CN116901832A

CN116901832A - Vehicle auxiliary deceleration method, controller, system, vehicle, storage medium, and computer program

Info

Publication number: CN116901832A
Application number: CN202310965340.7A
Authority: CN
Inventors: 王小虎
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-08-01
Filing date: 2023-08-01
Publication date: 2023-10-20

Abstract

The invention discloses a vehicle auxiliary deceleration method, a controller, a system, a vehicle, a storage medium and a computer program, which belong to the technical field of vehicle driving safety control, and the method comprises the following steps: when the terminal device generates a response of sound warning, the controller cooperatively detects the current speed of the vehicle and compares the current speed with a target value: if the current speed is greater than the target value, the controller cooperatively outputs a braking signal to a braking system, and the braking system applies braking to at least one wheel of the vehicle; if the current vehicle speed is less than or equal to the target value, the controller does not cooperate to output a braking signal to the braking system. The invention can warn vehicles, pedestrians and the like in front, remind the vehicles and the like in front to avoid in time, actively perform light deceleration, increase the relative safety distance between the vehicles and the pedestrians in front, enable multiple parties to participate in traffic operation at the same time, avoid unnecessary scratch, collision and the like, and lead one operation to be equivalent to a plurality of actions, thereby simplifying the operation and increasing the safety.

Description

Vehicle auxiliary deceleration method, controller, system, vehicle, storage medium, and computer program

Technical Field

The invention belongs to the technical field of vehicle driving safety control, and particularly relates to a vehicle auxiliary deceleration method, a controller, a system, a vehicle, a storage medium and a computer program.

Background

When the vehicle is running, if pedestrians or vehicles in front possibly influence traffic, or traffic conditions such as a visual field blind area and the like in front are complex, a driver needs to pass through the front, and for safety reasons, the driver needs to press the horn once or repeatedly for a certain time to warn the vehicles or pedestrians in front or the visual field blind area to avoid in time.

In general, the front vehicles or pedestrians can avoid in time, however, in some scenes, even if the sound warning is given, the front vehicles still change lanes randomly or do not avoid; while pedestrians are still walking on the main road through which the vehicle passes, or are passing across the main road, etc., so that the horn warning is not effective.

In addition, after the horn warning, the front vehicle or the pedestrian makes the avoidance action, but the response speed is relatively slow, so that the requirement that the rear vehicle can pass through without decelerating is not met.

At this time, the driver of the vehicle wants to take the brake actively or continue to warn by the horn without decelerating or to press the horn while stepping on the brake to decelerate properly.

However, there are still unnecessary rear-end collisions of the vehicle caused by the fact that the vehicle speed is relatively too fast to be able to step on the brake, or the brake is delayed to be stepped on, scratch, collision, and the like, thereby affecting traffic, causing congestion and reducing the overall commute efficiency.

Meanwhile, in some scenes without doubling, when a front vehicle suddenly and forcefully doubling and changing lanes, a driver suddenly becomes nervous or fear when predicting a collision or friction trend, and the driver presses down the horn to alarm in a jerky manner, the alarm whistle can concentrate attention transition on the horn, and the driver needs to actively intervene to decelerate at the moment to ensure safety, or the brake is too lagged, so that rear-end collision, collision or scratch and the like occur.

When a driver presses down the horn to warn, whether the front vehicle or the pedestrian can avoid in time is uncertain, and timely active deceleration can be safer.

Meanwhile, when a driver presses down the horn by hand, the driver steps on the brake by using the right foot (or the left foot), and the gesture of combining the hands and the feet is not very comfortable.

The invention provides a solution, which can actively and cooperatively decelerate when warning the front vehicle or the pedestrian, effectively increase the relative safety distance between the front vehicle or the pedestrian, reduce the risk of collision and the like, provide effective time for the driver to actively intervene in braking, and avoid pressing a loudspeaker by one hand, stepping on the brake by the right foot (or the left foot) and using uncomfortable body gestures by the other hand and the foot.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a vehicle auxiliary deceleration method, a controller, a system, a vehicle, a storage medium and a computer program.

In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:

in a first aspect, the present invention provides a method for cooperatively controlling vehicle auxiliary deceleration by acoustic warning, comprising the steps of:

when the terminal device generates a response of sound warning, the controller cooperatively detects the current speed of the vehicle and compares the current speed with a target value:

if the current speed is greater than the target value, the controller cooperatively outputs a braking signal to a braking system, and the braking system applies braking to at least one wheel of the vehicle;

if the current vehicle speed is less than or equal to the target value, the controller does not cooperatively output a braking signal to the braking system;

when the terminal device stops generating the response of the sound warning, the controller stops cooperatively carrying out judgment and comparison of the current vehicle speed.

The sound is configured to alert a vehicle and/or pedestrian in front.

Further, when the terminal device generates a response of sound warning, the controller detects displacement of the foot brake pedal:

if the brake pedal displacement is greater than 0, continuing to implement foot control braking;

If the displacement of the pedal is 0, the controller cooperatively detects the current vehicle speed and compares the current vehicle speed with a target value:

if the current vehicle speed is greater than the target value, the controller outputs a braking signal to a braking system, and the braking system brakes the vehicle at a first deceleration;

meanwhile, when any limited scene is passed, the controller is prompted to automatically control the braking system to execute emergency braking on the vehicle at a second deceleration, and the controller automatically stops to cooperatively perform comparison judgment on the vehicle speed through sound warning;

the defined scenario is configured to cause the controller to automatically output a scenario of emergency braking.

Further, the controller cooperatively detects the current vehicle speed and compares the current vehicle speed with the first target value and the second target value:

if the current vehicle speed is less than or equal to the first target value, the controller does not cooperate to output a signal for executing braking to the braking system;

if the current vehicle speed is greater than the first target value and less than or equal to the second target value, cooperatively controlling the braking system to apply braking to at least one wheel of the vehicle at a third deceleration a 3;

If the current vehicle speed is greater than the second target value, the cooperative control brake system applies braking to at least one wheel of the vehicle at a fourth deceleration a 4.

Further, when the single duration of the sound warning response generated by the terminal device exceeds the set value, the controller stops cooperatively carrying out judgment and comparison of the vehicle speed;

and/or stopping the controller from cooperatively performing judgment and comparison of the vehicle speed when the vehicle speed reduction value of the brake system for performing single cooperative braking on the vehicle exceeds a preset value.

Further, after the terminal device stops generating the response of the sound warning, if the current vehicle speed is greater than the target value:

after the delay time T, the output signal of the driving force is restarted;

masking an output signal of the driving force when the delay time is less than or equal to the given delay time T;

if the current vehicle speed is less than or equal to the target value, the output signal of the driving force is recovered without delay.

Further, in the cooperative braking, the controller shields the output signal of the driving force, and the brake lamp responds; when the cooperative braking is stopped, the output signal of the driving force is restored, and the brake lamp stops responding.

Further, when the sound warning is performed and the current vehicle speed is greater than the target value, the controller shields an output signal of the driving force; and restoring the output signal of the driving force when the sound warning stops responding or the current vehicle speed is smaller than or equal to the target value.

Further, when the first controller is prompted to automatically output the sound warning instruction set to the terminal device through any preset scene, the terminal device generates a sound warning response, and the second controller cooperatively performs judgment comparison of the current vehicle speed:

if the current vehicle speed is greater than the target value, the second controller automatically cooperates with a braking instruction set to the braking system, and the braking system brakes the vehicle;

if the current vehicle speed is less than or equal to the target value, the second controller does not cooperate to output an instruction set for executing braking to the braking system;

and when the first controller automatically stops outputting the instruction set of the sound warning to the terminal device, the terminal device stops generating the response of the sound warning, and the second controller automatically stops cooperatively carrying out the judgment comparison of the current vehicle speed.

The sound is configured to warn vehicles and/or pedestrians in front of the sound, and the first controller and the second controller are in communication connection;

the predetermined scene is configured as a scene which can generate sound warning and is preset by the first controller.

Further, the target value is 40km/h, and the braking deceleration a takes the value of 0.5-3 m/s ² The terminal device is a loudspeaker.

Further, the method further comprises the following steps: a switch for controlling the sound warning, when the switch is closed, the terminal device generates a response of the sound warning; when the switch is turned off, the terminal device stops generating a response to the audible alert.

Further, when the controller automatically outputs an instruction set of the sound warning to the terminal device through any preset scene, the terminal device generates a response of the sound warning;

when the controller automatically stops outputting the instruction set of the sound warning to the terminal device, the terminal device stops generating the response of the sound warning;

the preset scene is configured as a scene preset by the controller and capable of automatically generating sound warning.

In a second aspect, the present invention provides a method of controlling vehicle braking by audible alert, comprising the steps of:

when the terminal device generates a response of sound warning, the controller preferentially detects the displacement of the foot brake pedal:

if the brake pedal displacement is more than 0, continuing to implement foot control braking;

if the current vehicle speed is greater than the target value, the controller outputs a braking signal to a braking system, and the braking system applies braking to at least one wheel of the vehicle;

when the terminal device stops generating the response of the sound warning, the controller stops cooperatively carrying out judgment and comparison of the current vehicle speed;

The sound is configured to alert a vehicle and/or pedestrian in front.

In a third aspect, the present invention provides a method for controlling braking of a vehicle by audible alert, comprising the steps of:

when the terminal device generates a sound warning response, the controller cooperatively detects the current vehicle speed and compares the current vehicle speed with a target value:

if the current vehicle speed is less than or equal to the target value, the controller does not cooperate to output an execution braking signal to the braking system;

meanwhile, when the controller is prompted to automatically control the braking system through any limited scene and emergency braking is carried out on the vehicle at the second deceleration, the controller automatically stops to cooperatively carry out comparison judgment on the vehicle speed through sound warning;

when the terminal device does not generate a response of sound warning, the controller stops cooperatively judging and comparing the current vehicle speed;

the sound is configured to alert a vehicle and/or pedestrian in front;

Further, the first deceleration a1 is 0.5-3 m/s of a1 ² The second deceleration a2 takes 5m/s ² And a2 is less than or equal to, the target value is 40km/h, and the terminal device is a loudspeaker.

In a fourth aspect, the present invention provides a method for cooperatively controlling vehicle auxiliary deceleration by means of sound warning, comprising the steps of:

when the terminal device generates a response of the sound warning, the controller cooperatively detects the current vehicle speed and compares the current vehicle speed with a first target value:

if the current vehicle speed is less than or equal to the first target value, the controller does not cooperate to output an execution braking signal to the braking system;

if the current vehicle speed is greater than the first target value and less than or equal to the second target value, the controller cooperatively controls the braking system to apply braking to at least one wheel of the vehicle at a third deceleration;

if the current vehicle speed is greater than the second target value, the controller cooperatively controls the braking system to apply braking to at least one wheel of the vehicle at a fourth deceleration;

the sound is configured to alert a vehicle and/or pedestrian in front.

Further, the first target value is 40km/h, the second target value is 80km/h, and the third deceleration a3 takes on a value of 0.5 to less than or equal to a3 to less than 2m/s ² The fourth deceleration a4 is takenThe value of a4 is more than or equal to 2 and less than or equal to 3m/s ² The terminal device is a loudspeaker.

In a fifth aspect, the present invention provides a method for controlling vehicle auxiliary deceleration by sound warning, comprising the steps of:

when the terminal device generates a response of sound warning, the controller cooperatively detects the current vehicle speed and compares the current vehicle speed with a target value:

if the current vehicle speed is greater than the target value, the controller cooperatively outputs a braking instruction set to a braking system, and the braking system brakes the vehicle;

if the current vehicle speed is less than or equal to the target value, the controller does not cooperate to output a braking instruction set to the braking system;

and stopping the controller from cooperatively judging and comparing the vehicle speed when the single duration of the sound warning response exceeds the set value;

or when the terminal device stops generating the response of the sound warning, the controller stops cooperatively carrying out judgment and comparison of the current vehicle speed;

the sound is configured to alert a vehicle and/or pedestrian in front.

In a sixth aspect, the present invention provides a method for controlling vehicle auxiliary deceleration by acoustic warning, comprising the steps of:

when the vehicle speed reduction value of the single cooperative braking exceeds a preset value, the controller stops the judgment and comparison of the vehicle speed in a cooperative manner;

the sound is configured to alert a vehicle and/or pedestrian in front.

In a seventh aspect, the present invention provides a method for cooperatively controlling vehicle auxiliary deceleration by sound warning as set forth in any one of the first to sixth aspects, comprising the steps of:

after stopping the response of the sound warning, if the current vehicle speed is greater than the target value, restarting the output signal of the recovered driving force after the delay time T, and shielding the output signal of the driving force when the delay time is less than or equal to the given value T;

In an eighth aspect, the present invention provides a method for controlling braking of a vehicle by audible alert, comprising the steps of:

meanwhile, when the controller is prompted to automatically control the braking system through any second limiting scene and the vehicle is braked at a fifth deceleration, the controller automatically stops to cooperatively perform comparison judgment on the vehicle speed through sound warning;

the sound is configured to alert a vehicle and/or pedestrian in front;

the second defined scenario is configured to cause the controller to automatically output a braking, non-emergency braking scenario independent of the audible alert.

In a ninth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

The input module is used for receiving an input signal of sound warning and acquiring a current vehicle speed signal;

the output module is used for outputting a sound warning signal to the terminal device and outputting a vehicle braking executing signal to the vehicle braking system according to the instruction set of the processor;

the processor is used for outputting an instruction set for generating sound warning to the output module when receiving the sound warning signal, and cooperatively judging and comparing the current vehicle speed and the target value:

if the current vehicle speed is greater than the target value, the processor cooperatively outputs an instruction set for executing vehicle braking to the output module;

if the current vehicle speed is less than or equal to the target value, the processor does not cooperate to output an instruction set for executing vehicle braking to the output module;

when the processor does not receive the signal for generating the sound warning by the input module, the processor stops outputting the instruction set for generating the sound warning to the output module, and stops cooperatively judging and comparing the vehicle speed; and the output module stops outputting the signal for generating the sound warning to the terminal device.

In a tenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

The input module is used for receiving an input signal of sound warning, acquiring a current vehicle speed signal and acquiring a displacement signal of a foot-operated brake pedal;

the output module is used for outputting a sound warning signal to the terminal device, outputting a signal for executing vehicle braking to the vehicle braking system and outputting a foot control braking signal according to the instruction set of the processor;

the processor is used for outputting an instruction set for generating sound warning to the output module when receiving the sound warning signal, and judging the displacement signal of stepping on the brake pedal preferentially:

if the pedal displacement is greater than 0, the processor outputs an instruction set for implementing foot control braking to the output module;

if the pedal displacement is 0, the processor further cooperatively compares the current vehicle speed with the target value:

In an eleventh aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for receiving an input signal of sound warning, acquiring a current vehicle speed signal and acquiring an input signal of a limited scene;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in a coordinated manner, and outputting an emergency braking signal;

if the current vehicle speed is greater than the target value, the processor cooperatively outputs an instruction set for executing the vehicle braking at a first deceleration to the output module;

when the processor receives an input signal defining a scene, the processor outputs an instruction set for executing vehicle braking at a second deceleration to the output module, and the output module outputs a signal for executing vehicle emergency braking to the braking system;

In a twelfth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring an input signal of a preset scene and acquiring a current vehicle speed signal;

the output module is used for outputting a sound warning signal to the terminal device and outputting a signal for executing vehicle braking to the vehicle braking system according to the instruction set of the processor;

the processor is used for outputting an instruction set for generating sound warning to the output module when receiving a signal of a preset scene, and carrying out judgment and comparison on the current vehicle speed and a target value in a cooperative manner:

When the processor does not receive the signal of the preset scene acquired by the input module, the processor stops outputting the instruction set for generating the sound warning to the output module, and stops cooperatively carrying out judgment and comparison of the vehicle speed; meanwhile, the output module stops outputting the signal for generating the sound warning to the terminal device;

the preset scene is a scene preset by the controller and capable of automatically generating sound warning.

