CN116061961A - Brake early warning method and device, controller, storage medium and automobile - Google Patents

Brake early warning method and device, controller, storage medium and automobile Download PDF

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Publication number
CN116061961A
CN116061961A CN202211515621.4A CN202211515621A CN116061961A CN 116061961 A CN116061961 A CN 116061961A CN 202211515621 A CN202211515621 A CN 202211515621A CN 116061961 A CN116061961 A CN 116061961A
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China
Prior art keywords
information
brake
early warning
vehicle
distance
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CN202211515621.4A
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Chinese (zh)
Inventor
刘强
曾泽江
赵勇光
方燕华
苏振兴
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Dongfeng Motor Group Co Ltd
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Dongfeng Motor Group Co Ltd
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Priority to CN202211515621.4A priority Critical patent/CN116061961A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60Q1/44—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 indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the technical field of vehicle brake early warning, and discloses a brake early warning method, a device, a controller, a storage medium and an automobile. The implementation of the brake early warning method comprises the following steps: acquiring speed information of a front vehicle, brake information of a rear vehicle and distance information between the front vehicle and the rear vehicle; determining early warning information according to the speed information, the brake information and the distance information; and sending prompt information to the terminal equipment of the rear vehicle according to the early warning information, so that a driver adjusts the current braking force according to the prompt information. The method can judge whether the current braking force is required to be adjusted according to the running speeds of the front and rear vehicles and the distance between the front and rear vehicles under different conditions, so that the problem that the driver and members feel uncomfortable when riding under the condition that the braking force is suddenly increased or the emergency braking is automatically triggered when the driver does not adjust the braking force in time when the distance between the front and rear vehicles is far, and the situation that the distance between the front and rear vehicles is close is prevented.

Description

Brake early warning method and device, controller, storage medium and automobile
Technical Field
The application relates to the technical field of vehicle brake early warning, in particular to a brake early warning method, a device, a controller, a storage medium and an automobile.
Background
In the running process of the vehicle, particularly when the vehicle is at a middle distance from the front vehicle, the braking force of the front vehicle is not easy to judge due to the fact that the distance is long. When a driver brakes, the driver can easily brake with smaller braking force due to the fact that the driver is far away from the front vehicle. The above factors may result in a smaller early braking force of the vehicle, and the speed of the own vehicle is still higher when the distance from the preceding vehicle is already short. The driver has to brake with great force under the condition of short distance from the front vehicle, and even the emergency braking of the vehicle can be triggered later, which causes discomfort to the driver and passengers and influences riding comfort.
Disclosure of Invention
The application provides a brake early warning method, a brake early warning device, a controller, a storage medium and an automobile, so as to improve riding comfort of a driver and passengers when the automobile brakes.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.
According to an aspect of the embodiments of the present application, there is provided a brake early warning method, including:
acquiring speed information of a front vehicle, brake information of a rear vehicle and distance information between the front vehicle and the rear vehicle;
determining early warning information according to the speed information, the brake information and the distance information;
and sending prompt information to the terminal equipment of the rear vehicle according to the early warning information, so that a driver adjusts the current braking force according to the prompt information.
In an embodiment of the present application, based on the foregoing solution, the determining early warning information according to the speed information, the brake information, and the distance information includes:
generating a relative distance relation equation between the front vehicle and the rear vehicle based on the speed information, the brake information, a preset time variable and the distance information, wherein the relative distance relation equation is used for representing the relation between the time variable and the distance information;
and determining the early warning information according to the relative distance relation equation and the brake information.
In one embodiment of the present application, based on the foregoing, the speed information includes a speed of the front vehicle and an acceleration of the front vehicle; the braking information includes a speed of the rear vehicle and an acceleration of the rear vehicle, and the generating a relative distance relation equation between the front vehicle and the rear vehicle based on the speed information, the braking information, a preset time variable and the distance information, where the relative distance relation equation is used to characterize a relation between the time variable and the distance information, includes:
generating a relative velocity relation equation of the front vehicle and the rear vehicle based on the speed of the front vehicle, the acceleration of the front vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle and the time variable, wherein the relative velocity relation equation is used for representing the relation of the relative distances between the time variable and the front vehicle and the rear vehicle;
and generating a relative distance relation equation between the front vehicle and the rear vehicle based on the relative speed relation equation, the distance information and the time variable.
