CN107139920A - A kind of control method for vehicle and device - Google Patents
A kind of control method for vehicle and device Download PDFInfo
- Publication number
- CN107139920A CN107139920A CN201710311356.0A CN201710311356A CN107139920A CN 107139920 A CN107139920 A CN 107139920A CN 201710311356 A CN201710311356 A CN 201710311356A CN 107139920 A CN107139920 A CN 107139920A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000013507 mapping Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract 2
- 230000004888 barrier function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000012216 screening Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of control method for vehicle, including：Obtain the distance of target object and target travel vehicle in goal-selling region, and the target object and target travel vehicle speed, the arrival time that the target object reaches the target travel vehicle is calculated according to the distance and speed got；When the arrival time being less than the first preset time, the brake system brake of the target travel vehicle is controlled.The invention also discloses a kind of controller of vehicle.The present invention realizes the safety detection in vehicle travel process, and controls vehicle traveling according to result of detection, the problem of to improve vehicle safety.
Description
Technical field
The present invention relates to technical field of vehicle control, more particularly to a kind of control method for vehicle and device.
Background technology
In vehicle travel process, the barrier occurred in the visual line of sight of its driver, when driver attention does not collect
In or obstacle distance vehicle it is nearer when, because driver's error in judgement, or barrier motion track itself go wrong,
If in the case that driver has closely dangerous obstacles, or correct driving vehicle avoiding obstacles without reflection in time, easily
Cause security incident.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of control method for vehicle, it is intended to solve have obstacle in vehicle travel process
During thing, driver artificially judges inaccurate, easily causes security incident.
A kind of control method for vehicle that the present invention is provided, including：
Obtain the distance of target object and target travel vehicle in goal-selling region, and the target object and target
The speed of driving vehicle, calculates the target object according to the distance and speed got and reaches the target travel vehicle
Arrival time；
When the arrival time being less than the first preset time, the brake system brake of the target travel vehicle is controlled.
Preferably, while the step of brake system brake of the control target travel vehicle is performed, step is performed：
Control the target travel vehicle play cuing audio.
Preferably, it is described when the arrival time being less than the first preset time, control stopping for the target travel vehicle
The step of car system is braked includes：
When the arrival time being less than the first preset time, when judging whether the arrival time is default more than second
Between, second preset time is less than the first preset time；
If the arrival time is more than the second preset time, the target travel vehicle is controlled to stop in first brake mode
Car system, to reduce the travel speed of the target travel vehicle；
If the arrival time is less than or equal to the second preset time, the target travel is controlled with the second brake modes
Brake and drive system for vehicle with tow, to control the target travel vehicle parking.
Preferably, the target travel brake and drive system for vehicle with tow is controlled with the second brake modes described in performing, it is described to control
While the step of target travel vehicle parking, step is performed：
Control the locked steering wheel of direction disk control unit of the target travel vehicle.
Preferably, the distance for obtaining target object and target travel vehicle in goal-selling region, and the mesh
The speed of object and target travel vehicle is marked, according to the distance and speed got calculates the target object arrival
Before the step of arrival time of target travel vehicle, in addition to：
The speed of the target travel vehicle is obtained, according to the mapping for having set the speed and goal-selling zone radius
Relation table, determines the radius distance value in the goal-selling region, to obtain the scope in the goal-selling region.
In addition, to achieve the above object, the present invention also provides a kind of controller of vehicle, including：
Acquisition module, the distance for obtaining target object and target travel vehicle in goal-selling region, and it is described
The speed of target object and target travel vehicle；
Computing module, the target line is reached for calculating the target object according to the distance and speed that get
Sail the arrival time of vehicle；
Control module, for when the arrival time being less than the first preset time, controlling the target travel vehicle
Brake system is braked.
Preferably, the control module, in addition to control the target travel vehicle play cuing audio.
Preferably, described device also includes：
Judging unit, for when the arrival time being less than the first preset time, judging whether the arrival time is big
In the second preset time, second preset time is less than the first preset time；
Control unit, if being more than the second preset time for the arrival time, is controlled described in first brake mode
Target travel brake and drive system for vehicle with tow, to reduce the travel speed of the target travel vehicle, and if the arrival time be less than
Or equal to the second preset time, then the target travel brake and drive system for vehicle with tow is controlled with the second brake modes, to control the mesh
Mark driving vehicle parking.