In a thirteenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring a current vehicle speed signal, an input signal of a preset scene and a displacement signal of a foot-operated brake pedal;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in a coordinated manner, and outputting a foot control braking signal;

the processor is used for outputting an instruction set for generating sound warning to the output module when receiving an input signal of a preset scene,

and the displacement signal of stepping on the brake pedal is preferentially judged:

If the pedal displacement is greater than 0, the processor outputs an instruction set for implementing foot control braking to the output module; if the pedal displacement is 0, the processor further cooperatively compares the current vehicle speed with the target value:

when the processor does not receive the signal of the preset scene acquired by the input module, the processor stops outputting the instruction set for generating the sound warning to the output module, and stops cooperatively carrying out judgment and comparison of the vehicle speed; and the output module stops outputting the signal for generating the sound warning to the terminal device.

In a fourteenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring input signals of a preset scene, a limited scene and a current vehicle speed signal;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an emergency braking signal.

The processor is used for outputting an instruction set for generating sound warning to the output module when receiving an input signal of a preset scene, and cooperatively judging and comparing the current vehicle speed and a target value:

when the processor receives an input signal defining a scene, the processor outputs an instruction set for executing vehicle braking at a second deceleration to the output module, and stops cooperatively performing judgment and comparison of the current vehicle speed and the target value;

the preset scene is a scene which is preset by the controller and can automatically generate sound warning;

the limiting scene is a scene preset by the controller and capable of automatically generating emergency braking.

In a fifteenth aspect, the present invention provides a controller, which is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

if the current vehicle speed is less than or equal to the first target value, the processor does not cooperate to output an instruction set for executing vehicle braking to the output module;

if the current vehicle speed is greater than the first target value and less than or equal to the second target value, the processor cooperatively outputs an instruction set for implementing braking at a third deceleration to the output module;

if the current vehicle speed is greater than the second target value, the processor cooperatively outputs an instruction set for implementing braking at a fourth deceleration to the output module;

In a sixteenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring a signal for generating sound warning, a signal for generating sound duration time and a current vehicle speed signal;

the output module is used for cooperatively outputting a signal for executing vehicle braking to the vehicle braking system according to the instruction set of the processor;

the processor is used for preferentially comparing the duration time with a set value when receiving an input signal for generating sound warning and a time signal for continuously responding to sound, and cooperatively judging and comparing the current vehicle speed and a target value when the duration time does not exceed the set value:

stopping the cooperative judgment and comparison of the current vehicle speed and the target value when the duration of the sound warning exceeds a set value or the processor does not receive an input signal for generating the sound warning;

in a seventeenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring a signal for generating sound warning and a current vehicle speed signal; the output module is configured to cooperatively output a signal for executing vehicle braking to a vehicle braking system according to an instruction set of the processor;

the processor is used for receiving an input signal for generating sound warning and cooperatively judging and comparing the current vehicle speed and the target value:

The processor compares the vehicle speed reduction value of the cooperative braking with a preset value, and stops judging and comparing the vehicle speed in a cooperative way when the vehicle speed reduction value exceeds the preset value;

and stopping the cooperative judgment and comparison of the current vehicle speed and the target value when the processor does not receive the input signal for generating the sound warning.

In an eighteenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for acquiring a signal of a preset scene and a current vehicle speed signal;

the output module is used for outputting a signal for generating sound warning to the terminal device and outputting a signal for executing vehicle braking to the vehicle braking system according to the instruction set of the processor;

the processor is used for outputting a signal for generating sound warning to the output module when receiving an input signal of a preset scene; and the current vehicle speed and the target value are cooperatively judged and compared:

Meanwhile, the processor compares the duration of the continuous output sound warning to the output module with a set value, and stops the judgment and comparison of the current vehicle speed in a cooperative way when the duration exceeds the set value;

when the processor does not receive an input signal of a preset scene, stopping outputting a signal for generating sound warning to an output module; and stopping the cooperative judgment and comparison of the current vehicle speed and the target value; and the output module stops outputting the signal for generating the sound warning to the terminal device.

In a nineteenth aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the output module is used for outputting a signal for generating sound warning to the terminal device and outputting a signal for executing vehicle braking to the braking system according to the instruction set of the processor;

In a twentieth aspect, the present invention provides a controller as set forth in any one of the ninth to nineteenth aspects, further comprising a driving module, the input module further configured to obtain a signal of the driving module; the output module is also used for outputting signals to the driving module according to the instruction set of the processor;

after the output module stops outputting the signal for generating the sound warning to the terminal device, the processor judges the current vehicle speed and the target value:

If the current vehicle speed is greater than the target value, the processor outputs an instruction set for recovering the driving force to the output module after the delay time T; when the delay time is less than or equal to T, the processor does not output an instruction set for recovering the driving force to the output module, and the output module does not output a signal to the driving module;

if the current vehicle speed is less than or equal to the target value, the processor outputs an instruction set for recovering the driving force to the output module, and the output module outputs a signal to the driving module.

In a twenty-first aspect, the present invention provides an integrated controller, including an input module, an output module, a first processor, and a second processor, where the input module, the output module, and the first processor and the second processor are connected by a bus;

the input module acquires an input signal of a preset scene and acquires a current vehicle speed signal;

the output module is configured to output a sound warning signal to the terminal device according to the instruction set of the first processor and output a signal for executing vehicle braking to the vehicle braking system according to the instruction set of the second processor;

when the first processor receives the signal of the preset scene acquired by the input module, outputting an instruction set for generating sound warning to the output module, and simultaneously, the second processor cooperatively judges and compares the current vehicle speed and the target value:

If the current vehicle speed is greater than the target value, the second processor cooperatively outputs an instruction set for executing vehicle braking to the output module;

if the current vehicle speed is less than or equal to the target value, the second processor does not cooperate to output an instruction set for executing vehicle braking to the output module;

when the first processor does not receive the signal of the preset scene acquired by the input module, the first processor stops outputting the instruction set for generating the sound warning to the output module, and the output module stops outputting the signal for generating the sound warning to the terminal device; meanwhile, the second processor stops cooperatively judging and comparing the vehicle speed;

In a twenty-second aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

the input module is used for receiving an input signal of sound warning, acquiring a current vehicle speed signal and acquiring an input signal of a second limited scene;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in a coordinated manner, and outputting an automatic braking signal;

when the processor receives an input signal of the second defined scene, the processor outputs an instruction set for executing vehicle braking at a fifth deceleration to the output module; meanwhile, the output module outputs an automatic braking signal to the braking system;

The second limiting scene is preset by the controller, is irrelevant to sound warning, and can generate a scene of automatic braking and non-emergency braking.

In a twenty-third aspect, the present invention provides a controller, including an input module, an output module, and a processor, where the input module, the output module, and the processor are connected by a bus;

The input module is used for acquiring input signals of a preset scene, a second limited scene and a current vehicle speed signal;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an automatic braking signal.

when the processor receives an input signal of a second limiting scene, the processor outputs an instruction set for executing vehicle braking at a fifth deceleration to the output module, and stops cooperatively performing judgment and comparison of the current vehicle speed and the target value; meanwhile, the output module outputs an automatic braking signal to the braking system;

In a twenty-fourth aspect, the present invention provides a vehicle auxiliary deceleration system comprising:

the switch is arranged on the side of the switch,

a braking system for a vehicle such as a vehicle,

at least one wheel carrying a braking system,

a terminal device capable of generating an audible alert,

the sensor is used for monitoring the rotating speed of the vehicle in real time;

and a controller as claimed in any one of the ninth to twenty-third aspects above which is operable to receive an audible alert signal and to output a command set to the brake system,

when the switch is closed or through any preset scene, the controller is caused to automatically control the switch to be closed, the terminal device outputs a response of sound warning, and meanwhile, the controller controls the braking system to apply braking to the vehicle or stop applying the braking; when the switch is turned off, or when the controller automatically controls the switch to be turned off, the terminal device stops outputting the response of the sound warning, and at the same time, the controller controls the brake system to stop applying the brake to the vehicle.

In a twenty-fifth aspect, the present invention provides a vehicle equipped with the vehicle auxiliary deceleration system as described in the twenty-fourth aspect, the vehicle auxiliary deceleration system being capable of cooperatively performing a corresponding vehicle deceleration operation with a loaded controller when a preceding vehicle and/or pedestrian is sounded while the vehicle is traveling.

In a twenty-sixth aspect, the present invention provides a computer readable storage medium storing computer readable instructions that, when invoked and executed by a processor, implement the method of any one of the first to eighth aspects.

In a twenty-seventh aspect, the present invention provides a computer program which, when executed by a processor, implements the method of any one of the first to eighth aspects.

Compared with the prior art, the invention has the beneficial effects that:

1) The invention belongs to non-full-force braking, namely emergency braking (the brake pedal is stepped on to the bottom) of not fully stepping on the brake pedal, or violent and large-scale (the brake pedal displacement exceeds 2/3), and the brake pedal is stepped on at a large angle, or deep braking, namely deep braking which is half of the pedal is stepped on, but mild braking, the effect is equivalent to that of lightly stepping on the brake pedal, and the braking amplitude is not more than 1/3 of the pedal stroke at most, namely the invention does not pursue the shortest braking distance, but rather slightly decelerates, so that a driver has more reflecting time and reflecting distance. Namely, the emergency braking is not pursued by adopting the maximum braking force of the ABS, but is equivalent to the conventional light-stepping brake pedal so as to achieve the purpose of deceleration.

2) The invention has the deceleration effect that the speed is reduced by 0-10km/h based on the current vehicle speed, and the braking deceleration a1 is 0.5-3 m/s ² A is an average value or an effective value, and is not the braking effect of directly reducing 20-100km/h or directly reducing the speed to 0 when the traditional automobile is braked emergently, and the braking deceleration a2 takes 5m/s when the traditional automobile is braked emergently ² A is less than or equal to a and is 5-12m/s ² I.e. the extent to which the two decelerate is different.

3) The time of the cooperative braking is not controlled by the foot, and is shorter than the time of the foot control, particularly, the braking effect of pressing the horn for a short time is continuously achieved, for example, the total time of pressing the horn for 3 times is continuously summed to about 1.5 seconds, and the time of pressing the horn for 1.5 times is continuously achieved for three times, so that the normal driving is affected by the physiological reaction of the foot of the driver when the driver operates by hand, but the foot brake pedal is adopted for 3 times continuously, the time of 1.5 seconds exceeds the physiological reaction time of the foot of the driver, the action cannot be completed, particularly, the foot of the driver is still on the accelerator pedal, the foot reaction cannot be achieved when the driver moves from the accelerator pedal to the brake pedal for three times continuously, the amplitude of each time does not exceed 1/3, the foot reaction is not achieved due to the short-time and small-amplitude high-frequency braking, and even if part of the driver can react, the long-time foot has the physiological reaction of muscle cramp, the normal driving is affected by the conventional driving, and the conventional braking is that the foot is pressed by the foot, the brake pedal, and the braking action is kept for about 2 seconds or kept on the brake pedal. The sound warning cooperative braking is controlled by the time and frequency of pressing the loudspeaker.

4) The voice warning cooperative braking can only play a role of short-time slight braking, aims to remind or help a driver to drive safely, cannot completely replace foot control braking, and is still foot control braking after long-time and large-amplitude braking.

5) When the vehicle speed is very low, namely V is less than or equal to 40km/h (target value), the sound warning cooperative braking is not executed, namely the method is only effective for the vehicle with the vehicle speed more than 40km/h (target value), because when the vehicle speed is low, the danger is not high, and a driver has enough time to perform braking, steering and other operations. And automatic emergency braking and conventional automatic braking can be directly performed when the vehicle speed is less than or equal to 40km/h (target value) and the relative vehicle distance between two vehicles is too close.

6) The method of the invention closely correlates or associates the sound warning with the slight braking, whereas the conventional prior art has no necessary association, and the conventional prior art is independent and has no association, which is an essential difference. The association relation can warn pedestrians or vehicles in front and control the self-vehicle at the same time, and both sides can respond at the same time, so that safe driving is facilitated. Because the existing technology is: when the loudspeaker is loud, the vehicle is not decelerated; when the vehicle decelerates, the horn does not sound; or, the two are weak correlation before, the degree of correlation is not high, and no direct logic causal relationship exists. The invention further strengthens the relationship between the sound warning and the slight braking, so that the sound warning and the slight braking are strongly related or strongly related. That is, at this point, the two become strongly correlated, with logical causal relationships before and after, which is an essential difference, for the need of safe driving. The horn responds, and the vehicle decelerates; the horn stops responding and the vehicle stops co-decelerating to achieve such an effect.

7) The automatic emergency braking or the automatic braking is to detect two main parameters of the current speed and the distance, judge, especially judge by taking the distance as the more important weight; the invention judges based on the output of sound command, and the invention does not use distance as direct judging basis. Because the relative distance can be near or far when the horn is pressed, the horn can be frequently pressed, and the horn can be slightly pressed. That is, when the relative distance does not satisfy the distance range of automatic emergency braking or automatic braking, the sound warning cooperative braking can be performed.

8) Automatic emergency braking or automatic braking, which is to control the own vehicle to actively decelerate to avoid collision, while the front vehicle or pedestrian does not know, for example, that the front driver does not pay attention to whether the rear vehicle is performing emergency braking; purely automatic emergency braking merely prompts the driver himself, and does not prompt other pedestrians or vehicles in front of the outside. The invention prompts the front vehicle or the pedestrian to avoid while the vehicle decelerates, and ensures that the two parties participate in the whole process simultaneously, thereby not only having the self deceleration process, but also having the warning of avoiding in front to further implement the participation process of avoiding. Under the same traffic environment, the traffic operation efficiency of participating in each other is higher, the probability of collision and scratch is smaller, and the safety of driving of both sides is higher.

9) The voice warning cooperative braking can be used for pre-decelerating or pre-decelerating before automatic emergency braking, other pedestrians and vehicle drivers can be reminded, and meanwhile, small-amplitude pre-decelerating is obtained, when the program suddenly and automatically responds to the emergency braking during the voice warning cooperative braking response period, the current speed is reduced, so that compared with the speed without reduction, the braking distance is shorter, the braking effect is safer, the pre-decelerating or pre-decelerating operation before the automatic emergency braking is equivalent to the pre-decelerating operation before the automatic emergency braking and the external warning operation is also used as the pre-decelerating operation before the conventional automatic braking.

