CN106379298B - Intelligent brake control method based on target moving body and automobile time calculation - Google Patents
Intelligent brake control method based on target moving body and automobile time calculation Download PDFInfo
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- CN106379298B CN106379298B CN201610897033.XA CN201610897033A CN106379298B CN 106379298 B CN106379298 B CN 106379298B CN 201610897033 A CN201610897033 A CN 201610897033A CN 106379298 B CN106379298 B CN 106379298B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000003137 locomotive effect Effects 0.000 claims 1
- 230000006698 induction Effects 0.000 abstract 3
- 241000282472 Canis lupus familiaris Species 0.000 description 32
- 241001465754 Metazoa Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 241000282326 Felis catus Species 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The intelligent brake control method based on the target moving body and the automobile time calculation comprises the following steps: a GPS positioner on a target moving body acquires position data of the target moving body, a first speed measurement sensor acquires the current speed of the target moving body, and a data writing module writes the acquired result into a transponder on the target moving body; a second speed measurement sensor on the automobile acquires the current speed of the automobile, at least one reader sends out a wake-up signal to enable a transponder in an induction range to enter a working state, the reader is arranged at the top of the automobile, and the longest induction distance in the induction range is a preset distance threshold value, namely the distance from a target moving body to the top of the automobile; the responder transmits the position data of the target moving body and the current speed of the target moving body to the reader; the reader transmits the data to a processor on the automobile; the processor analyzes whether the target moving body collides with the automobile or not, and if so, outputs a braking signal to the braking device; the brake device controls the automobile to automatically perform brake operation.
Description
Technical Field
the invention relates to the technical field of communication, in particular to an intelligent brake control method based on target moving body and automobile time calculation.
background
There are many dogs and cars in cities, and many things come with them, cats, dogs and cats suffering from cross accidents are often seen on roads, and disputes between cars and animals in districts are not uncommon. For drivers who collide with animals, accidents occur due to the fact that the drivers do not notice the animals on the road during driving, and particularly for the animals crossing the road, traffic accidents are easy to occur. Therefore, there is a need for a technical means for detecting an animal crossing a road in front of a traveling vehicle on the road, analyzing the possibility of collision, and controlling the braking of the vehicle.
disclosure of Invention
The purpose of the invention is as follows: in view of the above, in order to overcome the disadvantages of the prior art, embodiments of the present invention provide an intelligent brake control method based on a target moving object and vehicle time calculation, which can detect an animal crossing a road in front of a driving vehicle on the road, analyze a possibility of collision, and control vehicle braking accordingly, and can effectively solve the problems involved in the background art.
the technical scheme is as follows: an intelligent brake control method based on target moving body and automobile time calculation comprises the following steps:
the method comprises the steps that a GPS positioner arranged on a target moving body is used for obtaining position data of the target moving body, a first speed measurement sensor is used for obtaining the current speed of the target moving body, and a data writing module is used for writing the position data of the target moving body and the current speed of the target moving body into a transponder arranged on the target moving body;
Acquiring the current speed of the automobile by using a second speed measurement sensor arranged on the automobile, and sending a wake-up signal by at least one reader to enable the transponder in the sensing range to enter a working state, wherein the reader is arranged at the top of the automobile, the longest sensing distance of the sensing range is a preset distance threshold, and the preset distance threshold is the distance from a target moving body to the top of the automobile;
After the transponder enters a working state, the stored position data of the target moving body and the current speed of the target moving body are transmitted to the reader;
The reader transmits the received position data of the target moving body and the current speed of the target moving body to a processor arranged on an automobile;
The processor obtains the width of an automobile body, the length of the automobile body and a road electronic map, positions the driving position of the automobile and correspondingly displays the positioning data of the automobile in the electronic map, obtains the distance from the side edge of the automobile to the nearest lane line from the electronic map, calculates the distance from a target moving body to the nearest lane line according to the position data of the target moving body, and adds the distance from the side edge of the automobile to the nearest lane line and the distance from the target moving body to the nearest lane line to obtain the distance from the target moving body to a first destination point; knowing the distance from the target moving body to the first destination point and the distance from the target moving body to the top of the automobile, and calculating the distance from the top of the automobile to the first destination point by using a pythagorean theorem formula; adding the distance from the top of the automobile to the first destination point and the length of the automobile body to obtain the distance from the tail of the automobile to the first destination point; knowing the distance from the target moving body to the first destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move to the first destination point according to a distance speed time formula; knowing the distance from the top of the automobile to a first destination point and the current speed of the automobile, and calculating the time required by the top of the automobile to drive to the first destination point according to a distance speed time formula; the width of the automobile body is equal to the distance from the first destination point to the second destination point, and the second destination point and the other side edge of the automobile are positioned on the same horizontal line; knowing the distance from the first destination point to the second destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move from the first destination point to the second destination point according to a distance speed time formula; adding the time required by the target moving body to move to the first destination point and the time required by the target moving body to move from the first destination point to the second destination point to obtain the time required by the target moving body to move to the second destination point; knowing the distance from the tail of the automobile to a first target point and the current speed of the automobile, and calculating the time required by the tail of the automobile to travel to the first target point according to a distance speed time formula; judging whether the time t2 required by the top of the automobile to drive to the first target point meets t1, t2 and t4, and whether the time t5 required by the tail of the automobile to drive to the first target point meets t1, t5 and t4, wherein t1 is the time required by the target moving body to move to the first target point, t4 is the time required by the target moving body to move to the second target point, and if the time t2 is met, the processor outputs a braking signal to a braking device in the automobile;
And the brake device controls the automobile to automatically brake according to the brake signal.
