CN114475517A - Vehicle safety control method and device - Google Patents
Vehicle safety control method and device Download PDFInfo
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- CN114475517A CN114475517A CN202011256410.4A CN202011256410A CN114475517A CN 114475517 A CN114475517 A CN 114475517A CN 202011256410 A CN202011256410 A CN 202011256410A CN 114475517 A CN114475517 A CN 114475517A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000036461 convulsion Effects 0.000 claims abstract description 9
- 230000004913 activation Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 1
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- FXNSVEQMUYPYJS-UHFFFAOYSA-N 4-(2-aminoethyl)benzenesulfonamide Chemical compound NCCC1=CC=C(S(N)(=O)=O)C=C1 FXNSVEQMUYPYJS-UHFFFAOYSA-N 0.000 description 12
- 230000006870 function Effects 0.000 description 9
- 230000006872 improvement Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
- B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
- B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
- B60R2022/4666—Reels with means to tension the belt in an emergency by forced winding up characterised by electric actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
- B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
- B60R2022/4685—Reels with means to tension the belt in an emergency by forced winding up with means to adjust or regulate the tensioning force in relation to external parameters
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- Engineering & Computer Science (AREA)
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- Regulating Braking Force (AREA)
Abstract
The invention relates to a vehicle safety control method and a device, comprising the following steps: collecting the information of the vehicle and the information of the obstacles, and calculating the time of the imminent collision between the vehicle and the obstacles; judging the time to collision, and if the time to collision is less than or equal to a first set time threshold and greater than a second set time threshold, performing engine torque limitation and safety belt twitch early warning control; if the time to collision is less than or equal to a second set time threshold and greater than a third set time threshold, performing primary braking control, wherein the primary braking control comprises controlling the retarder to operate; and if the time to collision is less than or equal to a third set time threshold, performing secondary braking control, wherein the secondary braking control comprises controlling the pretension of the safety belt or/and the operation of a braking system. According to the invention, different safety systems on the vehicle are controlled to execute corresponding safety actions according to the time of the imminent collision, so that the driving safety is ensured, and the driving safety of the vehicle is effectively improved.
Description
Technical Field
The invention relates to a vehicle safety control method and device, and belongs to the technical field of vehicle safety.
Background
At present, the pre-tightening safety belt is widely applied in the technical field of vehicle safety, and the driving safety and riding comfort of a vehicle are greatly improved. The chinese patent application publication No. CN108032856A discloses a multi-stage pretensioning type seat belt control method, which determines the danger level of the current vehicle according to the numerical range of the pre-collision time, and controls the pretensioning action of the pretensioning type seat belt according to the danger level. Although the method can realize the pretension of the safety belt, the safety control is realized by carrying out safety protection on the passenger before the collision happens. However, this method only implements vehicle safety control by controlling the pretensioning of the seat belt, and cannot control other related safety systems of the vehicle within a certain time range before the collision occurs, and also cannot implement adaptive safety control of different safety levels corresponding to different safety systems according to the danger level of the vehicle. Therefore, for the whole vehicle, the safety control of the vehicle is realized only by controlling the pretension of the safety belt, the adaptive safety control of different safety levels corresponding to different safety systems cannot be realized according to the danger level of the vehicle, and the driving safety of the vehicle is still low.
Disclosure of Invention
The invention aims to provide a vehicle safety control method and a vehicle safety control device, which are used for solving the problem that the vehicle safety is low by the conventional safety control method.
In order to solve the technical problem, the invention provides a vehicle safety control method, which comprises the following steps:
collecting the information of the vehicle and the information of the obstacles, and calculating the time of the imminent collision between the vehicle and the obstacles;
judging the time to collision, and if the time to collision is less than or equal to a first set time threshold and greater than a second set time threshold, performing engine torque limitation and safety belt twitch early warning control; if the time to collision is less than or equal to the second set time threshold and greater than a third set time threshold, performing primary braking control, wherein the primary braking control comprises controlling the operation of a retarder; and if the time to collision is less than or equal to the third set time threshold, performing secondary braking control, wherein the secondary braking control comprises controlling the pretension of the safety belt or/and the operation of a braking system.
The invention has the beneficial effects that: according to the size of the time to collision, engine torque limiting and safety belt twitch early warning control, primary brake control or secondary brake control are correspondingly carried out, and during control, vehicle safety control can be achieved by controlling safety belt pre-tightening, and engine torque limiting equipment, a retarder and a brake system can be controlled to achieve vehicle safety control. The invention can control different safety systems on the vehicle to execute corresponding safety actions according to the size of the time about collision so as to ensure the driving safety, and effectively improves the driving safety of the vehicle compared with the mode of only controlling the pretension of the safety belt to realize the safety control of the vehicle.