In the prior art, when the horn is pressed, the vehicle cannot be decelerated, the horn is pressed for a plurality of times, or the warning of the horn is continuously pressed for more than 2 seconds or even longer, or the horn is pressed for about 0.5 seconds singly, or double-clicking or twice, the total time of pressing the horn is 1-1.5 seconds, or the horn is continuously pressed for 2-4 seconds, the following distance between vehicles is smaller in expressways or intercity overhead or express ways, even smaller than 4 meters in congestion, calculated by the speed of 80km/h, and the theoretical driving distance of 2 seconds is 44 meters, if the deceleration can be realized at this time, the theoretical driving distance can be reduced to 30 meters or less, namely the relative vehicle distance can be increased, so that the rear-end collision, collision and the like of the vehicles can be reduced. When the vehicle speed is less than 40km/h, the risk is small, and the driver has enough reaction time to actively avoid, turn to change the road, actively brake and the like.

10 Because the sound warning cooperative braking of the invention has smaller braking deceleration, the comfort degree of the braking for a driver is obviously better than the braking effect of automatic emergency braking.

11 The sound warning and the judgment of the cooperative braking are compared with each other almost without delay, and the sound warning and the judgment of the cooperative braking are simultaneously carried out, and the sound warning and the judgment of the cooperative braking are circulated once every several milliseconds or several microseconds; for example, the sound warning is generated for 1 millisecond, the vehicle speed judgment and comparison are carried out cooperatively, braking is carried out at the vehicle speed of more than or equal to 40km/h, re-detection of the sound warning is carried out every 1 millisecond of braking, and if the sound warning is still continuous, continuous braking is carried out; until the sound warning is stopped, the judgment of the cooperative braking deceleration is stopped.

12 Distinction from existing automatic emergency braking or conventional automatic braking): the method comprises the steps of firstly, giving a sound or a sound response instruction, and then braking; if there is no sound or no instruction of sound response, or sound is not loud, there is no cooperative braking of the sound warning; the two are strongly correlated and are causal relations with preconditions. The horn sound of automatic emergency braking or conventional automatic braking is not related to braking, and the cause and effect relationship of the technical scheme of the invention is not provided. In order, if the sound fails, the brake also fails, both respond almost simultaneously, but the sound is slightly prioritized for a few milliseconds or microseconds. Whereas the sound of automatic emergency braking or conventional automatic braking may completely lag behind the braking, the sound fails and the braking may still be present.

13 Simplified operation and higher safety. The invention is equivalent to warning an action by sound, and achieves the technical effects that in the prior art, a loudspeaker is required to be pressed down simultaneously, the right foot lifts the accelerator pedal, the right foot is transferred to the brake pedal simultaneously, and the brake pedal is stepped down to generate a certain angular displacement; when the sound warning of the invention is stopped, the technical effects that the loudspeaker is stopped, the right foot lifts the brake pedal, transfers to the accelerator pedal and presses a certain angular displacement in the prior art are achieved. The integrated operation is equivalent to the integration of the action of pressing the loudspeaker by hand and switching the pedal by foot, namely the multifunctional integration, and the operation is simplified. Because the hands press the loudspeaker and the pedal brake, when the hands and the feet are used together, the body posture is not comfortable, the energy of a driver is easy to be dispersed, the attention is often not concentrated, or the attention is concentrated on a certain action at a moment, for example, the pedal brake or the pedal loudspeaker can be concentrated; whereas distraction and body posture discomfort at high speeds are dangerous. Therefore, by adopting one action of the voice warning cooperative braking, the invention can complete multiple functions, the attention of a driver is relatively concentrated, the body posture is more comfortable, and the safety is improved.

14 The cooperative braking belongs to short-time instant braking, and is not slow down for a long time, so that transitional abrasion of the brake caused by long-time braking can be avoided, and the surface temperature of the brake is too high, the reliability is reduced and the like; the invention is equivalent to slight braking and is different from sudden braking, so that the abrasion of the brake is little, and the abrasion is little, and the service life of the brake is longer than that of sudden braking.

15 The voice warning cooperative braking is small in speed fluctuation, namely, the speed is reduced by 10km/h from the highest speed of the current vehicle, particularly when the current speed exceeds 80km/h, the speed reduction is not obvious, the speed is slightly decelerated, and the speed fluctuation degree is not very severe; the automatic emergency brake has strong speed fluctuation, the speed can be directly reduced to 0 from the current speed, especially when the vehicle is driven at a high speed, the automatic emergency brake can be directly reduced to 0 from 100km/h, and the speed fluctuation is large. The speed of the automobile is 100km/h, the speed of the automobile is reduced by 10km/h, and the automatic emergency braking can be reduced by 80-100km/h, so that the intensity difference of speed fluctuation is large. The automatic emergency brake is directly felt that the driver can be reminded, and meanwhile, the comfort of the driver is different, so that the automatic emergency brake is relatively comfortable, and the automatic emergency brake is quite uncomfortable.

Drawings

Fig. 1 to 12 are flowcharts of a method for assisting in decelerating a vehicle through voice warning coordination according to an embodiment of the present invention;

FIG. 13 is a schematic view of a set switch in a vehicle auxiliary deceleration system according to an embodiment of the present invention;

FIGS. 14-16 are schematic diagrams illustrating a relationship between a switch closure or a horn response and a current vehicle speed according to an embodiment of the present invention;

FIG. 17 is a schematic diagram of a brake system according to an embodiment of the present invention;

FIGS. 18-19 are schematic diagrams of deceleration and deceleration changes of vehicle speed according to embodiments of the present invention;

FIGS. 20-22 are schematic views of the active areas of the horn and foot pedals according to embodiments of the present invention;

FIG. 23 is a schematic diagram of a vehicle speed risk level distribution provided by an embodiment of the present invention;

FIGS. 24-26 are graphs showing changes in vehicle deceleration versus time according to embodiments of the present invention;

FIG. 27 is a block diagram of a controller according to an embodiment of the present invention;

fig. 28 to 41 are schematic diagrams of road scenes provided in the embodiment of the present invention.

FIG. 42 is a schematic diagram of a switch closure or horn response versus current vehicle speed provided by an embodiment of the present invention;

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

As shown in fig. 1, the embodiment of the invention provides a method for assisting in decelerating a vehicle through voice warning cooperation, which specifically comprises the following steps:

when the driver implements the horn switch, the terminal device generates a sound warning response, and the controller of the vehicle synchronously and cooperatively detects the current vehicle speed and compares the current vehicle speed with the target value:

if the current speed is greater than the target value, the controller outputs a braking signal to the braking system, and the braking system applies braking to at least one wheel of the vehicle; if the current vehicle speed is less than or equal to the target value, the controller does not cooperate to output a signal for executing braking to the braking system;

when the horn switch is released, the horn stops responding, and the controller stops cooperatively carrying out the current vehicle speed judgment and comparison, so that the implementation of the voice warning cooperative braking is stopped cooperatively.

In some embodiments, during one cycle of horn switch opening, the horn may respond directly to the full cycle without going through the controller.

In some embodiments, when the horn switch is turned on, the controller receives the switch input signal, and after the controller outputs an instruction of sound warning, the horn responds again.

In the embodiment of the invention, the vehicle braking deceleration and the vehicle speed target value can be set according to different driving modes and different vehicles, and preferably, the braking deceleration a takes the value of 0.5-3 m/s ² The method comprises the steps of carrying out a first treatment on the surface of the The target value V of the vehicle speed is 40km/h.

During the cooperative braking of the technical scheme of the embodiment of the invention, the vehicle controller controls the brake lamp to respond so as to prompt the rear vehicle.

When the current vehicle speed is less than or equal to the target value, the implementation of the sound warning cooperative braking is not performed no matter how long the sound warning is continued or not, that is, the sound warning is completely unrelated to the vehicle braking, which is the same as the prior art.

In an embodiment of the invention, the vehicle brake may be a friction brake, such as a disc brake or a drum brake. Wherein, the disc brake comprises the prior art, such as wire control or non-wire control hydraulic disc brake, wire control motor disc brake (non-hydraulic disc brake), disc brake of two-wheel electric vehicles or motorcycles, and the like; pneumatic lever disc brakes (such as heavy truck), hydraulic lever disc brakes, electric disc brakes, etc.; drum brakes include hydraulic shoe brakes, pneumatic lever drum brakes (such as certain heavy trucks) or electromagnetic drum brakes or mechanical (flexible shaft) drum brakes (two-wheeled electric vehicles or motorcycles), and the like. Wire control is moved: the controller controls the motor to perform actions, and the caliper brake is performed through the transmission mechanism and/or the caliper brake is performed through hydraulic pressure.

When the braking is regenerative power generation braking, the wheels drive the generator to perform power generation braking through the speed reducing mechanism.

When the sound warning is used for braking cooperatively, the controller can shield the output signal of the driving force, and the braking lamp responds; when the sound warning is stopped and the braking is cooperated, the controller restores the output signal of the driving force, and the braking lamp stops responding. When the brake lamp responds, a signal for turning on the brake lamp is displayed in the instrument panel; when the brake lamp stops responding, the brake lamp is extinguished in the instrument panel.

In the embodiment of the invention, the controller shields the output signal of the driving force, and for the vehicle with the speed of the vehicle being greater than or equal to four wheels controlled by the accelerator pedal, the controller shields the signal of the accelerator pedal, namely the power is completely cut off instantaneously; and when the sound warning and the cooperative braking are stopped, the signal of the accelerator pedal is recovered, and the power is normally output.

For example, in a conventional fuel cell vehicle or a vehicle with an engine, the accelerator pedal controls the output of power, and the controller masks the output of driving force, i.e., masks the signal input to the accelerator pedal. The accelerator pedal herein may control the power output of the engine or may control the power output of the drive motor directly (for some electric drive modes of the hybrid vehicle). For vehicles without an engine and with an energy storage device, the accelerator pedal can directly control the power output of the drive motor. When the sound warning is used for braking cooperatively, the controller can control the engine to reduce or stop power output for certain fuel vehicles with the engine; i.e., the controller controls the power source to reduce the output or to stop the output. And when the sound warning is stopped and the braking is cooperated, the power output of the engine is restored.

The controller may control the engine to reduce or stop power output, for example, the ECU may reduce the instantaneous fuel injection amount of the engine, or stop fuel injection altogether, to control power output; the controller may also output an instruction to increase the amount of fuel injected by the engine to restore power to the engine.

For some electric vehicles, the controller may control the battery (energy storage device) to reduce or stop power output when the vehicle is co-braked; i.e., the controller controls the power source to reduce the output or to stop the output. And when the vehicle stops the cooperative braking, the power output of the battery (energy storage device) is restored.

In addition, for a two-wheeled vehicle with the speed of the vehicle controlled by the rotation of the handle, the output of the shielding driving force can be understood as the signal of the controller shielding the rotation of the handle, namely the instantaneous complete cutting-off of the power; and when the voice warning and the cooperative braking are stopped, the signal of the handle rotation is restored, and the power is normally output.

In some embodiments, if the driver presses the horn 2 times, or 3 times, in a short period of time, the entire process time is 2 seconds; namely, the time for pressing the loudspeaker is less than 1 second each time, and the middle part is stopped; the sound of the middle loudspeaker is temporarily interrupted; the controller performs braking in cooperation with the sound warning, and the controller stops performing comparative judgment of the current vehicle speed in cooperation in the interval of the sound interruption of the middle pause, and the vehicle does not perform cooperative braking. I.e., sound response, is cooperatively performed; if the sound is not responded, the sound warning cooperative braking is not executed; that is, the sound warning cooperative braking of the present invention is braking performed almost simultaneously with the sound response, but in time, the sound response is slightly earlier by several or several tens of milliseconds, or earlier by several or several tens of microseconds, or the like. Because mechanical and hydraulic mechanisms have a time delay in executing the brakes, and the horn response is at an electrical propagation rate.

In some embodiments, as shown in FIG. 2, when the horn responds, the controller preferentially detects displacement of the foot-operated brake pedal, and if there is displacement of the foot-operated brake pedal, foot-controlled braking is applied; if the foot does not step on the brake pedal, or the displacement of the foot to step on the brake pedal is 0, the current vehicle speed is estimated cooperatively: if the current vehicle speed is greater than the target value, outputting a braking signal to a braking system; if the current vehicle speed is less than or equal to the target value, a signal is not output to the braking system in a cooperative way; and stopping the judgment and comparison of the vehicle speed in cooperation when the loudspeaker does not respond, namely stopping the sound warning and the cooperation braking.

The safety level of foot brake is priority, and when the foot brake pedal is not detected or is only put on the brake pedal and displacement is not generated, sound warning cooperative braking is carried out; that is, at any time, the driver actively steps on the brake pedal, and the controller responds to the action preferentially and automatically releases the sound warning cooperative braking of the invention. The cooperative braking of the present invention is performed only when the foot does not step on the brake pedal, or the foot steps on the brake pedal, but no displacement is generated.

In some embodiments, as shown in FIG. 3, when the horn responds, the current vehicle speed is cooperatively detected and compared to a target value: if the current vehicle speed is greater than the target value, outputting a braking signal to a braking system, and braking the vehicle by the braking system at a first deceleration; if the current vehicle speed is less than or equal to the target value, a signal for executing braking is not output to the braking system in a coordinated manner; meanwhile, when the controller is prompted to automatically control the braking system to execute emergency braking on the vehicle at the second deceleration through any limited scene, the comparison judgment of the vehicle speed through the sound warning cooperation is automatically stopped, namely the sound warning cooperation braking is stopped. And stopping the cooperative judgment and comparison of the vehicle speeds when the loudspeaker does not respond.

In the present embodiment, the first deceleration a1 is 0.5.ltoreq.a1.ltoreq.3m/s ² The method comprises the steps of carrying out a first treatment on the surface of the The second deceleration a2 takes 5m/s ² A2 is less than or equal to; the target value was 40km/h.

When the driver presses down the horn and suddenly encounters an emergency in the process of executing the cooperative braking by the controller, the controller preferably executes the automatic emergency braking when automatically executing the emergency braking, and temporarily stops the cooperative braking of the invention; when the scene of automatic emergency braking disappears, after stopping or releasing, restarting the statistical cycle, namely carrying out a new round of sound warning cooperative braking cycle, and implementing the sound warning cooperative braking of the invention. I.e. the priority level of the automatic emergency braking is higher than that of the voice warning cooperative braking in the embodiment of the invention.

In some embodiments, as shown in fig. 4, the terminal device generates an audible alert response when the controller is prompted by any predetermined scenario to automatically output a responsive instruction set to the horn for an autonomous vehicle; simultaneously and cooperatively evaluating the current vehicle speed: if the current speed is greater than the target value, automatically outputting a braking instruction set to a braking system, wherein the braking system applies braking to at least one wheel of the vehicle; if the current vehicle speed is less than or equal to the target value, the instruction set for executing braking is not output to the braking system in a coordinated manner; when the controller automatically stops outputting the response instruction set to the loudspeaker, the terminal device does not generate the response of the sound warning, and stops the evaluation and comparison of the vehicle speed in cooperation, and automatically stops the sound warning and cooperation braking.

