CN113246932A - Emergency braking auxiliary control method, device, equipment and storage medium - Google Patents
Emergency braking auxiliary control method, device, equipment and storage medium Download PDFInfo
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- CN113246932A CN113246932A CN202110682783.6A CN202110682783A CN113246932A CN 113246932 A CN113246932 A CN 113246932A CN 202110682783 A CN202110682783 A CN 202110682783A CN 113246932 A CN113246932 A CN 113246932A
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- emergency braking
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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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention belongs to the technical field of automobile braking, and discloses an auxiliary control method, device, equipment and storage medium for emergency braking. The method comprises the following steps: acquiring a current vehicle speed; judging whether collision danger exists according to the current vehicle speed; starting an emergency braking mode when there is a collision risk; and carrying out emergency braking according to the preset braking operation of the emergency braking mode. By the mode, whether collision danger exists or not can be automatically judged according to the current running speed of the vehicle, the emergency braking mode is started under the condition that the collision danger exists at the current running speed, then emergency braking is carried out according to the preset braking operation preset in the emergency braking mode, braking can be carried out not only by means of wheel friction force through the preset braking operation, the braking force of the vehicle is enhanced, and the possibility of accidents is reduced.
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to an emergency braking auxiliary control method, device, equipment and storage medium.
Background
The vehicle is often subjected to various emergency situations during running, and emergency braking of the vehicle is required, and at present, the vehicle braking needs to be carried out through friction of a brake drum or a brake disc rotating by wheels on the wheels, so that friction acting force is generated, and the vehicle is decelerated. However, in an emergency, the vehicle cannot be braked in time by the friction of the wheels alone, and other emergency braking methods are needed to increase the braking force.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an emergency braking auxiliary control method, device, equipment and storage medium, aiming at solving the technical problem that the friction braking force of a single wheel is insufficient in the prior art.
To achieve the above object, the present invention provides an emergency braking assist control method, including the steps of:
acquiring a current vehicle speed;
judging whether collision danger exists according to the current vehicle speed;
starting an emergency braking mode when there is a collision risk;
and carrying out emergency braking according to the preset braking operation of the emergency braking mode.
Optionally, the determining whether there is a collision risk according to the current vehicle speed includes:
acquiring obstacle information;
obtaining a target braking distance according to the obstacle information;
acquiring a preset acceleration of a vehicle;
obtaining a vehicle braking distance according to the current vehicle speed and the preset acceleration;
and judging whether collision danger exists according to the target braking distance and the vehicle braking distance.
Optionally, the initiating an emergency braking mode when there is a risk of collision includes:
comparing the target braking distance to the vehicle braking distance;
when the target braking distance is smaller than the vehicle braking distance, judging that a collision danger exists;
the emergency braking mode is initiated.
Optionally, the emergency braking according to the preset braking operation in the emergency braking mode includes:
when detecting that the vehicle starts an emergency braking mode, adjusting the braking force of the vehicle to a preset braking value;
detecting the on-off state of the brake caliper;
when the brake calipers are in a closed state, the brake calipers are opened to unlock the brake spare tire connected with the bottom of the vehicle through the compression spring, and the emergency brake is completed through friction between the brake spare tire and the ground.
Optionally, after the emergency braking mode is started when there is a collision risk, the method further includes:
detecting the locking state of the cabin cover;
unlocking the locking of the cabin cover when the locking state of the cabin cover is locked;
raising the cabin cover;
and when the elevation angle of the cabin cover lifting is equal to the first lifting angle, locking the cabin cover so as to perform emergency braking through the cabin cover.
Optionally, after the emergency braking mode is started when there is a collision risk, the method further includes:
acquiring cargo information of a trunk;
when the cargo information indicates that the trunk has no cargo, detecting the locking state of the trunk cover;
unlocking the trunk lid when the locking state of the trunk lid is locked;
raising the trunk cover;
and when the rising angle of the trunk cover is equal to the second rising angle, the trunk cover is locked to perform emergency braking through the trunk cover.
