CN106080603A - Vehicle and vehicle slip car control method and device - Google Patents
Vehicle and vehicle slip car control method and device Download PDFInfo
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- CN106080603A CN106080603A CN201610687317.6A CN201610687317A CN106080603A CN 106080603 A CN106080603 A CN 106080603A CN 201610687317 A CN201610687317 A CN 201610687317A CN 106080603 A CN106080603 A CN 106080603A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007935 neutral effect Effects 0.000 claims abstract description 36
- 239000000523 sample Substances 0.000 description 23
- 238000001514 detection method Methods 0.000 description 13
- 238000012544 monitoring process Methods 0.000 description 7
- 230000004913 activation Effects 0.000 description 6
- 230000000979 retarding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of vehicle and vehicle slips car control method and device, said method comprising the steps of: detect gear and the speed of described vehicle；Gear at described vehicle becomes the speed of neutral and described vehicle when being zero, it is judged that whether described speed is more than zero；If described speed is more than zero, then obtain the distance between described vehicle and periphery object further, and when described distance is less than predeterminable range threshold value, control described vehicle to be braked, and the prompting assembly controlling described vehicle sends the first warning message, thus can prevent vehicle from slipping car when being linked into neutral gear, and driver is reminded, the risk that the car that slips in avoiding driving a vehicle causes, improves the travel safety of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, particularly to a kind of vehicle, a kind of vehicle slip car control method and
Plant the truck control device that slips of vehicle.
Background technology
Driver is when traffic congestion or wait red light, and gear is converted to neutral by custom, when being parked on unconspicuous ramp,
And in the case of parking brake is unstrained, be susceptible to slip car, and be not easy to make driver discover, thus, easily cause vehicle rear-end collision,
The unknown danger such as pedestrian injury or vehicle fall.
Summary of the invention
It is contemplated that one of technical problem solved the most to a certain extent in correlation technique.To this end, the present invention
What one purpose was to propose a kind of vehicle slips car control method, it is possible to prevent vehicle from slipping car when neutral gear.
Further object is that the truck control device that slips proposing a kind of vehicle.A further object of the present invention exists
In proposing a kind of vehicle.
For reaching above-mentioned purpose, what one aspect of the present invention embodiment proposed a kind of vehicle slips car control method, including with
Lower step: detect gear and the speed of described vehicle；It is zero that gear at described vehicle becomes the speed of neutral and described vehicle
Time, it is judged that whether described speed is more than zero；If described speed is more than zero, then obtain further described vehicle and periphery object it
Between distance, and described distance less than predeterminable range threshold value time, control described vehicle and be braked, and control described vehicle
Assembly is reminded to send the first warning message.
The vehicle proposed according to embodiments of the present invention slip car control method, the gear at vehicle becomes neutral and vehicle
When speed is zero, it is judged that whether speed is more than zero, if speed is more than zero, the most further between detection vehicle and periphery object
Distance, and when distance is less than predeterminable range threshold value, controls vehicle and be braked, the prompting assembly controlling vehicle sends the first report
Alarming information, thus can prevent vehicle from slipping car when being linked into neutral gear, and driver is reminded, it is to avoid the car that slips in driving is made
The risk become, improves the travel safety of vehicle.
According to one embodiment of present invention, if described speed more than zero and described distance more than or equal to described preset away from
From threshold value, then the prompting assembly controlling described vehicle sends Secondary Report alarming information, wherein, the warning etc. of described Secondary Report alarming information
Level is less than the alarm level of described first warning message.
According to one embodiment of present invention, the car control method of slipping of described vehicle also includes: when stopping of described vehicle
When car pedal is operated or described automobile gear level is not in neutral gear or receives the exit instruction of driver, control described vehicle
Remind assembly stop alarm.
According to one embodiment of present invention, the out code of driver is received by closing button, with receiving
Car control method is slipped described in stopping when stating out code performing.
