CN107891851A - Vehicle control method and device and controller - Google Patents
Vehicle control method and device and controller Download PDFInfo
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- CN107891851A CN107891851A CN201711047138.7A CN201711047138A CN107891851A CN 107891851 A CN107891851 A CN 107891851A CN 201711047138 A CN201711047138 A CN 201711047138A CN 107891851 A CN107891851 A CN 107891851A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 17
- 230000006399 behavior Effects 0.000 claims description 12
- 230000007935 neutral effect Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 210000003205 muscle Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 19
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010003830 Automatism Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007849 functional defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
- B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention provides a control method, a device and a controller of a vehicle, wherein the method is applied to the vehicle comprising an automatic emergency braking system AEB, and comprises the following steps: when a starting signal which is sent by the AEB and indicates that the emergency brake is started is received, whether a steering driving operation input by a driver is received or not is detected; when a steering travel operation is detected, a first control signal to stop emergency braking is sent to the AEB. The embodiment of the invention solves the problems that the AEB driving assistance effect of the existing automobile is poor and the safe driving of the automobile can not be effectively ensured.
Description
Technical field
The present invention relates to automotive field, more particularly, to a kind of control method of vehicle, device and controller.
Background technology
The car ownership sharply increased, while promoting economic development, a large amount of social concerns are also brought, particularly
Traffic accident takes place frequently, and causes serious economic loss and mass casualties.Therefore, recently as the continuous of auto technology
Development, automatic emergency brake system (Autonomous Emergency Braking, AEB) are protected safely as lifting driver and crew
The important component of protecting system, it is added to by many automobile vendors in automobile so that before vehicle collides, pass through electronics
Control unit (Electronic Control Unit, ECU) actively applies brake force to automotive wheel, with effective collision free
Or reducing collisions injury.
But existing automatic emergency brake system is being studied with real vehicle application, mainly laying particular stress on and being calculated in active anti-corrosion
Method, bottom brake actuator etc., cause some functional defects be present.For example, the judgement to driver's subjectivity behavior,
AEB is by according to accelerator pedal aperture or steering wheel angle, judging whether driver wants subjectivity to exit active brake hard, the party
Formula ignores the possibility of part driver in case of emergency error stepping on accelerator pedal, causes AEB to give full play to safe auxiliary
The function of driving.In another example AEB in automatic emergency braking process, simply just opens Brake lamp, cause that rear can not be come
Car effectively carries out early warning and prompts main car state.For another example current AEB stops vehicle after stopping, simply just to AEB pressurizes 1
~2 seconds backed off after random, cause (such as descending or congestion operating mode dangerous working condition), exiting and driving due to AEB in some operating modes
The person of sailing lacks to the consciousness of dangerous working condition, the risk for causing vehicle to start to walk automatically again and colliding.
In summary, it is bad and be unable to effective guarantee automotive safety there is AEB to drive auxiliaring effect for existing automobile
The problem of driving.
The content of the invention
It is an object of the invention to provide a kind of control method of vehicle, device and controller, to solve existing automobile storage
AEB drive auxiliaring effect it is bad and be unable to effective guarantee automotive safety driving the problem of.
In order to solve the above-mentioned technical problem, in a first aspect, the embodiment of the present invention provides a kind of control method of vehicle, application
In the automobile for including automatic emergency brake system AEB, methods described includes：
When the instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, detect whether to receive and drive
The Turning travel operation of the person's of sailing input；
When detecting the Turning travel operation, the first control signal for stopping brake hard being sent to the AEB.
Alternatively, it is described to detect whether to receive the step of Turning travel that driver inputs operates, including：
Detect whether turn signal and E-Gas that the electric boosting steering system EPS for receiving the automobile is sent
The signal for faster that pedal is sent, wherein, the turn signal includes steering wheel angle value and steering wheel angular velocity value, the acceleration
Signal includes gas pedal corner value and gas pedal magnitude of angular velocity；
When detection receives the turn signal and the signal for faster, and the turn signal and the signal for faster
The time interval for receiving the time is less than 200ms, and the steering wheel angle value is more than the first corner threshold value, the steering wheel angle speed
Angle value is more than the first angular speed threshold value, and the gas pedal corner value is more than the second corner threshold value, the gas pedal angular speed
When value is more than the second angular speed threshold value, judge that driver inputs Turning travel operation.