In an embodiment of the present application, based on the foregoing solution, the determining the early warning information according to the relative distance relation equation and the brake information includes:
generating a first braking distance relation equation based on the acceleration of the rear vehicle, a preset first braking acceleration and the relative speed relation equation;
generating a second braking distance relation equation based on the acceleration of the rear vehicle, a preset second braking acceleration and the relative speed relation equation;
and determining the early warning information according to the relative distance relation equation, the first braking distance relation equation and the position relation of a curve formed by the second braking distance relation equation on a two-dimensional coordinate system.
In one embodiment of the present application, based on the foregoing solution, the determining the early warning information according to the relative distance relation equation, the first braking distance relation equation, and the positional relation of the second braking distance relation equation on a two-dimensional coordinate system includes:
if a first curve formed by the relative distance relation equation on the two-dimensional coordinate system is positioned above a second curve formed by the first brake distance relation equation on the two-dimensional coordinate system, and the first curve does not intersect with the second curve, early warning is not performed;
if the first curve is intersected with the second curve and the first curve is intersected with a third curve formed by the second braking distance relation equation on the two-dimensional coordinate system, acquiring the relative speeds of the front vehicle and the rear vehicle based on the relative speed relation equation;
if the relative speed is lower than a first target speed, performing primary early warning;
if the relative speed is higher than the first target speed and lower than the second target speed, performing secondary early warning;
wherein the second curve is located above the third curve; the first target speed is a relative speed corresponding to an intersection point of the first curve and the second curve, the second target speed is a relative speed corresponding to an intersection point of the first curve and the third curve, and the first target speed is lower than the second target speed.
In an embodiment of the present application, based on the foregoing solution, the sending, according to the early warning information, a prompt message to a terminal device of the following vehicle includes:
if the early warning information is the primary early warning, sending prompt information for properly increasing braking force to the terminal equipment;
and if the early warning information is the secondary early warning, sending prompt information for greatly increasing the braking force to the terminal equipment.
According to an aspect of the embodiments of the present application, there is provided a brake early-warning device, including an acquisition unit configured to acquire speed information of a preceding vehicle, brake information of a following vehicle, and distance information between the preceding vehicle and the following vehicle; a determining unit, configured to determine early warning information according to the speed information, the brake information, and the distance information; and the sending unit is used for sending prompt information to the terminal equipment of the rear vehicle according to the early warning information so that a driver can adjust the current braking force according to the prompt information.
According to an aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program comprising executable instructions which, when executed by a processor, implement the brake warning method as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided a controller including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of the brake early warning method in the embodiment when executing the program stored in the memory.
According to one aspect of the embodiment of the application, an automobile is provided, and the automobile comprises a brake early warning system and a brake force indicating lamp strip; the brake force indicating lamp strip is used for indicating the current brake force to the rear vehicle, and the brake early-warning system is used for executing the steps of the brake early-warning method in the embodiment.
In the technical scheme of the embodiment of the application, the early warning information is determined by acquiring the speed information of the front vehicle, the brake information of the rear vehicle and the distance information between the front vehicle and the rear vehicle, and different early warning information can be determined according to different speed information, brake information and distance information, so that different prompts can be given to a driver according to different early warning information. The method can judge whether the current braking force is required to be adjusted according to the running speeds of the front and rear vehicles and the distance between the front and rear vehicles under different conditions, so that the problem that the driver and members feel uncomfortable when riding under the condition that the braking force is suddenly increased or the emergency braking is automatically triggered when the driver does not adjust the braking force in time when the distance between the front and rear vehicles is far, and the situation that the distance between the front and rear vehicles is close is prevented.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a flow chart of a brake early warning method according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for determining early warning information based on the speed information, the braking information, and the distance information according to an embodiment of the present application;
FIG. 3 is a block diagram of a brake warning device according to an embodiment of the present application;
FIG. 4 is a schematic view of a brake force indicator light band according to an embodiment of the present application;
FIG. 5 is a block diagram of a controller according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a position of a first curve above a second curve according to an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating the locations where the first curve intersects the second curve and the third curve according to an embodiment of the present application;
fig. 8 is a schematic diagram of a first-level early warning prompt message visualization according to an embodiment of the present application;
fig. 9 is a schematic diagram of another first-level warning-time prompt information visualization according to an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or micro-control node means.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
It should be noted that: references herein to "a plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The implementation details of the technical solutions of the embodiments of the present application are described in detail below:
firstly, it should be noted that the brake early warning scheme provided in the application can be applied to the related technical field of vehicle brake early warning, for example, when the distance between the front and rear vehicles is far, the driver does not adjust the brake force in time, so that the problem that when the distance between the front and rear vehicles is near, the driver and the passengers generate uncomfortable feeling due to sudden large-force brake is caused. Therefore, it is important to early warn the driver to adjust the current braking force to improve the comfort of the driver and the passengers during the braking process.