As a preferred mode of the invention, the number of the readers is two, the two readers are respectively arranged at the left end and the right end of the top of the automobile, and when the reader at the left end senses the transponder, the transponder is positioned at the left front side of the automobile; when the reader at the right end senses the transponder, the transponder is positioned on the right front side of the automobile.
the invention realizes the following beneficial effects: the method has the advantages that the target moving body (animal) on the road in front of the automobile is effectively detected, the possibility of collision between the automobile and the target moving body is obtained through calculation of speed, distance and time, and the brake of the automobile is controlled when the possibility of collision is analyzed, so that the collision between the automobile and the target moving body is avoided, and the life safety of the target moving body is guaranteed.
Drawings
FIG. 1 is a frame diagram of an executing member relationship of the intelligent brake control method provided by the present invention;
FIG. 2 is a schematic flow chart of an intelligent brake control method provided by the present invention;
FIG. 3 is a schematic diagram illustrating an environmental application of the intelligent brake control method provided by the present invention;
Fig. 4 is a schematic diagram of another environment application of the intelligent brake control method provided by the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Referring to fig. 1 and 2, fig. 1 is a frame diagram of an executing element relationship of an intelligent brake control method according to the present invention; fig. 2 is a schematic flow chart of an intelligent brake control method provided by the invention. Specifically, the embodiment provides an intelligent brake control method based on time calculation of a target moving body and an automobile, which includes the following steps:
101: the method comprises the steps that a GPS positioner arranged on a target moving body is used for obtaining position data of the target moving body, a first speed measurement sensor is used for obtaining the current speed of the target moving body, and a data writing module is used for writing the position data of the target moving body and the current speed of the target moving body into a transponder arranged on the target moving body;
102: acquiring the current speed of the automobile by using a second speed measurement sensor arranged on the automobile, and sending a wake-up signal by at least one reader to enable the transponder in the sensing range to enter a working state, wherein the reader is arranged at the top of the automobile, the longest sensing distance of the sensing range is a preset distance threshold, and the preset distance threshold is the distance from a target moving body to the top of the automobile;
103: after the transponder enters a working state, the stored position data of the target moving body and the current speed of the target moving body are transmitted to the reader;
104: the reader transmits the received position data of the target moving body and the current speed of the target moving body to a processor arranged on an automobile;
105: the processor obtains the width of an automobile body, the length of the automobile body and a road electronic map, positions the driving position of the automobile and correspondingly displays the positioning data of the automobile in the electronic map, obtains the distance from the side edge of the automobile to the nearest lane line from the electronic map, calculates the distance from a target moving body to the nearest lane line according to the position data of the target moving body, and adds the distance from the side edge of the automobile to the nearest lane line and the distance from the target moving body to the nearest lane line to obtain the distance from the target moving body to a first destination point; knowing the distance from the target moving body to the first destination point and the distance from the target moving body to the top of the automobile, and calculating the distance from the top of the automobile to the first destination point by using a pythagorean theorem formula; adding the distance from the top of the automobile to the first destination point and the length of the automobile body to obtain the distance from the tail of the automobile to the first destination point; knowing the distance from the target moving body to the first destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move to the first destination point according to a distance speed time formula; knowing the distance from the top of the automobile to a first destination point and the current speed of the automobile, and calculating the time required by the top of the automobile to drive to the first destination point according to a distance speed time formula; the width of the automobile body is equal to the distance from the first destination point to the second destination point, and the second destination point and the other side edge of the automobile are positioned on the same horizontal line; knowing the distance from the first destination point to the second destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move from the first destination point to the second destination point according to a distance speed time formula; adding the time required by the target moving body to move to the first destination point and the time required by the target moving body to move from the first destination point to the second destination point to obtain the time required by the target moving body to move to the second destination point; knowing the distance from the tail of the automobile to a first target point and the current speed of the automobile, and calculating the time required by the tail of the automobile to travel to the first target point according to a distance speed time formula; judging whether the time t2 required by the top of the automobile to drive to the first target point meets t1, t2 and t4, and whether the time t5 required by the tail of the automobile to drive to the first target point meets t1, t5 and t4, wherein t1 is the time required by the target moving body to move to the first target point, t4 is the time required by the target moving body to move to the second target point, and if the time t2 is met, the processor outputs a braking signal to a braking device in the automobile;
106: and the brake device controls the automobile to automatically brake according to the brake signal.