Alternatively, after the step of instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, institute
Stating method also includes：
According to the enabling signal, the second control that startup alarm flicker is sent to the lamp light control system of the automobile is believed
Number.
Alternatively, it is described according to the enabling signal, sent to the lamp light control system of the automobile and start alarm flicker
The second control signal the step of after, methods described also includes：
After the first control signal for stopping brake hard being sent to the AEB, to described after a preset time period
Lamp light control system sends the 3rd control signal of stop alarm flicker.
Alternatively, after the step of instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, institute
Stating method also includes：
According to the enabling signal, the 4th control signal is sent to vehicle-mounted internet system, makes the vehicle-mounted internet system
System sends urgent scene according to the 4th control signal to other automobiles described in the vehicle-mounted internet system outside automobile
The behavior state information of warning message and the automobile.
Alternatively, after the step of instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, institute
Stating method also includes：
According to the enabling signal, the of output warning against danger prompt message is sent to the blind controller system of the automobile
Five control signals.
Alternatively, it is described detect whether to receive driver's input Turning travel operation the step of after, when not detecting
When being operated to the Turning travel, and detecting that the automobile has completed brake hard, methods described also includes in the following
At least one of：
The 6th control signal for starting automatic parking is sent to the electronic brake system EPB of the automobile；
Sent to the automatic gear-box control unit TCU of the automobile and the current shift of automobile is switched into neutral gear
7th control signal；
The 8th control for showing EPB current state informations and current shift information is sent to the blind controller system of the automobile
Signal processed.
Second aspect, the embodiment of the present invention provides a kind of control device of vehicle, applied to including automatic emergency brake system
System AEB automobile, described device include：
Detection module, for when the instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, detecting
Whether the Turning travel operation of driver input is received；
First sending module, for when detecting the Turning travel operation, being sent to the AEB and stopping brake hard
The first control signal.
Alternatively, the detection module includes：
Detection unit, for detecting whether the steering letter that the electric boosting steering system EPS for receiving the automobile is sent
Number and efp send signal for faster, wherein, the turn signal includes steering wheel angle value and steering wheel angle
Velocity amplitude, the signal for faster include gas pedal corner value and gas pedal magnitude of angular velocity；
Processing unit, for receiving the turn signal and the signal for faster when detection, and the turn signal and
The time interval of the reception time of the signal for faster is less than 200ms, and the steering wheel angle value is more than the first corner threshold value,
The steering wheel angular velocity value is more than the first angular speed threshold value, and the gas pedal corner value is more than the second corner threshold value, described
When gas pedal magnitude of angular velocity is more than the second angular speed threshold value, judge that driver inputs Turning travel operation.
Alternatively, described device also includes：
Second sending module, for according to the enabling signal, being sent to the lamp light control system of the automobile and starting report
Second control signal of alert flicker.
Alternatively, first sending module is additionally operable to, and is believed in the first control that stopping brake hard being sent to the AEB
After number, the 3rd control signal of stop alarm flicker is sent to the lamp light control system after a preset time period.
Alternatively, described device also includes：
3rd sending module, for according to the enabling signal, sending the 4th control signal to vehicle-mounted internet system, making
The vehicle-mounted internet system is according to the 4th control signal to other described in the vehicle-mounted internet system outside automobile
Automobile sends urgent scene warning message and the behavior state information of the automobile.
Alternatively, described device also includes：
4th sending module, for according to the enabling signal, output danger to be sent to the blind controller system of the automobile
5th control signal of dangerous warning prompt information.
Alternatively, when being not detected by the Turning travel operation, and detecting that the automobile has completed brake hard, institute
Device is stated also including at least one in the following：
5th sending module, start the of automatic parking for being sent to the electronic brake system EPB of the automobile
Six control signals；
6th sending module, automobile is worked as into front for being sent to the automatic gear-box control unit TCU of the automobile
Position switches to the 7th control signal of neutral gear；
7th sending module, for sending display EPB current state informations to the blind controller system of the automobile and working as
8th control signal of preceding gear information.