For example, when a pedestrian or vehicle traveling in front (less than 50 meters from the host vehicle) is slow, the controller cooperates to apply a braking deceleration to the host vehicle while automatically controlling the horn to respond to alert the pedestrian or vehicle in front.

In some autopilot applications, the audible alert and the automatic brake or automatic emergency brake are independent of each other, and are not related. The invention is characterized in that the voice warning cooperative braking is carried out, namely the instruction set of voice response or voice signal output is in front, and the instruction of the cooperative braking is in back, the time difference is a little, and the specific time difference can be set, for example, the specific time difference can be a few milliseconds or a few microseconds; meanwhile, when the voice response is interrupted or the voice signal input is terminated, the voice warning cooperative braking is also interrupted or the judgment instruction of the vehicle speed comparison is terminated. According to the application scene, the loudspeaker warning is automatically sent out, meanwhile, proper deceleration is automatically carried out, when the loudspeaker response is automatically stopped, the sound warning is automatically stopped in a cooperative mode, so that safer driving is ensured, and the automatic reminding device is equivalent to actively reminding pedestrians, vehicles and drivers of the vehicles in front by the sound warning and the automatic deceleration, and has double reminding effects.

The brake pump of the ESP or ABS system is controlled by the controller to output brake pressure to the terminal brake, and the pressure oil pushes the caliper to perform disc brake; or the controller can control the braking motor to drive the lever mechanism so as to perform disc braking and the like.

If the controller continuously outputs the instruction responded by the loudspeaker for 2 times or 3 times in a short time, and the middle part is stopped; the sound of the middle loudspeaker is temporarily interrupted; then the controller cooperates with the sound warning to brake, and the controller stops cooperating with the comparison and judgment of the vehicle speed in the interval of the sound interruption of the middle pause; i.e., sound response or output of a sound response signal, are cooperatively performed; when the sound does not respond or does not output the sound response signal, the sound warning cooperative braking is not executed; namely, the sound warning cooperative braking of the invention is the braking which is almost carried out simultaneously with the sound response, but the time is only a few milliseconds or a few microseconds before the sound response; because mechanical and hydraulic mechanisms have a time delay in executing the brakes, and the horn response is at an electrical propagation rate.

In some embodiments, as shown in fig. 5, for an autonomous vehicle, the controller is caused to automatically control the horn response through any predetermined scenario, the controller automatically detecting displacement of the foot brake pedal, and if there is displacement of the foot brake pedal, foot brake is applied; if the foot does not step on the brake pedal, or the displacement of the foot to step on the brake pedal is 0, the current vehicle speed is estimated cooperatively: outputting an instruction set for executing vehicle braking to a braking system if the current vehicle speed is greater than a target value; if the current vehicle speed is less than or equal to the target value, the command set for executing the vehicle braking is not output to the braking system in a coordinated manner; and stopping judging and comparing the vehicle speed when the controller automatically controls the loudspeaker to stop responding, and further stopping the sound warning and the cooperative braking.

In the automatic driving mode, during execution of the sound warning cooperative braking, if the vehicle driver actively performs the foot control braking, the controller stops the automatic sound warning cooperative braking of the present invention, but performs the vehicle braking in which the foot control braking is prioritized. I.e. the priority of stepping on the brake pedal is higher than that of the automatic driving sound warning cooperative braking.

In some embodiments, as shown in fig. 6, the controller is caused to automatically control the horn response through any predetermined scenario, automatically detect the current vehicle speed and compare with a target value: if the current vehicle speed is greater than the target value, automatically outputting a braking instruction set to a braking system, and applying a first deceleration of a1 to the vehicle by the braking system; if the current vehicle speed is less than or equal to the target value, the instruction set for executing braking is not output to the braking system in a coordinated manner; and stopping judging and comparing the vehicle speed when the controller automatically controls the horn to stop responding;

when the controller is caused to automatically output to the brake system to execute the emergency braking at the second deceleration a2 through any defined scene, the comparison judgment of the vehicle speed by the sound warning is automatically stopped. The first deceleration a1 is 0.5-3 m/s of a1 ² The method comprises the steps of carrying out a first treatment on the surface of the The second deceleration a2 takes 5m/s ² ≤a2；

In the automatic driving mode, when the sound warning cooperative braking is carried out, when the automatic emergency braking scene of the vehicle is suddenly burst, namely, the scene is limited, the mode of the automatic emergency braking is prioritized, and the slight braking mode of the sound warning cooperative braking is inferior. I.e., to preferentially execute the braking response of the automatic emergency brake, and to terminate the audible alert cooperative braking; when the scene of automatic emergency braking disappears, after stopping or releasing, restarting the statistical cycle, namely carrying out a new round of sound warning cooperative braking cycle, and implementing the sound warning cooperative braking of the invention.

The braking deceleration of the automatic emergency brake is much larger than that of the invention, and the braking distance is much shorter. While automatic emergency braking is aimed at stopping or greatly decelerating, the invention aims at slightly braking, slightly reducing the speed, or reducing the vehicle speed to a target value (40 km/h), and is not aimed at stopping or greatly decelerating. The automatic emergency brake in the automatic driving mode and the brake actuating mechanism and the brake system for the sound warning cooperative braking of the invention can be shared, namely, the two share a set of brake system; the present invention may also be used alone with a completely independent braking system.

In this embodiment, the method for controlling the braking of the vehicle by the sound warning further includes the following steps:

the sound is configured to alert a vehicle and/or pedestrian in front;

wherein the second defined scenario is configured to cause the controller to automatically output a braking, non-emergency braking scenario independent of the audible alert.

In some embodiments, as shown in fig. 7, for an autonomous vehicle, the horn responds by causing the first controller to automatically output an instruction set to the horn through any predetermined scenario, the second controller cooperatively evaluating the current vehicle speed: if the current vehicle speed is greater than the target value, the second controller automatically outputs a braking instruction set to a braking system, and the braking system brakes the vehicle; if the current vehicle speed is less than or equal to the target value, the second controller does not cooperate to output an instruction set for executing braking to the braking system; and when the first controller automatically stops outputting the instruction set to the loudspeaker, the loudspeaker stops responding, the second controller automatically stops cooperatively evaluating the current vehicle speed, and the sound warning cooperative braking is stopped to be implemented.

Specifically, the sound control instruction is output by a first controller, is output by a control domain, and the braking instruction is output by a second controller, is output by a chassis domain, and the two controllers are cooperated, and can be directly cooperated, or can be cooperated through a central controller; the first controller is an input and the second controller is a follow-up response. I.e., the first controller responds and the second controller cooperatively follows; the first controller stops responding and the second controller also stops co-follower. This embodiment is mainly applied to a scenario where a vehicle has a plurality of controllers, and each controller individually controls a certain function, i.e. there is a synergy between the different controllers. For example, CAN communication or other means of information sharing and interaction may be performed.

In some embodiments, as shown in fig. 8, for manual driving or automatic driving, when a switch for generating an audible alert is implemented or an instruction set for generating an audible alert is automatically output by the controller through a predetermined scene, the terminal device generates a response of the audible alert, and the controller cooperatively detects the current vehicle speed and compares with a first target value:

If the current speed is greater than the first target value and less than or equal to the second target value, the cooperative control braking system applies braking to at least one wheel of the vehicle at a third deceleration a 3; if the current vehicle speed is greater than the second target value, the cooperative control braking system applies braking to at least one wheel of the vehicle at a fourth deceleration a 4;

when the execution of the switch is stopped or the controller automatically stops outputting the instruction set for generating the sound warning, the terminal device stops generating the response of the sound warning, and the controller stops cooperatively performing the judgment and comparison of the vehicle speed.

For different vehicle speeds exceeding the target value, different deceleration settings are made, for example, the first target value may be set to 40km/h and the second target value 80km/h; third subtractionThe value of the speed a3 is more than or equal to 0.5 and less than or equal to a3 and less than 2m/s ² The method comprises the steps of carrying out a first treatment on the surface of the The fourth deceleration a4 takes the value of 2-3 m/s and a4 is less than or equal to 3m/s ² The method comprises the steps of carrying out a first treatment on the surface of the That is, the higher the vehicle speed exceeding the target value, the greater the deceleration, and the degree of risk of driving is reduced. It is of course also possible to further grade the vehicle speed over 80km/h and to set a greater deceleration.

In some embodiments, as shown in fig. 9, when the horn switch is implemented, the horn generates an alert response, and when the response duration does not exceed the set value, the controller cooperatively evaluates the current vehicle speed: outputting a braking signal to the braking system if the current vehicle speed is greater than the target value, and not cooperatively outputting the braking signal to the braking system if the current vehicle speed is less than or equal to the target value; and stopping the controller from cooperatively performing the comparison judgment of the vehicle speed when the duration of the horn response exceeds the set value or the horn stop response, thereby stopping cooperatively performing the vehicle braking deceleration.

The set value of the duration may take different values according to different vehicle types and driving modes, for example: taking a set value T1 of the car for 3 seconds; taking T1 from the heavy truck for 4 seconds; taking T1 from the bus for 2 seconds and the like; in the technical scheme of the application, the value range of the set value T1 is more than 0 and less than or equal to 4 seconds. I.e. can take any value between 0 and 4 for T1. Of course, a value exceeding 4 may be adopted as required. In the technical scheme of the application, 3 seconds are preferable; and stopping the sound warning cooperative braking after 3 seconds.

For example, when the driver presses the horn for 6 seconds, the current speed is 80km/h, then during the first 3 seconds the controller controls the vehicle to brake and slow down, and beyond the audible alert of 3 seconds to 6 seconds the controller controls the vehicle not to cooperatively perform the slow down, because the person has sufficient time to actively intervene in the foot-controlled braking; the horn will always respond for 6 seconds and during these 6 seconds power shut-off is always performed, i.e. the controller masks the signal of the accelerator pedal, or (and) masks or reduces the power output signal of the engine.

In some embodiments, as shown in fig. 10, when an input signal from the horn is detected, the terminal device generates an audible alert response, and the controller cooperatively evaluates the current vehicle speed: if the current vehicle speed is greater than the target value, outputting a braking signal to a braking system; if the current vehicle speed is less than or equal to the target value, a signal for executing braking is not output to the braking system in a coordinated manner;

And stopping the judgment and comparison of the vehicle speed by the cooperation when the vehicle speed reduction value of the voice continuous warning cooperation braking exceeds a preset value or no input signal of the voice warning is detected, namely stopping the voice warning cooperation braking.

And when the input signal of the sound warning is not detected, the terminal device does not generate the sound warning response.

The above-described vehicle speed reduction value means: the difference between the vehicle speed before the start of the cooperative braking and the current vehicle speed after the cooperative braking.

The preset value may be set according to the driving mode, for example, 10km/h,20km/h, etc., and the present invention is preferably 10km/h, i.e., if the speed of the Shan Cisheng sound warning cooperative braking decreases beyond 10km/h, the sound warning cooperative braking is stopped, but the sound warning may be continued. For example, when the driver presses the horn for 5 seconds, the controller detects that the current vehicle speed is 100km/h, and then the controller controls the vehicle to brake and decelerate, and in the first 2 seconds, the vehicle speed is reduced to 90km/h, and from the sound warning in more than 2 seconds to 5 seconds, the controller controls the vehicle not to cooperatively perform deceleration, and after the vehicle speed is kept at 90km/h, the controller stops to cooperatively brake and decelerate, and the vehicle speed is comprehensively influenced by ground resistance, wind resistance and the like. The horn will always respond for 5 seconds and during these 5 seconds power shut-off is always performed, i.e. the controller masks the signal of the accelerator pedal, or (and) masks or reduces the power output signal of the engine. And after these 5 seconds the controller resumes the signal to the accelerator pedal or resumes the power output of the engine.

In some embodiments, the preset value of the same vehicle can also be variable, different preset values of vehicle speed reduction can be set according to different speed intervals, and when the vehicle speed is between 40 km/h and 60km/h, the preset value can be set to be 5km/h as shown in the following table 1; when the speed of the vehicle is between 60 and 80km/h, a preset value can be set to be 10km/h; when the speed of the vehicle is between 80 and 120km/h, a preset value can be set to be 15km/h; when the vehicle speed is greater than 120km/h, a larger preset value may be set.

TABLE 1

The driver is easy to have obvious subjective feeling of vehicle speed reduction, and enough time is available for artificial foot control braking, and the sensitivity or comfort degree change caused by the vehicle speed reduction is more direct than the influence of the continuous 3-second time length on the sensitivity or comfort degree of the driver. I.e. the driver reacts to the body too quickly in the vehicle speed, more deeply than the sensitivity brought by the length of the horn response time.

In some embodiments, as shown in fig. 11, for an autopilot scenario, the controller is prompted by any predetermined scenario to automatically control the horn to continue responding, and when the duration of the no-break does not exceed a set point, the controller automatically cooperatively detects the current vehicle speed and compares it to a target value: if the current speed is greater than the target value, automatically outputting a braking instruction set to a braking system, wherein the braking system applies braking to at least one wheel of the vehicle;

If the current vehicle speed is less than or equal to the target value, a braking instruction set is not output to the braking system in a coordinated manner; and stopping the judgment and comparison of the vehicle speed in a cooperative manner when the duration of the horn output response is controlled by the controller to exceed the set value or the horn does not output response, namely stopping the sound warning cooperative braking. When the controller automatically stops outputting the instruction set of the sound warning to the loudspeaker, the loudspeaker does not generate the response of the sound warning.

The set value of the duration may be set according to the driving mode, for example, 5 seconds, 8 seconds, etc., and the present application is preferably 3 seconds; and stopping the sound warning cooperative braking after 3 seconds.

In the technical scheme of automatic driving, the value range of the set value T1 is more than 0 and less than or equal to 4 seconds. I.e. can take any value between 0 and 4 for T1. Of course, a value exceeding 4 may be adopted as required. In the technical scheme of the application, 3 seconds are preferable; and stopping the sound warning cooperative braking after 3 seconds.

For example, when the vehicle is in the automatic driving mode, the current scene causes the vehicle to automatically execute the horn warning for 4 seconds, and the vehicle speed is 80km/h at this time, then in the first 3 seconds, the controller controls the vehicle to automatically perform braking deceleration, and the sound warning in more than 3 seconds to 4 seconds is exceeded, and the controller controls the vehicle not to cooperatively execute the braking deceleration, and the vehicle performs the complete power cut-off (equivalent to the complete lifting of the accelerator pedal). Because the person has sufficient time to actively intervene in the foot brake during 3 seconds; the sound warning automatically prompts the front vehicle and the pedestrian, automatically decelerates to ensure the safety distance, and reminds the driver to actively pedal the brake when necessary. The effect is equivalent to actively reminding pedestrians, vehicles and drivers of the vehicles in front by using sound warning and automatic deceleration, and has double reminding effects.

