CN111907492B - Control method and device for AEB (automatic control bus) system of vehicle - Google Patents
Control method and device for AEB (automatic control bus) system of vehicle Download PDFInfo
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- CN111907492B CN111907492B CN202010764762.4A CN202010764762A CN111907492B CN 111907492 B CN111907492 B CN 111907492B CN 202010764762 A CN202010764762 A CN 202010764762A CN 111907492 B CN111907492 B CN 111907492B
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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
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The invention discloses a control method and a device of an AEB system of a vehicle, wherein the AEB system has two working modes, namely a first mode and a second mode, and the first mode supports the output of an early warning signal and a braking signal; the second mode only supports the output of early warning signals; the control method comprises the following steps: s1: detecting whether the IMU system is started normally or not, if so, entering S20; if not, the AEB system operates in a second mode; s20: acquiring the attitude information of the vehicle, judging whether the attitude information exceeds a threshold value, and if so, operating the AEB system in a second mode; if not, entering S21; s21: the AEB system works in a first mode, calculates a braking threshold according to the attitude information, and outputs corresponding early warning signals and braking signals according to the braking threshold; by adopting the control method, the AEB system can adapt to the current state of the vehicle, and the first mode or the second mode is automatically selected to work, so that the automatic protection effect of the AEB system is ensured to the maximum extent.
Description
Technical Field
The invention relates to the technical field of vehicle AEB system control, in particular to a vehicle AEB system control method and device.
Background
With the increase of the quantity of the automobile, the occurrence rate of traffic accidents is also obviously improved, and people pay more attention to the automobile safety. In this process, there are many safety measures in the field of automobile safety. Among them, an automatic emergency braking system (Autonomous Emergency Braking, also called AEB system) is an active safety braking system for situations where there is a risk of collision. In the event of a collision risk, the AEB system may provide an alert and braking operation based on the degree of risk.
The existing AEB system has a plurality of defects in the aspect of making a treatment strategy of dangerous working conditions, mainly characterized in that the application scene is generally single, the environment and the vehicle body condition are not fully considered, for example, when the gradient exists on the road surface, the road surface gradient has an influence on the relative friction force, and if the AEB system also executes an automatic braking function according to the normal road surface environment parameters, the vehicle sliding or vehicle turning accidents can occur.
Disclosure of Invention
The invention aims to provide a control method of a vehicle AEB system, so that the AEB system can automatically adjust a control strategy according to the current state of the vehicle, and the driving safety is ensured.
Another object of the present invention is to provide a control device for an AEB system of a vehicle, so that the AEB system can automatically adjust a control strategy according to a current state of the vehicle, and ensure driving safety.
In order to achieve the above purpose, the invention discloses a control method of a vehicle AEB system, wherein an IMU system is installed on the vehicle, the AEB system has two working modes, namely a first mode and a second mode, and the first mode supports the output of early warning signals and braking signals; the second mode supports the output of early warning signals and suppresses the output of braking signals; the control method comprises the following steps:
s1: when the vehicle is started, detecting whether the IMU system is started normally, and if so, entering S20; if not, controlling the AEB system to work in a second mode;
s20: acquiring the attitude information of the vehicle through the IMU system, judging whether the attitude information exceeds a threshold value, and if so, controlling the AEB system to work in a second mode; if not, entering S21;
s21: and controlling the AEB system to work in a first mode, calculating a braking threshold according to the attitude information, and outputting corresponding early warning signals and braking signals according to the calculated braking threshold by the AEB system.
Compared with the prior art, the control method of the AEB system of the vehicle comprises two groups of working modes, when the vehicle is started, whether the IMU system is started normally or not is checked, if the IMU system cannot be started normally, the attitude information of the vehicle cannot be obtained, and at the moment, the AEB system works in a second mode, namely, only an early warning signal can be sent out, and a braking signal cannot be sent out, so that accidents are prevented; under the condition that the IMU system is in a normal state, if the attitude information of the vehicle obtained from the IMU system exceeds a threshold value, the current state of the vehicle is not suitable for emergency braking, so that the AEB system still works in a second mode; when the attitude information is in a normal range, the AEB system works in a first mode, and the AEB system outputs corresponding early warning signals and braking signals according to a braking threshold value calculated by the attitude information, so that the active protection work of the AEB system is matched with the current state of the vehicle, the protection function of the AEB system is further exerted to the maximum extent, and the driving safety is improved.