As a further improvement of the method, when the collision time is less than or equal to a third set time threshold, the collision time is further subdivided, and the actions of a safety belt and a braking system are correspondingly controlled, so that the driving safety of the vehicle is further improved; the secondary braking control step includes: if the time to collision is less than or equal to the third set time threshold and greater than a fourth set time threshold, controlling the primary pre-tightening of the safety belt; if the time to collision is less than or equal to the fourth set time threshold and greater than a fifth set time threshold, controlling the braking system to perform snubbing; if the time to collision is less than or equal to the fifth set time threshold and greater than a sixth set time threshold, controlling the secondary pre-tightening of the safety belt; if the time to collision is less than or equal to the sixth set time threshold, controlling the braking system to fully brake; the length of the safety belt corresponding to the primary pre-tightening of the safety belt is smaller than the length of the safety belt corresponding to the secondary pre-tightening of the safety belt.
As a further improvement of the method, when the collision time is relatively large, in order to remind the driver of the driving safety, the method further comprises the following steps: and if the time to collision is greater than the first set time threshold and less than or equal to the safety control starting set time threshold, performing acousto-optic early warning.
In order to solve the above technical problem, the present invention further provides a vehicle safety control device, which includes a collecting device, a processor and a memory, wherein the collecting device is configured to collect vehicle information and obstacle information, and the processor is configured to process instructions stored in the memory to implement the following method:
calculating the time of imminent collision between the vehicle and the obstacle according to the vehicle information and the obstacle information;
judging the time to be collided, and if the time to be collided is less than or equal to a first set time threshold and greater than a second set time threshold, performing engine torque limit and safety belt twitch early warning control; if the time to collision is less than or equal to the second set time threshold and greater than a third set time threshold, performing primary braking control, wherein the primary braking control comprises controlling the operation of a retarder; and if the time to collision is less than or equal to the third set time threshold, performing secondary braking control, wherein the secondary braking control comprises controlling the pretension of the safety belt or/and the operation of a braking system.
The invention has the beneficial effects that: according to the time of collision, the engine torque limit and safety belt twitch early warning control, the primary brake control or the secondary brake control are correspondingly carried out, and during control, the safety control of the vehicle can be realized by controlling the safety belt to be pre-tightened, and the engine torque limit equipment, the retarder and the brake system can be controlled to realize the safety control of the vehicle. The invention can control different safety systems on the vehicle to execute corresponding safety actions according to the size of the time about collision so as to ensure the driving safety, and effectively improves the driving safety of the vehicle compared with the mode of only controlling the pretension of the safety belt to realize the safety control of the vehicle.
As a further improvement of the system, when the collision time is smaller than or equal to a third set time threshold, the collision time is further subdivided, and the actions of a safety belt and a braking system are correspondingly controlled so as to further improve the driving safety of the vehicle; if the time to collision is less than or equal to the third set time threshold and greater than a fourth set time threshold, controlling the primary pre-tightening of the safety belt; if the time to collision is less than or equal to the fourth set time threshold and greater than a fifth set time threshold, controlling the braking system to perform snubbing; if the time to collision is less than or equal to the fifth set time threshold and greater than a sixth set time threshold, controlling the secondary pre-tightening of the safety belt; if the time to collision is less than or equal to the sixth set time threshold, controlling the braking system to fully brake; the length of the safety belt corresponding to the primary pre-tightening of the safety belt is smaller than the length of the safety belt corresponding to the secondary pre-tightening of the safety belt.
As a further improvement of the system, when the collision time is relatively large, in order to remind the driver of paying attention to driving safety, if the collision time is greater than the first set time threshold and less than or equal to the safety control start set time threshold, sound and light early warning is performed.
Drawings
FIG. 1 is a schematic diagram of the control strategy in the AEBS controller of the present invention;
FIG. 2 is a schematic diagram of a hazardous condition priority interrupt routine of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the vehicle safety control method comprises the following steps:
the embodiment provides a vehicle, which comprises an active pre-tightening safety belt, an active pre-tightening safety belt controller, an engine torque limiting device, a retarder (an electric retarder or a hydraulic retarder), a vehicle braking system (a wheel brake), different safety systems such as a work indicator lamp and a buzzer, and a vehicle safety control system. The vehicle safety control system comprises a front collision early warning system and an automatic emergency braking system, wherein the automatic emergency braking system is connected with the front collision early warning system and different safety systems so as to realize a vehicle safety control method, and the control method comprises the following steps:
(1) an imminent time to collision of the vehicle with an obstacle is detected.
The front collision early warning system collects vehicle state information and driving environment (obstacle) information, calculates Time To Collision (TTC) with obstacles such as a front vehicle and a roadblock according to the vehicle state and the driving environment information, and sends the calculated Time To Collision (TTC) to the automatic emergency braking system. Since the front collision early warning system and the principle of detecting the imminent collision time belong to the prior art, the details are not repeated here.