For reaching above-mentioned purpose, another aspect of the present invention embodiment proposes the truck control device that slips of a kind of vehicle, including:
Speed of vehicle detector, described speed of vehicle detector is for detecting the speed of described vehicle；Gear detector, described gear detector is used for
Detect the gear of described vehicle；Distance detector, described distance detector is for detecting between described vehicle and periphery object
Distance；Remind assembly；Control module, described control module respectively with described speed of vehicle detector, described gear detector, described away from
Being connected with described prompting assembly from detector, described control module becomes neutral and described vehicle for the gear at described vehicle
Speed be judge when zero described speed whether more than zero, if described speed is more than zero, then obtain further described vehicle with
Distance between periphery object, and when described distance is less than predeterminable range threshold value, controls described vehicle and be braked, and control
Described prompting assembly sends the first warning message.
The vehicle proposed according to embodiments of the present invention slip truck control device, control module becomes neutral at the gear of vehicle
And the speed of vehicle is when being zero, it is judged that whether speed is more than zero, if speed is more than zero, detection vehicle and periphery thing the most further
Distance between body, and when distance is less than predeterminable range threshold value, controls vehicle and is braked, and controls to remind assembly to send the
One warning message, thus can prevent vehicle from slipping car when being linked into neutral gear, and driver is reminded, it is to avoid driving is slipped
The risk that car causes, improves the travel safety of vehicle.Further, this device can use the existing device of vehicle, it is not necessary to increases hardware
Cost.
According to one embodiment of present invention, it is operated when the brake pedal of described vehicle or described automobile gear level is not in
Neutral gear or when receiving the exit instruction of driver, described control module controls described prompting assembly stop alarm.
According to one embodiment of present invention, the truck control device that slips of described vehicle also includes: close button, described pass
Closing button for receiving the out code of driver, wherein, described control module controls institute when receiving described out code
State and slip truck control device and quit work.
For reaching above-mentioned purpose, another aspect of the invention embodiment proposes a kind of vehicle, including slipping of described vehicle
Truck control device.
The vehicle proposed according to embodiments of the present invention, by the truck control device that slips of the vehicle of above-described embodiment, can improve
The performance of vehicle.
Accompanying drawing explanation
Fig. 1 is the flow chart slipping car control method of vehicle according to embodiments of the present invention；
Fig. 2 is the block diagram slipping truck control device of vehicle according to embodiments of the present invention；And
Fig. 3 is the block diagram slipping truck control device of vehicle according to an embodiment of the invention.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish
Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached
The embodiment that figure describes is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings describe the embodiment of the present invention vehicle slip car control method, vehicle slip truck control device
And there is the vehicle of this device.
Fig. 1 is the flow chart slipping car control method of vehicle according to embodiments of the present invention.As it is shown in figure 1, this slips car control
Method processed comprises the following steps:
S1: the gear of detection vehicle and speed.
Wherein, can be by the speed of wheel speed sensors detection vehicle.Specifically, can be corresponding on the four of vehicle wheel
Arranging four wheel speed sensors, four wheel speed sensors can generate four tunnel wheel speed pwm signals respectively according to the wheel speed of wheel, and then
The speed of vehicle is i.e. can determine whether according to four tunnel wheel speed pwm signals.
Wherein, can be by the gear of gear box control unit TCU detection vehicle.In other words, gear box control unit TCU can
Monitor the gear of vehicle in real time.
S2: the gear at vehicle becomes the speed of neutral and vehicle when being zero, it is judged that whether speed is more than zero.
It should be noted that judge that when the wheel speed of four wheels is zero the speed of vehicle is zero, when in four wheels
Judge when the wheel speed of any one wheel is not zero that the speed of vehicle is not zero.
S3: if speed is more than zero, obtains the distance between vehicle and periphery object the most further, and in distance less than pre-
If during distance threshold, control vehicle and be braked, and the prompting assembly controlling vehicle sends the first warning message.