the two readers are respectively arranged at the left end and the right end of the top of the automobile, and when the reader at the left end senses the transponder, the transponder is positioned at the left front side of the automobile; when the reader at the right end senses the transponder, the transponder is positioned on the right front side of the automobile.
in this embodiment, only the target moving body is described as the pet dog, and in practical application, the target moving body may be another object, which only needs to be alive and in motion.
Specifically, a GPS locator on the target moving body acquires position data d1 of the pet dog, a first speed measurement sensor acquires current speed s1 of the pet dog, and a data writing module writes the position data d1 of the pet dog and the current speed s1 of the target moving body into a transponder arranged on the target moving body. And a second speed measurement sensor arranged on the automobile acquires the current speed s2 of the automobile.
And the reader at the left end is named as a first reader, and the reader at the right end is named as a second reader.
Referring to fig. 3 in conjunction with fig. 1 and fig. 2, fig. 3 is a schematic diagram of an environment application of the intelligent brake control method provided by the present invention. When the first reader sends out a wake-up signal to enable the transponder in the sensing range to enter a working state, the transponder transmits stored position data d1 where the pet dog is located and the current speed s1 of the pet dog to the first reader, and the first reader transmits the received position data d1 where the pet dog is located and the current speed s1 of the pet dog to a processor arranged on an automobile.
the processor obtains the width a1 of the automobile body, the length b1 of the automobile body and an electronic road map, positions the driving position of the automobile and correspondingly displays the positioning data of the automobile in the electronic map, obtains the distance a2 from the side edge of the automobile to the nearest lane line from the electronic map, calculates the distance a3 from the pet dog to the nearest lane line according to the position data d1 where the pet dog is located, and adds the distance a2 from the side edge of the automobile to the nearest lane line and the distance a3 from the pet dog to the nearest lane line to obtain the distance a4 from the pet dog to a first destination point, namely a2 + a3= a 4.
Knowing the distance a4 from the pet dog to the first destination point and the distance c1 from the pet dog to the top of the automobile (the longest sensing distance in the sensing range of the first reader), the distance b2 from the top of the automobile to the first destination point is calculated by using the Pythagorean theorem formula, wherein a4 is a square edge, c1 is a hypotenuse, and b2 is another square edge.
Adding the distance b2 from the top of the automobile to the first destination point to the length b1 of the automobile body to obtain the distance b3 from the tail of the automobile to the first destination point; knowing the distance a4 from the pet dog to the first destination point and the current speed s1 of the pet dog, calculating the time t1 required for the pet dog to move to the first destination point according to a journey speed time formula, wherein t1= a4/s 1.
knowing the distance b2 from the top of the automobile to the first destination point and the current speed s2 of the automobile, the time t2 required for the top of the automobile to travel to the first destination point is calculated according to a journey speed time formula, and t2= b2/s 2.
The width a1 of the automobile body is equal to the distance from the first destination point to the second destination point, and the second destination point and the other side of the automobile are on the same horizontal line.
Knowing the distance a1 between the first destination point and the second destination point and the current speed s1 of the pet dog, the time t3 required for the pet dog to move from the first destination point to the second destination point is calculated according to a journey speed time formula, wherein t3= a1/s 1.
Adding the time t1 required by the pet dog to move to the first destination point and the time t3 required by the pet dog to move from the first destination point to the second destination point obtains the time t4 required by the pet dog to move to the second destination point.
knowing the distance b3 from the tail of the automobile to the first target point and the current speed s2 of the automobile, the time t5 required by the tail of the automobile to travel to the first target point is calculated according to a journey speed time formula, wherein t5= b3/s 2.
And judging whether the time t2 required by the automobile to drive to the first destination point from the top of the automobile meets t1, t2 and t4, and whether the time required by the automobile to drive to the first destination point from the tail of the automobile meets t1, t5 and t4, wherein t1 is the time required by the pet dog to move to the first destination point, t4 is the time required by the pet dog to move to the second destination point, and if the time t2 meets the time t1, t2 and t4, the processor outputs a braking signal to a braking device in the automobile.