Preferably, the attitude information includes a pitch angle that measures a front-rear inclination angle of the vehicle, a threshold value alpha of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max The maximum braking deceleration of the vehicle on the horizontal road surface is achieved, and mu is the adhesion coefficient of the road surface on which the vehicle body is positioned; and if the current pitch angle of the vehicle acquired by the IMU system is theta and theta is less than or equal to alpha, calculating the braking threshold according to theta.
Preferably, in S21, the braking threshold includes a braking time threshold TB and a current maximum braking deceleration Decel of the vehicle body, wherein TB is the current relative speed V to the collision target vel The vehicle is decelerated to a stop for a required time with excel, the calculation formulas of the excel and the TB are as follows,
Decel＝g(sinθ+μcosθ)，
Preferably, after calculating the braking time threshold value TB, the magnitude relation between the TB and the collision risk parameter TTC may be further determined, where TTC is a ratio of a relative distance between the front and rear vehicles to a relative speed, and when TTC is less than or equal to TB, the AEB system operates in the first mode; and when the TTC is greater than the TB, the AEB system works in the second mode or stops outputting the early warning signal and the braking signal at the same time.
Preferably, the attitude information further includes a yaw rate that measures a camber of a steering travel path of the vehicle, a threshold yawrate of the yaw rate satisfying a formula,
wherein V is the speed of the current vehicle, and R is the curvature radius constant.
Preferably, in S1, after detecting that the IMU system is started normally, S30 may be entered at the same time;
s30: detecting and obtaining tire information of a current vehicle through a TPMS system on the vehicle, wherein the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, judging whether the tire information exceeds a threshold value, and if not, entering S21; if so, the AEB system is controlled to operate in a second mode.
Preferably, when the vehicle speed is greater than a preset value, the influence of the tire information on the output of the AEB system is suppressed.
Preferably, when the tire information crosses a threshold value, it is also possible to determine whether an abnormal tire belongs to the front axle wheel, and if so,
the AEB system operates in a second mode; if not, then
The AEB system operates in the first mode and the current abnormal tire and the tire coaxial therewith do not participate in braking.
Preferably, the method further comprises the step of filtering information data of the attitude information and/or the tire information:
taking the information data of the first information period as effective data, and inputting a calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of the next information period;
starting from the second information period, judging whether the information data of the current information period is in the current filtering threshold range or not, if so,
using the current information data as effective data, and inputting the current information data into the calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of a next information period; if not,
the upper limit value or the lower limit of the current filtering threshold value is used as effective data, and the filtering threshold value of the current information period is used as the filtering threshold value of the next information period.
Preferably, the calculation model is [ n-t, n+t ], where n is currently received information data and t is a preset known data.
The invention also discloses a vehicle AEB system control device, which comprises a control unit, a first parameter acquisition unit, a detection unit and a first judgment unit, wherein the first parameter acquisition unit, the detection unit and the first judgment unit are electrically connected with the control unit, the AEB system is provided with a first mode and a second mode, the first mode supports the output of early warning signals and braking signals, the second mode supports the output of early warning signals and suppresses the output of braking signals;
the first parameter acquisition unit is used for acquiring current attitude information of the vehicle;
the detection unit is used for detecting whether the first parameter acquisition unit is started normally or not;
the first judging unit is used for judging whether the gesture information acquired by the first parameter acquiring unit exceeds a threshold value;
the control unit controls the AEB system to select to work in the first mode or the second mode according to feedback of the detection unit and the first judging unit;
when the AEB system is in the first mode, the control unit calculates a braking threshold according to the gesture information acquired by the first parameter acquisition unit, and the AEB system can output corresponding early warning signals and braking signals according to the calculated braking threshold.
Preferably, the attitude information includes a pitch angle that measures a front-rear inclination angle of the vehicle, a threshold value alpha of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max The maximum braking deceleration of the vehicle on the horizontal road surface is achieved, and mu is the adhesion coefficient of the road surface on which the vehicle body is positioned; and if the current pitch angle of the vehicle acquired by the first parameter acquisition unit is theta and theta is less than or equal to alpha, the control unit calculates the braking threshold value according to theta.
Preferably, the saidThe braking threshold value comprises a braking time threshold value TB and a current maximum braking deceleration Decel of the vehicle body, wherein TB is the relative speed V between the current vehicle body and a collision target vel The vehicle is decelerated to a stop for a required time with excel, the calculation formulas of the excel and the TB are as follows,
Decel＝g(sinθ+μcosθ)，
Preferably, the system further comprises a second parameter acquisition unit and a second judgment unit;
the second parameter obtaining unit is used for obtaining a collision risk parameter TTC, wherein TTC is the ratio of the relative distance between the current vehicle and the vehicle ahead to the relative speed;
the second judging unit is used for judging the size relation between the TTC and the TB;
and when the TTC is smaller than or equal to the TB, the control unit controls the AEB system to be started normally, and when the TTC is larger than the TB, the control unit controls the AEB system to be closed.