According to an aspect of the present application, a brake early warning method is provided, fig. 1 is a flowchart of the brake early warning method according to an embodiment of the present application, and the test method of the vehicle speed limiting system at least includes steps 110 to 130, which are described in detail as follows:
in step 110, speed information of a front vehicle, brake information of a rear vehicle, and distance information between the front vehicle and the rear vehicle are acquired.
In the present application, the speed information of the front vehicle, the brake information of the rear vehicle, and the distance information between the front vehicle and the rear vehicle may be acquired by a millimeter wave radar and an acceleration sensor provided in the vehicle. The obtained speed information of the front vehicle, the brake information of the rear vehicle and the distance information between the front vehicle and the rear vehicle CAN be uploaded to a brake early warning system in a CAN communication mode.
With continued reference to fig. 1, in step 120, early warning information is determined based on the speed information, the braking information, and the distance information.
In the application, the early warning information can be determined through the speed information, the brake information and the distance information, and different early warning information can be determined according to the speed of the front and rear vehicles relative to the ground, the acceleration of the front and rear vehicles relative to the ground and the relative distance between the front and rear vehicles under different conditions so as to adjust different brake forces, so that the comfort of the driver and the passengers in the rear vehicles can be further improved under the condition of avoiding collision with the front vehicles in the running process of the rear vehicles.
In one embodiment of the present application, the determining the early warning information according to the speed information, the brake information and the distance information may be performed according to the following steps S1 to S2 as shown in fig. 2:
step S1: and generating a relative distance relation equation between the front vehicle and the rear vehicle based on the speed information, the brake information, a preset time variable and the distance information, wherein the relative distance relation equation is used for representing the relation between the time variable and the distance information.
Step S2: and determining the early warning information according to the relative distance relation equation and the brake information.
In this embodiment, the relative distance relation equation may be generated according to speed information of a preceding vehicle, brake information of a following vehicle, distance information between the preceding vehicle and the following vehicle, and a preset time variable t. The relative distance between the front and rear vehicles after the time t is passed can be obtained through a relative distance relation equation, so that whether the front vehicle collides with the front vehicle or not can be calculated according to the running speed of the current rear vehicle and the acceleration under the braking force, and a reference condition is provided for the subsequent determination of the early warning information.
In one embodiment of the present application, the speed information includes a speed of the front vehicle and an acceleration of the front vehicle; the braking information includes a speed of the rear vehicle and an acceleration of the rear vehicle, and the step S1 includes a step S11 and a step S12.
Step S11: generating a relative velocity relation equation of the front vehicle and the rear vehicle based on the speed of the front vehicle, the acceleration of the front vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle and the time variable, wherein the relative velocity relation equation is used for representing the relation of the relative distances between the time variable and the front vehicle and the rear vehicle.
Step S12: and generating a relative distance relation equation between the front vehicle and the rear vehicle based on the relative speed relation equation, the distance information and the time variable.
In the present embodiment, the relative velocity relation equation is composed of the relative velocities U of the front and rear vehicles 0 Relative acceleration a of front and rear vehicles 0 Time variable t and relative speed variable U of front and rear vehicles t The composition, relative velocity relation equation, can be derived from the following equation: u (U) t ＝U 0 +a 0 * t, the relative speeds of the front and rear vehicles after the time t can be calculated.