The third aspect, the embodiment of the present invention provide a kind of controller, and the controller includes processor, memory and storage
On the memory and the computer program that can run on the processor, the computer program are held by the processor
The step of control method of described vehicle is realized during row.
Fourth aspect, the embodiment of the present invention provide a kind of automobile, and the automobile includes above-mentioned controller.
The beneficial effects of the invention are as follows：
When the embodiment of the present invention in the instruction for receiving AEB transmissions by having been turned on the enabling signal of brake hard, detection
The Turning travel operation of driver's input whether is received, and when detecting Turning travel operation, it is tight to send stopping to AEB
The first control signal suddenly braked so that automobile can just be sent when detecting Turning travel operation to AEB stops brake hard
The first control signal, avoid driver's erroneous input Turning travel operate in the case of, automobile equally to AEB send stop
The scene of the signal of brake hard, so as to avoid in the case where driver does not correctly carry out turning avoidance operation, AEB is
The scene of brake hard is stopped, improves AEB driving auxiliaring effect, and improves the travel safety of automobile, is solved
The problem of AEB driving auxiliaring effect is bad existing for existing automobile and is unable to the driving of effective guarantee automotive safety.
Brief description of the drawings
Fig. 1 represents the step flow chart of the control method of vehicle in embodiments of the invention；
Fig. 2 represents the structured flowchart of the control device of vehicle in embodiments of the invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
As shown in figure 1, be the step flow chart of the control method of vehicle in embodiments of the invention, the control method application
In the automobile for including AEB, the control method includes：
Step 101, when the instruction for receiving AEB transmissions has been turned on the enabling signal of brake hard, detect whether to receive
To the Turning travel operation of driver's input.
Specifically, when the AEB installed on automobile judges to obtain automobile with being located at the vehicle of vehicle front by sensing module
When collision probability be present, brake hard directly can be started by brake module, now AEB control module sends one to automobile and referred to
Show the enabling signal for having been turned on brake hard.
In this step, specifically, when the instruction that automobile receiver to AEB is sent has been turned on the enabling signal of brake hard
When, detect whether to receive the Turning travel operation of driver's input.So, by detecting whether to receive what driver inputted
Turning travel operates, and can interpolate that the subjective behaviour decision making of driver, is led when avoiding the operation of driver's erroneous input Turning travel
The adverse effect of cause.
Specifically, when detecting whether to receive the Turning travel operation of driver's input, can detect whether to receive
The turn signal and E-Gas that the electric boosting steering system (Electric Power Steering, EPS) of automobile is sent
The signal for faster that pedal is sent, wherein, turn signal, which includes steering wheel angle value and steering wheel angular velocity value, signal for faster, to be included
Gas pedal corner value and gas pedal magnitude of angular velocity；Then when detection receives turn signal and signal for faster, and steering letter
Number and the time interval of reception time of signal for faster be less than 200ms, and steering wheel angle value is more than the first corner threshold value, direction
Disk magnitude of angular velocity is more than the first angular speed threshold value, and gas pedal corner value is more than the second corner threshold value, gas pedal magnitude of angular velocity
During more than the second angular speed threshold value, judge that driver inputs Turning travel operation.
Specifically, the first corner threshold value can be 80 °, the first angular speed threshold value can be 2.8rad/s, the second corner threshold
Value can be 80 °, and the second angular speed threshold value can be 1.7rad/s, so with reference to the usual driving habit of driver, determine the
One corner threshold value, the first angular speed threshold value, the second corner threshold value and the second angular speed threshold value, it is possible to increase whether judge driver
The accuracy of Turning travel operation is inputted, so as to improve the security of driving.
So, only detect EPS send turn signal and efp send signal for faster between when
Between interval be more than the first corner threshold value less than the steering wheel angle value in 200ms and turn signal, steering wheel angular velocity value is more than
First angular speed threshold value, the gas pedal corner value in signal for faster are more than the second corner threshold value, and gas pedal magnitude of angular velocity is big
When the second angular speed threshold value, it can just judge that driver inputs Turning travel operation, the judgement improved to driving behavior is accurate
Exactness so that only when detecting the Turning travel for meeting above-mentioned condition operation, AEB, which can just be received, stops brake hard
First control signal simultaneously stops brake hard, and when avoiding the operation of driver's erroneous input Turning travel, AEB can equally stop promptly
The generation of the scene of braking, improves travel safety.