Preferably, the attitude information further includes a yaw rate that measures a camber of a steering travel path of the vehicle, a threshold yawrate of the yaw rate satisfying a formula,
wherein V is the speed of the current vehicle, and R is the curvature radius constant.
Preferably, the vehicle further comprises a third parameter acquisition unit and a third judgment unit, wherein the third parameter acquisition unit is electrically connected with the control unit and is used for acquiring current tire information of the vehicle, the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, and the third judgment unit is used for judging whether the tire information exceeds a threshold value; the control unit may further control the AEB system to select to operate in the first mode or the second mode according to feedback from the third judging unit.
Preferably, the control unit suppresses an influence of the tire information on the output of the AEB system when the vehicle speed is greater than a preset value.
Preferably, the tire detecting device further comprises a fourth judging unit for judging whether the abnormal tire belongs to the front axle wheel or not, and if so,
the control unit controls the AEB system to work in a second mode; if not, then
The control unit controls the AEB system to operate in the first mode, and the current abnormal tire and the tire coaxial therewith do not participate in braking.
Preferably, the system further comprises a filtering unit for filtering information data of the attitude information and/or the tire information, wherein the filtering unit comprises a first data processing module, a second data processing module and a comparison module;
the first data processing module is used for taking the received information data of the first information period as effective data, and inputting a preset calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of the next information period;
the comparison module is used for comparing and judging whether the information data of the current information period is positioned in the current filtering threshold range from the second information period;
when the output result of the comparison module is yes, the second data processing module is used for using the current information data as effective data and inputting the current information data into the calculation model so as to obtain an upper limit value and a lower limit value of a filtering threshold value of a next information period;
and when the output result of the comparison module is NO, the second data processing module is used for taking the upper limit value or the lower limit of the current filtering threshold value as effective data and taking the filtering threshold value of the current information period as the filtering threshold value of the next information period.
Preferably, the calculation model is [ n-t, n+t ], where n is currently received information data and t is a preset known data.
The present invention also discloses a vehicle AEB system control apparatus comprising one or more processors, a memory and one or more programs, wherein one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the vehicle AEB system control method as described above.
The invention also discloses a computer readable storage medium comprising a computer program for testing, the computer program being executable by a processor to carry out the vehicle AEB system control method as described above.
Drawings
Fig. 1 is a flowchart illustrating a control method of an AEB system of a vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a control device of an AEB system of a vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic diagram showing the tire distribution of a vehicle having two axles in which an abnormality occurs in the front axle tire according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing the tire distribution of a vehicle having two axles in which an abnormality occurs in the rear axle tire according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of the tire distribution of a vehicle with a three-wheel axle in which the front axle tire is abnormal in an embodiment of the present invention.
Fig. 6 is a schematic diagram of a tire distribution of a vehicle having a three-wheeled axle in which an abnormality occurs in the intermediate axle tire according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a tire distribution of a vehicle having a three-wheeled axle in which an abnormality occurs in the rear axle tire according to an embodiment of the present invention.
Detailed Description
In order to describe the technical content, the constructional features, the achieved objects and effects of the present invention in detail, the following description is made in connection with the embodiments and the accompanying drawings.
In order to avoid safety accidents caused by braking of an AEB system, as shown in fig. 1, the invention discloses a vehicle AEB system control method, wherein an IMU system (vehicle inertia measurement system) is arranged on a vehicle, the IMU system can be derived from a vehicle body and/or a camera, the AEB system has two working modes, namely a first mode and a second mode, and the first mode supports the output of early warning signals and braking signals; the second mode supports the output of early warning signals and suppresses the output of braking signals; specifically, the control method comprises the following steps:
s1: when the vehicle is started, detecting whether the IMU system is started normally, and if so, entering S20; if not, controlling the AEB system to work in a second mode;
s20: acquiring the attitude information of the vehicle through the IMU system, judging whether the attitude information exceeds a threshold (comprising an upper limit value and a lower limit value), and if so, operating the AEB system in a second mode; if not, entering S21;
s21: the AEB system works in a first mode, calculates a braking threshold according to the gesture information, and outputs corresponding early warning signals and braking signals according to the calculated braking threshold.