Optionally, after the emergency braking is performed according to the preset braking operation of the emergency braking mode, the method further includes:
starting an emergency early warning mode;
acquiring an early warning operation instruction of the emergency early warning mode;
and flickering the vehicle lamp according to the early warning operation instruction and the target frequency, and continuously whistling.
In order to achieve the above object, the present invention also provides an emergency braking assistance control device including:
the acquisition module is used for acquiring the current vehicle speed;
the judging module is used for judging whether collision danger exists according to the current vehicle speed;
the control module is used for starting an emergency braking mode when collision danger exists;
and the braking module is used for carrying out emergency braking according to the preset braking operation of the emergency braking mode.
Further, to achieve the above object, the present invention also proposes an emergency braking assistance control apparatus including: a memory, a processor, and an emergency braking assistance control program stored on the memory and executable on the processor, the emergency braking assistance control program configured to implement an emergency braking assistance control method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon an emergency braking assistance control program which, when executed by a processor, implements the emergency braking assistance control method as described above.
The method includes the steps that the current vehicle speed is obtained; judging whether collision danger exists according to the current vehicle speed; starting an emergency braking mode when there is a collision risk; and carrying out emergency braking according to the preset braking operation of the emergency braking mode. By the mode, whether collision danger exists or not can be automatically judged according to the current running speed of the vehicle, the emergency braking mode is started under the condition that the collision danger exists at the current running speed, then emergency braking is carried out according to the preset braking operation preset in the emergency braking mode, braking can be carried out not only by means of wheel friction force through the preset braking operation, the braking force of the vehicle is enhanced, and the possibility of accidents is reduced.
Drawings
FIG. 1 is a schematic diagram of an emergency braking auxiliary control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of an emergency braking assist control method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of an emergency braking assist control method according to the present invention;
FIG. 4 is a schematic diagram illustrating a closed state of a brake caliper according to a second embodiment of the emergency brake auxiliary control method of the present invention;
FIG. 5 is a schematic diagram illustrating an open state of a brake caliper according to a second embodiment of the emergency brake auxiliary control method of the present invention;
fig. 6 is a block diagram showing the construction of the first embodiment of the emergency braking assist control apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an emergency braking assistance control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the emergency braking assistance control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the emergency brake assist control apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an emergency brake assist control program.
In the emergency brake assist control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the emergency braking assistance control apparatus of the present invention may be provided in the emergency braking assistance control apparatus that calls up the emergency braking assistance control program stored in the memory 1005 through the processor 1001 and executes the emergency braking assistance control method provided by the embodiment of the present invention.
An embodiment of the present invention provides an emergency braking auxiliary control method, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the emergency braking auxiliary control method according to the present invention.
In this embodiment, the emergency braking assist control method includes the steps of:
step S10: and acquiring the current vehicle speed.
It should be noted that the execution subject of the present embodiment is a controller, and the controller is mainly used for controlling the emergency braking auxiliary control method, and may be any device capable of implementing the function, which is not limited in the present embodiment. The present embodiment and the following embodiments will be specifically described by taking a controller of an emergency braking assist control method as an example.
It should be understood that the current vehicle speed refers to a running speed of the vehicle in a current running state on the road.
In a specific implementation, the current vehicle speed may be obtained by a vehicle speed monitor of the vehicle itself, or may be obtained by other means, which is not limited in this embodiment.
Step S20: and judging whether collision danger exists or not according to the current vehicle speed.
It should be noted that the collision risk refers to whether the vehicle is at risk of the vehicle body coming into physical contact with other objects.
It should be understood that determining whether there is a collision risk according to the current vehicle speed means determining whether there is a collision risk by comparing a vehicle braking distance when the vehicle speed of the vehicle becomes 0 with a distance to an obstacle, i.e., a target braking distance, if the vehicle takes the maximum deceleration acceleration according to the current vehicle speed.
Further, in order to accurately determine whether there is a collision distance, step S20 includes:
acquiring obstacle information;
obtaining a target braking distance according to the obstacle information;
acquiring a preset acceleration of a vehicle;
obtaining a vehicle braking distance according to the current vehicle speed and the preset acceleration;
and judging whether collision danger exists according to the target braking distance and the vehicle braking distance.
