with the speed limit signal transmission module, The signal receiving module is also connected with the first judgment module and the information preprocessing module in sequence, and the speedometer is connected with the first judgment module; the vehicle speed optimization unit includes a radar rangefinder, a radar speedometer, a vehicle-mounted control module, and a second judgment module. , the braking deceleration calculation module and the communication module, the information preprocessing module, the radar range finder, and the radar speedometer are connected with the vehicle-mounted control module, and the vehicle-mounted control module is connected with the second judgment module and the braking deceleration calculation module in turn, and the signal The receiving module, the vehicle control module and the braking deceleration calculation module are all connected with the communication module. The vehicle speed control unit includes a voice broadcast actuator, a vehicle speed control actuator, an engine power control, an ESC active braking control, a communication module and a voice The broadcast actuator and the vehicle speed control actuator are respectively connected, and the vehicle speed control actuator is connected with the engine power control and the ESC active braking control; The first judging module compares V ₁ with the speed limit value V ₀ , if V ₁ >V ₀ , the vehicle is forced to decelerate, otherwise the vehicle is speed limited; The second judging module sends the judgment results of the speed of the vehicle V ₁ , the speed of the preceding vehicle V ₂ , and the vehicle speed V ₃ of the rear vehicle to the braking deceleration calculation module, so as to calculate the speed of the vehicle before it collides with the front and rear vehicles. Under the premise, the vehicle should implement the optimal braking deceleration range value, and send the forced deceleration command to the voice broadcast actuator and the vehicle speed control actuator through the communication module.

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