Step 102, when detecting Turning travel operation, the first control signal for stopping brake hard being sent to AEB.
In this step, specifically, when detecting Turning travel operation, it can just be sent to AEB and stop brake hard
The first control signal, brake hard is stopped according to first control signal by AEB, and enables automobile according to driver's
Turning travel operation is travelled, and is avoided and is operated in driver's erroneous input Turning travel, such as driver is in case of emergency
During error stepping on accelerator pedal, automobile can equally send the situation for the control signal for stopping brake hard to AEB, so as to avoid in vapour
In the case that car has been braked, driver does not carry out the scene of turning avoidance, improves driving safety.
So, when the present embodiment in the Turning travel for detecting that driver inputs by operating, send and stop promptly to AEB
First control signal of braking, avoid in the case where driver's erroneous input Turning travel operates, automobile is equally sent to AEB
Stop the scene of the signal of brake hard, so as to avoid in the case where driver does not correctly carry out turning avoidance operation, AEB
The scene of brake hard has been stopped, has improved AEB driving auxiliaring effect, and has improved the travel safety of automobile, has been solved
Having determined, AEB driving auxiliaring effect is bad existing for existing automobile and is unable to the problem of effective guarantee automotive safety is driven a vehicle.
In addition, further, after the instruction that automobile receiver to AEB is sent has been turned on the enabling signal of brake hard,
It can also be interacted with multiple systems of automobile, to reach the purpose for ensureing vehicle safety to greatest extent.Below
Automobile is described in detail with interacting for multiple systems.
First, after the instruction for receiving AEB transmissions has been turned on the enabling signal of brake hard, can believe according to starting
Number, the second control signal for starting alarm flicker is sent to the lamp light control system of automobile.So so that lamp light control system energy
It is enough that alarm flicker is started according to the second control signal, to carry out early warning to the back car of automobile, it is therefore prevented that after always car
Rear-end impact, improve the AEB security for driving auxiliaring effect and driving.Specifically, alarm flicker can include dangerous report
Alert flash lamp flicker or high-mount brake lamp flicker.
Certainly, specifically, according to enabling signal, sent to the lamp light control system of automobile and start the second of alarm flicker
After control signal, after the first control signal for stopping brake hard being sent to AEB, to light after a preset time period
Control system sends the 3rd control signal of stop alarm flicker.So, again to lamp light control system after a preset time period
The 3rd control signal of stop alarm flicker is sent, can be that other vehicles on road retain the abundant dangerous criminal time,
Improve travel safety.Specifically, preset time period can be 1s to 2s, so both provided in advance for other vehicles on road
Alert, and can enough ensures the normally travel after danger.
Second, after the instruction for receiving AEB transmissions has been turned on the enabling signal of brake hard, can believe according to starting
Number, to vehicle-mounted internet system send the 4th control signal, make vehicle-mounted internet system according to the 4th control signal to it is vehicle-mounted mutually
Other automobiles in networked system outside automobile send urgent scene warning message and the behavior state information of automobile.So, energy
Other automobiles in vehicle internet system are enough enabled timely to recognize the behavior state information of automobile so that other vapour
Car can adjust speed according to urgent scene warning message and the behavior state information of automobile, so as to avoid automobile rear
Vehicle knocking into the back on the highway caused by do not know about traffic information and speed comparatively fast or more car chains of rings knock into the back, relaxes
Road traffic flow, improve travel safety.
Certainly, specifically, according to enabling signal, after sending the 4th control signal to vehicle-mounted internet system, to
After AEB sends the first control signal for stopping brake hard, it can send and stop to internet system after a preset time period
Only send the signal of urgent scene warning message and the behavior state information of automobile.In such manner, it is possible to it is vehicle-mounted internet system
In other vehicles retain abundant dangerous criminal time.