It should be understood that the obstacle refers to an object existing on the road in front of the vehicle and exceeding a preset height and a preset volume, and may be any type and shape of object, which is not limited in this embodiment.
In an implementation, the obstacle information may include information about a distance from the vehicle to the obstacle, height of the obstacle, shape of the obstacle, or other relevant information about the obstacle, which is not limited in this embodiment.
It should be noted that, the obtained obstacle information may be measured by a road condition detector of the vehicle itself, or may be obtained by other apparatuses, which is not limited in this embodiment.
It should be understood that the target stopping distance refers to the minimum stopping distance at which the vehicle is at risk of collision.
In a specific implementation, obtaining the target braking distance according to the obstacle information refers to extracting distance information between the vehicle and the obstacle from the obstacle information, and then taking the distance between the vehicle and the obstacle as the target braking distance.
The preset acceleration refers to a deceleration acceleration of the vehicle when the vehicle is at the maximum braking force under normal conditions.
It should be understood that the preset acceleration of the vehicle may be obtained by extracting the maximum braking acceleration in the normal driving state of the vehicle through an information analyzer of the vehicle, or may be obtained through other devices, and the embodiment does not limit this.
In a specific implementation, obtaining the vehicle braking distance according to the current vehicle speed and the preset acceleration refers to obtaining the vehicle braking distance through calculation.
It should be noted that the vehicle braking distance refers to a distance that the vehicle travels when the vehicle uses the maximum braking acceleration until the speed of the vehicle is reduced to 0 and comes to a complete stop, which is calculated from the current position of the vehicle in the current state.
It should be understood that the braking distance of the vehicle is calculated as follows:
where S is the vehicle braking distance, v is the current vehicle speed of the vehicle, amaxIs a preset acceleration of the vehicle.
In specific implementation, the step of judging whether the collision risk exists according to the target braking distance and the vehicle braking distance refers to the step of comparing the acquired target braking distance with the calculated vehicle braking distance to judge whether the collision risk exists.
By the method, the vehicle braking distance of the vehicle can be accurately calculated, and further, whether collision danger is judged more accurately can be judged.
Step S30: the emergency braking mode is activated when there is a risk of collision.
The emergency braking mode is a braking mode that is preset for the vehicle, excluding a mode in which braking is performed by braking with the frictional force of the tire, and is activated when there is a risk of collision.
Further, in order to accurately determine whether there is a collision risk, step S30 includes:
comparing the target braking distance to the vehicle braking distance;
when the target braking distance is smaller than the vehicle braking distance, judging that a collision danger exists;
the emergency braking mode is initiated.
It should be understood that, when the target braking distance is less than the vehicle braking distance, determining that there is a collision risk means determining that there is a collision risk if the target braking distance is less than the vehicle braking distance, that is, the vehicle braking distance is greater than or equal to the target braking distance, after the target braking distance is compared with the vehicle braking distance.
In this way, whether the vehicle has collision danger or not can be accurately judged by comparing the target braking distance with the vehicle braking distance.
Further, after step S30, the method for increasing the braking force of the vehicle further includes:
detecting the locking state of the cabin cover;
unlocking the locking of the cabin cover when the locking state of the cabin cover is locked;
raising the cabin cover;
and when the elevation angle of the cabin cover lifting is equal to the first lifting angle, locking the cabin cover so as to perform emergency braking through the cabin cover.
It should be noted that the cabin cover refers to a modified version of the cabin in front of the vehicle cabin, and may also be called a bonnet, which is not limited in this embodiment.
It should be understood that detecting the hood locked state refers to detecting whether a switch of a hood of a vehicle has been locked in a state that can be automatically opened.
In a specific implementation, when the locking state of the hood is locked, unlocking the hood lock means that when the locking state of the hood is detected to be locked, the hood is automatically unlocked by an on-board computer or an on-board system, or the hood is unlocked by other devices or equipment capable of achieving the function, which is not limited in this embodiment.