Preferably, the control module, is additionally operable to, when the arrival time being less than the first preset time, control the mesh
Mark the locked steering wheel of direction disk control unit of driving vehicle.
Preferably, the acquisition module, is additionally operable to obtain the speed of the target travel vehicle；
Determining module, for according to the mapping table for having set the speed and goal-selling zone radius, determining institute
The radius distance value in goal-selling region is stated, to obtain the scope in the goal-selling region.
Distance of the invention by obtaining target object and target travel vehicle in goal-selling region, and the target
The speed of object and target travel vehicle, calculates the target object according to the distance and speed got and reaches the mesh
Mark the arrival time of driving vehicle；When the arrival time being less than the first preset time, the target travel vehicle is controlled
Brake system is braked.Realize when thering is barrier to influence vehicle drive in the range of vehicle running region, if driver is artificial
Error in judgement, when causing current driving vehicle to have the possibility for occurring security incident.Pass through control method and device of the present invention, root
According to the arrival distance of current barrier and current driving vehicle, vehicle reduction speed is automatically controlled, to improve vehicle driving safety.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of control method for vehicle of the present invention；
Fig. 2 is the schematic flow sheet of the second embodiment of control method for vehicle of the present invention；
Fig. 3 is the schematic flow sheet of the 3rd embodiment of control method for vehicle of the present invention；
Fig. 4 is the high-level schematic functional block diagram of the first embodiment of controller of vehicle of the present invention
Fig. 5 is the high-level schematic functional block diagram of the second embodiment of controller of vehicle of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Based on above mentioned problem, the present invention provides a kind of control method for vehicle.
Reference picture 1, Fig. 1 is the schematic flow sheet of the first embodiment of control method for vehicle of the present invention.
In one embodiment, the control method for vehicle includes：
Step S10, obtains the distance of target object and target travel vehicle in goal-selling region, and the object
The speed of body and target travel vehicle, calculates the target object according to the distance and speed got and reaches the target
The arrival time of driving vehicle；
According to target object in goal-selling region, the target object and target travel vehicle are obtained in real time
The speed of distance and its target object and target travel vehicle.Its metering system, including prior art infrared sensor,
The modes such as electromagnetic wave, ultrasonic wave are measured.And distance and its institute of the target object with target travel vehicle are obtained in real time
The speed of target object and target travel vehicle is stated, the time that the target object reaches target travel vehicle is calculated, it is calculated
Formula be distance/speed equal to arrival time, the arrival time is the target object to the target travel vehicle
Arrival time.Due to the target travel vehicle in the process of moving, its position is continually changing, and thus causes the target object
Also it is being continually changing with the distance of target travel vehicle, according to the distance and speed of real-time change, what is thus calculated described arrives
It is also real-time up to the time, i.e., described arrival time is real-time arrival time.
Before the arrival time of target object arrival target travel vehicle is calculated, i.e., in described acquisition goal-selling region
The distance of target object and target travel vehicle, and the target object and target travel vehicle speed, according to getting
The distance and before speed calculates the step of target object reaches the arrival time of the target travel vehicle, also wrap
Include：
The speed of the target travel vehicle is obtained, according to the mapping for having set the speed and goal-selling zone radius
Relation table, determines the radius distance value in the goal-selling region, to obtain the scope in the goal-selling region.
Vehicle is travelled according to current goal, its speed is obtained.According to the speed, with the speed and goal-selling set
In the mapping table of zone radius, the radius distance value in the goal-selling region is confirmed.The speed and goal-selling region
The mapping table of radius, has been set in the target travel vehicle, speed and goal-selling regional extent radius
Relation table, speed is faster, and goal-selling zone radius is bigger；For example, current vehicle speed is 60, then goal-selling region model is corresponded to
The radius enclosed is that 10m, i.e. radius of investigation are target object in 10m.With the speed correspondence speed got and goal-selling area
The scope in the goal-selling region in the relation table of domain scope, and according to the scope in the goal-selling region having confirmed that, detect institute
State the target object in goal-selling regional extent.Target object in the goal-selling regional extent, is after having screened
The object of vehicle driving safety is likely to result in goal-selling regional extent, its screening conditions include article size, stationary object,
Mobile object etc..Specific screening conditions, are setting in the target travel vehicle management system；Such as current preset target area
In the range of domain, barrier is not included highly less than 10cm, the stone less than 10cm is excluded and is used as barrier.