In some embodiments, as shown in fig. 12, for an autopilot scenario, the controller is caused to automatically control the horn response through any predetermined scenario, the controller automatically cooperatively detects the current vehicle speed and compares it to a target value: if the current speed is greater than the target value, automatically outputting a braking instruction set to a braking system, wherein the braking system applies braking to at least one wheel of the vehicle;

if the current vehicle speed is less than or equal to the target value, a braking instruction set is not output to the braking system in a coordinated manner; and when the vehicle speed reduction value of the cooperative braking exceeds a preset value or the automatic control horn stops responding, automatically stopping the judgment and comparison of the vehicle speed in cooperation, and further automatically stopping the cooperative braking. When the controller automatically stops outputting the instruction set of the sound warning to the loudspeaker, the loudspeaker does not generate the response of the sound warning.

The preset value can be set according to the driving mode, for example, 10km/h,20km/h and the like, and the value range of the preset value n is 0<n-20 km/h; any numerical value between 0 and 20km/h can be obtained, and the technical scheme of the application is preferably 10km/h. If the speed of the Shan Cisheng audible alert co-brake decreases by more than 10km/h, the audible alert co-brake is stopped, but the audible alert may continue.

The preset value can be set according to different driving modes of different vehicles, for example, a heavy truck or a bus is set to 10km/h, a sedan can be set to 20km/h, and the sedan is taken as an example, preferably 10km/h in the embodiment of the invention, that is, if the speed of the sound warning cooperative braking is reduced by more than 10km/h in the automatic driving mode, the sound warning cooperative braking is stopped, but the sound warning is continuous.

For example: when the vehicle is in an automatic driving mode, the current scene causes the vehicle to automatically execute horn warning and lasts for 5 seconds, the controller detects that the current vehicle speed is 100km/h, then the controller controls the vehicle to automatically brake and decelerate, the vehicle speed is reduced to 90km/h in the first 2 seconds, and the vehicle speed is kept at 90km/h from the sound warning in the last 2 seconds to the 5 th seconds, and the vehicle speed is comprehensively influenced by ground resistance, wind resistance and the like. The horn will always respond for 5 seconds and during these 5 seconds power shut-off is always performed, i.e. the controller masks the signal of the accelerator pedal, or (and) masks or reduces the power output signal of the engine. And after these 5 seconds the controller resumes the signal to the accelerator pedal or resumes the power output of the engine.

The voice control speed reduction of the automatic driving mode of the embodiment of the invention is not too long in duration and is less than or equal to 3 seconds; the speed of the vehicle is reduced, and the speed is not too large and is less than or equal to 10km/h; the braking deceleration a is not large, and the value a is more than or equal to 0.5 and less than or equal to 3m/s ² The brake belongs to short-time slight braking, and the braking amplitude is not large.

In some embodiments, when the horn stops responding, the sound warning and the deceleration stop cooperatively, and at this time, acceleration is delayed to a certain extent according to the current vehicle speed value, that is, when the sound stops, the acceleration response is not started immediately according to the angle of the accelerator pedal, but if the controller determines that the current vehicle speed is greater than the target value, a certain time delay is provided, for example, stopping for 0.5-1 second, at this time, acceleration is not performed, and after the delay of 0.5-1 second, the controller starts to perform acceleration response again. If the controller determines that the current vehicle speed is less than or equal to the target value at this time, there is no time delay, and the output signal of the driving force is directly recovered.

The delay time T may take different values depending on the type of vehicle, for example: taking a set value T of the car to be 0.5 seconds; taking T as 1 second by the heavy truck; taking T from the bus for 1.5 seconds and the like; the given value of the invention is more than 0 and less than or equal to 2 seconds. I.e. can take any value between 0 and 2. Of course, a value exceeding 2 may be adopted as required.

In order to ensure safe driving, especially after frequent horn pressing, frequent acceleration causes large speed fluctuation, especially when the horn is continuously pressed for a plurality of times in a short time, and the speed is easy to repeatedly fluctuate when a pause of 0.2-0.5 seconds exists in the middle; therefore, the delay is set to reduce the fluctuation of the speed and increase the smoothness and the comfort of running. The vehicle can be effectively prevented from decelerating and accelerating, decelerating and repeatedly fluctuating just after accelerating, and unstable runaway state of the vehicle is caused for a driver.

It should be noted that, when the sound warning cooperative braking according to the embodiment of the present invention specifically performs braking, a combination brake may be performed on a tire of a vehicle, for example, when a first axle (front wheel) of the vehicle performs disc braking or (and) regenerative braking, a second axle (rear wheel) may perform drum braking or disc braking, and when there is multiple axles, for example, a third axle may also perform disc braking and/or regenerative braking or drum braking; the same disc brake (or drum brake) or regenerative braking may be applied to each axle or wheel; or a combination of existing braking techniques that apply the above-described braking to different axles or wheels.

The loudspeaker (sound warning) not only has the warning function on the vehicles or pedestrians in front, but also actively decelerates, and after deceleration, a driver can have longer reaction distance and strive for more reaction time to perform steering, braking or parking and other operations; the braking and decelerating device can reduce the existing vehicle speed by about 0-10km/h, and the time and the corresponding decelerating effect are enough to enable a driver to have subjective alertness, so that the driver can actively brake and decelerate the vehicle next, or have more reaction time and distance to take other operations, for example, when the driver decelerates through the loudspeaker, the speed is still high, and the road in front is still relatively congested, so that the vehicle can be decelerated by conventionally stepping on a brake pedal to brake.

The voice warning cooperative braking of the embodiment of the invention can be gradual, braking deceleration is from small to large according to the duration of the voice control switch, and then continuous deceleration is carried out by stabilizing at a value, and the voice warning cooperative braking can be realized according to algorithms of different programs. The brake can also be controlled by the switching value, which is equivalent to the slight continuous hand brake action, and the brake is carried out by pressing the sound control switch; and the brake is stopped by releasing the voice control switch.

Preferably, with progressive, as shown in fig. 24, 25 and 26, the braking deceleration can be varied by curve S1 or curve S2 or curve S3 in the case of a cooperative braking, i.e. from 0 to time T2, the deceleration remains constant after increasing from 0 to a. And the deceleration unit is m/s ² The unit of time T2 is ms (milliseconds) or (μs) subtle. I.e. the deceleration increases from 0 to a over a period of milliseconds or microseconds, and then stabilizes at a for hold. For example: when the braking deceleration is from 0 to 2, linear or nonlinear increase is performed in millisecond level, and then the braking deceleration is stably performed at 2 until the horn stop response is stopped. The cooperative deceleration of the embodiment of the invention, the controller monitors and reads in real time, and the period of reading data is a response in ms or subtle levels.

It should be noted that the higher the vehicle speed is, the more the number of lane changes or horn presses will be, especially when 80km/h < V, the vehicle speed of other vehicles is slower, and the vehicle speed of own is very high, so that other vehicles relatively need to be overtaken by own, and the effect of blocking is objectively achieved, and at the moment, the driver or lane changes drives or frequently presses the horn to warn the vehicle in front of the vehicle continuously. Therefore, the number of times of horn pressing is more frequent and/or the time is longer, so that the cooperative braking effect generated by the invention is more obvious and the driving is safer.

The horn warning operation of the present invention is equivalent to not only an audible warning, but also a vehicle deceleration operation, as the driver lifts the accelerator pedal (power cut off) while transferring the right foot (or the foot on which the accelerator pedal is stepped) to the brake pedal, and generates a certain brake pedal angular displacement, equivalent to this effect. But the effect of warning the vehicle ahead and the pedestrian by the horn cannot be achieved only by braking. That is, the front vehicle or the pedestrian cannot perceive whether the vehicle is behind or not, and the intention of the rear vehicle to pass.

In this process, referring to fig. 21 and 22, the driver's foot can be always stepped on the accelerator pedal without frequently switching between the brake pedal and the accelerator pedal. The number of times of switching the feet between the brake pedal and the accelerator pedal is reduced, the operation intensity of the feet of a driver is reduced, the degree of muscle cramp of the feet is reduced, and the driving comfort is improved. Because the two pedals are frequently switched, foot muscles are easy to cramp, and certain driving safety hazards are brought, especially short-time frequent switching is brought. When the driver stops pressing the horn, the controller stops outputting the braking signals, the brakes of all wheels of the vehicle are released instantaneously, and the controller re-controls the whole machine to drive according to the angle signals of the accelerator pedal.

Two preconditions are required for braking safety assurance: the vehicle is braked in time, the front vehicle and the moving object sense the rear vehicle signals and take avoidance measures in time, the horn is decelerated mainly to remind the front vehicle to accelerate or steer, or not to change the lane, or accelerate the lane changing to avoid collision, so that the two are simultaneously operated, the two are simultaneously participated, and the safe driving of the two can be ensured to a greater extent. Here, various road driving scenarios shown in fig. 28 to 41 may be referred to.

The following explains the sound cooperative braking process in connection with specific embodiments, specifically as follows:

as shown in fig. 20, the area a in the center of the steering wheel of the vehicle is a horn switch area, and pressing the area a by hand is a process C; hand release area a is process C1.

As shown in fig. 21, the solid line position of the accelerator pedal is the current acceleration position, and the broken line is the start position. The accelerator pedal is released from the current position to the 0 position (the broken line position) as a process D, and the accelerator pedal is depressed from the 0 position to the solid line position as a process D1.

As shown in fig. 22, the solid line position of the brake pedal is the start position, the broken line (stroke 1/3 total stroke) is the position where the brake is applied by pressing, and the brake pedal is pressed from the 0-position to the broken line position, which is the process E. Loosening from the dotted line position to the 0 position is process E1.

When horn warning and braking is required, typically, the driver of the vehicle has to press the a-zone horn switch of the steering wheel with his hand, while the right foot (or left foot) is released from the accelerator pedal and is translated to the brake pedal and depressed by an angular displacement. I.e., both hands and feet are needed and process C + process D + process E is performed; meanwhile, after the hand stops pressing the horn switch, the foot needs to release the brake pedal, transfer to the accelerator pedal and press a certain angular displacement, so that the implementation process C1+process D1+process E1 can be realized. The series of operations are completed only by the autonomous judgment and operation of the driver in a specific time, so that the operation has certain operation complexity, the attention of the driver is easy to be dispersed, and when the vehicle speed is more than 100km/h, the attention of the driver is dispersed, and the danger level is increased greatly.

The voice warning cooperative braking in the embodiment of the invention can easily achieve the combined effect of the process C+the process D+the process E by only implementing the process C by hands when the speed exceeds the target value, especially when the vehicle speed is more than 80 km/h. When the process C1 is implemented, the combined effect of the process C1+the process D1+the process E1 is easily realized, the operation is simplified, the feet do not need to act, only the feet need to be kept at the original positions, and the operation action of the foot switching pedal is omitted.

From the operational time: the single execution of process C takes about 0.5 seconds or less, the single execution of process d+process E takes about 2 seconds (a relatively comfortable operation), and even more, while the sum of the times of two consecutive presses of the horn is 1 second or less, while the total cycle time of two consecutive executions of process d+process E and process d1+process E1 is about 7 seconds or more. Therefore, the operation efficiency is improved, the operation time is saved, the time and the labor are saved, the driving safety is improved, foot cramps and the like caused by frequent foot switching are avoided, and the comfort is better.

Embodiments of the present invention may employ a switch control, such as, for example, a button like automatic start-stop or auto. Program control can also be adopted, namely, screen touch control can also be adopted to display the function options, and manual selection can be carried out. I.e. the normal mode does not have the function, the switch is turned on or the program is started, and the mode is started, so that the function can be realized, i.e. the switch control is adopted. Another way to control the selection of the mode with the controller is to add the mode, i.e. the mode is selectable in the menu bar, in addition to the normal mode. For a manually driven vehicle, a switch is preferably used for controlling, so that the mode is easier to implement, and a driver can conveniently start and stop the mode according to the requirement, and the mode is controlled to start and stop by being equivalent to the existing automatic start and stop button, namely a button is added. For an autonomous mode vehicle, it is preferable to automatically control the switching between the mode and the normal mode by a program.

For the noisy urban areas, whistling is forbidden, the mode can be shielded or released through a switch, or the mode is switched to a normal mode through a controller; when an automatic driving mode or an unmanned driving mode is adopted, the controller automatically captures traffic indication marks which inhibit whistling through the vision of a vehicle body and/or a laser sensor, when the marks which inhibit whistling are detected, the controller automatically shields or releases the mode, or switches to a normal mode, and the mode can be adopted on road sections which do not inhibit whistling, such as highways, urban elevations, inter-city express ways, outdoor driving and the like; the mode can also be automatically turned off or on according to the voice prompt of satellite (Beidou or GPS) navigation.

While warning the passers-by and surrounding vehicles when traveling at high speed, the vehicle is slightly decelerated to improve safety. When the horn is pressed for the first time, the braking system executes once, when the horn is pressed for the second time, the braking system judges again according to the speed after the first time of deceleration, and executes braking again, and the like; i.e. the controller controls the braking system to perform one vehicle braking every time the horn is pressed down once; when the horn is continuously pressed down, the controller always executes braking judgment, but when the speed is less than or equal to 40km/h, only the warning of the horn is carried out, no braking action is carried out, and meanwhile, a brake lamp is not lightened.

As shown in fig. 13, when the driver presses the switch 1, or the controller 3 automatically outputs an instruction to the horn 2 through a predetermined scene, the controller 3 controls the response of the horn to output an audible alert on the one hand; on the one hand, the current vehicle speed of the wheels is detected by the sensor 4, compared with a target value, and when the vehicle speed exceeds the target value, a command set is output to the brake system 6, and the brake system 6 applies disc braking to at least one wheel 5 of the vehicle through the caliper 6-1. When the driver releases the switch, or the controller 3 automatically stops outputting the instruction to the horn, the controller stops comparing the current vehicle speed with the target value, and simultaneously controls the horn 2 to stop outputting the response of the sound warning. The brake system 6 may be a brake system of a known art, such as an ESP or ABS brake system of a vehicle, a disc brake system of a two-wheel vehicle, a pneumatic lever caliper brake system of a heavy truck (bus, truck, etc.), or the like.

The following explains the cooperative braking method in the switch closing and horn response modes through specific embodiments, and the method is specifically as follows:

as shown in fig. 14, the switch is closed or the horn responds, and the coordinate value is 1; the switch is disconnected or the loudspeaker does not respond, and the coordinate value is 0;

In the time of 0-t1, for example, when t1=2s, the driver continuously presses the horn switch for 2 seconds, or when in an automatic driving mode, the controller outputs an instruction, and the continuous response time of the horn is 2s; the controller controls the braking system to cooperatively brake and decelerate, the vehicle speed is reduced from 80km/h to 70km/h, the vehicle speed reduction value is 10km/h, and the deceleration is 1.39m/s ² The method comprises the steps of carrying out a first treatment on the surface of the At this time, the controller masks the signal of the accelerator pedal, or controls the engine to reduce or stop the power output.