It should be noted that raising the nacelle cover means raising the nacelle cover by a certain angle along the opening and closing rotation shaft of the nacelle cover.
It should be understood that the first uplift angle is an angle value preset by a user to limit the uplift angle of the nacelle cover, so as to prevent the uplift of the nacelle cover from blocking the view of the driver, and the first uplift angle can be set and controlled by the user or a manager, which is not limited in this embodiment.
In a specific implementation, when the elevation angle of the nacelle cover being raised is equal to the first raising angle, the nacelle cover is locked, so that emergency braking through the nacelle cover means that the nacelle cover is automatically raised, and when it is detected that the raising angle of the nacelle cover reaches the first raising angle, the nacelle cover is locked, that is, the nacelle cover is locked at the first raising angle, so that emergency braking is completed.
By the mode, the cabin cover can be automatically opened to a certain angle for locking, the wind resistance is increased by lifting the cabin cover to complete emergency braking, and the braking force of a vehicle is increased.
Further, after step S30, the method for increasing the braking force of the vehicle further includes:
acquiring cargo information of a trunk;
when the cargo information indicates that the trunk has no cargo, detecting the locking state of the trunk cover;
unlocking the trunk lid when the locking state of the trunk lid is locked;
raising the trunk cover;
and when the rising angle of the trunk cover is equal to the second rising angle, the trunk cover is locked to perform emergency braking through the trunk cover.
It should be noted that the trunk refers to an empty compartment of the vehicle for loading cargo, which is located at the rear end of the vehicle cabin, and the trunk has a trunk lid with a locking function.
It should be understood that the cargo information refers to information about cargo contained in the trunk, and the cargo information may include weight of the cargo, volume of the cargo, height of the cargo, and other information about the cargo, which is not limited in this embodiment.
In a specific implementation, the cargo information of the trunk may be obtained by obtaining image information of the trunk through a camera or an image device, or may be obtained by measuring a pressure received by the trunk through a pressure sensor, or other devices or apparatuses that can implement this function, which is not limited in this embodiment.
It should be noted that, when the cargo information indicates that the trunk is empty, detecting the trunk lid locking state means detecting whether a switch of the trunk lid is already locked and is in an openable state when it is detected that no cargo is in the trunk.
It should be understood that, when the trunk lid is locked, unlocking the trunk lid refers to automatically unlocking the trunk lid by an on-board computer or an on-board system when the locked state of the trunk lid is detected as locked, or unlocking the trunk lid by other devices or apparatuses capable of achieving this function, which is not limited in this embodiment.
In specific implementation, the second uplift angle is an angle value preset by a user and is used for limiting the uplift angle of the trunk lid and preventing the trunk lid from uplifting to block the sight of a driver, and the second uplift angle can be set and regulated by the user or a manager, which is not limited in this embodiment.
It should be noted that, work as when the angle of elevation that the trunk lid was raised up equals the second angle of raising up, will trunk lid locking, in order to pass through the trunk lid carries out emergency braking and indicates, raises the trunk lid automatically, when detecting that the angle that the trunk lid was raised up reaches the second angle of raising up, with trunk lid locking, that is to say with the trunk lid locking at the second angle of raising up to accomplish emergency braking.
By the mode, the wind resistance of the vehicle can be increased through the trunk cover by raising the trunk cover to a certain angle, so that the braking force of the vehicle is increased.
Step S40: and carrying out emergency braking according to the preset braking operation of the emergency braking mode.
It should be understood that the preset brake operation refers to completing emergency braking by adjusting the vehicle braking force to a preset brake value and then opening the brake caliper.
In a specific implementation, performing emergency braking according to the preset braking operation of the emergency braking mode refers to, after the emergency braking mode is started, extracting the preset braking operation from the system, and then automatically executing the preset braking mode to complete the emergency braking.
