CN104002678A - Method for judging mistaken stepping on automobile accelerator - Google Patents

Abstract

The invention discloses a method for judging mistaken stepping on an automobile accelerator. The method for judging the mistaken stepping on the automobile accelerator includes that setting an accelerator pedal acceleration threshold, gathering a obstacle distance threshold, an accelerator pedal acceleration and distance between obstacles, and comparing the accelerator pedal acceleration threshold with the acceleration pedal acceleration, the obstacle distance threshold and the distance between the obstacles to judge whether the driver mistakenly steps on the accelerator. After using the method, if the system judges that the accelerator is mistakenly stepped, the system can respond quickly and enable an engine to locate at an idle state to reduce the automobile speed, the brake is started simultaneously, and the disadvantages of an existing system for judging the mistaken stepping on the accelerator are overcame; the system structure is simple, the respond speed is fast, the control method is fast and effective, and the control method does not only cut an oil passage to accelerate stopping but also achieves emergency braking to prevent mistaken stepping on the accelerator.

Description

A kind of gas is stepped on determination methods by mistake

Technical field

The present invention relates to automobile safety protective field, be specifically related to a kind of gas and step on determination methods by mistake.

Background technology

At present, along with people's living standard improves constantly, car owning amount rapid growth, increasing people selects the trip of driving, and corresponding, traffic accident also increases thereupon.According to NISSAN company, in Japan, approximately there are every year 7000 accidents due to Das Gaspedal is stepped on and being caused as brake pedal by mistake.Because automatic gear car does not have pedal of clutch, cannot as manual automobile, utilize power-transfer clutch to cut off power, throttle and brake pedal are all controlled with right crus of diaphragm, therefore chaufeur is trampled throttle with right crus of diaphragm in motion, when brake, need to lift right crus of diaphragm, shift to brake push down on the pedal automobile brake is slowed down.But in case of emergency, as having suddenly obstacle, the place ahead occurs, now, because chaufeur is in high-pressure state, especially just the person of driving, is easy to, in flurried, throttle is treated as to brake, firmly step on the throttle, not only cause vehicle can not stop, rapidly speed-raising on the contrary, thus cause quite serious accident, not only can cause heavy economic losses, even can cause casualties.Accelerator stepping misoperation preventing technology is a kind of as automobile active safety technology, can reduce or avoid chaufeur because wanting the sudden stop traffic accident that but mis-accelerator pressing causes.After this technology designs after deliberation, can be widely used in motor vehicles for civilian use, improve the personal safety guarantee of chaufeur.

Summary of the invention

The object of the present invention is to provide a kind of gas to step on determination methods by mistake, be easy to realize, system response time is fast, and accuracy and reliability are high; If system is judged as mis-accelerator pressing, vehicle stop fuel feeding emergency braking, can reach the object that prevents driver fault misstepping on accelerator.

The present invention is by the following technical solutions: a kind of gas is stepped on determination methods by mistake, includes following steps: 1) set Das Gaspedal acceleration/accel threshold values a0;

2) according to automobile real-time speed V sampled value, calculate radar sensor and obstacle spacing threshold values L0;

3) gather distance L between Das Gaspedal acceleration/accel a, radar sensor and obstacle;

4) carry out following operation:

[1] if Das Gaspedal acceleration/accel a< Das Gaspedal acceleration/accel threshold values a0 system executive command not;

[2] if distance L > radar sensor and obstacle spacing threshold values L0 between Das Gaspedal acceleration/accel a> Das Gaspedal acceleration/accel threshold values a0 and radar sensor and obstacle, system is executive command not, and driver intention is anxious step on the accelerator;

[3] if distance L < radar sensor and obstacle spacing threshold values L0 system executive command between Das Gaspedal acceleration/accel a> Das Gaspedal acceleration/accel threshold values a0 and radar sensor and obstacle, system is judged as chaufeur and touches on the brake by mistake, vehicle stop fuel feeding emergency braking.

As a kind of improvement, described spacing threshold values L0 computing formula is

$S=S_1+S_2+S_3+S_4=V_1(t_1+t_2+\frac{t_3}{2})-\frac{\mathrm{\&mu;g}{t_3}^2}{24}+\frac{{V_1}^2}{2\mathrm{\&mu;g}}$

V1: the moving velocity before braking automobile;

T1: chaufeur reacts opening time: be about under normal circumstances 0.5 second, in emergency circumstances approximately need 1 second the opening time of most people;

T2: from push down on the pedal to the time that produces braking force, native system is 0.10-0.15s;

Automobile produces after braking force, and pickup a is linear growth, and a ₁=μ g;

$a=\frac{a_{1}t}{t_3}=\frac{\mathrm{\&mu;gt}}{t_3}$

A1: be the maxim of pickup a;

μ: the friction coefficient on car and ground, get μ=0.8;

G: gravity coefficient, get g=9.8m/s ²;

T3: pickup build up time, is generally 0.15-0.20s.