Further, in step S12, the relative distance relation equation is calculated from the relative speeds U of the front and rear vehicles 0 Relative acceleration a of front and rear vehicles 0 Time variable t, relative distance L between front and rear vehicles 0 Relative distance variable L of front and rear vehicles t Relative speed variable U of front and rear vehicles t The composition, relative distance relation equation, can be derived by the following formula: l (L) t ＝U 0 *((U t -U 0 )/a 0 )+(1/2)*a 0 *((U t -U 0 )/a 0 )*((U t -U 0 )/a 0 )+L 0 The relative distance between the front vehicle and the rear vehicle after the time t passes can be calculated through the relative distance relation equation, namely if the current braking force is used for braking, the acceleration of the rear vehicle is unchanged as the braking force is unchanged, the pre-judgment of whether the driver collides with the front vehicle or not when the driver brakes with the current braking force can be performed, the corresponding pre-warning information can be determined according to the relative distance relation equation, and whether the driver should adjust the current braking force is prompted.
In one embodiment of the present application, step S2 includes step S21, step S22, and step S23.
Step S21: and generating a first braking distance relation equation based on the acceleration of the rear vehicle, a preset first braking acceleration and the relative speed relation equation.
Step S22: and generating a second braking distance relation equation based on the acceleration of the rear vehicle, a preset second braking acceleration and the relative speed relation equation.
Step S23: and determining the early warning information according to the relative distance relation equation, the first braking distance relation equation and the position relation of a curve formed by the second braking distance relation equation on a two-dimensional coordinate system.
In the present embodiment, the relative acceleration a of the front and rear vehicles is obtained from the relative velocity relation equation 0 Relative speed variable U of front and rear vehicles t， The preset first braking acceleration can be specifically the acceleration a relative to the ground when the driver brakes with large pedal force causing discomfort to the passengers com Acceleration a of rear vehicle ba The first braking distance relation equation can be obtained by the acceleration sensor by the following equation: l (L) 1 ＝(U t *U t )/2(a 0 -(a com -a ba ) Where L is 1 A relational equation of the relative distances between the front and rear vehicles in the case where discomfort is given to the occupant.
It should be noted that, whether or not the braking acceleration of the rear vehicle causes discomfort to the occupant and during emergency braking is considered, the acceleration of the rear vehicle with respect to the ground is considered. Taking into account the relative acceleration a of the front vehicle with respect to the rear vehicle re Equal to the acceleration a of the front vehicle relative to the ground fr Subtracting acceleration a of the rear vehicle relative to the ground ba . Namely: a, a re ＝a fr -a ba Since the acceleration of the front vehicle relative to the rear vehicle and the acceleration of the rear vehicle relative to the ground at a certain moment can be obtained through the sensor. Due to acceleration a of the vehicle relative to the ground during emergency braking of the vehicle max And giving the occupant a sense of discomfortAcceleration a of driver with respect to ground during high pedal force braking com Are known.
In the present embodiment, step S22 is similarly explained based on the above principle. The preset second braking acceleration can be specifically the acceleration a of the vehicle relative to the ground during emergency braking of the vehicle max . Therefore, the second braking distance relation equation can be derived by the following equation: l (L) 2 ＝(U t *U t )/2(a 0 -(a max -a ba ) Where L is 2 The relation equation of the relative distance between the front and rear vehicles in the case of emergency braking of the vehicle is provided.
Through L t 、L 1 、L 2 The position relation of the curves in the two-dimensional coordinate system is used for judging to obtain what kind of early warning information should be determined under various different conditions, wherein the early warning information comprises primary early warning and secondary early warning, and the condition that early warning is not triggered can also occur.
In one embodiment of the present application, step S23 may be performed according to step S231, step S232, step S233, and step S234:
step S231: and if the first curve formed by the relative distance relation equation on the two-dimensional coordinate system is positioned above the second curve formed by the first brake distance relation equation on the two-dimensional coordinate system, the first curve does not intersect with the second curve, and no early warning is performed.
Step S232: and if the first curve is intersected with the second curve and the first curve is intersected with a third curve formed by the second braking distance relation equation on the two-dimensional coordinate system, acquiring the relative speeds of the front vehicle and the rear vehicle based on the relative speed relation equation.
Step S233: and if the relative speed is lower than the first target speed, performing primary early warning.
Step S234: and if the relative speed is higher than the first target speed and lower than the second target speed, performing secondary early warning.
In the present embodiment, for better understanding of theEquation of relative distance relation L t A first curve Q formed on the two-dimensional coordinate system 1 In the first braking distance relation equation L 1 A second curve Q formed on the two-dimensional coordinate system 2 Is a positional relationship above.