(2) And controlling different safety systems on the vehicle to execute corresponding safety actions according to the numerical range of the imminent collision time.
The controller (AEBS controller for short) of the automatic emergency braking system receives the Time To Collision (TTC) sent by the front collision early warning system, evaluates the risk of front collision, integrates and comprehensively controls the work indicator light, the acousto-optic early warning function of the buzzer, the torque limiting function of the engine torque limiting device, the retarder braking function, the active pre-tightening safety belt quick-pumping function, the pre-tightening and pre-tightening-cancelling function and the wheel brake braking function, and the specific control logic is shown in Table 1.
TABLE 1
| Time to collision (TTC/s) | Safety action |
| (t1，ts] | Indicator lamp flashing and buzzer alarming |
| (t2，t1] | Safety belt twitch + engine limit knob |
| (t3，t2] | Retarder brake |
| (t4，t3] | First-level pretension of safety belt |
| (t5，t4] | Wheel edge brake sudden snub brake |
| (t6，t5] | Two-stage pre-tightening of safety belt |
| ≤t6 | Wheel-side brake full brake |
In Table 1, t1、t2、t3、t4、t5、t6Respectively showing a first, a second, a third, a fourth, a fifth and a sixth set time threshold, tsIndicating a safety control activation set time threshold, ts>t1>t2>t3>t4>t5>t6And the size of each threshold is set according to actual needs.
As can be seen from table 1, with reference to fig. 1, the details of step (2) are as follows:
when t is1＜TTC≤tsAnd in time, the AEBS controller controls the indicator light to flash and the buzzer to give an early warning, so that the acousto-optic early warning is realized.
When t is2＜TTC≤t1And the AEBS controller controls the safety belt to be drawn by controlling the active pre-tightening safety belt controller and controls the engine torque limiter by controlling the engine torque limiter, so that the engine torque limiter and the safety belt drawing early warning control are realized. When the pulling of the safety belt is controlled, the set number of times of pulling of the safety belt can be controlled, and the set number of times can be set according to actual needs, for example, can be set to 2 times.
When t is3＜TTC≤t2And meanwhile, the AEBS controller realizes primary (active) braking control by controlling the operation of the retarder.
When TTC is less than or equal to t3When the AEBS controller passes through the controlAnd an active pre-tightening safety belt controller and a wheel side brake are controlled to realize the two-stage (active) braking control. The two-stage (active) braking control specifically includes four conditions:
when t is4＜TTC≤t3When the safety belt is in use, the AEBS controller controls the safety belt to be pre-tightened in the first stage by controlling the active pre-tightening safety belt controller;
when t is5＜TTC≤t4When the vehicle is braked, the AEBS controller controls the wheel brake to perform snubbing according to a set frequency so as to realize snubbing of a vehicle braking system;
when t is6＜TTC≤t5When the safety belt is in a closed state, the AEBS controller controls the safety belt to be in a secondary pre-tightening state by controlling the active pre-tightening safety belt controller;
when TTC is less than or equal to t6And when the vehicle is in a normal state, the AEBS controller controls the wheel brake to be fully braked so as to realize the full braking of the vehicle braking system.
In the second-level (active) braking control, the tightening length of the safety belt corresponding to the first-level pre-tightening of the safety belt is smaller than the tightening length of the safety belt corresponding to the second-level pre-tightening of the safety belt. In addition, after the vehicle recovers the normal driving state, the active pre-tightening safety belt controller is controlled to cancel pre-tightening, so that driving and riding comfort is guaranteed.
In the step (2), the part t1 which is greater than TTC and less than or equal to ts is not required to be judged, and at the moment, the AEBS controller does not need to control the indicator lamp to flicker and the buzzer to perform early warning, and does not need to perform acousto-optic early warning any more.
In the vehicle safety control method, the safety action of the pre-tightening safety belt is divided into different priorities according to the dangerous working conditions of the automobile, wherein the secondary pre-tightening priority of the safety belt is the highest, the primary pre-tightening priority of the safety belt is the second highest, and the twitch early warning priority of the safety belt is the lowest. This function is implemented by setting an emergency signal flag bit in the control instruction of the AEBS controller, and by a priority interrupt routine, as shown in fig. 2:
the active pre-tightening safety belt controller receives and analyzes an emergency signal zone bit in a control command, updates a crisis signal when the received emergency signal zone bit is higher than the current emergency signal zone bit, and executes corresponding safety belt action, namely executes the safety belt action corresponding to the received emergency signal zone bit; otherwise, continuing to execute the safety belt action corresponding to the current emergency signal zone bit.