Step S20, when the arrival time being less than the first preset time, controls the brake system of the target travel vehicle
System brake；
According to the arrival time of the target object calculated to the target travel vehicle, calculated described
Real-time arrival time and default first preset time contrast of the target object with target travel vehicle, if the arrival time
During less than the first preset time, represent that current goal object may threaten to the safety traffic of the target travel vehicle,
The Vehicular brake device of the target travel vehicle is controlled to brake, i.e. control brake, to adjust the row of the target travel vehicle
State is sailed, the threat for reducing safety traffic may.
In the present embodiment, arriving in real time by target object in the range of the predeterminable area that calculates and target travel vehicle
Up to the time, the real-time arrival time and the first preset time are contrasted, and be less than the first preset time in the arrival time
When, the brake system of control targe driving vehicle adjusts the vehicle running state of current driving vehicle, to improve vehicle traveling peace
Entirely.
In control method for vehicle of the present invention, it specifically controls what the brake system of the target travel vehicle braked to stop
Car mode, may further reference Fig. 2, and Fig. 2 is the second embodiment of control method for vehicle of the present invention, and first based on the present invention is implemented
Example, the step S20 includes：
Step S21, when the arrival time being less than the first preset time, judges whether the arrival time is more than second
Preset time, second preset time is less than the first preset time；
During Current vehicle traveling, the arrival time that the target object reaches the target travel vehicle has been less than
During the first preset time, the distance and the object of the target object and target travel vehicle got in real time are continued through
The speed of body and target travel vehicle, calculates the arrival time that the target object reaches the target travel vehicle in real time, and
The real-time arrival time and the second preset time are compared, the size of the arrival time and the second preset time is judged, used
To confirm whether current control mode excludes the hidden danger of safe driving according to the arrival time calculated in real time.Described second it is default when
Between, it is the average time of the mankind's reflection set, according to existing related science experimental calculation.
Step S22, if the arrival time is more than the second preset time, the target line is controlled in first brake mode
Brake and drive system for vehicle with tow is sailed, to reduce the travel speed of the target travel vehicle；
If the arrival time of the target object calculated and target travel vehicle is more than the second preset time, institute is represented
The distance for stating target travel vehicle-to-target object is possible to threaten current safe driving, then controls the target travel vehicle
Brake apparatus, the brake system of the target travel vehicle is controlled in first brake mode, i.e., be interrupted according to predeterminated frequency and braked,
Reduce speed.The predeterminated frequency interruption braking, reduces speed, is to dub brake every the object time, to reduce speed, institute
It is each interval time for dubbing brake under the interruption brake condition pre-set to state predeterminated frequency, may be configured as 1S or 0.5S,
I.e. under the control of interruption braking, dub and once brake every 1S or 0.5S, with the slow reduction speed in safe operating range.
Step S23, if the arrival time is less than or equal to the second preset time, is controlled described with the second brake modes
Target travel brake and drive system for vehicle with tow, to control the target travel vehicle parking.
If the arrival time is less than or equal to the second preset time, the target object and target travel vehicle are represented
Arrival time is less than the normal reflecting time of the mankind, has threatened the safety traffic of the target travel vehicle, has then been stopped with second
Car mode controls the target travel brake and drive system for vehicle with tow, and to control the target travel vehicle parking, i.e. brake hard is described
Brake hard touches on the brake on earth to be slow, to stop the target travel vehicle as early as possible on the premise of safety operation.
It is described with the second brake modes control target travel brake and drive system for vehicle with tow performing, to control the target line
While sailing the step of vehicle parking, while performing step：
Control the locked steering wheel of direction disk control unit of the target travel vehicle.It is same in the operation of current brake hard
When, while locked steering wheel, with Current vehicle traveling dangerous situation, it is to avoid the further row caused due to operation steering wheel
Sail harm.