Third, after the instruction for receiving AEB transmissions has been turned on the enabling signal of brake hard, can believe according to starting
Number, send the 5th control signal of output warning against danger prompt message to the blind controller system of automobile.So so that instrument control
System processed can export danger warning information according to the 5th control signal, so that driver can pass through danger warning information
Learn current dangerous driving states.Specifically, danger warning information can be sound and light signal warning prompt information, to drive
The prompt message that member can be become apparent, improves driving safety.
So, second control of the embodiment of the present invention by sending startup alarm flicker to the lamp light control system of automobile is believed
Number, to vehicle-mounted internet system send the 4th control signal and to automobile blind controller system send output warning against danger carry
Show the 5th control signal of information so that automobile can not only carry out warning against danger prompting to driver, additionally it is possible to later car
Early warning is carried out, also enables automobile to carry out early warning to other automobiles in vehicle-mounted internet, comprehensively adds
AEB driving auxiliaring effect, improves driving travel safety.
In addition, further, after detecting whether to receive the Turning travel operation of driver's input, when being not detected by
Turning travel operates, and when detecting that automobile has completed brake hard, can also carry out in the following at least one of operation：
Start automatically first, being sent to the electronic brake system (Electrical Park Brake, EPB) of automobile
6th control signal of parking.EPB so enable according to the 6th control signal automatic parking, although wherein automobile is complete
Into brake hard, but because AEB can exit brake hard after the 1s to 2s of automobile completion brake hard, cause in nothing
In the case that AEB brake hards and non-driver operate, automobile can automatic start again, such EPB is according to the 6th control signal
Automatic parking, the situation that automobile can be again started up under dangerous working condition is avoided, collided again so as to avoiding automobile
Risk, improve the security of driving.
Will second, being sent to the automatic gear-box control unit (Transmission Control Unit, TCU) of automobile
The current shift of automobile switches to the 7th control signal of neutral gear.So enable TCU will according to the 7th control signal
The current shift of automobile switches to neutral gear, avoids under driver's automatism, and AEB exits automobile after brake hard
When being again started up, automobile with before brake hard gear start scene, so as to reduce the toggle speed of automobile, avoid by
The risk for being again started up and colliding in vehicle, AEB driving auxiliaring effect is added, improves travel safety.
The 8th of EPB current state informations and current shift information is shown third, being sent to the blind controller system of automobile
Control signal.So so that blind controller system can show EPB current state informations according to the 8th control signal and work as front
Position information, so that driver can recognize automobile according to the EPB current state informations and current shift information of display
Current running state, judge to provide help for the driving of driver, improve drive safety.
So, grasped more than when being not detected by Turning travel operation, and detecting that automobile has completed brake hard, implementing
At least one of in work so that after brake is stopped, and after AEB has logged out brake hard, automobile can stay automobile automatically
Car, gear switch are to neutral gear, and EPB current state informations and current shift information can be shown on instrument board, from
And avoid under dangerous working condition, due to driver's consciousness missing and AEB exits brake hard, and caused vehicle opens automatically again
The risk moved and collided.
So, when the embodiment of the present invention in the instruction for receiving AEB transmissions by having been turned on the enabling signal of brake hard,
The Turning travel for detecting whether to receive driver's input operates, and when detecting Turning travel operation, sends and stop to AEB
Only the first control signal of brake hard so that automobile can just be sent when detecting Turning travel operation to AEB to be stopped promptly
First control signal of braking, avoid in the case where driver's erroneous input Turning travel operates, automobile is equally sent to AEB
Stop the scene of the signal of brake hard, so as to avoid in the case where driver does not correctly carry out turning avoidance operation, AEB
The scene of brake hard has been stopped, has improved AEB driving auxiliaring effect, and has improved the travel safety of automobile, has been solved
Having determined, AEB driving auxiliaring effect is bad existing for existing automobile and is unable to the problem of effective guarantee automotive safety is driven a vehicle.
In addition, as shown in Fig. 2 the embodiment of the present invention also provides a kind of control device of vehicle, applied to including automatic tight
Anxious brakes AEB automobile, described device include：
Detection module 201, for when receiving the instruction that the AEB sends and having been turned on the enabling signal of brake hard,
The Turning travel for detecting whether to receive driver's input operates；
First sending module 202, for when detecting the Turning travel operation, sending and stopping promptly to the AEB
First control signal of braking.