Wherein, can be by the distance between radar probe monitoring vehicle and periphery object.Can set in the surrounding correspondence of vehicle
Putting four radar probe, four radar probe can be controlled by radar controller, and the gear at vehicle becomes neutral and vehicle
Speed be zero after, if be detected that speed is more than zero, then explanation vehicle slips car, now radar controller control four
Radar probe detects, to detect the distance between vehicle and periphery object in real time by four radar probe.
It should be noted that ESP (Electronic Stability Program, body electronics stability series can be passed through
System)/ABS (antilock brake system, anti-blocking brake system) controls vehicle and is braked, and control vehicle and enter
Row braking can be to control vehicle to carry out slight retarding braking, thus can remind driver.
Further, according to one embodiment of present invention, if more than zero and distance is more than or equal to predeterminable range for speed
Threshold value, then the prompting assembly controlling vehicle sends Secondary Report alarming information, and wherein, the alarm level of Secondary Report alarming information is less than first
The alarm level of warning message.
Wherein, assembly is reminded to may be provided in the instrument of vehicle.
It is to say, become after the speed of neutral and vehicle is zero at the gear of vehicle, if be detected that speed is more than
Zero, then explanation vehicle slips car, now can control the prompting assembly of vehicle and send Secondary Report alarming information, simultaneously detection vehicle and
Distance between periphery object, if distance is less than predeterminable range threshold value, then there is the danger of collision in explanation vehicle, now controls
Vehicle is braked, and the prompting assembly controlling vehicle sends the first warning message.
Specifically, four wheel speed sensors correspondence can detect the wheel speed of four wheels and generate four tunnel wheel speeds PWM respectively
Signal.ESP (Electronic Stability Program, body electronics stabilisation systems)/ABS (antilock brake
System, anti-blocking brake system) can real-time reception four tunnel wheel speed pwm signal, Bing Jiang tetra-tunnel wheel speed CAN signal sends to CAN
Bus, gear box control unit TCU detects the gear of vehicle in real time and sends gear CAN signal to CAN simultaneously.
Car running computer monitors, by CAN, the gear that gear box control unit TCU sends and becomes neutral and four cars
After the wheel speed of wheel all reduces to zero, if monitoring the wheel speed of arbitrary wheel by CAN further to become non-zero, then controller
Table display alarm information and/or send alarm sound, to remind driver slipping car.Meanwhile, car running computer is total by CAN
Line sends radar activation signal and opens to radar controller, radar controller four radar probe of control, and four radar probe are real
Time detection vehicle and periphery object between distance i.e. vehicle before and after safe distance, be less than when radar controller monitors distance
After predeterminable range threshold value i.e. minimum safe distance, generating radar alarm signal, radar alarm signal is sent extremely by radar controller
CAN, after car running computer receives radar alarm signal by CAN, by instrument display emergency warning information and/or
Send emergency alarm prompt tone, to alert driver, meanwhile, after ESP/ABS receives radar alarm signal by CAN,
Control vehicle and carry out slight retarding braking, to remind driver.
In addition, it is necessary to explanation, car running computer also can be substituted by radar controller or ESP/ABS, and now the method can
It is applicable to configure relatively low, to be not equipped with intelligence instrument (car running computer) vehicle.Specifically, instrument is monitored by CAN
The gear sent to gear box control unit TCU becomes after the wheel speed of neutral and four wheels all reduces to zero, if supervised further
The wheel speed measuring arbitrary wheel becomes non-zero, then display alarm information and/or send alarm sound, to remind driver
Slip car.Meanwhile, ESP/ABS sends radar activation signal to radar controller, radar controller four thunders of control by CAN
Reaching probe to open, four radar probe detect the safe distance before and after the distance between vehicle and periphery object i.e. vehicle in real time,
When radar controller monitor distance less than predeterminable range threshold value i.e. minimum safe distance after, generate radar alarm signal, radar
Radar alarm signal is sent to CAN by controller, and after instrument receives radar alarm signal by CAN, display is tight
Anxious warning message and/or send emergency alarm prompt tone, to alert driver, meanwhile, ESP/ABS is received by CAN
After radar alarm signal, control vehicle and carry out slight retarding braking, to remind driver.