In control method for vehicle of the present invention, it specifically controls what the brake system of the target travel vehicle braked to stop
Car mode, may further reference Fig. 3, and Fig. 3 is the 3rd embodiment of control method for vehicle of the present invention, and first based on the present invention is implemented
Example, while the step of brake system brake of the control target travel vehicle is performed, performs step：
Step S30, controls the target travel vehicle play cuing audio.
If the arrival time is less than the first preset time, braked in the brake system currently by target travel vehicle
Control mode simultaneously, pass through the playing device or peripheral hardware playing function of the target travel vehicle, play cuing audio, to carry
The current dangerous barrier of the driver that wakes up, notes driving safety.
Above-mentioned first to the executive agent of the control method for vehicle of second embodiment be the vehicle that has normally travel performance
Control mainboard, or the electronic equipment associated with the control mainboard of the vehicle, further, the control method for vehicle can be by
The client installed in the electronic equipment that the control mainboard of the vehicle is associated is realized.The electronic equipment can include but not limit
In mobile phone, pad, notebook computer etc..
The present invention further provides a kind of controller of vehicle.
Reference picture 4, Fig. 4 is the high-level schematic functional block diagram of the first embodiment of controller of vehicle of the present invention.
In one embodiment, described device includes：Acquisition module 10, computing module 20, determining module 30 and control module
40。
Acquisition module 10, the distance for obtaining target object and target travel vehicle in goal-selling region, Yi Jisuo
State the speed of target object and target travel vehicle；
Computing module 20, the target is reached for calculating the target object according to the distance and speed that get
The arrival time of driving vehicle；
According to target object in goal-selling region, the target object and target travel vehicle are obtained in real time
The speed of distance and its target object and target travel vehicle.Its metering system, including prior art infrared sensor,
The modes such as electromagnetic wave, ultrasonic wave are measured.And distance and its institute of the target object with target travel vehicle are obtained in real time
The speed of target object and target travel vehicle is stated, the time that the target object reaches target travel vehicle is calculated, it is calculated
Formula be distance/speed equal to arrival time, the arrival time is the target object to the target travel vehicle
Arrival time.Due to the target travel vehicle in the process of moving, its position is continually changing, and thus causes the target object
Also it is being continually changing with the distance of target travel vehicle, according to the distance and speed of real-time change, what is thus calculated described arrives
It is also real-time up to the time, i.e., described arrival time is real-time arrival time.
Before the arrival time of target object arrival target travel vehicle is calculated, i.e., in described acquisition goal-selling region
The distance of target object and target travel vehicle, and the target object and target travel vehicle speed, according to getting
The distance and before speed calculates the arrival time that the target object reaches the target travel vehicle, in addition to
The acquisition module 10, is additionally operable to obtain the speed of the target travel vehicle；
Determining module 30, the mapping table of the speed and goal-selling zone radius has been set for basis, it is determined that
The radius distance value in the goal-selling region, to obtain the scope in the goal-selling region.
Vehicle is travelled according to current goal, its speed is obtained.According to the speed, with the speed and goal-selling set
In the mapping table of zone radius, the radius distance value in the goal-selling region is confirmed.The speed and goal-selling region
The mapping table of radius, has been set in the target travel vehicle, speed and goal-selling regional extent radius
Relation table, speed is faster, and goal-selling zone radius is bigger；For example, current vehicle speed is 60, then goal-selling region model is corresponded to
The radius enclosed is that 10m, i.e. radius of investigation are target object in 10m.With the speed correspondence speed got and goal-selling area
The scope in the goal-selling region in the relation table of domain scope, and according to the scope in the goal-selling region having confirmed that, detect institute
State the target object in goal-selling regional extent.Target object in the goal-selling regional extent, is after having screened
The object of vehicle driving safety is likely to result in goal-selling regional extent, its screening conditions include article size, stationary object,
Mobile object etc..Specific screening conditions, are setting in the target travel vehicle management system；Such as current preset target area
In the range of domain, barrier is not included highly less than 10cm, the stone less than 10cm is excluded and is used as barrier.