So, the embodiment of the present invention is having been turned on brake hard by detection module when the instruction for receiving AEB transmissions
During enabling signal, detect whether to receive the Turning travel operation of driver's input, and detecting by the first sending module
When Turning travel operates, the first control signal for stopping brake hard being sent to AEB, avoids to turn in driver's erroneous input and goes
In the case of sailing operation, automobile equally sends the scene for the signal for stopping brake hard to AEB, so as to avoid in driver not
In the case of correct progress turning avoidance operation, AEB stopped the scene of brake hard, improve AEB driving auxiliary
Effect, and improve the travel safety of automobile, solving AEB existing for existing automobile, to drive auxiliaring effect bad and not
The problem of energy effective guarantee automotive safety driving.
Alternatively, the detection module 201 includes：
Detection unit, for detecting whether the steering letter that the electric boosting steering system EPS for receiving the automobile is sent
Number and efp send signal for faster, wherein, the turn signal includes steering wheel angle value and steering wheel angle
Velocity amplitude, the signal for faster include gas pedal corner value and gas pedal magnitude of angular velocity；
Processing unit, for receiving the turn signal and the signal for faster when detection, and the turn signal and
The time interval of the reception time of the signal for faster is less than 200ms, and the steering wheel angle value is more than the first corner threshold value,
The steering wheel angular velocity value is more than the first angular speed threshold value, and the gas pedal corner value is more than the second corner threshold value, described
When gas pedal magnitude of angular velocity is more than the second angular speed threshold value, judge that driver inputs Turning travel operation.
Alternatively, described device also includes：Second sending module, for according to the enabling signal, to the automobile
Lamp light control system sends the second control signal for starting alarm flicker.
Alternatively, first sending module 202 is additionally operable to, and the first control of stopping brake hard being sent to the AEB
After signal processed, the 3rd control signal of stop alarm flicker is sent to the lamp light control system after a preset time period.
Alternatively, described device also includes：3rd sending module, for according to the enabling signal, to vehicle-mounted internet
System sends the 4th control signal, makes the vehicle-mounted internet system according to the 4th control signal to the vehicle-mounted internet
Other automobiles described in system outside automobile send urgent scene warning message and the behavior state information of the automobile.
Alternatively, described device also includes：4th sending module, for according to the enabling signal, to the automobile
Blind controller system sends the 5th control signal of output warning against danger prompt message.
Alternatively, when being not detected by the Turning travel operation, and detecting that the automobile has completed brake hard, institute
Device is stated also including at least one in the following：
5th sending module, start the of automatic parking for being sent to the electronic brake system EPB of the automobile
Six control signals；
6th sending module, automobile is worked as into front for being sent to the automatic gear-box control unit TCU of the automobile
Position switches to the 7th control signal of neutral gear；
7th sending module, for sending display EPB current state informations to the blind controller system of the automobile and working as
8th control signal of preceding gear information.
So, in the present embodiment, by having been turned on the enabling signal of brake hard in the instruction for receiving AEB transmissions
When, detect whether to receive the Turning travel operation of driver's input, and when detecting Turning travel operation, send out to AEB
Send the first control signal for stopping brake hard so that automobile can just be sent when detecting Turning travel operation to AEB to be stopped
First control signal of brake hard, avoid in the case where driver's erroneous input Turning travel operates, automobile is equally to AEB
The scene for the signal for stopping brake hard being sent, so as to avoid the situation for not carrying out turning avoidance operation correctly in driver
Under, AEB stopped the scene of brake hard, improve AEB driving auxiliaring effect, and improve the traffic safety of automobile
Property, solving AEB existing for existing automobile, to drive auxiliaring effect bad and be unable to asking for effective guarantee automotive safety driving
Topic.
In addition, embodiments of the invention additionally provide a kind of controller, including memory, processor and it is stored in described deposit
On reservoir and the computer program that can run on the processor, realized when the computer program is by the computing device
The step of control method of above-mentioned vehicle.
In addition, also a kind of automobile of embodiments of the invention, including controller noted above.