In the time t1-t2, the switch is turned off, the loudspeaker does not respond, and the cooperative braking is stopped; at the moment, the controller recovers the signal output of the accelerator pedal or recovers the power output state of the engine, and the vehicle speed is gradually increased from 70 to 80km/h;

in the time t2-t3, the switch is turned off, the horn does not respond, the vehicle is kept in a normal state, and the vehicle speed is kept at 80km/h.

In the time t3-t8, when the driver presses down the horn switch or in an automatic driving mode, the controller outputs an instruction, and the horn continuously responds; the time is divided into 5 sections:

in the previous 1s (t 3-t 4), the vehicle executes sound warning cooperative braking, the vehicle speed is reduced from 80km/h to 75km/h, and the deceleration is 1.39m/s ² ；

In the time t4-t5, the driver suddenly steps on the brake pedal by foot and generates displacement, or the driver triggers an automatic driving mode to output an emergency braking instruction due to a limited scene, and the response time of the loudspeaker is 1.5s; the vehicle stops the sound warning and braking cooperatively, but executes foot control braking or automatic emergency braking instruction, the vehicle speed is reduced by 50km/h to 25km/h, and the deceleration is 9.26m/s ² ；

In the time t5-t6, when the driver completely releases the foot brake pedal or automatically releases the automatic emergency instruction, the sound warning is continuously carried out, the sound warning and the cooperative braking start to be calculated again, and the current vehicle speed is less than or equal to 40km/h, only the sound warning response exists, and the cooperative deceleration does not exist. The controller is responsive to a signal from the accelerator pedal, or to the engine power output, during the horn response time. Therefore, the vehicle speed starts to increase from 25km/h, and when the loudspeaker is stopped, the vehicle speed increases to 36km/h, but the vehicle speed is still less than or equal to a target value of 40km/h, so that the sound warning is completely irrelevant to the power output of an accelerator pedal or an engine in the time t5-t6, and power cut-off and cooperative braking are not performed, as in the prior art.

In the time of t6-t7, the switch is opened, the loudspeaker does not respond, at the moment, the controller responds to the signal output of the accelerator pedal, or responds to the power output state of the engine, and the vehicle speed is gradually increased from 36 to 80km/h;

the vehicle speed was maintained at 80km/h during the time t7-t 8.

As shown in fig. 15, the switch is closed or the horn responds, and the coordinate value is 1; the switch is disconnected or the loudspeaker does not respond, and the coordinate value is 0;

in the time of 0-t10, when a driver presses down a horn switch or an automatic driving mode, the controller outputs an instruction, and the continuous response time of the horn is 4s; within the first 3s (0-t 9), the vehicle performs a sound alert The speed of the vehicle is reduced by 9km/h to 71km/h, and the deceleration is 0.83m/s by showing cooperative braking ² The method comprises the steps of carrying out a first treatment on the surface of the During the time t9-t10, the horn responds, but the cooperative braking is slowed down and stopped; during the horn response time, the controller masks the signal from the accelerator pedal, or controls the engine to reduce or stop the power output.

In the time t10-t11, the switch is turned off, the loudspeaker does not respond, at the moment, the controller resumes the signal output of the accelerator pedal, or resumes the power output state of the engine, the vehicle speed increases from 71 to 80km/h gradually; in the time t11-t12, the vehicle speed is kept at 80km/h;

in the time t12-t14, when the driver presses down the horn switch or in an automatic driving mode, the controller outputs an instruction, and the response time of the horn is 3s; in the front 2s (t 12-t 13), the vehicle executes sound warning cooperative braking, the vehicle speed is reduced by 10km/h to 70km/h, and the deceleration is 1.39m/s ² The method comprises the steps of carrying out a first treatment on the surface of the In the time t13-t14, the horn responds, but the cooperative braking is stopped, and the vehicle speed is kept at 70km/h; during the horn response time, the controller masks the signal from the accelerator pedal, or controls the engine to reduce or stop the power output.

At time t14-t15, the switch is opened, the horn does not respond, at the moment, the controller resumes the signal output of the accelerator pedal, or resumes the power output state of the engine, and the vehicle speed is gradually increased from 70 to 80km/h.

As illustrated in fig. 16: the switch is closed or the loudspeaker responds, and the coordinate value is 1; the switch is disconnected or the loudspeaker does not respond, and the coordinate value is 0; the delay time T is 0.5 seconds;

in the time of 0-t16, when the driver presses down a horn switch or an automatic driving mode, the controller outputs an instruction, and the continuous response time of the horn is 0.4s; the vehicle executes sound warning cooperative braking, the vehicle speed is reduced from 80km/h to 77km/h, and the deceleration is 2.08m/s ² The method comprises the steps of carrying out a first treatment on the surface of the In the time t16-t17 (for example, 0.3 seconds), the horn stops responding and the cooperative braking is stopped; at this time, the controller detects that the current vehicle speed is greater than 40km/h, and before the output signal of the driving force is recovered, evaluates whether the delay time exceeds a given value of 0.5 seconds, and since the delay time is less than 0.5 seconds, the controller shields the output signal of the driving force;

in the time t17-t18, when the driver presses down the horn switch again or drives the mode automatically, the controller outputs the instruction again, the continuous response time of the horn is 0.4s; the vehicle executes sound warning cooperative braking, the vehicle speed is reduced from 77km/h to 74km/h, and the deceleration is 2.08m/s ² ；

In the time t18-t19 (for example, 0.5 seconds), the horn stops responding and the cooperative braking is stopped; at this time, the controller detects that the current vehicle speed is greater than 40km/h, and before recovering the output signal of the driving force, evaluates whether the delay time exceeds a given value of 0.5 seconds, and since the delay time is equal to 0.5 seconds, the controller masks the output signal of the driving force during the delay time;

In the time t19-t20, the horn still does not respond, and the duration has exceeded the delay time, so the controller outputs the instruction set from t19, at which point the controller resumes the output signal of the driving force, and the vehicle speed is gradually increased from 74 to 80km/h.

In addition, as shown in FIG. 14, in the time t5-t6, the sound warning response is that the current speed is less than or equal to 40km/h, and the speed is irrelevant to the sound warning and is the same as the prior art.

In the time of t6-t7, the switch is opened, the loudspeaker does not respond, and the controller detects that the current vehicle speed is 36km/h and is smaller than the target value, so that the output signal of the driving force is directly recovered from t6 without delaying for 0.5 second, namely, the vehicle speed is gradually increased from 36 to 80km/h.

As shown in fig. 23, the relationship between the current vehicle speed and the driving risk level is specifically analyzed as follows:

in the present embodiment, an example will be described in which the current vehicle is spaced 50 meters from the preceding vehicle or pedestrian.

Class a: belongs to the safety grade, and the speed of the vehicle is less than or equal to 40km/h.

In this region, the vehicle speed is low, the driver has enough reaction time to perform braking operation, and the front vehicles and/or pedestrians have enough reaction time to perform avoidance and other operations, so that the safety level is high and the danger level is low. The risk factor is less than about 1%.

Class B: the dangerous level is raised to be dangerous, and the speed of the vehicle is more than 40km/h and less than or equal to 80km/h.

In this region, the vehicle speed is moderate, the driver can perform the braking operation in time, and the preceding vehicle and/or pedestrian need to have sufficient reaction time to perform the avoidance operation and the like, and the risk level increases to be high. The risk factor is between about 1% and about 3%.

Grade C: the dangerous level is increased to be dangerous, and the speed of the vehicle is less than 80km/h and less than or equal to 120km/h.

In this area, the driver needs a sufficient relative distance to have enough reaction time to perform a braking operation, while the preceding vehicle and/or pedestrian do not necessarily have, or even do not have, enough reaction time to perform an avoidance operation, etc., and the risk level is very high. The risk factor is between about 3% and about 6%.

Grade D (not shown in the figure): the risk level rises to a very dangerous level, 120km/h < vehicle speed.

In this region, the vehicle speed is very high, the vehicle distance of 50 meters, the driver does not have enough reaction time to perform braking operation, and the driver does not have enough reaction time to perform avoidance and other operations, including the front vehicle and/or pedestrians, and the risk level is highest. The risk factor is between about 6% and about 10%.

Generally, the higher the vehicle speed, the greater the distance traveled by the vehicle during the reaction time of the driver's operation, and the higher the risk level. The vehicle speed-reducing device can reduce speed in time, and simultaneously warn vehicles and/or pedestrians in front to avoid in time, so that the dangerous level can be effectively reduced. Thus, the target value employed in the embodiment of the present invention is set between 40km/h and 80km/h. This target value can cover the travel on inter-urban elevations of most vehicles, whereas on highways it is recommended to set the target value between 80km/h and 120km/h. The settings may be programmed (default settings) or manually selected by the driver to be changed. Different target values can be set for different vehicles and different vehicle speed intervals.

In some embodiments, when performing the voice alert cooperative braking, the priority of the embodiment of the invention is: the foot-operated brake pedal is prioritized, the automatic emergency braking is inferior, and the voice warning cooperative braking priority is the last.

Table 2 below shows recommended values for the audible alert co-braking deceleration for different vehicle speed ranges (four-wheeled passenger car is an example), and the remaining vehicles can be referenced.

TABLE 2

The degree of softness of the sound warning cooperative braking can be adjusted by different settings, so that braking curves with different softness and hardness are formed, different modes, such as sound warning cooperative braking in a comfort mode, can be provided, and the deceleration a takes values of 0.5,1 and 1.5 respectively for the three vehicle speed ranges;

in the economy mode, the deceleration a takes on values of 0.8,1.2,1.8 respectively; a safety mode, wherein a is 0.95,1.8,2.5 respectively; program setting can be performed, and the user is provided with a screen for selection; the default mode is the comfort mode.

The target value of the vehicle speed may be set, for example, to 60km/h or 80km/h, and different vehicles may be set to different target values according to the vehicle speed mode or the driving mode. Preferably, for a family car, 7 business cars, SUVs, buses and other target values are 40km/h; for long-distance buses, heavy trucks and the like, the target value is set to be 60km/h; for two-wheeled electric vehicles or motorcycles, the target value is set to 15km/h; the recommended values are specified in table 3 below:

TABLE 3 Table 3

Horn response: 1. most vehicles are not controlled by a controller, but rather the switch directly controls conduction to respond; 2. the vehicle is not automatically driven, and a controller can also be used for controlling the response of the loudspeaker; 3. autopilot uses a controller to control horn response.

The sound warning cooperative braking system of the present invention is preferably used together with an existing ESP or ABS system of a vehicle, and when cooperative braking is performed, the controller of the present invention can directly output an instruction to the existing ESP or ABS system, and the existing ESP or ABS system outputs braking pressure to the wheel to perform caliper braking, but the degree of braking is light, the magnitude of vehicle deceleration is not large, and the time of braking is not long. Meanwhile, the braking force of each wheel can be independently regulated by the controller according to the speed, the slip rate, the deflection angle and the like, so that the overall speed of the vehicle is kept uniform, and the phenomena of tail flick, sideslip and other out-of-control are avoided.

In some embodiments, the cooperative braking of the present invention will act with the brake pedal, i.e., the brake pedal will be angularly displaced by the controller, without the driver's foot depressing the brake pedal. In other embodiments, the present invention provides a cooperative braking action in which the brake pedal remains and is not angularly displaced along with the brake pedal, while the driver's foot is not depressed; that is, the cooperative braking may be operated with the brake pedal, or the braking action may be generated without the angular displacement of the brake pedal.

In the embodiment of the invention, the current vehicle speed refers to the average value of the current vehicle speeds of all wheels, for example, when a four-wheel vehicle turns, the vehicle speeds of the inner wheel and the outer wheel are different, and the vehicle speed is the average value of the rotating speeds of the four wheels, but not the vehicle speed value of a single wheel. The vehicle provided by the invention comprises L-class, M-class, N-class and O-class vehicles specified by national standards.

The principle that the foot brake pedal is prioritized, the automatic emergency brake is inferior, and the voice warning cooperative braking priority is the last is clarified. Then, the following differences exist between the sound warning cooperative braking means provided by the technical scheme of the embodiment of the invention and the traditional automatic emergency braking in terms of both deceleration and deceleration:

distinction 1: as shown in fig. 18, an initial speed of 100km/h is taken as an example.

The voice warning of the invention cooperatively decelerates, and only reduces 10km/h in t22 (loudspeaker response time); in the time t21 (irrelevant to the response of the loudspeaker), the speed is reduced by 90km/h; and t21 < t22. To the extent the speed is reduced, the difference between the two is large; one is a slight deceleration and the other is a substantial deceleration. I.e. the severity of the speed fluctuations is different, the speed fluctuations of the present invention are smaller than the speed fluctuations of an automatic emergency brake.

Distinction 2: as shown in FIG. 19, the sound warning of the invention cooperatively decelerates, and the braking deceleration is 0.5.ltoreq.a1.ltoreq.3m/s ² The method comprises the steps of carrying out a first treatment on the surface of the In the prior art, the automatic emergency braking has the braking deceleration of 5-15 m/s and a 2-15 m/s ² The method comprises the steps of carrying out a first treatment on the surface of the Braking deceleration of F1 racing car 20m/s ² ≤a。

Therefore, the cooperative braking deceleration of the embodiment of the invention is not in the same section as the automatic emergency braking deceleration, and the cooperative braking deceleration of the invention is smaller than the automatic emergency braking deceleration.

As shown in fig. 42, the switch is closed or the horn responds with a coordinate value of 1; the switch is disconnected or the loudspeaker does not respond, and the coordinate value is 0;

in the time of 0-t25, when a driver presses down a horn switch or an automatic driving mode of a preset scene, the controller outputs an instruction, and the continuous response time of the horn is 2s; in the first 1s (0-t 24), the vehicle executes sound warning cooperative braking, the vehicle speed is reduced from 60km/h to 54km/h, and the deceleration a is 1.67m/s ² The method comprises the steps of carrying out a first treatment on the surface of the In the 2s (t 24-t 25) time, the second limited scene triggers the vehicle to activate the automatic braking mode, and the automatic braking is not related to the sound warning, so the controller stops the judgment and comparison of the current vehicle speed through the sound warning cooperation, and three cases are respectively discussed:

1) The vehicle is automatically braked according to the deceleration a40 of the curve S4, and when the sound response is stopped, namely, when the time t25 is cut off, the current vehicle speed corresponding to the curve S4 is 50km/h, namely, the a40 is 1.1m/S ² And a40 < a (1.67 m/s) ² ) When the time exceeds t25, the vehicle carries out automatic braking according to a curve S4;

2) The vehicle is automatically braked according to the deceleration a50 of the curve S5, and the current vehicle speed corresponding to the curve S5 is 48km/h when the sound response is stopped, namely, when the time t25 is cut off, namely, the a50 is 1.67m/S ² And a50=a (1.67 m/s ² ) When the time exceeds t25, the vehicle carries out automatic braking according to a curve S5;

3) The vehicle is automatically braked according to the deceleration a60 of the curve S6, and the current vehicle speed corresponding to the curve S6 is 42km/h when the sound response is stopped, namely, when the time t25 is cut off, namely, the a60 is 3.3m/S ² And a60 > a (1.67 m/s) ² ) And a60 > 3m/s ² That is, a60 exceeds the maximum value of the sound warning cooperative braking deceleration of the invention, and when the time exceeds t25, the vehicle automatically brakes according to a curve S6;

that is, no matter how the vehicle is automatically braked according to the curve, the vehicle stops braking cooperatively through the sound warning (t 24-t 25), but automatically brakes according to the deceleration preset by the controller in the second limited scene, and is completely irrelevant to the sound warning.