As shown in fig. 6, L on the two-dimensional coordinate system indicates the relative distance between the front vehicle and the rear vehicle, and U on the two-dimensional coordinate system indicates the relative speed between the front vehicle and the rear vehicle. Obviously, no matter how the relative speed of the front vehicle and the rear vehicle changes, the relative distance between the front vehicle and the rear vehicle is larger than the second curve Q 2 Third curve Q 3 That is, no matter how the relative speeds of the front and rear vehicles are changed, the collision is avoided without braking with uncomfortable braking force.
The relative distance relation equation L in step S231 t A first curve Q formed on the two-dimensional coordinate system 1 Equation L of relation with first braking distance 1 A second curve Q formed on the two-dimensional coordinate system 2 Comparing if the first curve Q 1 All lie on the second curve Q 2 Upper and Q of (2) 1 And Q is equal to 2 The intersection is not included, and it is described that the relative distance between the front vehicle and the rear vehicle is larger than the relative distance between the front vehicle and the rear vehicle when the driver and the passenger feel uncomfortable, no matter what relative speed is used, and it is described that the driver can brake according to the current braking force, and collision with the front vehicle can be avoided under comfortable riding feeling.
In the present embodiment, for better understanding of the first curve Q 1 And the second curve Q 2 Intersecting, and the first curve Q 1 Equation L of relationship with second braking distance 2 A third curve Q formed on the two-dimensional coordinate system 3 As shown in fig. 7, L in the two-dimensional coordinate system indicates the relative distance between the front vehicle and the rear vehicle, and U in the two-dimensional coordinate system also indicates the relative speed between the front vehicle and the rear vehicle.
In FIG. 7, a first curve Q 1 And a second curve Q 2 Crossing to form an intersection point A, a first curve Q 1 And a third curve Q 3 The intersection forms an intersection point B, so that it is possible to determine which level of early warning is to be performed by the speed range in which the relative speeds of the preceding vehicle and the following vehicle are located.
The first target speed refers to the relative speed corresponding to the intersection a, at which the relative distance between the front and rear vehicles in the case where discomfort is given to the driver and the passenger has been reached. That is, if the relative speeds of the front and rear vehicles follow the first curve Q 1 In the case of the trend of (a), the relative distance between the front and rear vehicles corresponding to the point a is reached when the driver and the passenger feel uncomfortable. Thus, when in the first curve Q 1 When the area corresponding to the partial curve at the left side of the point A is provided, primary early warning can be carried out, and the situation that collision can be avoided only by braking with uncomfortable braking force in the subsequent driving process is indicated.
In other words, when the relative speed mentioned in step S233 is lower than the first target speed, a first level of early warning is performed, and if the relative speed at this time is lower than the relative speed corresponding to the point a, a first level of early warning is performed to remind the driver to appropriately increase the braking force so as to prevent the driver from having to brake with uncomfortable braking force in the subsequent driving process to avoid collision.
The second target speed refers to the relative speed corresponding to the intersection B, at which the relative distance of the preceding and following vehicles in the case of emergency braking of the vehicle has been reached. In other words, if the relative speed of the front and rear vehicles is in the interval from the point a to the point B, the secondary early warning is performed at this time, the driver needs to be reminded to greatly increase the braking force to avoid the emergency braking, and if the relative speed exceeds the second target speed, the collision occurs.
It should be noted that fig. 6 and fig. 7 are only for better understanding the mutual positional relationship among the first curve Q1, the second curve Q2, and the third curve Q3.
In one embodiment of the present application, step S3 includes step S31 and step S32.
Step S31: if the early warning information is the primary early warning, sending prompt information for properly increasing braking force to the terminal equipment
Step S32: and if the early warning information is the secondary early warning, sending prompt information for greatly increasing the braking force to the terminal equipment.