In the above embodiment of the present invention, believed by the startup that brake hard is had been turned in the instruction for receiving AEB transmissions
Number when, detect whether to receive the Turning travel operation of driver's input, and when detecting Turning travel operation, to AEB
Send the first control signal for stopping brake hard so that automobile can just be sent when detecting Turning travel operation to AEB to stop
Only the first control signal of brake hard, avoid driver's erroneous input Turning travel operate in the case of, automobile equally to
AEB sends the scene for the signal for stopping brake hard, so as to avoid the feelings for not carrying out turning avoidance operation correctly in driver
Under condition, AEB stopped the scene of brake hard, improve AEB driving auxiliaring effect, and improve the driving peace of automobile
Quan Xing, solving AEB existing for existing automobile, to drive auxiliaring effect bad and be unable to the driving of effective guarantee automotive safety
Problem.
Above-described is the preferred embodiment of the present invention, it should be pointed out that is come for the ordinary person of the art
Say, some improvements and modifications can also be made under the premise of principle of the present invention is not departed from, and these improvements and modifications also exist
In protection scope of the present invention.
Claims (16)
- A kind of 1. control method of vehicle, applied to the automobile for including automatic emergency brake system AEB, it is characterised in that described Method includes：When the instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, detect whether to receive driver The Turning travel operation of input；When detecting the Turning travel operation, the first control signal for stopping brake hard being sent to the AEB.
- 2. according to the method for claim 1, it is characterised in that the steering row for detecting whether to receive driver's input The step of sailing operation, including：Detect whether turn signal and efp that the electric boosting steering system EPS for receiving the automobile is sent The signal for faster of transmission, wherein, the turn signal includes steering wheel angle value and steering wheel angular velocity value, the signal for faster Including gas pedal corner value and gas pedal magnitude of angular velocity；When detection receives the turn signal and the signal for faster, and the reception of the turn signal and the signal for faster The time interval of time is less than 200ms, and the steering wheel angle value is more than the first corner threshold value, the steering wheel angular velocity value More than the first angular speed threshold value, the gas pedal corner value is more than the second corner threshold value, and the gas pedal magnitude of angular velocity is big When the second angular speed threshold value, judge that driver inputs Turning travel operation.
- 3. according to the method for claim 1, it is characterised in that had been turned on promptly in the instruction for receiving the AEB transmissions After the step of enabling signal of braking, methods described also includes：According to the enabling signal, the second control signal for starting alarm flicker is sent to the lamp light control system of the automobile.
- 4. according to the method for claim 3, it is characterised in that it is described according to the enabling signal, to the lamp of the automobile After Optimizing Control System sends the step of the second control signal for starting alarm flicker, methods described also includes：After the first control signal for stopping brake hard being sent to the AEB, to the light after a preset time period Control system sends the 3rd control signal of stop alarm flicker.
- 5. according to the method for claim 1, it is characterised in that had been turned on promptly in the instruction for receiving the AEB transmissions After the step of enabling signal of braking, methods described also includes：According to the enabling signal, the 4th control signal is sent to vehicle-mounted internet system, makes the vehicle-mounted internet system root Urgent scene is sent according to the 4th control signal to other automobiles described in the vehicle-mounted internet system outside automobile to alert The behavior state information of information and the automobile.
- 6. according to the method for claim 1, it is characterised in that had been turned on promptly in the instruction for receiving the AEB transmissions After the step of enabling signal of braking, methods described also includes：According to the enabling signal, the 5th control of output warning against danger prompt message is sent to the blind controller system of the automobile Signal processed.
- 7. according to the method for claim 1, it is characterised in that the steering row for detecting whether to receive driver's input After the step of sailing operation, when being not detected by the Turning travel operation, and detecting that the automobile has completed brake hard, Methods described also includes at least one in the following：The 6th control signal for starting automatic parking is sent to the electronic brake system EPB of the automobile；Sent to the automatic gear-box control unit TCU of the automobile and the current shift of automobile is switched to the 7th of neutral gear Control signal；The 8th control letter for showing EPB current state informations and current shift information is sent to the blind controller system of the automobile Number.