Or, car running computer also can be substituted by instrument, and now the method is applicable to be not equipped with the vehicle of ESP/ABS.
Specifically, four wheels can be respectively configured wheel speed sensors, and when there being wheel speed, four wheel speed sensors can send corresponding duty
The wheel speed pwm signal of ratio, instrument can generate four tunnel wheel speed pwm signals respectively by four wheel speed sensors of collection and obtain wheel speed
State, instrument obtains, also by CAN, the gear CAN signal that gear box control unit TCU sends.Instrument is monitoring change
The speed gear that sends of case control unit TCU becomes after the wheel speed of neutral and four wheels all reduces to zero, if monitored further
The wheel speed of arbitrary wheel becomes non-zero, then display alarm information and/or send alarm sound, to remind driver to slip
Car.Meanwhile, instrument sends radar activation signal and opens to radar controller, radar controller four radar probe of control, four
Radar probe detects the safe distance before and after the distance between vehicle and periphery object i.e. vehicle in real time, when radar controller is monitored
To distance less than predeterminable range threshold value i.e. minimum safe distance after, generate radar alarm signal, radar controller by radar report to the police
Signal sends to CAN, after instrument receives radar alarm signal by CAN, shows emergency warning information and/or sends out
Go out emergency alarm prompt tone, to alert driver.
Thus, the car control method of slipping of the vehicle of the embodiment of the present invention is applicable to multiple type of vehicle, has versatility.
Further, according to one embodiment of present invention, the car control method of slipping of vehicle also includes: when the brake of vehicle
When pedal is operated or automobile gear level is not in neutral gear or receives the exit instruction of driver, the prompting assembly controlling vehicle stops
Only report to the police.
It should be noted that the exit instruction of driver can be received by exiting button in instrument.
It is to say, when driver actively steps on brake pedal or converts gear or presses and exit button in instrument
Time, will move out alarm condition, until being linked into neutral gear i.e. N shelves next time, entering the next detection cycle.
It addition, according to one embodiment of present invention, the car control method of slipping of vehicle also includes: receive by closing button
The out code of driver, slips car control method stopping execution when receiving out code.
It is to say, driver can be by triggering the closedown button on car running computer, to be closed by prompting function.Logical
Crossing closedown button when receiving out code, car load stops execution and slips car control method.Again can only beaten by car running computer
When opening this prompting function, car load just starts execution and slips car control method.
To sum up, the vehicle proposed according to embodiments of the present invention slip car control method, the gear at vehicle become neutral and
When the speed of vehicle is zero, it is judged that whether speed is more than zero, if speed is more than zero, detection vehicle and periphery object the most further
Between distance, and when distance is less than predeterminable range threshold value, controls vehicle and be braked, the prompting assembly controlling vehicle sends
First warning message, thus can prevent vehicle from slipping car when being linked into neutral gear, and driver is reminded, it is to avoid in driving
The risk that the car that slips causes, improves the travel safety of vehicle.
The invention allows for the truck control device that slips of a kind of vehicle.
Fig. 2 is the block diagram slipping truck control device of vehicle according to embodiments of the present invention.As in figure 2 it is shown, this dress
Put and include: speed of vehicle detector 10, gear detector 20, distance detector 30, prompting assembly 40 and control module 50.
Wherein, speed of vehicle detector 10 is for detecting the speed of vehicle；Gear detector 20 is for detecting the gear of vehicle；Away from
From detector 30 for detecting the distance between vehicle and periphery object；Control module 50 respectively with speed of vehicle detector 10, gear
Detector 20, distance detector 30 are connected with prompting assembly 40, and control module 50 becomes neutral and car for the gear at vehicle
Speed be judge when zero speed whether more than zero, if speed is more than zero, obtain the most further vehicle and periphery object it
Between distance, and when distance is less than predeterminable range threshold value, controls vehicle and be braked, and control to remind assembly 40 to send first
Warning message.