In the control method, when the vehicle starts, firstly, whether the IMU system starts normally is detected, if the IMU system cannot start normally, the attitude information of the vehicle cannot be obtained, and the AEB system cannot acquire the attitude information of the vehicle and cannot output an appropriate braking signal, so that only an early warning signal is output at the moment. In addition, after the IMU system is normally started, the output information of the IMU system can be further checked, if the checking is wrong, fault prompt information is output, and the AEB system still works in the second mode. If the verification is passed, the IMU system can correctly output information, the IMU system can obtain the attitude information of the vehicle in real time, after the attitude information is obtained, whether the attitude information exceeds a threshold value is judged, if the attitude information exceeds the threshold value, the vehicle is in an abnormal state currently and is not suitable for emergency braking, so that the AEB system works in a second mode, if the attitude information does not exceed the threshold value, the AEB system works in a first mode, the braking threshold value of the vehicle in the current state is calculated according to the attitude information, and if emergency occurs, the AEB system outputs corresponding early warning signals and braking signals according to the calculated braking threshold value.
Specifically, the attitude information in the above embodiment includes a pitch angle that measures the front-rear inclination angle of the vehicle, the threshold value α of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max For the maximum braking deceleration (preset value) of the vehicle on the horizontal road surface, mu is the attachment coefficient of the road surface where the vehicle body is located, the current pitch angle of the vehicle obtained by the IMU system is theta, and if theta is less than or equal to alpha, the braking threshold value is calculated according to theta. In this embodiment, μmay be a friction coefficient of the asphalt pavement under the dry condition to meet the running requirements of the vehicle under most conditions, and in addition, μmay be set to be adjustable, and may be preset for various road friction coefficients, and the driver may adjust according to the road characteristics. At Ego_Decel max And μ, the value of α can be calculated.
More specifically, the braking threshold includes a braking time threshold TB and a current maximum braking deceleration Decel of the vehicle body, TB being the current relative speed V to the collision target vel Under the condition that the vehicle is decelerated to stop by the Decel, namely, the AEB system determines when to output an early warning signal and a braking signal according to the TB, and controls the vehicle body to decelerate by the Decel when the braking signal is output. It can be seen that, by the control method in this embodiment, the AEB system is enabled to adapt to the current state of the vehicle, and automatically select to use the first mode or the second mode to operate according to the current state of the vehicle, that is: when the current state of the vehicle is not suitable for emergency braking, the AEB system is only used for early warning, and when the current state of the vehicle supports emergency braking, the AEB system can also send out early warning signals and braking signals matched with the current vehicle condition and environment, so that the automatic protection effect of the AEB system is ensured to the maximum extent, and safety accidents caused by emergency braking of the AEB system are avoided.
The calculation formulas of excel and TB in the above embodiments are preferably as follows,
Decel＝g(sinθ+μcosθ)，
In addition, after the braking time threshold value TB is calculated, the size relation between the TB and a collision risk parameter TTC can be further judged, the TTC is the ratio of the relative distance between the front vehicle and the rear vehicle to the relative speed (the relative distance and the relative speed data are provided by a vehicle body sensor), when the TTC is smaller than or equal to the TB, the current collision risk is higher, the AEB system works in a first mode, namely, corresponding early warning signals and braking signals are output according to the time threshold value TB so as to carry out emergency braking; when the TTC is greater than TB, the current collision risk is lower, and the AEB system can work in a second mode, namely only the corresponding early warning signal is output according to the risk degree without emergency braking, or the AEB system stops the output of the early warning signal and the braking signal at the same time and is completely operated by a driver.
Further, the attitude information further includes a yaw rate that measures the camber of the steering travel track of the vehicle, the threshold yawrate of the yaw rate satisfying the following formula,
wherein V is the speed of the current vehicle, R is the radius of curvature constant, and in this embodiment, according to the requirements of industry regulations, R takes a value of 150.
The AEB system operates in the second mode when the real-time yaw rate of the vehicle crosses the threshold yawrate, and calculates a braking threshold from the current pitch angle of the vehicle when the real-time yaw rate of the vehicle does not cross the threshold yawrate, the yawrate not participating in the calculation of the braking threshold.