As a kind of improvement, it is characterized in that described therefore a0 answers value comparatively suitable at 50-80m/s2.

As a kind of improvement, described acceleration/accel threshold values a0 value 50-80m/s2, vehicle velocity V is 0-10km/h, spacing threshold values L is 4.2m, vehicle velocity V is 10-30km/h, spacing threshold values L is 16m, vehicle velocity V is 30-40km/h, spacing threshold values L is 22.9m, vehicle velocity V is 40-50km/h, spacing threshold values L is 31.3m, vehicle velocity V is 50-60km/h, spacing threshold values L is 40.7m, vehicle velocity V is 60-70km/h, spacing threshold values L is 51.2m, vehicle velocity V is 70-80km/h, spacing threshold values L is 62.8m, vehicle velocity V is 80-90km/h, spacing threshold values L is 75.4m, vehicle velocity V is 90-100km/h, spacing threshold values L is 89.1m, vehicle velocity V is 100-110km/h, spacing threshold values L is 103.9m, vehicle velocity V is 110-120km/h, spacing threshold values L is 120m.

The present invention has following beneficial effect: adopt after said method, system is judged as mis-accelerator pressing and just can responds fast, makes driving engine transfer idling mode to, reaches the object that reduces the speed of a motor vehicle, start brake simultaneously, overcome the deficiency of mis-accelerator pressing judgement system in prior art; System architecture is simple, fast response time, and control method is effective fast, not only cuts off oil circuit and makes automobile stop accelerating, and the while is emergency braking also, reaches the object of accelerator anti-false step.

Accompanying drawing explanation

Fig. 1 is the structure principle chart that this method realizes.

Fig. 2 is the schematic diagram that this method realizes.

Fig. 3 is this method braking distance schematic diagram.

The specific embodiment

Below in conjunction with accompanying drawing, specific embodiments of the invention are elaborated.

Gas is stepped on a specific embodiment for determination methods by mistake, as shown in Figure 1, Figure 2 and Figure 3, includes following steps:

1) set Das Gaspedal acceleration/accel threshold values a0;

2) according to automobile real-time speed V sampled value, calculate radar sensor and obstacle spacing threshold values L0;

3) gather distance L between Das Gaspedal acceleration/accel a, radar sensor and obstacle;

4) carry out following operation:

[1] if Das Gaspedal acceleration/accel a< Das Gaspedal acceleration/accel threshold values a0 system executive command not;

[2] if distance L > radar sensor and obstacle spacing threshold values L0 between Das Gaspedal acceleration/accel a> Das Gaspedal acceleration/accel threshold values a0 and radar sensor and obstacle, system is executive command not, and driver intention is anxious step on the accelerator;

[3] if distance L < radar sensor and obstacle spacing threshold values L0 system executive command between Das Gaspedal acceleration/accel a> Das Gaspedal acceleration/accel threshold values a0 and radar sensor and obstacle, system is judged as chaufeur and touches on the brake by mistake, vehicle stop fuel feeding emergency braking.

Adopt after said method, system is judged as mis-accelerator pressing and just can responds fast, make driving engine transfer idling mode to, reach the object that reduces the speed of a motor vehicle, start brake simultaneously, overcome the deficiency of mis-accelerator pressing judgement system in prior art: a kind of is that device is developed according to theory of machines, Rule of judgment is single, cannot accurately judge the true object of chaufeur step on the accelerator, and because individual fitness is different, the application force of pushes pedals is also different, thus the reliability of system and practicality not high; Be a SCM Based electronic control package, as when chaufeur is trampled throttle, if the pedal that micro controller system is collected is trampled voltage signal, surpass a reference value, carry out brake function and maintain 2s, Rule of judgment is also comparatively single, and accuracy and reliability are not high, and gordian technique is still immature.

As a kind of improved specific embodiment, described spacing threshold values L0 computing formula is

$S=S_1+S_2+S_3+S_4=V_1(t_1+t_2+\frac{t_3}{2})-\frac{\mathrm{\&mu;g}{t_3}^2}{24}+\frac{{V_1}^2}{2\mathrm{\&mu;g}}$

V1: the moving velocity before braking automobile;

T1: chaufeur reacts opening time: be about under normal circumstances 0.5 second, in emergency circumstances approximately need 1 second the opening time of most people;

T2: from push down on the pedal to the time that produces braking force, native system is 0.10-0.15s;

Automobile produces after braking force, and pickup a is linear growth, and a ₁=μ g;

$a=\frac{a_{1}t}{t_3}=\frac{\mathrm{\&mu;gt}}{t_3}$

A1: be the maxim of pickup a;

μ: the friction coefficient on car and ground, get μ=0.8;

G: gravity coefficient, get g=9.8m/s ²;

T3: pickup build up time, is generally 0.15-0.20s.