If speed is more than zero and distance is more than or equal to predeterminable range threshold value, control module 50 then controls the prompting group of vehicle
Part 40 sends Secondary Report alarming information, and wherein, the alarm level of Secondary Report alarming information is less than the alarm level of the first warning message.
It is to say, become after the speed of neutral and vehicle is zero at the gear of vehicle, if be detected that speed is more than
Zero, then explanation vehicle slips car, and now control module 50 can control the prompting assembly 40 of vehicle and sends Secondary Report alarming information, together
Time detection vehicle and periphery object between distance, if distance is less than predeterminable range threshold value, then there is collision in explanation vehicle
Danger, now controls vehicle and is braked, and the prompting assembly 40 controlling vehicle sends the first warning message.
In one embodiment of the invention, as it is shown on figure 3, speed of vehicle detector 10 can include wheel speed sensors 101, speed
Detector 10 can detect the speed of vehicle by wheel speed sensors 101.Specifically, correspondence can set on the four of vehicle wheel
Put four that is left front wheel speed sensors of wheel speed sensors 101, left back wheel speed sensors, off-front wheel speed sensor and off hind wheel speed to pass
Sensor, four wheel speed sensors 101 can generate four tunnel wheel speed pwm signals respectively according to the wheel speed of wheel, and then according to four road wheels
Speed pwm signal i.e. can determine whether the speed of vehicle.It should be noted that judge the car of vehicle when the wheel speed of four wheels is zero
Speed is zero, when in four wheels, the wheel speed of any one wheel judges when being not zero that the speed of vehicle is not zero.
Further, gear detector 20 can be that gear box control unit TCU201, gear box control unit TCU201 can be real-time
The gear of detection vehicle.Distance detector 30 can include radar probe 301, can monitor vehicle and periphery by radar probe 301
Distance between object, such as, can be correspondingly arranged four radar probe 301 in the surrounding of vehicle, and control module 50 can be to four thunders
Reach probe 301 to be controlled, become after the speed of neutral and vehicle is zero at the gear of vehicle, if control module 50 detects
To speed more than zero, then explanation vehicle slips car, and now four radar probe 301 of control detect, with by four thunders
Reach the probe 301 distance in real time between detection vehicle and periphery object.
It should be noted that control module 50 can pass through ESP (Electronic Stability Program, vehicle body electricity
Sub-stabilisation systems)/ABS (antilock brake system, anti-blocking brake system) 501 control vehicle be braked, and
Control vehicle being braked can be to control vehicle to carry out slight retarding braking, thus can remind driver.
Wherein, assembly 40 is reminded to may be provided in the instrument 60 of vehicle.
Specifically, as it is shown on figure 3, control module 50 can include ESP/ABS501, radar controller 502 and driving electricity
Brain 503.
Four wheel speed sensors 101 correspondence can detect the wheel speed of four wheels and generate four tunnel wheel speed pwm signals respectively.
ESP/ABS501 can real-time reception four tunnel wheel speed pwm signal, Bing Jiang tetra-tunnel wheel speed CAN signal send to CAN, speed change simultaneously
Case control unit TCU201 detects the gear of vehicle in real time and sends gear CAN signal to CAN.
Car running computer 503 by CAN monitor the gear that gear box control unit TCU201 sends become neutral and
After the wheel speed of four wheels all reduces to zero, if monitoring the wheel speed of arbitrary wheel by CAN further to become non-zero, then
Control instrument 60 display alarm information and/or send alarm sound, to remind driver slipping car.Meanwhile, car running computer
503 by CAN send radar activation signal to radar controller 502, radar controller 502 controls four radar probe 30
Opening, four radar probe 302 detect the safe distance before and after the distance i.e. vehicle between vehicle and periphery object in real time, work as thunder
Reach controller 502 monitor distance less than predeterminable range threshold value i.e. minimum safe distance after, generate radar alarm signal, radar control
Radar alarm signal is sent to CAN by device 502 processed, and car running computer 503 receives radar alarm signal by CAN
After, show emergency warning information by instrument 60 and/or send emergency alarm prompt tone, to alert driver, meanwhile, ESP/
After ABS501 receives radar alarm signal by CAN, control vehicle and carry out slight retarding braking, to remind driver.