When t1 is not less than t2 is not less than t4 and t1 is not less than t5 is not less than t4, the pet dog can be determined to be collided with the automobile, in this case, the processor outputs a brake signal to a brake device in the automobile, and the brake device controls the automobile to automatically brake according to the brake signal, so that the pet dog is prevented from being collided.
referring to fig. 4 in conjunction with fig. 1 and fig. 2, fig. 4 is a schematic diagram of another environment application of the intelligent brake control method provided by the present invention. When the second reader sends out a wake-up signal to enable the transponder in the sensing range to enter a working state, the transponder transmits stored position data d1 where the pet dog is located and the current speed s1 of the pet dog to the first reader, and the first reader transmits the received position data d1 where the pet dog is located and the received current speed s1 of the pet dog to a processor arranged on an automobile.
The operation performed by the processor is basically the same as that described above, and the difference is a change in direction, which is not described herein again.
the above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (2)
1. An intelligent brake control method based on target moving body and automobile time calculation is characterized by comprising the following steps:
the method comprises the steps that a GPS positioner arranged on a target moving body is used for obtaining position data of the target moving body, a first speed measurement sensor is used for obtaining the current speed of the target moving body, and a data writing module is used for writing the position data of the target moving body and the current speed of the target moving body into a transponder arranged on the target moving body;
Acquiring the current speed of the automobile by using a second speed measurement sensor arranged on the automobile, and sending a wake-up signal by at least one reader to enable the transponder in the sensing range to enter a working state, wherein the reader is arranged at the top of the automobile, the longest sensing distance of the sensing range is a preset distance threshold, and the preset distance threshold is the distance from a target moving body to the top of the automobile; wherein the target locomotor is a pet dog;
after the transponder enters a working state, the stored position data of the target moving body and the current speed of the target moving body are transmitted to the reader;
the reader transmits the received position data of the target moving body and the current speed of the target moving body to a processor arranged on an automobile;
The processor obtains the width of an automobile body, the length of the automobile body and a road electronic map, positions the driving position of the automobile and correspondingly displays the positioning data of the automobile in the electronic map, obtains the distance from the side edge of the automobile to the nearest lane line from the electronic map, calculates the distance from a target moving body to the nearest lane line according to the position data of the target moving body, and adds the distance from the side edge of the automobile to the nearest lane line and the distance from the target moving body to the nearest lane line to obtain the distance from the target moving body to a first destination point; knowing the distance from the target moving body to the first destination point and the distance from the target moving body to the top of the automobile, and calculating the distance from the top of the automobile to the first destination point by using a pythagorean theorem formula; adding the distance from the top of the automobile to the first destination point and the length of the automobile body to obtain the distance from the tail of the automobile to the first destination point; knowing the distance from the target moving body to the first destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move to the first destination point according to a distance speed time formula; knowing the distance from the top of the automobile to a first destination point and the current speed of the automobile, and calculating the time required by the top of the automobile to drive to the first destination point according to a distance speed time formula; the width of the automobile body is equal to the distance from the first destination point to the second destination point, and the second destination point and the other side edge of the automobile are positioned on the same horizontal line; knowing the distance from the first destination point to the second destination point and the current speed of the target moving body, and calculating the time required by the target moving body to move from the first destination point to the second destination point according to a distance speed time formula; adding the time required by the target moving body to move to the first destination point and the time required by the target moving body to move from the first destination point to the second destination point to obtain the time required by the target moving body to move to the second destination point; knowing the distance from the tail of the automobile to a first target point and the current speed of the automobile, and calculating the time required by the tail of the automobile to travel to the first target point according to a distance speed time formula; judging whether the time t2 required by the top of the automobile to drive to the first target point meets t1, t2 and t4, and whether the time t5 required by the tail of the automobile to drive to the first target point meets t1, t5 and t4, wherein t1 is the time required by the target moving body to move to the first target point, t4 is the time required by the target moving body to move to the second target point, and if the time t2 is met, the processor outputs a braking signal to a braking device in the automobile;
And the brake device controls the automobile to automatically brake according to the brake signal.
2. the intelligent brake control method based on the target moving body and the automobile time calculation is characterized in that the number of the readers is two, the readers are respectively arranged at the left end and the right end of the top of the automobile, and when the reader at the left end senses the transponder, the transponder is positioned at the front left side of the automobile; when the reader at the right end senses the transponder, the transponder is positioned on the right front side of the automobile.
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| CN201610897033.XA CN106379298B (en) | 2016-10-14 | 2016-10-14 | Intelligent brake control method based on target moving body and automobile time calculation |
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| CN201610897033.XA CN106379298B (en) | 2016-10-14 | 2016-10-14 | Intelligent brake control method based on target moving body and automobile time calculation |
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| CN106379298B true CN106379298B (en) | 2019-12-06 |
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| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN114370476B (en) * | 2022-01-21 | 2022-11-04 | 广东工业大学 | Rapid active vibration reduction method for high-speed motion platform |
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