The embodiment obtains the current vehicle speed; judging whether collision danger exists according to the current vehicle speed; starting an emergency braking mode when there is a collision risk; and carrying out emergency braking according to the preset braking operation of the emergency braking mode. By the mode, whether collision danger exists or not can be automatically judged according to the current running speed of the vehicle, the emergency braking mode is started under the condition that the collision danger exists at the current running speed, then emergency braking is carried out according to the preset braking operation preset in the emergency braking mode, braking can be carried out not only by means of wheel friction force through the preset braking operation, the braking force of the vehicle is enhanced, and the possibility of accidents is reduced.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of an emergency braking assistance control method according to the present invention.
Based on the first embodiment described above, the emergency braking assist control method of the present embodiment includes, at the step S40:
step S401: and when the vehicle is detected to start the emergency braking mode, adjusting the braking force of the vehicle to a preset braking value.
It should be noted that the preset braking value refers to adjusting the braking value of the vehicle to the highest value, that is, adjusting the braking force of the tire friction to the highest value through the brake pad or the hand brake.
It should be understood that adjusting the vehicle braking force to the preset braking value when it is detected that the vehicle starts the emergency braking mode means automatically adjusting the braking force of the vehicle to the preset braking value when it is detected that the emergency braking mode starts, i.e. the braking system of the vehicle is adjusted to the maximum braking force.
Step S402: and detecting the switch state of the brake caliper.
In the specific implementation, the brake caliper is a caliper installed at the bottom of a vehicle, the caliper is bilaterally symmetrical and used for locking the brake spare tire, and when the brake caliper is in a closed state, the brake spare tire is locked and is not contacted with the ground.
It should be noted that, the detecting the switch state of the brake caliper means detecting the switch state of the brake caliper by a detecting device, wherein the detecting device may be any device and apparatus capable of achieving the function, and the embodiment is not limited thereto.
Step S403: when the brake calipers are in a closed state, the brake calipers are opened to unlock the brake spare tire connected with the bottom of the vehicle through the compression spring, and the emergency brake is completed through friction between the brake spare tire and the ground.
It should be understood that the compression spring is a spring for connecting the vehicle bottom with the brake spare tire, one end of the compression spring is connected to the vehicle bottom plate of the vehicle, and the other end of the compression spring is connected to the brake spare tire.
In the concrete implementation, the brake spare tire is used for rubbing with the ground to achieve the braking effect, and is connected with the compression spring.
It should be noted that, as shown in fig. 4, when the brake caliper is in the closed state, the caliper locks and restrains the brake tire to the bottom of the vehicle, and the compression spring is in the compressed state.
It should be understood that, when the brake caliper is in a closed state, the brake caliper is opened to unlock a brake spare tire connected with the vehicle bottom through a compression spring, so that the brake spare tire rubs with the ground, and emergency braking is completed, that is, when the brake caliper is detected to be in the closed state at this time, the brake caliper is opened, and after the brake caliper is opened, the compression spring is released, and at this time, the compression spring pushes the brake spare tire to the bottom surface due to the reaction force of the compression state, so that the brake spare tire contacts with the ground, and the friction force of vehicle braking is increased, as shown in fig. 5.
Further, in order to remind surrounding people of dodging in time under the dangerous condition of collision, the step still includes according to after the braking operation of predetermineeing of emergency braking mode carries out emergency braking:
starting an emergency early warning mode;
acquiring an early warning operation instruction of the emergency early warning mode;
and flickering the vehicle lamp according to the early warning operation instruction and the target frequency, and continuously whistling.
It should be noted that the emergency warning mode refers to an operation mode preset on a control system of the vehicle or a vehicle-mounted computer, and is used for reminding people outside the vehicle in the emergency braking mode.
It should be understood that the warning operation command refers to a command generated when the vehicle turns on the emergency warning mode, for operating the vehicle lights and whistling.
In specific implementation, the obtaining of the early warning operation instruction of the emergency early warning mode means that after the emergency early warning mode is started, the early warning operation instruction corresponding to the emergency early warning mode is automatically obtained from a system to control a vehicle lamp and whistle.
It should be noted that the target frequency is a value preset by a user and is used for controlling the flashing frequency of the car lights to remind people outside the vehicle, and the target frequency may be set and controlled by the user or an administrator, which is not limited in this embodiment.