In addition, it is necessary to explanation, car running computer 503 also can be substituted by radar controller 502 or ESP/ABS501, now
The method is applicable to configure relatively low, to be not equipped with intelligence instrument (car running computer) vehicle.Specifically, instrument 60 is passed through
CAN monitors the gear that gear box control unit TCU201 sends and becomes the wheel speed of neutral and four wheels and all reduce to zero
After, if the wheel speed monitoring arbitrary wheel further becomes non-zero, then display alarm information and/or send alarm sound,
To remind driver slipping car.Meanwhile, ESP/ABS501 sends radar activation signal to radar controller by CAN
502, radar controller 502 controls four radar probe 301 and opens, and four radar probe 301 detect vehicle and periphery thing in real time
Safe distance before and after distance between body i.e. vehicle, when radar controller 301 monitors distance less than predeterminable range threshold value i.e.
After minimum safe distance, generating radar alarm signal, radar alarm signal is sent to CAN, instrument by radar controller 301
After 60 receive radar alarm signal by CAN, show emergency warning information and/or send emergency alarm prompt tone, with
Warning driver, meanwhile, after ESP/ABS501 receives radar alarm signal by CAN, controls vehicle and slightly subtracts
Speed braking, to remind driver.
Or, car running computer 503 also can be substituted by instrument, and now the method is applicable to be not equipped with the car of ESP/ABS
?.Specifically, four wheels can be respectively configured wheel speed sensors 101, and when there being wheel speed, four wheel speed sensors 101 can be sent out
Going out the wheel speed pwm signal of duty ratio corresponding, instrument 60 can generate four tunnel wheel speeds respectively by gathering four wheel speed sensors 101
Pwm signal obtains wheel speed states, and instrument 60 obtains, also by CAN, the gear that gear box control unit TCU201 sends
CAN signal.Instrument 60 becomes neutral and the wheel speed of four wheels monitoring the gear that gear box control unit TCU201 sends
After all reducing to zero, if the wheel speed monitoring arbitrary wheel further becomes non-zero, then display alarm information and/or send warning
Prompt tone, to remind driver slipping car.Meanwhile, instrument 60 sends radar activation signal to radar controller 502, radar control
Device 502 processed controls four radar probe 301 and opens, four radar probe 301 detect in real time between vehicle and periphery object away from
Safe distance before and after i.e. vehicle, when radar controller 502 monitors distance less than predeterminable range threshold value i.e. minimum safe distance
From rear, generating radar alarm signal, radar alarm signal is sent to CAN by radar controller 502, and instrument 60 passes through CAN
After bus receives radar alarm signal, show emergency warning information and/or send emergency alarm prompt tone, to alert driving
Member.
Thus, the truck control device that slips of the vehicle of the embodiment of the present invention is applicable to multiple type of vehicle, has versatility.
Further, according to one embodiment of present invention, it is operated or at automobile gear level when the brake pedal of vehicle
In neutral gear or receive driver exit instruction time, control module 50 control remind assembly 40 stop alarm.
It should be noted that the exit instruction of driver can be received by exiting button in instrument 60.
It is to say, when driver actively steps on brake pedal or converts gear or presses and exit button in instrument
Time, reminding assembly 40 to will move out alarm condition, until being linked into neutral gear i.e. N shelves next time, entering the next detection cycle.
It addition, according to one embodiment of present invention, the truck control device that slips of vehicle also includes: closing button, closedown is pressed
Key is for receiving the out code of driver, and wherein, control module 50 controls to slip truck control device when receiving out code
Quit work.
It is to say, driver can be by triggering the closedown button on car running computer 503, to be closed by prompting function.