Control module 40, for when the arrival time being less than the first preset time, controlling the target travel vehicle
Brake system brake.
According to the arrival time of the target object calculated to the target travel vehicle, calculated described
Real-time arrival time and default first preset time contrast of the target object with target travel vehicle, if the arrival time
During less than the first preset time, represent that current goal object may threaten to the safety traffic of the target travel vehicle,
The Vehicular brake device of the target travel vehicle is controlled to brake, i.e. control brake, to adjust the row of the target travel vehicle
State is sailed, the threat for reducing safety traffic may.
While the brake system brake of the control target travel vehicle is performed, herein below is performed：
The control module 40, in addition to control the target travel vehicle play cuing audio.
Control the target travel vehicle play cuing audio.If the arrival time is less than the first preset time,
The control mode that the current brake system by target travel vehicle is braked simultaneously, is filled by the broadcasting of the target travel vehicle
Put or peripheral hardware playing function, play cuing audio, to remind the current dangerous barrier of driver, note driving safety.
In the present embodiment, arriving in real time by target object in the range of the predeterminable area that calculates and target travel vehicle
Up to the time, the real-time arrival time and the first preset time are contrasted, and be less than the first preset time in the arrival time
When, the brake system of control targe driving vehicle adjusts the vehicle running state of current driving vehicle, to improve vehicle traveling peace
Entirely.
Reference picture 5, Fig. 5 is the high-level schematic functional block diagram of the second embodiment of controller of vehicle of the present invention.The control
Module also includes：Judging unit 41, control unit 42.
Judging unit 41, for when the arrival time being less than the first preset time, whether judging the arrival time
More than the second preset time, second preset time is less than the first preset time；
During Current vehicle traveling, the arrival time that the target object reaches the target travel vehicle has been less than
During the first preset time, the distance and the object of the target object and target travel vehicle got in real time are continued through
The speed of body and target travel vehicle, calculates the arrival time that the target object reaches the target travel vehicle in real time, and
The real-time arrival time and the second preset time are compared, the size of the arrival time and the second preset time is judged, used
To confirm whether current control mode excludes the hidden danger of safe driving according to the arrival time calculated in real time.Described second it is default when
Between, it is the average time of the mankind's reflection set, according to existing related science experimental calculation.
Control unit 42, if being more than the second preset time for the arrival time, institute is controlled in first brake mode
Target travel brake and drive system for vehicle with tow is stated, to reduce the travel speed of the target travel vehicle；
If the arrival time of the target object calculated and target travel vehicle is more than the second preset time, institute is represented
The distance for stating target travel vehicle-to-target object is possible to threaten current safe driving, then controls the target travel vehicle
Brake apparatus, the brake system of the target travel vehicle is controlled in first brake mode, i.e., be interrupted according to predeterminated frequency and braked,
Reduce speed.The predeterminated frequency interruption braking, reduces speed, is to dub brake every the object time, to reduce speed, institute
It is each interval time for dubbing brake under the interruption brake condition pre-set to state predeterminated frequency, may be configured as 1S or 0.5S,
I.e. under the control of interruption braking, dub and once brake every 1S or 0.5S, with the slow reduction speed in safe operating range.
Described control unit 42, if being additionally operable to the arrival time less than or equal to the second preset time, stops with second
Car mode controls the target travel brake and drive system for vehicle with tow, to control the target travel vehicle parking.
If the arrival time is less than or equal to the second preset time, the target object and target travel vehicle are represented
Arrival time is less than the normal reflecting time of the mankind, has threatened the safety traffic of the target travel vehicle, has then been stopped with second
Car mode controls the target travel brake and drive system for vehicle with tow, and to control the target travel vehicle parking, i.e. brake hard is described
Brake hard touches on the brake on earth to be slow, to stop the target travel vehicle as early as possible on the premise of safety operation.
It is described with the second brake modes control target travel brake and drive system for vehicle with tow performing, to control the target line
While sailing vehicle parking, perform simultaneously：The control mode 40, is additionally operable to control the steering wheel control of the target travel vehicle
The locked steering wheel of device processed.