- A kind of 8. control device of vehicle, applied to the automobile for including automatic emergency brake system AEB, it is characterised in that described Device includes：Detection module, for when the instruction for receiving the AEB transmissions has been turned on the enabling signal of brake hard, detecting whether Receive the Turning travel operation of driver's input；First sending module, stop the of brake hard for when detecting Turning travel operation, being sent to the AEB One control signal.
- 9. device according to claim 8, it is characterised in that the detection module includes：Detection unit, for detecting whether receive the automobile electric boosting steering system EPS send turn signal with And the signal for faster that efp is sent, wherein, the turn signal includes steering wheel angle value and steering wheel angular velocity Value, the signal for faster include gas pedal corner value and gas pedal magnitude of angular velocity；Processing unit, for receiving the turn signal and the signal for faster when detection, and the turn signal and described The time interval of the reception time of signal for faster is less than 200ms, and the steering wheel angle value is more than the first corner threshold value, described Steering wheel angular velocity value is more than the first angular speed threshold value, and the gas pedal corner value is more than the second corner threshold value, the throttle When pedal magnitude of angular velocity is more than the second angular speed threshold value, judge that driver inputs Turning travel operation.
- 10. device according to claim 8, it is characterised in that described device also includes：Second sending module, for according to the enabling signal, being sent to the lamp light control system of the automobile and starting alarm sudden strain of a muscle The second bright control signal.
- 11. device according to claim 10, it is characterised in that first sending module is additionally operable to, to the AEB After sending the first control signal for stopping brake hard, send and stop to the lamp light control system after a preset time period 3rd control signal of alarm flicker.
- 12. device according to claim 8, it is characterised in that described device also includes：3rd sending module, for according to the enabling signal, sending the 4th control signal to vehicle-mounted internet system, making described Vehicle-mounted internet system is according to the 4th control signal to other automobiles described in the vehicle-mounted internet system outside automobile Send urgent scene warning message and the behavior state information of the automobile.
- 13. device according to claim 8, it is characterised in that described device also includes：4th sending module, for according to the enabling signal, it is dangerous alert to send output to the blind controller system of the automobile Accuse the 5th control signal of prompt message.
- 14. device according to claim 8, it is characterised in that operate, and detect when being not detected by the Turning travel When the automobile has completed brake hard, described device also includes at least one in the following：5th sending module, start the 6th control of automatic parking for being sent to the electronic brake system EPB of the automobile Signal processed；6th sending module, the current shift of automobile is cut for being sent to the automatic gear-box control unit TCU of the automobile It is changed to the 7th control signal of neutral gear；7th sending module, for sending display EPB current state informations to the blind controller system of the automobile and working as front 8th control signal of position information.
- 15. a kind of controller, it is characterised in that the controller includes memory, processor and is stored on the memory And the computer program that can be run on the processor, the computer program are realized such as right during the computing device It is required that the step of control method of vehicle any one of 1 to 7.
- 16. a kind of automobile, it is characterised in that the automobile includes controller as claimed in claim 15.
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| CN201711047138.7A CN107891851A (en) | 2017-10-31 | 2017-10-31 | Vehicle control method and device and controller |
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| CN110228454A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automotive throttle prevents from accidentally stepping on method, electronic equipment and automobile |
| CN110641479A (en) * | 2018-06-27 | 2020-01-03 | 罗伯特·博世有限公司 | Apparatus and method for monitoring activity of vehicle driver and storage medium |
| CN111907492A (en) * | 2020-07-31 | 2020-11-10 | 东莞正扬电子机械有限公司 | Vehicle AEB system control method and device |
| CN112757907A (en) * | 2021-01-04 | 2021-05-07 | 东风柳州汽车有限公司 | Intelligent vehicle control method, device, equipment and storage medium for electric vehicle |
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| CN114802153A (en) * | 2022-03-04 | 2022-07-29 | 湖北国际物流机场有限公司 | Emergency braking method and system for pilotless aircraft guided vehicle in airport |
| CN114852022A (en) * | 2022-07-05 | 2022-08-05 | 国汽智控(北京)科技有限公司 | Vehicle and automatic emergency braking method, device, system and storage medium thereof |
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Application publication date: 20180410 |