When by closing button and receiving out code, car running computer 503 controls to slip truck control device and quits work.Can only pass through
When car running computer 503 is again turned on this prompting function, car running computer 503 controls to slip truck control device and starts working.
To sum up, the vehicle proposed according to embodiments of the present invention slip truck control device, control module becomes at the gear of vehicle
When being zero for the speed of neutral and vehicle, it is judged that whether speed more than zero, if speed is more than zero, the most further detection vehicle with
Distance between periphery object, and when distance is less than predeterminable range threshold value, controls vehicle and be braked, and control to remind assembly
Send the first warning message, thus can prevent vehicle from slipping car when being linked into neutral gear, and driver is reminded, it is to avoid OK
The risk that the car that slips in car causes, improves the travel safety of vehicle.Further, this device can use the existing device of vehicle, it is not necessary to increases
Add hardware cost.
The present invention also been proposed a kind of vehicle, and this vehicle includes the truck control device that slips of the vehicle of above-described embodiment.
The vehicle proposed according to embodiments of the present invention, by the truck control device that slips of the vehicle of above-described embodiment, can improve
The performance of vehicle.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward ", " up time
Pin ", " counterclockwise ", " axially ", " radially ", the orientation of the instruction such as " circumferential " or position relationship be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description rather than instruction or imply that the device of indication or element must
Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
Individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " fixing " etc.
Term should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be that machinery connects
Connect, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, in can being two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For those of ordinary skill in the art
For, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score permissible
It is that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office
One or more embodiments or example combine in an appropriate manner.Additionally, in the case of the most conflicting, the skill of this area
The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel
Close and combination.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment is example
Property, it is impossible to being interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, revises, replaces and modification.
Claims (9)
1. a vehicle slip car control method, it is characterised in that comprise the following steps:
Detect gear and the speed of described vehicle；
Gear at described vehicle becomes the speed of neutral and described vehicle when being zero, it is judged that whether described speed is more than zero；
If described speed is more than zero, then obtain the distance between described vehicle and periphery object further, and in described distance
During less than predeterminable range threshold value, control described vehicle and be braked, and the prompting assembly controlling described vehicle sends the first warning
Information.
Vehicle the most according to claim 1 slip car control method, it is characterised in that
If described speed is more than zero and described distance is more than or equal to described predeterminable range threshold value, then control the prompting of described vehicle
Assembly sends Secondary Report alarming information, and wherein, the alarm level of described Secondary Report alarming information is less than the report of described first warning message
Alert grade.
Vehicle the most according to claim 1 and 2 slip car control method, it is characterised in that also include:
When the brake pedal of described vehicle be operated or described automobile gear level be not in neutral gear or receive driver exit finger
When making, control the prompting assembly stop alarm of described vehicle.
Vehicle the most according to claim 1 slip car control method, it is characterised in that also include:
The out code of driver is received, to stop slipping described in execution car when receiving described out code by closing button
Control method.
5. a vehicle slip truck control device, it is characterised in that including:
Speed of vehicle detector, described speed of vehicle detector is for detecting the speed of described vehicle；
Gear detector, described gear detector is for detecting the gear of described vehicle；
Distance detector, described distance detector is for detecting the distance between described vehicle and periphery object；
Remind assembly；
Control module, described control module respectively with described speed of vehicle detector, described gear detector, described distance detector and
Described prompting assembly is connected, and described control module is zero for becoming the speed of neutral and described vehicle at the gear of described vehicle
Time judge described speed whether more than zero, if described speed is more than zero, then obtain further described vehicle and periphery object it
Between distance, and described distance less than predeterminable range threshold value time, control described vehicle and be braked, and control described prompting group
Part sends the first warning message.
Vehicle the most according to claim 5 slip truck control device, it is characterised in that if described speed is more than zero and institute
Stating distance more than or equal to described predeterminable range threshold value, described control module then controls the prompting assembly of described vehicle and sends Secondary Report
Alarming information, wherein, the alarm level of described Secondary Report alarming information is less than the alarm level of described first warning message.