Let the acceleration of the vehicle relative to the ground be a ba Acceleration a of vehicle relative to ground during emergency braking of vehicle max With the braking acceleration a of the vehicle relative to the ground ba Is a difference of 1 ＝a max -a ba Acceleration a relative to the ground of a driver with a large pedal force braking for uncomfortable feeling of the passenger com With the braking acceleration a of the vehicle relative to the ground ba Is a difference a of (a) 2 ＝a com -a ba
Then, if the rear vehicle is braked with a driver's large pedaling force giving uncomfortable feeling to the occupant, if the acceleration of the front vehicle relative to the ground is unchanged, the acceleration a relative to the ground com When braking is performed, the acceleration of the front vehicle relative to the rear vehicle is a re -a 2
Then, if the acceleration of the preceding vehicle relative to the ground is unchanged, the acceleration a of the following vehicle relative to the ground is increased if the following vehicle is braked with the vehicle in an emergency max When braking is performed, the acceleration of the front vehicle relative to the rear vehicle is a re -a 1
That is, if the rear vehicle brakes with a driver's large pedal force causing discomfort to the occupant while the acceleration of the front vehicle is unchanged, the acceleration a relative to the ground com Braking is performed if the distance L and the speed U of the preceding vehicle relative to the following vehicle satisfy l= (U x U)/2 (a) re -a 1 ) Then collisions can be avoided.
Acceleration a of the vehicle relative to the ground when the rear vehicle is braked with the vehicle emergency under the condition that the acceleration of the front vehicle is unchanged max Braking is performed if the distance L and the speed U of the preceding vehicle relative to the following vehicle satisfy l= (U x U)/2 (a) re -a 2 ) Then collision is avoided
In combination with the above derived relationship, at a certain time t 0 At a certain time t 0 The speed of the front car relative to the rear car is U 0 Acceleration of front vehicle relative to rear vehicle is a 0 The distance between the front car and the rear car is L 0 Acceleration of the rear vehicle relative to the ground is a ba The acceleration of the rear vehicle relative to the ground is a when the driver brakes with a large pedal force to cause discomfort to the occupant com The acceleration of the rear vehicle relative to the ground during emergency braking is a max 。
In this embodiment, the terminal device may be a dashboard of a vehicle and an in-vehicle voice horn, through determining the obtained early warning information, if the early warning information is currently primary early warning, the driver may be prompted by the meter display and the voice to appropriately increase the braking force, so as to prevent the collision from being avoided when the driver needs to brake with uncomfortable braking force in the subsequent driving process. If the vehicle is currently in secondary early warning, the driver is prompted by instrument display and voice to greatly increase the braking force and gradually reduce the vehicle speed, so that the vehicle is prevented from triggering the emergency braking of the vehicle.
With continued reference to fig. 1, in step 130, a prompt message is sent to the terminal device of the following vehicle according to the early warning message, so that the driver adjusts the current braking force according to the prompt message.
In an embodiment of the present application, the sending, according to the early warning information, a prompt message to the terminal device of the following vehicle may be according to step S3 and step S4.
Step S3: and if the early warning information is the primary early warning, sending prompt information for properly increasing the braking force to the terminal equipment.
Step S4: and if the early warning information is the secondary early warning, sending prompt information for greatly increasing the braking force to the terminal equipment.
In this embodiment, the terminal device may be a dashboard of a vehicle and an in-vehicle voice horn, through determining the obtained early warning information, if the early warning information is currently primary early warning, the driver may be prompted by the meter display and the voice to appropriately increase the braking force, so as to prevent the collision from being avoided when the driver needs to brake with uncomfortable braking force in the subsequent driving process. If the vehicle is currently in secondary early warning, the driver is prompted by instrument display and voice to greatly increase the braking force and gradually reduce the vehicle speed, so that the vehicle is prevented from triggering the emergency braking of the vehicle.
Fig. 3 is a block diagram of a brake early warning device according to an embodiment of the present application, and referring to fig. 3, the brake early warning device 400 according to an embodiment of the present application includes: an acquisition unit 401, a determination unit 402, and a transmission unit 403.
The acquiring unit 401 is used to acquire speed information of a preceding vehicle, brake information of a following vehicle, and distance information between the preceding vehicle and the following vehicle.
A determining unit 402, configured to determine early warning information according to the speed information, the braking information, and the distance information.
And the sending unit 403 is used for sending prompt information to the terminal equipment of the rear vehicle according to the early warning information, so that a driver adjusts the current braking force according to the prompt information.