The deceleration of the three-section curve (fifth deceleration) is smaller than the deceleration of the automatic emergency brake, belongs to the conventional automatic brake, and the fifth deceleration is less than 5m/s ² . I.e., conventional automatic braking priority, the audible warning of the present invention is used in tandem with braking. Conventional automatic braking is independent of sound warning, automatic braking is not implemented due to sound warning, braking is not automatically stopped due to stopping of sound warning, and vehicles or pedestrians in front cannot be reminded of implementing avoidance, so that unilateral braking is achieved.

As shown in fig. 17, a specific braking system is employed in some embodiments of the present invention, and the specific braking operation is as follows:

when the controller outputs an instruction set for executing braking to the braking system, the hydraulic disc type braking system 6 is started, and on the one hand, the third electromagnetic valve 6-6 is closed, the first electromagnetic valve 6-2 is closed, the second electromagnetic valve 6-5 is opened, the fourth electromagnetic valve 6-13 is opened, and the brake pedal 6-10 has no angular displacement. On the other hand, the M1 motor 6-12 drives the pump to suck brake fluid from the reservoir through the second electromagnetic valve 6-5, the caliper 6-1 is pressurized through the fourth electromagnetic valve 6-13, and the caliper 6-1 brakes the wheels 5.

When the continuous implementation time exceeds 3 seconds, or the speed of the sound warning cooperative braking is reduced by more than 10km/h, or the current speed is less than or equal to 40km/h, or the controller sends out an instruction set for stopping braking, the M1 motor stops rotating, the first electromagnetic valve 6-2 is opened, the third electromagnetic valve 6-6 is opened, the second electromagnetic valve 6-13 is closed, and the braking fluid in the caliper flows back to the reservoir through the first electromagnetic valve 6-2 and the second electromagnetic valve 6-5 to finish one-time braking. When braking is completed, the first solenoid valve 6-2, the second solenoid valve 6-5 remain closed, and the fourth solenoid valve 6-13 is opened. And restoring the initial state before braking is performed, namely, the first electromagnetic valve and the second electromagnetic valve are kept closed, the third electromagnetic valve and the fourth electromagnetic valve are kept open, and the motor M1 stops rotating.

Or when the driver steps on the brake pedal with the foot and generates angular displacement, the third electromagnetic valve and the fourth electromagnetic valve are opened, the first electromagnetic valve and the second electromagnetic valve are closed, the motor M1 stops rotating, the brake pedal pressurizes brake fluid through the booster, the brake master cylinder, the third electromagnetic valve and the fourth electromagnetic valve pressurize the caliper 6-1, and the caliper applies disc brake to the vehicle.

When the displacement of the brake pedal is restored to 0, brake fluid flows back to the liquid storage device through the caliper 6-1, the fourth electromagnetic valve, the third electromagnetic valve and the master pump, and the conventional braking of stepping on the brake pedal once is completed.

Or when the controller outputs the mode of emergency braking, the sound warning is cooperated with the braking to stop or shielded by the controller. The third electromagnetic valve 6-6 is closed, the first electromagnetic valve 6-2 is closed, the second electromagnetic valve 6-5 is opened, the fourth electromagnetic valve 6-13 is opened, the brake pedal 6-10 has no angular displacement, the motor M1 drives the pump to suck the brake fluid from the reservoir through the second electromagnetic valve 6-5, the caliper 6-1 is pressurized through the fourth electromagnetic valve 6-13, the caliper 6-1 brakes the wheel 5 at the deceleration a2, and the speed of 5M/s ² ≤a2。

The accumulator temporarily stores the high-pressure brake fluid released from the caliper when the first solenoid valve is opened, and at the same time, can reduce the fluctuation of the pressure in the pipeline.

When the controller outputs an instruction set for executing braking to the braking system, the motor M2 drives the booster to push the brake master cylinder 6-7 to generate oil pressure, the third electromagnetic valve and the fourth electromagnetic valve directly pressurize the caliper 6-1, the caliper 6-1 executes braking to the wheels, the first electromagnetic valve and the second electromagnetic valve are kept closed, and meanwhile, the motor M1 stops rotating. When the braking is stopped, the motor M2 stops rotating, the booster 6-9 resets, and the braking liquid flows back to the liquid storage device 6-8 through the fourth electromagnetic valve, the third electromagnetic valve and the braking master cylinder to finish one-time braking. Namely, an electromechanical booster is adopted for braking.

When the controller outputs an instruction set for executing braking to the braking system, the regenerative braking system 7 is started, the motor M3 is converted into a generator, wheels drive the motor M3 to generate electricity through a speed reducing mechanism (not shown in the figure), alternating current is adjusted to direct current through the motor controller 7-2, the battery is charged, and kinetic energy is converted into electric energy to be stored, so that speed reduction braking is performed. The motor M3 may be directly connected to the wheel 5 or may be connected to the wheel via a reduction mechanism.

When the continuously applied time exceeds 3 seconds, or the vehicle speed of the sound warning cooperative braking is reduced by more than 10km/h, or the current vehicle speed is less than or equal to 40km/h, or the controller sends out an instruction set for stopping braking, the motor M3 stops generating electricity, the battery is charged and cut off through the motor M3, and the motor M3 is controlled by the motor controller 7-2. For example, when the motor M3 is turned into a driving state, the wheels 5 are driven to rotate by the reduction mechanism.

Or when the driver steps on the brake pedal by foot and generates angular displacement, the motor M3 is converted into a generator, the wheels drive the motor M3 to generate electricity through the speed reducing mechanism, the alternating current is adjusted to direct current through the motor controller 7-2, and the battery is charged to perform regenerative power generation and speed reduction braking, so that the conventional power generation braking of stepping on the brake pedal once is completed.

Or when the controller outputs the mode of emergency braking, the sound warning is cooperated with the braking to stop or shielded by the controller. The regenerative power generation system 7 applies braking at a deceleration a2 to the wheels 5, and 5m/s ² ≤a2。

When the controller outputs a command set for executing braking to the braking system, the motor M4 applies mechanical disc braking to the wheels 5 through a speed reduction mechanism or a lever mechanism. The motor M4 and the wheel 5 may be connected directly or through a reduction mechanism or a lever mechanism. When the time for continuous application exceeds 3 seconds, or the vehicle speed of the sound warning cooperative braking decreases by more than 10km/h, or the current vehicle speed is less than or equal to 40km/h, or the controller issues a command set to stop braking, the motor M4 stops applying the disc brake to the wheels 5. Or when the driver steps on the brake pedal with feet and generates angular displacement, the controller controls the motor M4 to drive the speed reducing mechanism or the lever mechanism to apply disc braking to the wheels 5, and when the brake pedal displacement is recovered to 0, the motor M4 stops applying the disc braking to the wheels 5, so that the conventional brake-by-wire of stepping on the brake pedal once is completed.

When the controller outputs a command set for executing braking to the braking system, the hydraulic disc braking system 6 and the regenerative braking system 7 are simultaneously activated to perform braking deceleration on the wheels 5. Or simultaneously starting the hydraulic disc type braking system 6, the regeneration system 7 and the motor line control 8 to brake the wheels 5.

Other vehicles such as L-class, M-class, N-class and O-class vehicles, brake systems are prior art, and mild deceleration can be performed according to the voice-controlled coordinated deceleration method and controller of the present invention.

28-41, the embodiment of the invention provides various traffic scenes to which the technical scheme of the sound cooperative braking can be applied, and the traffic scenes are as follows:

scene 1

Referring to fig. 28, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven against the road surface with a dotted line, the arrow is the driving direction, the speed of the vehicle 1 exceeds the target value and is greater than the vehicle 2, the horn is pressed at this time, or according to a predetermined scene, the controller automatically outputs the instruction set of the horn response to alert the vehicle 2 to the coming vehicle behind the vehicle 2 without going beyond the line, or to return to the center of the lane according to the illustrated dotted line path, and the vehicle 1 performs cooperative deceleration to prevent the vehicle 2 from suddenly making a parallel steering to the lane of the vehicle 1 to cause an increase in the dangerous level. The scene of the invention is that the method can be implemented when the trend of collision, scratch and friction is predicted (even if no collision, scratch and friction exists at present).

Scene 2

Referring to fig. 29, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven with a broken line of a road surface with two lanes occupied, the arrow is the driving direction, the speed of the vehicle 1 exceeds the target value and is greater than the vehicle 2, the horn is pressed at this time, or according to a predetermined scene, the controller automatically controls the horn to respond to the vehicle 2 to warn, prompt the vehicle 2 to come behind, not to cross the line, or to drive back to the center of the lane according to the path of the broken line in the drawing, to give way to the vehicle 1, and the vehicle 1 is cooperatively decelerated to prevent the vehicle 2 from suddenly steering to the lane of the vehicle 1 to cause an increase in the dangerous level.

Scene 3

Referring to fig. 30, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven with a broken line, the arrow indicates the driving direction, the angle between the longitudinal center axis of the vehicle 2 and the broken line is not more than 20 degrees, the speed of the vehicle 1 exceeds the target value and is greater than the vehicle 2, the horn is pressed at this time, or according to a predetermined scene, the controller automatically outputs a command set for responding to the horn to alert the vehicle 2, so as to prompt the vehicle 2 to come behind the vehicle, not to cross the line, not to change the lane or to drive back to the center of the lane according to the illustrated broken line path, so as to give way to the vehicle 1, and the vehicle 1 is cooperatively decelerated, so as to prevent the vehicle 2 from continuing to turn to the lane of the vehicle 1 and causing an increase in the danger level.

Scene 4

Referring to fig. 31, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven with a broken line on a road, the arrow is the driving direction, the angle between the longitudinal center plane of the vehicle 2 and the broken line exceeds 20 degrees, that is, the large angle is changed to turn, the speed of the vehicle 1 exceeds the target value and is greater than the vehicle 2, the horn is pressed at this time, or according to a preset scene, the controller automatically controls the horn to respond, the vehicle 2 is warned, the vehicle 2 is prompted to come behind the vehicle 2, the lane is not required to be crossed, the lane is not required to be changed continuously, or the vehicle is stopped in the current state, the lane is changed continuously after the vehicle 1 passes, or the vehicle 1 returns to the center of the lane according to the broken line path illustrated in the scene 3, and the vehicle 1 is subjected to cooperative deceleration. If the vehicle 2 forcedly changes lanes in the dotted line path shown in the scene 4, the vehicle 1 performs horn warning and performs cooperative deceleration, and simultaneously can perform braking with a foot-operated brake pedal as required to avoid collision with the vehicle 2.

Scene 5

Referring to fig. 32, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven against the road surface with a broken line, the arrow is the driving direction, the speed of the vehicle 1 exceeds the target value and is larger than the vehicle 2, and at the same time, the vehicle 1 and the vehicle 2 overlap each other in plan view, in order to prevent the vehicle 2 from continuing to drive left lane change or to prevent the vehicle 2 from suddenly driving lane change, causing unnecessary scratch, friction, or the like, the vehicle 1 is not driven in parallel with the vehicle 2 as much as possible. At this time, the vehicle 1 presses down the horn, or according to a predetermined scene, the controller automatically controls the horn to respond, and gives a warning to the vehicle 2 to prompt the vehicle 2 to come to the rear left side, and the vehicle is very close to the vehicle, so that the vehicle does not need to cross the line, or returns to the center of the lane according to the path of the dotted line in the drawing, and the vehicle 1 performs cooperative deceleration, so that the vehicle 2 is prevented from crossing the Bai Xianxiang left side, or suddenly makes a parallel steering to the lane of the vehicle 1, and the danger level is increased. The scene of the invention is that the method can be implemented when the trend of collision, scratch and friction is predicted (even if no collision, scratch and friction exists at present).

Scene 6

Referring to fig. 33, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 is driven with a broken line of a road surface with two lanes, the arrow is the driving direction, the speed of the vehicle 1 exceeds the target value and is larger than that of the vehicle 2, and at the same time, the vehicle 1 and the vehicle 2 have overlapping bodies in a plan view, in order to prevent the vehicle 2 from continuing to drive left or to prevent the vehicle 2 from suddenly driving, causing unnecessary scratch, friction, etc., and the vehicle 1 is not driven in parallel with the vehicle 2 as much as possible. At this time, the horn is pressed down, or according to a predetermined scene, the controller automatically controls the horn to respond, so as to warn the vehicle 2, prompt the vehicle 2 to come behind, avoid crossing the line, or drive back to the center of the lane according to the path of the dotted line in the drawing, give way to the vehicle 1, and cooperatively decelerate the vehicle 1 to prevent the vehicle 2 from suddenly steering to the lane of the vehicle 1 to cause the increase of the dangerous level.

Scene 7

Referring to fig. 34,3, a green belt 3 is provided to make the traveling vehicles 1 and 2 invisible from each other, the vehicle 2 is located on the left side (or right side) of the vehicle 1, at this time, the vehicle 2 speed is equal to or less than 40km/h due to the front being a t-junction, and there is an intention of left turning into the main road, the vehicle 1 speed exceeds a target value, the horn is pressed down during a safety period due to an unaware of the front traffic condition, or the controller automatically controls the horn to respond to warn according to a predetermined scene, and simultaneously performs a cooperative deceleration to pass safely.

Scene 8

Referring to fig. 35, the vehicles 3, 4, 5 and 6 are vehicles standing on a parking space at the roadside, but the view of the traveling vehicles 1 and 2 is blocked, the vehicles 1 and 2 are not visible to each other, the vehicle 2 is located on the right (or left) side of the vehicle 1, and the vehicle 1 speed exceeds a target value, at which time, in the case of ambiguous forward traffic conditions, the vehicle 1 presses down a horn during a safety period, or the controller automatically controls the horn to respond to a predetermined scene, warn, and simultaneously cooperatively decelerate.

Scene 9

Referring to fig. 36, the vehicle 2 is located on the right side (or left side) of the vehicle 1, and the vehicle 2 has a tendency to merge from the branch into the main road, the vehicle 1 can see the vehicle 2, and the vehicle 1 speed exceeds the target value and is greater than the vehicle 2, at this time, the vehicle 1 presses down the horn, or according to a predetermined scene, the controller automatically controls the horn to respond, i.e. the vehicle 2 is warned of coming from the main road at the rear side, the condition of merging into the main road is temporarily not provided, and the vehicle 1 is simultaneously slightly decelerated to prevent the vehicle 2 from forcibly changing the road so as to safely pass.