In another preferred embodiment of the control method of the AEB system of the vehicle of the present invention, the AEB system may further adjust the control strategy according to feedback of a TPMS system (tire pressure monitoring system) installed in the vehicle, specifically, in the step S1, after detecting that the IMU system is normally started, the system may also enter S30 at the same time;
s30: detecting and obtaining tire information of a current vehicle through a TPMS system on the vehicle, wherein the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, judging whether the tire information exceeds a threshold value, and if not, entering S21; if so, the AEB system operates in a second mode. In the embodiment, the AEB system adjusts a control strategy according to the current tire condition of the vehicle, namely, when the tire pressure of the vehicle is seriously insufficient (the tire pressure exceeds a lower limit threshold value), the AEB system is restrained from outputting a brake signal; when the tire pressures of the respective tires are seriously uneven (the tire pressure difference exceeds the upper limit threshold value), suppressing the output of the AEB system braking signal; suppressing the output of the AEB system braking signal when the wheel tire temperature is too high (the temperature crosses the upper threshold); in addition, when the TPMS system is detected to be faulty, the AEB system also inhibits the output of the brake signal of the AEB system, only outputs the early warning signal and gives out fault prompt information. Therefore, the AEB system can adaptively adjust the control strategy according to the current tire state of the vehicle, so that accidents caused by emergency braking when the tire is in an abnormal working state are avoided, and the safety protection performance of the AEB system is further improved. Preferably, when the vehicle speed is greater than a preset value, for example, greater than 100km/h, the influence of the tire information on the output of the AEB system is suppressed, i.e., when the vehicle speed is greater than the preset value, the AEB system is operated without being influenced by the tire information.
For the vehicle, if the front axle tire is abnormal, if emergency braking is performed, additional pressure is generated on the front axle tire, possibly causing tire burst and safety accident, and when the rear axle or middle axle tire is abnormal, the other axle tires can be selected to participate in braking, therefore, preferably, when the tire information is detected to exceed the threshold value, whether the abnormal tire belongs to the front axle wheel or not can be judged, if so,
the AEB system works in a second mode, namely the AEB system does not output a braking signal and only outputs an early warning signal; if not, then
The AEB system operates in the first mode and the current abnormal tire and the tire coaxial therewith do not participate in braking.
As shown in fig. 3, the automobile includes a front axle a1 and a rear axle a2, and if there is an abnormality in the tire a10 on the front axle a2, all tires cannot participate in braking, so the AEB system does not output a braking signal. As shown in fig. 4, when an abnormality occurs in the tire a20 on the rear axle a2, the AEB system still operates in the first mode, and when the AEB system sends out a braking signal, only two tires on the front axle a1 participate in braking, and neither of the two tires on the rear axle a2 participate in braking.
As shown in fig. 5, the automobile includes a front axle b1, a middle axle b2, and a rear axle b3, and if an abnormality occurs in the tire b10 on the front axle b1, all tires cannot participate in braking, so the AEB system does not output a braking signal. As shown in fig. 6, when an abnormality occurs in the tire b20 on the intermediate shaft b2, the AEB system operates in the first mode, and when the AEB system transmits a brake signal, the tires on the front shaft b1 and the rear shaft b3 participate in braking, and the tires on the intermediate shaft b2 do not participate in braking. As shown in fig. 7, when an abnormality occurs in the tire b30 on the rear axle b3, the AEB system operates in the first mode, and when the AEB system issues a braking signal, the tires on the front axle b1 and the intermediate axle b2 participate in braking, and the tires on the rear axle do not participate in braking.
In addition, as shown in fig. 1, in order to avoid the AEB system being interfered by the abnormal signal, the control method of the AEB system of the vehicle of the present invention further includes a step of filtering the acquired attitude information and/or tire information with information data:
taking the information data of the first information period as effective data, and inputting a calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of the next information period;
starting from the second information period, judging whether the information data of the current information period is in the current filtering threshold range or not, if so,
using the current information data as effective data, and inputting the current information data into the calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of a next information period; if not, then
The upper limit value or the lower limit of the current filtering threshold value is used as effective data, and the filtering threshold value of the current information period is used as the filtering threshold value of the next information period.
Preferably, the calculation model in the above embodiment is [ n-t, n+t ], where n is information data of the current information period and t is a predetermined known data.
The specific process of filtering the above information data will be described in detail below by taking the gesture information received by the IMU system as an example:
let t in the calculation model be 2, and the attitude information data received in the first information period be 4,4 being effective data, for judging the information data of the AEB system working mode; substituting 4 into the calculation model, the upper limit value of the filtering threshold value of the next information period is 6, and the lower limit value is 2, so the short filtering threshold value range of the next information period is [2,6].