Suppose and when chaufeur runs into emergency situations, start to calculate brake apart from S, S can be divided into following components: from chaufeur, run into emergency situations to the anxious distance S1 that steps on brake pedal of chaufeur; From stepping on brake pedal, to automobile, produce the distance S2 of braking force; From automobile, produce braking force and start to rise to peaked apart from S3, braking force is up to the distance S4 that automobile stops, and a is for producing the acceleration/accel of automobile after braking force.As shown in Figure 3,

S ₁＝V ₁t ₁

S ₂＝V ₁t ₂

V1: the moving velocity before braking automobile;

T1: chaufeur reacts opening time: be about under normal circumstances 0.5 second, in emergency circumstances approximately need 1 second the opening time of most people;

T2: from push down on the pedal to the time that produces braking force, native system is 0.10-0.15s;

Automobile produces after braking force, and pickup a is linear growth, and a ₁=μ g;

$a=\frac{a_{1}t}{t_3}=\frac{\mathrm{\&mu;gt}}{t_3}$

A1: be the maxim of pickup a;

μ: the friction coefficient on car and ground, get μ=0.8;

G: gravity coefficient, get g=9.8m/s ²;

T3: pickup build up time, is generally 0.15-0.20s;

$S_3={\&Integral;}_0^{t_3}\mathrm{vdt}={\&Integral;}_0^{t_3}{V}_1-\&Integral;\mathrm{atdt}={\&Integral;}_0^{t_3}(V_1-\frac{a_1}{2t_4}{t}^2)\mathrm{dt}=V_1{t}_3-\frac{\mathrm{\&mu;g}}{6}{t_3}^2$

$V_3=V_1-{\&Integral;}_0^{t_3}\mathrm{adt}=V_1-{\&Integral;}_0^{t_3}\frac{{a_1}^t}{t_3}\mathrm{dt}=V_1-\frac{a_1{t}_3}{2}$

The end speed in V3:t3 stage;

$t_4=\frac{v_3}{a_1}=\frac{v_1}{a_1}-\frac{t_3}{2}$

$S_4={\&Integral;}_0^{t_4}\mathrm{vdt}=\frac{{V_3}^2}{2a_1}=\frac{1}{2a_1}({V_1}^2-a_1{V}_1{t}_3+\frac{{a_1}^2{t_3}^2}{4})$

$S=S_1+S_2+S_3+S_4=V_1(t_1+t_2+\frac{t_3}{2})-\frac{\mathrm{\&mu;g}{t_3}^2}{24}+\frac{{V_1}^2}{2\mathrm{\&mu;g}}$

According to above-mentioned formula, dynamic calculation spacing threshold values L0, very accurate, error is little.Accelerator anti-false step system is as a kind of active safety system, the computation process actual conditions of should as far as possible fitting.This process is the accurate segmentation of brake process, adopts integrated form separate computations to try to achieve summation, and numerical value is accurate, and error is less, and result of calculation approaches actual conditions, is comparatively desirable method of calculating.

As a kind of improved specific embodiment, described acceleration/accel threshold values a0 value 50-80m/s2, vehicle velocity V is 0-10km/h, spacing threshold values L is 4.2m, vehicle velocity V is 10-30km/h, spacing threshold values L is 16m, vehicle velocity V is 30-40km/h, spacing threshold values L is 22.9m, vehicle velocity V is 40-50km/h, spacing threshold values L is 31.3m, vehicle velocity V is 50-60km/h, spacing threshold values L is 40.7m, vehicle velocity V is 60-70km/h, spacing threshold values L is 51.2m, vehicle velocity V is 70-80km/h, spacing threshold values L is 62.8m, vehicle velocity V is 80-90km/h, spacing threshold values L is 75.4m, vehicle velocity V is 90-100km/h, spacing threshold values L is 89.1m, vehicle velocity V is 100-110km/h, spacing threshold values L is 103.9m, vehicle velocity V is 110-120km/h, spacing threshold values L is that 120m. is because spacing threshold value L0 is according to vehicle velocity V dynamic calculation, and vehicle velocity V Real-time Collection, therefore the market demand obtaining is high, accurately effectively.Speed of a motor vehicle computer capacity is from 0-120km/h, includes the likely speed of a motor vehicle of institute in daily driving process, and practicality is high.