The vehicle safety control method can control different safety systems on the vehicle to execute corresponding safety actions according to the numerical range of the time of the imminent collision so as to ensure the safety of the vehicle, and compared with the mode of realizing the safety control of the vehicle only by controlling the pretension of the safety belt, the driving safety of the vehicle is improved.
It should be noted that the vehicle in the present embodiment is only one specific example for implementing the vehicle safety control method described above, but is not limited to this specific vehicle. For example, the front collision warning system is used for detecting the time to collision between the vehicle and the obstacle, and in the case of implementing the function, as another embodiment, the front collision warning system may be replaced with another existing time to collision detection module. The automatic emergency braking system is used for controlling different safety systems on the vehicle to execute corresponding safety actions according to the value range of the TTC, and in the case of realizing the function, the automatic emergency braking system can be replaced by other control modules existing on the vehicle or specially arranged on the vehicle as other embodiments.
Vehicle safety control device embodiment:
the embodiment provides a vehicle safety control device which comprises a collecting device, a processor and a memory, wherein the collecting device is used for collecting vehicle information and obstacle information, and the processor is used for processing instructions stored in the memory to realize a vehicle safety control method. Since the vehicle safety control method has been described in detail in the above-described embodiment of the vehicle safety control method, it is not described herein again.
Claims (6)
1. A vehicle safety control method is characterized by comprising the following steps:
collecting the information of the vehicle and the information of the obstacles, and calculating the time of the imminent collision between the vehicle and the obstacles;
judging the time to collision, and if the time to collision is less than or equal to a first set time threshold and greater than a second set time threshold, performing engine torque limitation and safety belt twitch early warning control; if the time to collision is less than or equal to the second set time threshold and greater than a third set time threshold, performing primary braking control, wherein the primary braking control comprises controlling the operation of a retarder; and if the time to collision is less than or equal to the third set time threshold, performing secondary braking control, wherein the secondary braking control comprises controlling the pretension of the safety belt or/and the operation of a braking system.
2. The vehicle safety control method according to claim 1, wherein the step of secondary braking control includes: if the time to collision is less than or equal to the third set time threshold and greater than a fourth set time threshold, controlling the primary pre-tightening of the safety belt; if the time to collision is less than or equal to the fourth set time threshold and greater than a fifth set time threshold, controlling the braking system to perform snubbing; if the time to collision is less than or equal to the fifth set time threshold and greater than a sixth set time threshold, controlling the secondary pre-tightening of the safety belt; if the time to collision is less than or equal to the sixth set time threshold, controlling the braking system to fully brake; the length of the safety belt corresponding to the primary pre-tightening of the safety belt is smaller than the length of the safety belt corresponding to the secondary pre-tightening of the safety belt.
3. The vehicle safety control method according to claim 1 or 2, characterized by further comprising: and if the time to collision is greater than the first set time threshold and less than or equal to the safety control starting set time threshold, performing acousto-optic early warning.
4. A vehicle safety control device is characterized by comprising a collecting device, a processor and a memory, wherein the collecting device is used for collecting vehicle information and obstacle information, and the processor is used for processing instructions stored in the memory to realize the following method:
calculating the time of imminent collision between the vehicle and the obstacle according to the vehicle information and the obstacle information;
judging the time to collision, and if the time to collision is less than or equal to a first set time threshold and greater than a second set time threshold, performing engine torque limitation and safety belt twitch early warning control; if the time to collision is less than or equal to the second set time threshold and greater than a third set time threshold, performing primary braking control, wherein the primary braking control comprises controlling the operation of a retarder; and if the time to collision is less than or equal to the third set time threshold, performing secondary braking control, wherein the secondary braking control comprises controlling the pretension of the safety belt or/and the operation of a braking system.
5. The vehicle safety control device according to claim 4, wherein if the imminent collision time is equal to or less than the third set time threshold and greater than a fourth set time threshold, primary pretension of the seatbelt is controlled; if the time to collision is less than or equal to the fourth set time threshold and greater than a fifth set time threshold, controlling the braking system to perform snubbing; if the time to collision is less than or equal to the fifth set time threshold and greater than a sixth set time threshold, controlling the secondary pre-tightening of the safety belt; if the time to collision is less than or equal to the sixth set time threshold, controlling the braking system to fully brake; the length of the safety belt corresponding to the primary pre-tightening of the safety belt is smaller than the length of the safety belt corresponding to the secondary pre-tightening of the safety belt.
6. The vehicle safety control device according to claim 4 or 5, characterized in that an audible and visual warning is given if the imminent collision time is greater than the first set time threshold and equal to or less than a safety control activation set time threshold.
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| CN202011256410.4A CN114475517A (en) | 2020-11-11 | 2020-11-11 | Vehicle safety control method and device |
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Application publication date: 20220513 |