If the gesture information data received in the second information period is 3, since 3E [2,6]Therefore, 3 is used as the effective data of the current information period, and 3 is substituted into the calculation model to obtain the filtering threshold range [1,5 ] of the next information period]. If the attitude information data received in the second information period is 100, due to
Therefore, the upper limit value 5 of the filtering threshold of the information period is used as effective data, and the filtering threshold range of the next information period is still [1,5]。
As shown in fig. 2, the invention also discloses a control device of the AEB system of the vehicle, which comprises a control unit, a first parameter acquisition unit, a second parameter acquisition unit, a detection unit, a first judgment unit and a second judgment unit, wherein the first parameter acquisition unit, the second parameter acquisition unit, the detection unit, the first judgment unit and the second judgment unit are electrically connected with the control unit, the AEB system has a first mode and a second mode, the first mode supports the output of early warning signals and braking signals, the second mode supports the output of early warning signals, and the output of braking signals is restrained. The first parameter acquisition unit is used for acquiring current attitude information of the vehicle, the detection unit is used for detecting whether the first parameter acquisition unit is normally started, the first judgment unit is used for judging whether the attitude information acquired by the first parameter acquisition unit exceeds a threshold value, and the control unit selects to work in a first mode or a second mode according to feedback control of the detection unit and the first judgment unit. When the AEB system is in the first mode, the control unit calculates a braking threshold according to the gesture information acquired by the first parameter acquisition unit, and the AEB system can output corresponding early warning signals and braking signals according to the calculated braking threshold.
The attitude information includes a pitch angle that measures the front-rear inclination angle of the vehicle, a threshold value alpha of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max The maximum braking deceleration of the vehicle on the horizontal road surface is achieved, and mu is the adhesion coefficient of the road surface on which the vehicle body is positioned; the current pitch angle of the vehicle acquired by the first parameter acquisition unit is theta, and if theta is less than or equal to alpha, the control unit calculates a braking threshold according to theta.
The braking threshold value comprises a braking time threshold value TB and a current maximum braking deceleration Decel of the vehicle body, wherein TB is the relative speed V between the current vehicle body and a collision target vel The calculation formulas of excel and TB are as follows,
Decel＝g(sinθ+μcosθ)，
The vehicle AEB system control device also comprises a second parameter acquisition unit and a second judgment unit.
The second parameter acquisition unit is used for acquiring a collision risk parameter TTC, wherein the TTC is the ratio of the relative distance between the current vehicle and the vehicle ahead to the relative speed; the second judging unit is used for judging the size relation between the TTC and the TB. When the TTC is smaller than or equal to the TB, the control unit controls the AEB system to start normally, and when the TTC is larger than the TB, the control unit controls the AEB system to close.
The control device of the AEB system of the vehicle also comprises a third parameter acquisition unit and a third judgment unit which are electrically connected with the control unit. The third parameter obtaining unit is used for obtaining current tire information of the vehicle, the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, the third judging unit is used for judging whether the tire information exceeds a threshold value, and the control unit can also select to work in the first mode or the second mode according to feedback AEB system of the third judging unit.
Preferably, the control device of the AEB system for a vehicle according to the present invention further comprises a fourth judging unit for judging whether the abnormal tire belongs to the front axle wheel or not, and if so,
the control unit controls the AEB system to work in a second mode; if not, then
The control unit controls the AEB system to operate in the first mode, and the current abnormal tire and the tire coaxial therewith do not participate in braking.
In addition, the control device of the AEB system of the vehicle also comprises a filtering unit for carrying out information data filtering on the attitude information and/or the tire information, wherein the filtering unit comprises a first data processing module, a second data processing module and a comparison module.
The first data processing module is used for taking the received information data of the first information period as effective data, and inputting a preset calculation model to obtain the upper limit value and the lower limit value of the filtering threshold value of the next information period.
And the comparison module is used for comparing and judging whether the information data of the current information period is positioned in the current filtering threshold range from the second information period.
And when the output result of the comparison module is yes, the second data processing module is used for using the current information data as effective data and inputting the current information data into the calculation model to obtain the upper limit value and the lower limit value of the filtering threshold value of the next information period.
And when the output result of the comparison module is NO, the second data processing module is used for taking the upper limit value or the lower limit of the current filtering threshold value as effective data and taking the filtering threshold value of the current information period as the filtering threshold value of the next information period.
The working principle and working procedure of the vehicle AEB system control device in the above embodiment are detailed in the above vehicle AEB system control method, and are not described herein again.
The present invention also discloses another form of vehicle AEB system control apparatus comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the vehicle AEB system control method as above.
In addition, the invention also discloses a computer readable storage medium, which comprises a computer program for testing, wherein the computer program can be executed by a processor to complete the vehicle AEB system control method.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the scope of the claims, which follow, as defined in the claims.