Current brake hard operation simultaneously, while locked steering wheel, under Current vehicle traveling dangerous situation, to keep away
Exempt from due to the further traveling harm that operation steering wheel is caused.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method for vehicle, it is characterised in that the control method for vehicle comprises the following steps：
Obtain the distance of target object and target travel vehicle in goal-selling region, and the target object and target travel
The speed of vehicle, calculates the target object according to the distance and speed got and reaches arriving for the target travel vehicle
Up to the time；
When the arrival time being less than the first preset time, the brake system brake of the target travel vehicle is controlled.
2. control method for vehicle as claimed in claim 1, it is characterised in that performing the brake of the control target travel vehicle
While the step of system brake, step is performed：
Control the target travel vehicle play cuing audio.
3. control method for vehicle as claimed in claim 1 or 2, it is characterised in that described pre- less than first in the arrival time
If during the time, the step of controlling the brake system of the target travel vehicle to brake includes：
When the arrival time being less than the first preset time, judge whether the arrival time is more than the second preset time, institute
The second preset time is stated less than the first preset time；
If the arrival time is more than the second preset time, the target travel vehicle brake system is controlled in first brake mode
System, to reduce the travel speed of the target travel vehicle；
If the arrival time is less than or equal to the second preset time, the target travel vehicle is controlled with the second brake modes
Brake system, to control the target travel vehicle parking.
4. control method for vehicle as claimed in claim 3, it is characterised in that perform described with the second brake modes control mesh
While marking driving vehicle brake system, step to control the target travel vehicle parking, step is performed：
Control the locked steering wheel of direction disk control unit of the target travel vehicle.
5. control method for vehicle as claimed in claim 1, it is characterised in that in the acquisition goal-selling region target object with
The distance of target travel vehicle, and the target object and target travel vehicle speed, according to the distance got
Before the step of arrival time of the target object arrival target travel vehicle being calculated with speed, in addition to：
The speed of the target travel vehicle is obtained, according to the mapping relations for having set the speed and goal-selling zone radius
Table, determines the radius distance value in the goal-selling region, to obtain the scope in the goal-selling region.
6. a kind of controller of vehicle, it is characterised in that including：
Acquisition module, the distance for obtaining target object and target travel vehicle in goal-selling region, and the target
The speed of object and target travel vehicle；
Computing module, the target travel car is reached for calculating the target object according to the distance and speed that get
Arrival time；
Control module, for when the arrival time being less than the first preset time, controlling the brake of the target travel vehicle
System is braked.
7. controller of vehicle as claimed in claim 6, it is characterised in that the control module, in addition to control the target
Driving vehicle play cuing audio.
8. controller of vehicle as claimed in claim 6, it is characterised in that the control module includes：
Judging unit, for when the arrival time being less than the first preset time, judging the arrival time whether more than the
Two preset times, second preset time is less than the first preset time；
Control unit, if being more than the second preset time for the arrival time, the target is controlled in first brake mode
Driving vehicle brake system, to reduce the travel speed of the target travel vehicle, and if the arrival time be less than or wait
In the second preset time, then the target travel brake and drive system for vehicle with tow is controlled with the second brake modes, to control the target line
Sail vehicle parking.
9. controller of vehicle as claimed in claim 8, it is characterised in that the control module, is additionally operable in the arrival
Between when being less than the first preset time, control the locked steering wheel of direction disk control unit of the target travel vehicle.
10. controller of vehicle as claimed in claim 6, it is characterised in that
The acquisition module, is additionally operable to obtain the speed of the target travel vehicle；
Determining module, for according to the mapping table for having set the speed and goal-selling zone radius, determining described pre-
If the radius distance value of target area, to obtain the scope in the goal-selling region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311356.0A CN107139920A (en) | 2017-05-04 | 2017-05-04 | A kind of control method for vehicle and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311356.0A CN107139920A (en) | 2017-05-04 | 2017-05-04 | A kind of control method for vehicle and device |
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| CN107139920A true CN107139920A (en) | 2017-09-08 |
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| CN201710311356.0A Pending CN107139920A (en) | 2017-05-04 | 2017-05-04 | A kind of control method for vehicle and device |
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