It should be understood that, the flashing of the vehicle lamp according to the early warning operation instruction and the target frequency and the continuous whistling mean that, after the early warning operation instruction is obtained, the vehicle lamp is operated according to the early warning operation instruction and the flashing of the vehicle lamp according to the target frequency and the continuous whistling are carried out.
Through the mode, people around can be reminded to dodge through car light and whistle under the condition that the vehicle carries out emergency braking, and safety accidents are prevented from being generated.
The embodiment adjusts the braking force of the vehicle to a preset braking value when detecting that the vehicle starts an emergency braking mode; detecting the on-off state of the brake caliper; when the brake calipers are in a closed state, the brake calipers are opened to unlock the brake spare tire connected with the vehicle bottom through the compression spring, so that the brake spare tire is rubbed with the ground to complete emergency braking. In this way, in the case of performing the emergency braking mode, the brake spare tire is rubbed with the ground by opening the brake caliper, so that the effect of increasing the braking force of the vehicle can be achieved.
Furthermore, an embodiment of the present invention further provides a storage medium, where an emergency braking assistance control program is stored, and the emergency braking assistance control program, when executed by a processor, implements the steps of the emergency braking assistance control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments described above, at least all the beneficial effects brought by the technical solutions of the embodiments described above are achieved, and are not described in detail herein.
Referring to fig. 6, fig. 6 is a block diagram illustrating a first embodiment of the emergency braking assist control apparatus according to the present invention.
As shown in fig. 6, an emergency braking assist control apparatus according to an embodiment of the present invention includes:
the acquiring module 10 is used for acquiring the current vehicle speed.
And the judging module 20 is used for judging whether a collision danger exists according to the current vehicle speed.
A control module 30 for initiating an emergency braking mode when there is a risk of collision.
And the braking module 40 is used for carrying out emergency braking according to the preset braking operation of the emergency braking mode.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
The embodiment obtains the current vehicle speed; judging whether collision danger exists according to the current vehicle speed; starting an emergency braking mode when there is a collision risk; and carrying out emergency braking according to the preset braking operation of the emergency braking mode. By the mode, whether collision danger exists or not can be automatically judged according to the current running speed of the vehicle, the emergency braking mode is started under the condition that the collision danger exists at the current running speed, then emergency braking is carried out according to the preset braking operation preset in the emergency braking mode, braking can be carried out not only by means of wheel friction force through the preset braking operation, the braking force of the vehicle is enhanced, and the possibility of accidents is reduced.
In this embodiment, the determining module 20 is further configured to obtain obstacle information; obtaining a target braking distance according to the obstacle information; acquiring a preset acceleration of a vehicle; obtaining a vehicle braking distance according to the current vehicle speed and the preset acceleration; and judging whether collision danger exists according to the target braking distance and the vehicle braking distance.
In this embodiment, the control module 30 is further configured to compare the target braking distance with the vehicle braking distance; when the target braking distance is smaller than the vehicle braking distance, judging that a collision danger exists; the emergency braking mode is initiated.
In the embodiment, the braking module 40 is further configured to adjust the braking force of the vehicle to a preset braking value when it is detected that the vehicle starts the emergency braking mode; detecting the on-off state of the brake caliper; when the brake calipers are in a closed state, the brake calipers are opened to unlock the brake spare tire connected with the bottom of the vehicle through the compression spring, and the emergency brake is completed through friction between the brake spare tire and the ground.
In this embodiment, the braking module 40 is further configured to detect a locked state of the nacelle cover; unlocking the locking of the cabin cover when the locking state of the cabin cover is locked; raising the cabin cover; and when the elevation angle of the cabin cover lifting is equal to the first lifting angle, locking the cabin cover so as to perform emergency braking through the cabin cover.
In this embodiment, the brake module 40 is further configured to obtain cargo information of a trunk; when the cargo information indicates that the trunk has no cargo, detecting the locking state of the trunk cover; unlocking the trunk lid when the locking state of the trunk lid is locked; raising the trunk cover; and when the rising angle of the trunk cover is equal to the second rising angle, the trunk cover is locked to perform emergency braking through the trunk cover.