Claims (18)
1. The control method of the AEB system of the vehicle is characterized in that the AEB system is provided with two working modes, namely a first mode and a second mode, and the first mode supports the output of early warning signals and braking signals; the second mode supports the output of early warning signals and suppresses the output of braking signals; the control method comprises the following steps:
s1: when the vehicle is started, detecting whether the IMU system is started normally, and if so, entering S20; if not, controlling the AEB system to work in a second mode;
s20: acquiring the attitude information of the vehicle through the IMU system, judging whether the attitude information exceeds a threshold value, and if so, controlling the AEB system to work in a second mode; if not, entering S21;
s21: the AEB system is controlled to work in a first mode, a braking threshold value is calculated according to the attitude information, and corresponding early warning signals and braking signals are output by the AEB system according to the calculated braking threshold value;
the attitude information comprises a pitch angle for measuring the front-rear inclination angle of the vehicle;
in S1, after detecting that the IMU system is started normally, the method may also enter S30 at the same time;
s30: detecting and obtaining tire information of a current vehicle through a TPMS system on the vehicle, wherein the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, judging whether the tire information exceeds a threshold value, and if not, entering S21; if yes, controlling the AEB system to work in a second mode;
the method further comprises the step of carrying out information data filtering on the attitude information and/or the tire information:
taking the information data of the first information period as effective data, and inputting a calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of the next information period;
starting from the second information period, judging whether the information data of the current information period is in the current filtering threshold range or not, if so,
using the current information data as effective data, and inputting the current information data into the calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of a next information period; if not,
the upper limit value or the lower limit of the current filtering threshold value is used as effective data, and the filtering threshold value of the current information period is used as the filtering threshold value of the next information period.
2. The method for controlling the AEB system of the vehicle according to claim 1, wherein the threshold value α of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max The maximum braking deceleration of the vehicle on the horizontal road surface is achieved, and mu is the adhesion coefficient of the road surface on which the vehicle body is positioned; and if the current pitch angle of the vehicle acquired by the IMU system is theta and theta is less than or equal to alpha, calculating the braking threshold according to theta.
3. The vehicle AEB system control method according to claim 2, characterized in that in S21, the braking threshold includes a braking time threshold TB and a current maximum braking deceleration Decel of the vehicle body, TB being a relative speed V at the current collision target vel The vehicle is decelerated to a stop for a required time with excel, the calculation formulas of the excel and the TB are as follows,
Decel＝g(sinθ+μcosθ)，
4. The method according to claim 3, wherein after calculating the braking time threshold TB, the magnitude relation between TB and a collision risk parameter TTC is determined, the TTC is a ratio of a relative distance between the front and rear vehicles to a relative speed, and when the TTC is less than or equal to TB, the AEB system operates in the first mode; and when the TTC is greater than the TB, the AEB system works in the second mode or stops outputting the early warning signal and the braking signal at the same time.
5. The method of controlling the AEB system of the vehicle according to claim 1, wherein the posture information further includes a yaw rate that measures a camber of a steering travel locus of the vehicle, a threshold yawrate of the yaw rate satisfying a formula,
wherein V is the speed of the current vehicle, and R is the curvature radius constant.
6. The vehicle AEB system control method according to claim 1, characterized in that the influence of the tire information on the output of the AEB system is suppressed when a vehicle speed is greater than a preset value.
7. The control method of the vehicle AEB system according to claim 1, wherein when the tire information crosses a threshold value, it is also determined whether an abnormal tire belongs to a front axle wheel, and if so,
the AEB system operates in a second mode; if not, then
The AEB system operates in the first mode and the current abnormal tire and the tire coaxial therewith do not participate in braking.
8. The method of claim 1, wherein the calculation model is [ n-t, n+t ], where n is currently received information data and t is a predetermined known data.