As another aspect, the present application further provides an automobile, where the automobile includes a brake early warning system and a brake force indicator light band, and the structure of the brake force indicator light band is shown in fig. 4, and is used to indicate the current brake force to the rear vehicle, and the brake early warning system is used to execute the steps of the brake early warning method provided in the foregoing embodiment.
In order to accurately and clearly indicate the braking force of the current vehicle for the rear vehicle, a special braking force indicating lamp belt is designed. The brake force indicating lamp strip is arranged at the tail of the vehicle and is matched with a brake state and full brake force indicating lamp strip for use.
As shown in fig. 4, when the vehicle is braked, the brake force indicator light belt is displayed, in fig. 4, the brake state indicator light belt is a long rectangle above ten rectangles, the brake state indicator light belt is a rectangle with ten rectangles side by side, when the vehicle is braked, the brake force indicator light belt is lightened, in fig. 4, 5 rectangles are lightened, and the brake force of the current vehicle is 50% of the brake force, and meanwhile, the brake state indicator light belt is lightened.
It should be noted that fig. 4 only provides an illustration, the tail of the vehicle is shaped differently, and may be designed in other shapes, and the brake force indicator light band may be further refined to provide a higher brake force indicating resolution. When a driver steps on a brake pedal or the vehicle actively brakes and starts, the brake force indicating lamp belt is lightened to prompt the rear vehicle that the current vehicle has brake operation, the brake force indicating lamp belt displays the current brake force in real time, and the magnitude of the force is represented by the percentage of the width of the lightened brake force indicating lamp belt to the width of the lightened brake state and the width of the fully-braked brake force indicating lamp belt.
For example, when the braking force is 100%, the braking force indicator light strip is all lighted, and the length after being lighted is equal to the length after the braking state and the full braking force indicator light strip are lighted. When the braking force is 50%, half of the braking force indicating lamp bands are lighted, and the total width of the lighted lamp bands is equal to half of the width of the brake state and full braking force indicating lamp bands after being lighted.
In order to avoid the lack of visual feeling of the direct display of the vehicle distance and poor digital legibility in the change, the vehicle distance is represented in the modes of arrow or horizontal line and the like as shown in fig. 8-9, and the length is changed in real time along with the change of the vehicle distance.
If the first-level early warning is triggered according to judgment, the vehicle distance display bar is displayed to be yellow, a yellow pedal is used for flashing above the vehicle distance display bar, voice or beeping sounds are emitted, and the vehicle distance display bar is displayed: the words of "brake comfort early warning, please increase the brake force". Wherein, fig. 8 and fig. 9 are both the visual patterns when the first-level early warning is triggered.
And if the judgment is based on the judgment, triggering the secondary early warning, displaying the vehicle distance display bar in red, flashing the upper part by using a red pedal, emitting voice or high-frequency beeping sound, and displaying: the words of the emergency brake early warning and the brake force increasing are as follows.
It should be noted that the shapes in the drawings are merely two visual display modes for representing the early warning, and other different shapes may be used for visual display in other embodiments.
Referring to fig. 5, the embodiment of the present application provides a controller, which includes a processor 111, a communication interface 112, a memory 113, and a communication bus 114, where the processor 111, the communication interface 112, and the memory 113 perform communication with each other through the communication bus 114.
A memory 113 for storing a computer program;
the processor 111 is configured to execute a program stored in the memory 113, and implement the brake early warning method provided in the foregoing embodiment.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by the processor 111, implements the steps of the brake warning method as provided by the above embodiments.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solutions according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, including if the instructions are to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the methods according to the embodiments of the present application.
Furthermore, the above-described drawings are merely schematic illustrations of processes included in a method according to an exemplary embodiment of the present application, and not for limiting purposes. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
It is to be understood that the present application is not limited to the precise construction set forth above and shown in the drawings, and that various modifications and changes may be effected therein without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the invention to enable a person skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for braking early warning, the method comprising:
acquiring speed information of a front vehicle, brake information of a rear vehicle and distance information between the front vehicle and the rear vehicle;
determining early warning information according to the speed information, the brake information and the distance information;
and sending prompt information to the terminal equipment of the rear vehicle according to the early warning information, so that a driver adjusts the current braking force according to the prompt information.