In this embodiment, the braking module 40 further includes: an early warning module, the early warning module to: starting an emergency early warning mode; acquiring an early warning operation instruction of the emergency early warning mode; and flickering the vehicle lamp according to the early warning operation instruction and the target frequency, and continuously whistling.
Since the present apparatus employs all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described in detail herein.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may be referred to an emergency braking assistance control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An emergency braking assist control method, characterized by comprising:
acquiring a current vehicle speed;
judging whether collision danger exists according to the current vehicle speed;
starting an emergency braking mode when there is a collision risk;
and carrying out emergency braking according to the preset braking operation of the emergency braking mode.
2. The method of claim 1, wherein said determining whether there is a risk of collision based on a current vehicle speed comprises:
acquiring obstacle information;
obtaining a target braking distance according to the obstacle information;
acquiring a preset acceleration of a vehicle;
obtaining a vehicle braking distance according to the current vehicle speed and the preset acceleration;
and judging whether collision danger exists according to the target braking distance and the vehicle braking distance.
3. The method of claim 2, wherein initiating an emergency braking mode when there is a risk of collision comprises:
comparing the target braking distance to the vehicle braking distance;
when the target braking distance is smaller than the vehicle braking distance, judging that a collision danger exists;
the emergency braking mode is initiated.
4. The method as claimed in claim 1, wherein said emergency braking according to the preset braking operation of the emergency braking mode comprises:
when detecting that the vehicle starts an emergency braking mode, adjusting the braking force of the vehicle to a preset braking value;
detecting the on-off state of the brake caliper;
when the brake calipers are in a closed state, the brake calipers are opened to unlock the brake spare tire connected with the bottom of the vehicle through the compression spring, and the emergency brake is completed through friction between the brake spare tire and the ground.
5. The method of claim 1, after initiating the emergency braking mode when there is a risk of collision, further comprising:
detecting the locking state of the cabin cover;
unlocking the locking of the cabin cover when the locking state of the cabin cover is locked;
raising the cabin cover;
and when the elevation angle of the cabin cover lifting is equal to the first lifting angle, locking the cabin cover so as to perform emergency braking through the cabin cover.
6. The method of claim 1, after initiating the emergency braking mode when there is a risk of collision, further comprising:
acquiring cargo information of a trunk;
when the cargo information indicates that the trunk has no cargo, detecting the locking state of the trunk cover;
unlocking the trunk lid when the locking state of the trunk lid is locked;
raising the trunk cover;
and when the rising angle of the trunk cover is equal to the second rising angle, the trunk cover is locked to perform emergency braking through the trunk cover.
7. The method according to any one of claims 1 to 6, wherein after the emergency braking according to the preset braking operation of the emergency braking mode, further comprising:
starting an emergency early warning mode;
acquiring an early warning operation instruction of the emergency early warning mode;
and flickering the vehicle lamp according to the early warning operation instruction and the target frequency, and continuously whistling.
8. An emergency brake assist control device, characterized by comprising:
the acquisition module is used for acquiring the current vehicle speed;
the judging module is used for judging whether collision danger exists according to the current vehicle speed;
the control module is used for starting an emergency braking mode when collision danger exists;
and the braking module is used for carrying out emergency braking according to the preset braking operation of the emergency braking mode.
9. An emergency brake assist control apparatus, characterized in that the apparatus comprises: a memory, a processor, and an emergency braking assistance control program stored on the memory and executable on the processor, the emergency braking assistance control program configured to implement the emergency braking assistance control method of any one of claims 1 to 7.
10. A storage medium having stored thereon an emergency brake assist control program which, when executed by a processor, implements an emergency brake assist control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110682783.6A CN113246932A (en) | 2021-06-18 | 2021-06-18 | Emergency braking auxiliary control method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110682783.6A CN113246932A (en) | 2021-06-18 | 2021-06-18 | Emergency braking auxiliary control method, device, equipment and storage medium |
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| CN113246932A true CN113246932A (en) | 2021-08-13 |
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