9. The control device of the vehicle AEB system is characterized by comprising a control unit, a first parameter acquisition unit, a detection unit and a first judgment unit, wherein the first parameter acquisition unit, the detection unit and the first judgment unit are electrically connected with the control unit, the AEB system is provided with a first mode and a second mode, the first mode supports the output of early warning signals and braking signals, the second mode supports the output of early warning signals and suppresses the output of braking signals;
the first parameter acquisition unit is used for acquiring current attitude information of the vehicle;
the detection unit is used for detecting whether the first parameter acquisition unit is started normally or not;
the first judging unit is used for judging whether the gesture information acquired by the first parameter acquiring unit exceeds a threshold value;
the control unit controls the AEB system to select to work in the first mode or the second mode according to feedback of the detection unit and the first judging unit;
when the AEB system is in the first mode, the control unit calculates a braking threshold according to the gesture information acquired by the first parameter acquisition unit, and the AEB system can output corresponding early warning signals and braking signals according to the calculated braking threshold;
the attitude information comprises a pitch angle for measuring the front-rear inclination angle of the vehicle;
the system comprises a control unit, a first parameter acquisition unit, a second parameter acquisition unit and a third judgment unit, wherein the first parameter acquisition unit is electrically connected with the control unit, the first parameter acquisition unit is used for acquiring current tire information of a vehicle, the tire information comprises one or more of tire pressure information, temperature information and tire pressure difference information, and the third judgment unit is used for judging whether the tire information exceeds a threshold value; the control unit may further control the AEB system to select to operate in the first mode or the second mode according to feedback of the third judging unit;
the system further comprises a filtering unit for filtering information data of the attitude information and/or the tire information, wherein the filtering unit comprises a first data processing module, a second data processing module and a comparison module;
the first data processing module is used for taking the received information data of the first information period as effective data, and inputting a preset calculation model to obtain an upper limit value and a lower limit value of a filtering threshold value of the next information period;
the comparison module is used for comparing and judging whether the information data of the current information period is positioned in the current filtering threshold range from the second information period;
when the output result of the comparison module is yes, the second data processing module is used for using the current information data as effective data and inputting the current information data into the calculation model so as to obtain an upper limit value and a lower limit value of a filtering threshold value of a next information period;
and when the output result of the comparison module is NO, the second data processing module is used for taking the upper limit value or the lower limit of the current filtering threshold value as effective data and taking the filtering threshold value of the current information period as the filtering threshold value of the next information period.
10. The control device for the AEB system of the vehicle according to claim 9, wherein the threshold value α of the pitch angle satisfies the following formula,
g(sinα+μcosα)＝Ego_Decel max ，
wherein Ego_Decel max The maximum braking deceleration of the vehicle on the horizontal road surface is achieved, and mu is the adhesion coefficient of the road surface on which the vehicle body is positioned; and if the current pitch angle of the vehicle acquired by the first parameter acquisition unit is theta and theta is less than or equal to alpha, the control unit calculates the braking threshold value according to theta.
11. The vehicle AEB system control apparatus according to claim 10, wherein the braking threshold includes a braking time threshold TB and a current maximum braking deceleration Decel of the vehicle body, TB being a relative speed V at a current collision target vel The vehicle is decelerated to a stop for a required time with excel, the calculation formulas of the excel and the TB are as follows,
Decel＝g(sinθ+μcosθ)，
12. The vehicle AEB system control apparatus according to claim 11, further comprising a second parameter acquisition unit and a second judgment unit;
the second parameter obtaining unit is used for obtaining a collision risk parameter TTC, wherein TTC is the ratio of the relative distance between the current vehicle and the vehicle ahead to the relative speed;
the second judging unit is used for judging the size relation between the TTC and the TB;
and when the TTC is smaller than or equal to the TB, the control unit controls the AEB system to be started normally, and when the TTC is larger than the TB, the control unit controls the AEB system to be closed.
13. The vehicle AEB system control apparatus according to claim 10, wherein the attitude information further includes a yaw rate that measures a camber of a steering travel path of the vehicle, a threshold yawrate of the yaw rate satisfying a formula,
wherein V is the speed of the current vehicle, and R is the curvature radius constant.
14. The vehicle AEB system control apparatus according to claim 9, wherein the control unit suppresses an influence of the tire information on the output of the AEB system when a vehicle speed is greater than a preset value.
15. The vehicle AEB system control apparatus according to claim 9, further comprising a fourth judging unit for judging whether the abnormal tire belongs to the front axle wheel, and if so,
the control unit controls the AEB system to work in a second mode; if not, then
The control unit controls the AEB system to operate in the first mode, and the current abnormal tire and the tire coaxial therewith do not participate in braking.
16. The vehicle AEB system control apparatus according to claim 9, wherein the calculation model is [ n-t, n+t ], where n is currently received information data and t is a predetermined known data.
17. A vehicle AEB system control apparatus, characterized by comprising:
one or more processors;
a memory;
and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the vehicle AEB system control method of any one of claims 1 to 8.
18. A computer-readable storage medium, comprising a computer program for testing, the computer program being executable by a processor to perform the vehicle AEB system control method according to any one of claims 1 to 8.
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