2. The seed brake warning method according to claim 1, wherein the determining warning information according to the speed information, the brake information, and the distance information includes:
generating a relative distance relation equation between the front vehicle and the rear vehicle based on the speed information, the brake information, a preset time variable and the distance information, wherein the relative distance relation equation is used for representing the relation between the time variable and the distance information;
and determining the early warning information according to the relative distance relation equation and the brake information.
3. The seed brake warning method according to claim 2, wherein the speed information includes a speed of the preceding vehicle and an acceleration of the preceding vehicle; the braking information includes a speed of the rear vehicle and an acceleration of the rear vehicle, and the generating a relative distance relation equation between the front vehicle and the rear vehicle based on the speed information, the braking information, a preset time variable and the distance information, where the relative distance relation equation is used to characterize a relation between the time variable and the distance information, includes:
generating a relative velocity relation equation of the front vehicle and the rear vehicle based on the speed of the front vehicle, the acceleration of the front vehicle, the speed of the rear vehicle, the acceleration of the rear vehicle and the time variable, wherein the relative velocity relation equation is used for representing the relation of the relative distances between the time variable and the front vehicle and the rear vehicle;
and generating a relative distance relation equation between the front vehicle and the rear vehicle based on the relative speed relation equation, the distance information and the time variable.
4. The seed brake warning method according to claim 3, wherein the determining the warning information according to the relative distance relation equation and the brake information includes:
generating a first braking distance relation equation based on the acceleration of the rear vehicle, a preset first braking acceleration and the relative speed relation equation;
generating a second braking distance relation equation based on the acceleration of the rear vehicle, a preset second braking acceleration and the relative speed relation equation;
and determining the early warning information according to the relative distance relation equation, the first braking distance relation equation and the position relation of a curve formed by the second braking distance relation equation on a two-dimensional coordinate system.
5. The brake warning method according to claim 4, wherein the determining the warning information according to the relative distance relation equation, the first brake distance relation equation, and the positional relation of the second brake distance relation equation on a two-dimensional coordinate system includes:
if a first curve formed by the relative distance relation equation on the two-dimensional coordinate system is positioned above a second curve formed by the first brake distance relation equation on the two-dimensional coordinate system, and the first curve does not intersect with the second curve, early warning is not performed;
if the first curve is intersected with the second curve and the first curve is intersected with a third curve formed by the second braking distance relation equation on the two-dimensional coordinate system, acquiring the relative speeds of the front vehicle and the rear vehicle based on the relative speed relation equation;
if the relative speed is lower than a first target speed, performing primary early warning;
if the relative speed is higher than the first target speed and lower than the second target speed, performing secondary early warning;
wherein the second curve is located above the third curve; the first target speed is a relative speed corresponding to an intersection point of the first curve and the second curve, the second target speed is a relative speed corresponding to an intersection point of the first curve and the third curve, and the first target speed is lower than the second target speed.
6. The brake early warning method according to claim 5, wherein the sending the prompt message to the terminal device of the rear vehicle according to the early warning message includes:
if the early warning information is the primary early warning, sending prompt information for properly increasing braking force to the terminal equipment;
and if the early warning information is the secondary early warning, sending prompt information for greatly increasing the braking force to the terminal equipment.
7. A brake warning device, the device comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring speed information of a front vehicle, brake information of a rear vehicle and distance information between the front vehicle and the rear vehicle;
a determining unit, configured to determine early warning information according to the speed information, the brake information, and the distance information;
and the sending unit is used for sending prompt information to the terminal equipment of the rear vehicle according to the early warning information so that a driver can adjust the current braking force according to the prompt information.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of claims 1-6.
9. A controller, characterized in that the controller comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the method according to any one of claims 1-6 when executing a program stored on a memory.
10. An automobile is characterized by comprising a brake early warning system and a brake force indicating lamp belt; the brake force indicating light strip is used for indicating the current brake force to a rear vehicle, and the brake early warning system is used for executing the steps of the method as claimed in any one of claims 1 to 6.
CN202211515621.4A 2022-11-29 2022-11-29 Brake early warning method and device, controller, storage medium and automobile Pending CN116061961A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211515621.4A CN116061961A (en) 2022-11-29 2022-11-29 Brake early warning method and device, controller, storage medium and automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211515621.4A CN116061961A (en) 2022-11-29 2022-11-29 Brake early warning method and device, controller, storage medium and automobile

Publications (1)

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Country Link
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