7. according to the truck control device that slips of the vehicle described in claim 5 or 6, it is characterised in that when the brake of described vehicle is stepped on
When plate is operated or described automobile gear level is not in neutral gear or receives the exit instruction of driver, described control module controls institute
State prompting assembly stop alarm.
Vehicle the most according to claim 6 slip truck control device, it is characterised in that also include:
Closing button, described closedown button is for receiving the out code of driver, and wherein, described control module is receiving
The truck control device that slips described in controlling when stating out code quits work.
9. a vehicle, it is characterised in that include that the car that slips according to the vehicle according to any one of claim 5-8 controls dress
Put.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610687317.6A CN106080603A (en) | 2016-08-18 | 2016-08-18 | Vehicle and vehicle slip car control method and device |
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|---|---|---|---|
| CN201610687317.6A CN106080603A (en) | 2016-08-18 | 2016-08-18 | Vehicle and vehicle slip car control method and device |
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| CN106080603A true CN106080603A (en) | 2016-11-09 |
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| CN201610687317.6A Pending CN106080603A (en) | 2016-08-18 | 2016-08-18 | Vehicle and vehicle slip car control method and device |
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| CN106585595A (en) * | 2016-12-20 | 2017-04-26 | 奇瑞汽车股份有限公司 | Automatic driving method used during slipping and intelligent car |
| CN107878380A (en) * | 2016-09-29 | 2018-04-06 | 法乐第(北京)网络科技有限公司 | A kind of automobile car slipping based reminding method and device |
| CN108032804A (en) * | 2017-12-08 | 2018-05-15 | 风度（常州）汽车研发院有限公司 | Car slipping based reminding method and device |
| CN108116416A (en) * | 2016-11-28 | 2018-06-05 | 比亚迪股份有限公司 | Vehicle and its car slipping determination methods and device |
| CN108674401A (en) * | 2018-05-17 | 2018-10-19 | 威马智慧出行科技（上海）有限公司 | Car slipping anti-collision early warning control method and electronic equipment |
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| CN110239541A (en) * | 2018-03-08 | 2019-09-17 | 丰田自动车株式会社 | Driving assistance system |
| CN110562134A (en) * | 2019-08-12 | 2019-12-13 | 武汉格罗夫氢能汽车有限公司 | Anti-collision reminding system for neutral gear slope slipping of hydrogen energy automobile |
| CN110962817A (en) * | 2019-12-24 | 2020-04-07 | 江西麦克斯韦科技有限公司 | Control system for preventing automobile from sliding |
| CN112776773A (en) * | 2021-02-27 | 2021-05-11 | 重庆长安汽车股份有限公司 | Anti-sliding safety control method and system and automobile |
| CN112848922A (en) * | 2021-01-27 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Electric automobile and sliding reminding method and device thereof |
| CN113705479A (en) * | 2021-08-31 | 2021-11-26 | 上海洛轲智能科技有限公司 | Data processing method, device, equipment, system and storage medium |
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| CN110001740A (en) * | 2019-03-28 | 2019-07-12 | 好孩子儿童用品有限公司 | A kind of safe and intelligent power-assisted stroller |
| CN110562134A (en) * | 2019-08-12 | 2019-12-13 | 武汉格罗夫氢能汽车有限公司 | Anti-collision reminding system for neutral gear slope slipping of hydrogen energy automobile |
| CN110962817A (en) * | 2019-12-24 | 2020-04-07 | 江西麦克斯韦科技有限公司 | Control system for preventing automobile from sliding |
| CN113734239A (en) * | 2020-05-28 | 2021-12-03 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| CN113734239B (en) * | 2020-05-28 | 2023-08-08 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| CN112848922A (en) * | 2021-01-27 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Electric automobile and sliding reminding method and device thereof |
| CN112776773A (en) * | 2021-02-27 | 2021-05-11 | 重庆长安汽车股份有限公司 | Anti-sliding safety control method and system and automobile |
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Application publication date: 20161109 |