Normal or while trampling throttle; acceleration range is 5-40m/s2; for guaranteeing that system can be due to abnormal or overtake other vehicles and trample throttle and make automobile emergency brake by mistake; acceleration rate threshold a0 should be greater than 40m/s2; in emergency situation mis-accelerator pressing acceleration range, be 100-140m/s2; for guaranteeing system reliability; acceleration rate threshold a0 should be less than 100m/s2; therefore a0 answers value comparatively suitable at 50-80m/s2; can meet normally travels simultaneously tramples throttle system inoperation while overtaking other vehicles, the condition of system operation during emergency situation mis-accelerator pressing.Meanwhile, according to the instantaneous value of the speed of a motor vehicle, according to the spacing threshold values L that selects to set, speed is fast, and calculated amount is few, implements simple, effective.

Claims (4)

1. gas is stepped on a determination methods by mistake, includes following steps:

1) set Das Gaspedal acceleration/accel threshold values (a0);

2) according to automobile real-time speed (V) sampled value, calculate radar sensor and obstacle spacing threshold values (L0);

3) gather distance (L) between Das Gaspedal acceleration/accel (a), radar sensor and obstacle;

4) carry out following operation:

[1] if Das Gaspedal acceleration/accel (a) < Das Gaspedal acceleration/accel threshold values (a0) system executive command not;

[2] if distance (L) > radar sensor and obstacle spacing threshold values (L0) between Das Gaspedal acceleration/accel (a) > Das Gaspedal acceleration/accel threshold values (a0) and radar sensor and obstacle, system is executive command not, and driver intention is anxious step on the accelerator;

[3] if distance (L) < radar sensor and obstacle spacing threshold values (L0) system executive command between Das Gaspedal acceleration/accel (a) > Das Gaspedal acceleration/accel threshold values (a0) and radar sensor and obstacle, system is judged as chaufeur and touches on the brake by mistake, vehicle stop fuel feeding emergency braking.

2. a kind of gas according to claim 1 is stepped on determination methods by mistake, it is characterized in that described Das Gaspedal spacing threshold values (L0) computing formula is

$S=S_1+S_2+S_3+S_4=V_1(t_1+t_2+\frac{t_3}{2})-\frac{\mathrm{\&mu;g}{t_3}^2}{24}+\frac{{V_1}^2}{2\mathrm{\&mu;g}}$

V1: the moving velocity before braking automobile;

T1: chaufeur reacts opening time, in emergency circumstances approximately needs 1 second the opening time of most people;

T2: from push down on the pedal to the time that produces braking force, value is 0.10-0.15s;

Automobile produces after braking force, and pickup (a) is linear growth and a ₁=μ g;

$a=\frac{a_{1}t}{t_3}=\frac{\mathrm{\&mu;gt}}{t_3}$

A1: be the maxim of pickup a;

μ: the friction coefficient on car and ground, get μ=0.8;

G: gravity coefficient, get g=9.8m/s ²;

T3: pickup build up time, is generally 0.15-0.20s.

3. a kind of gas according to claim 1 and 2 is stepped on determination methods by mistake, it is characterized in that described Das Gaspedal acceleration/accel threshold values (a0) value is at 50-80m/s2.

4. a kind of gas according to claim 1 is stepped on determination methods by mistake, it is characterized in that described Das Gaspedal acceleration/accel threshold values (a0) value 50-80m/s2, the speed of a motor vehicle (V) is 0-10km/h, spacing threshold values (L) is 4.2m, the speed of a motor vehicle (V) is 10-30km/h, spacing threshold values (L) is 16m, the speed of a motor vehicle (V) is 30-40km/h, spacing threshold values (L) is 22.9m, the speed of a motor vehicle (V) is 40-50km/h, spacing threshold values (L) is 31.3m, the speed of a motor vehicle (V) is 50-60km/h, spacing threshold values (L) is 40.7m, the speed of a motor vehicle (V) is 60-70km/h, spacing threshold values (L) is 51.2m, the speed of a motor vehicle (V) is 70-80km/h, spacing threshold values (L) is 62.8m, the speed of a motor vehicle (V) is 80-90km/h, spacing threshold values (L) is 75.4m, the speed of a motor vehicle (V) is 90-100km/h, spacing threshold values (L) is 89.1m, the speed of a motor vehicle (V) is 100-110km/h, spacing threshold values (L) is 103.9m, the speed of a motor vehicle (V) is 110-120km/h, spacing threshold values (L) is 120m.