Scene 10

Referring to fig. 37, the vehicle 2 is located on the right side (or the left side) of the vehicle 1, and the vehicle 2 changes lanes at a large angle (the included angle between the longitudinal symmetry plane and the dotted line of the road exceeds 30 degrees), or directly changes lanes across two lanes along the path of the dotted line, or when the driver of the vehicle 1 determines that the vehicle 2 has the trend according to the speed of the vehicle 2, the vehicle 1 alerts the horn at this time, or according to a predetermined scene, the controller automatically controls the horn to respond and cooperatively decelerates. Meanwhile, the vehicle 1 can timely brake by stepping on a brake pedal according to the requirement, or can implement automatic emergency braking when reaching a limited scene so as to avoid collision with the vehicle 2. Because the driver of the vehicle 1 determines that there is a tendency for collision. The scene of the invention is that the method can be implemented when the trend of collision, scratch and friction is predicted (even if no collision, scratch and friction exists at present).

Scene 11

Referring to fig. 38, the vehicle 2 is located on the left front side (or right front side) of the vehicle 1, and the vehicle 2 speed is greater than the vehicle 1, the vehicle distance between the vehicle 2 and the vehicle 1 is smaller than one vehicle body length, the arrow is the driving direction, the vehicle 3 runs on the same lane in front of the vehicle 2, but the vehicle 3 speed is smaller than the vehicle 2, at which time the vehicle 2 is not decelerated but forcibly changed to the lane of the vehicle 1, i.e., driven along the path shown by the broken line in the figure. For the safety period, the vehicle 1 carries out horn warning at this time, or according to a preset scene, the controller automatically controls the horn to respond, and gives warning to the vehicle 2 to prompt the coming vehicle behind the vehicle 2, so that the lane change is not needed to be continued beyond the line, the lane change is continued when the condition is met, and the vehicle 1 carries out cooperative deceleration. At the same time, the vehicle 2 can be braked by stepping on a brake pedal according to the requirement so as to avoid collision with the vehicle.

Scene 12

Referring to fig. 39, the vehicle 3 is located at the left front side (or right front side) of the vehicle 1, the vehicle 2 turns slowly at the intersection, the vehicle 3 and the vehicle 1 both run at a certain vehicle speed, the vehicle 1 can see that the head of the vehicle 2 turns slowly across the vehicle 3, the vehicle 1 predicts that a part (part of the body) of the vehicle 2 may cross the white dotted line of the ground during the turning of the vehicle 2, i.e. drive along the path shown by the dotted line in the figure, thereby influencing the driving traffic of the vehicle, at this time, the vehicle 1 presses down the horn at this time for a safe period, or according to a predetermined scene, the controller automatically controls the horn to respond, gives the vehicle 2 a warning, prompts the vehicle 2 to come to the rear, does not need to turn beyond the line, continues turning when the condition is provided, and the vehicle 1 performs cooperative deceleration. At the same time, the vehicle 2 can be braked by stepping on a brake pedal according to the requirement so as to avoid collision with the vehicle.

Scene 13

Referring to fig. 40, a pedestrian 2, or a plurality of pedestrians, crosses a road, the pedestrian 2 is located on the right side (or the left side) of the vehicle 1, the vehicle 1 needs to warn the horn at this time, or according to a predetermined scene, the controller automatically controls the horn to respond and cooperatively decelerate, and meanwhile, the vehicle 1 can timely brake by stepping on the brake pedal as required, or when reaching a limited scene, automatic emergency braking is implemented to avoid collision with the pedestrian.

Scene 14

Referring to fig. 41, a pedestrian 2 or a plurality of pedestrians, without walking on a sidewalk, is driven by an electric vehicle at a slow speed on a main road, the pedestrian 2 is positioned in front of the vehicle 1, the vehicle 1 needs to be warned by a loudspeaker, or according to a preset scene, a controller automatically controls the loudspeaker to respond and cooperatively decelerate, and meanwhile, the vehicle 1 can timely brake by stepping on a brake pedal as required to avoid collision with the pedestrian.

The application scene of the invention also comprises complex scenes with any combination of at least two of the 14 scenes and other scenes equivalent to the 14 scenes. The above 14 scenes and any combination of complex scenes, and other scenes equivalent to the above 14 scenes, the scene in which the driver presses the horn switch and the horn responds can be set as the predetermined scene of the present invention.

As shown in fig. 27, the embodiment of the present invention further provides a controller, which includes an input module 101, an output module 104, and a processor 102, where the input module, the output module, a memory 103, and the processor are connected by a bus, and the memory is used for storing information data transmitted by other modules;

the processor is used for outputting an instruction set for generating sound warning to the output module when receiving the sound warning signal, and carrying out judgment and comparison on the current vehicle speed and the target value in a cooperative manner:

In some embodiments, the controller comprises an input module, an output module, and a processor, the input module, the output module, and the processor being connected by a bus;

the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an emergency braking signal;

When the processor receives an input signal defining a scene, the processor outputs a set of instructions to the output module to perform vehicle braking at a second deceleration; meanwhile, the output module outputs an emergency braking signal to the braking system;

the preset scene is a scene which can generate sound warning and is preset by the controller.

a processor for outputting an instruction set for generating an audible alert to an output module upon receiving an input signal for a predetermined scene,

and the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an emergency braking signal.

The processor is used for outputting an instruction set for generating sound warning to the output module when receiving an input signal of a preset scene, and carrying out judgment and comparison on the current vehicle speed and a target value in a coordinated manner:

when the processor receives an input signal defining a scene, the processor outputs an instruction set for executing vehicle braking at a second deceleration to the output module, and stops cooperatively performing judgment and comparison of the current vehicle speed and the target value; meanwhile, the output module outputs an emergency braking signal to the braking system;

the preset scene is a scene which can generate sound warning and is preset by the controller;

the limiting scene is a scene preset by the controller and capable of generating emergency braking.

if the current vehicle speed is greater than the first target value and less than or equal to the second target value, the processor cooperatively outputs an instruction set for implementing braking at a third deceleration a3 to the output module;

if the current vehicle speed is greater than the second target value, the processor cooperatively outputs an instruction set for implementing braking at a fourth deceleration a4 to the output module;

stopping the cooperative judgment and comparison of the current vehicle speed and the target value when the duration of the sound warning exceeds a set value or when the processor does not receive an input signal for generating the sound warning;

the input module is used for acquiring a signal for generating sound warning and a current vehicle speed signal; an output module configured to cooperatively output a signal for performing vehicle braking to a vehicle braking system according to an instruction set of the processor;

the processor is used for carrying out judgment and comparison on the current vehicle speed and the target value in cooperation when receiving an input signal for generating sound warning:

when the processor does not receive the input signal for generating the sound warning, the judgment and comparison of the current vehicle speed and the target value are stopped to be cooperatively carried out.

when the processor does not receive the input signal of the preset scene, stopping outputting a signal for generating sound warning to the output module; and stopping the cooperative judgment and comparison of the current vehicle speed and the target value, and stopping the output module from outputting a signal for generating the sound warning to the terminal device.

In some embodiments, the controller further comprises a drive module;

the input module is also used for acquiring signals of the driving module; the output module is also used for outputting signals to the driving module according to the instruction set of the processor;

In some embodiments, the integrated controller includes an input module, an output module, a first processor, a second processor, an input module, an output module, the first processor and the second processor connected by a bus;

an output module configured to output a signal of an audible alert to the terminal device according to the instruction set of the first processor, and to output a signal of performing vehicle braking to the vehicle braking system according to the instruction set of the second processor;

The output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an automatic braking signal;

and the output module is used for outputting a sound warning signal to the terminal device according to the instruction set of the processor, outputting a signal for executing vehicle braking to the vehicle braking system in cooperation with the signal, and outputting an automatic braking signal.

The embodiment of the invention also provides an auxiliary vehicle deceleration system, which comprises:

the switch is arranged on the side of the switch,

a braking system for a vehicle such as a vehicle,

at least one wheel carrying a braking system,

a terminal device capable of generating an audible alert,

and a controller for receiving the audible alert signal and outputting a command set to the braking system as described above,

The embodiment of the application also provides a vehicle, which is provided with the vehicle auxiliary deceleration system, and when the vehicle runs, the vehicle auxiliary deceleration system can cooperatively execute corresponding vehicle deceleration operation by utilizing the loaded controller when the vehicle in front of and/or pedestrians are warned by sound.

The embodiment of the application also provides a computer readable storage medium which stores computer readable instructions, wherein the computer readable instructions realize any sound warning collaborative braking method when being called and executed by a processor. All or part of the present application may be embodied in the form of a software product stored on a storage medium for storing computer software instructions for use in the above-described method.

The storage medium includes: various media capable of storing program codes, such as a USB flash disk, a mobile hard disk, a read-only memory, a random access memory and the like.

The embodiment of the application also provides a computer program which realizes any sound warning cooperative braking method when being executed by a processor.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program. The computer program includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk), among others.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims

1. The auxiliary vehicle deceleration method cooperatively controlled by sound warning is characterized by comprising the following steps:

the sound is configured to alert a vehicle and/or pedestrian in front.

2. The method for cooperatively controlling a vehicle's auxiliary deceleration through audible alert according to claim 1, wherein the controller detects the displacement of the foot-operated brake pedal first when the terminal device generates a response to the audible alert:

3. The method for cooperatively controlling a vehicle's auxiliary deceleration through audible alert according to claim 2, wherein the controller cooperatively detects the current vehicle speed and compares it with a first target value and a second target value:

if the current vehicle speed is greater than the first target value and less than or equal to the second target value, cooperatively controlling the braking system to apply braking to at least one wheel of the vehicle at a third deceleration;

If the current vehicle speed is greater than the second target value, the cooperative control brake system applies braking to at least one wheel of the vehicle at a fourth deceleration.

4. The method for assisting deceleration of a vehicle by cooperative control of sound warning according to claim 1, 2 or 3, wherein the controller stops the judgment and comparison of the vehicle speed in cooperation when the single duration of the sound warning response generated by the terminal device exceeds the set value;

5. The method for assisting deceleration of a vehicle under cooperative control of sound warning according to claim 4, wherein after the terminal device stops generating the response of the sound warning, if the current vehicle speed is greater than the target value:

after the delay time T, the output signal of the driving force is restarted;

6. A method of assisting deceleration of a vehicle by sound warning cooperative control according to claim 1, 2 or 3, wherein the controller masks an output signal of the driving force at the time of cooperative braking, and the brake lamp responds; when the cooperative braking is stopped, the output signal of the driving force is restored, and the brake lamp stops responding.

7. The method for cooperatively controlling a vehicle auxiliary deceleration by acoustic warning according to claim 4, wherein the controller masks an output signal of the driving force when the acoustic warning is given and the current vehicle speed is greater than the target value; and restoring the output signal of the driving force when the sound warning stops responding or the current vehicle speed is smaller than or equal to the target value.

8. The method for cooperatively controlling a vehicle's auxiliary deceleration through audible alert according to claim 1, wherein the terminal device generates an audible alert response when the first controller is prompted to automatically output the audible alert to the terminal device through any predetermined scenario, and the second controller cooperatively compares the current vehicle speed with the judgment:

and when the first controller automatically stops outputting the instruction set of the sound warning to the terminal device, the terminal device stops generating the response of the sound warning, and the second controller automatically stops cooperatively carrying out the judgment comparison of the current vehicle speed;

The first controller and the second controller are connected in a communication way;

9. The method for assisting deceleration of a vehicle by acoustic warning cooperative control according to claim 1, characterized in that the target value is 40km/h, and the braking deceleration a takes on the value: a is more than or equal to 0.5 and less than or equal to 3m/s ² The terminal device is a loudspeaker.

10. The method for cooperatively controlling vehicle deceleration via audible alert according to claim 1, wherein the terminal device generates a response to the audible alert when the controller automatically outputs an instruction set of the audible alert to the terminal device via any predetermined scenario;

11. A method for controlling vehicle braking by audible alert comprising the steps of:

the sound is configured to alert a vehicle and/or pedestrian in front.

12. A method for controlling vehicle braking by audible alert comprising the steps of:

the sound is configured to alert a vehicle and/or pedestrian in front;

13. The method of controlling vehicle braking by audible alert according to claim 12, wherein the first deceleration a1 is: a1 is more than or equal to 0.5 and less than or equal to 3m/s ² The second deceleration a2 is taken as: 5m/s ² A2 is less than or equal to a2, the orderThe standard value is 40km/h, and the terminal device is a loudspeaker.

14. The auxiliary vehicle deceleration method cooperatively controlled by sound warning is characterized by comprising the following steps:

the sound is configured to alert a vehicle and/or pedestrian in front.

15. The method of controlling vehicle braking by audible alert according to claim 14, wherein the first target value is 40km/h, the second target value is 80km/h, and the third deceleration a3 takes on the value: a3 is more than or equal to 0.5 and less than 2m/s ² The fourth deceleration a4 takes on the value: a4 is more than or equal to 2 and less than or equal to 3m/s ² The terminal device is a loudspeaker.

16. A method for controlling vehicle assisted deceleration by audible alert comprising the steps of:

the sound is configured to alert a vehicle and/or pedestrian in front.

17. A method for controlling vehicle assisted deceleration by audible alert comprising the steps of:

the sound is configured to alert a vehicle and/or pedestrian in front.

18. A method of cooperatively controlling vehicle assisted deceleration by audible alert according to any one of claims 1, 11, 12, 14, 16, 17, comprising the steps of:

19. A method for controlling vehicle braking by audible alert comprising the steps of:

The sound is configured to alert a vehicle and/or pedestrian in front;

20. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

21. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

22. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

23. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

24. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

25. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

The preset scene is a scene which is preset by the controller and can generate sound warning;

the limiting scene is a scene which is preset by the controller and can generate emergency braking.

26. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

27. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

stopping the cooperative judgment and comparison of the current vehicle speed and the target value when the duration of the sound warning exceeds the set value;

28. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

29. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

30. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

31. A controller according to any one of claims 20 to 30, further comprising a drive module;

32. The integrated controller is characterized by comprising an input module, an output module, a first processor and a second processor, wherein the input module and the output module are connected through a bus;

33. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

when the processor does not receive the signal for generating the sound warning by the input module, the processor stops outputting the instruction set for generating the sound warning to the output module, and stops cooperatively judging and comparing the vehicle speed; meanwhile, the output module stops outputting the signal for generating the sound warning to the terminal device;

34. The controller is characterized by comprising an input module, an output module and a processor, wherein the input module, the output module and the processor are connected through a bus;

35. A vehicle auxiliary deceleration system, characterized by comprising:

the switch is arranged on the side of the switch,

a braking system for a vehicle such as a vehicle,

at least one wheel carrying a braking system,

a terminal device capable of generating an audible alert,

and a controller as claimed in any one of claims 20 to 34 which is operable to receive the audible alert signal and to output a command set to the braking system,

36. A vehicle provided with a vehicle auxiliary deceleration system according to claim 35, wherein the vehicle auxiliary deceleration system is capable of cooperatively performing a corresponding vehicle deceleration operation with the loaded controller when sounding to warn a preceding vehicle and/or pedestrian while the vehicle is traveling.

37. A computer readable storage medium, characterized in that computer readable instructions are stored, which when invoked and executed by a processor, implement the method of any one of claims 1 to 19.

38. A computer program, characterized in that it implements the method of any one of claims 1 to 19 when executed by a processor.