CN104709173A - Forewarning method for non-conscious vehicle sliding and system - Google Patents
Forewarning method for non-conscious vehicle sliding and system Download PDFInfo
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- CN104709173A CN104709173A CN201410837261.9A CN201410837261A CN104709173A CN 104709173 A CN104709173 A CN 104709173A CN 201410837261 A CN201410837261 A CN 201410837261A CN 104709173 A CN104709173 A CN 104709173A
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Abstract
The invention discloses a forewarning method for non-conscious vehicle sliding and system. The forewarning method for non-conscious vehicle sliding comprises:1 vehicle information is obtained through an in-vehicle network; 2 the filtering processing is conducted on the vehicle information; 3 monitoring is conducted on gear information in the vehicle information; 4 judging on vehicle parking speed is conducted according to vehicle speed information and accelerated speed information; 5 vehicle sliding distance is calculated; 6 vehicle sliding condition is judged; 7 pre-warning of the vehicle sliding is triggered timely. The forewarning method for non-conscious vehicle sliding and system can solve the problem of vehicle sliding out of the dimension of consciousness of a driver, and the occurrence of vehicle rear-end collision or damage can be avoided.
Description
Technical field
The present invention relates to self-propelled vehicle automation field, be specifically related to a kind of noncoconscious car method for early warning and system of slipping.
Background technology
Automobile has become people and to have gone on a journey the most important vehicle.For no matter being now automatic transmission or manual vehicle, most navigating mate, especially elementary driver, when stopping, habitually releasing of brake, and gear places neutral gear, they originally think that vehicle can come to a complete stop automatically, but because road surface may exist the unconspicuous or unnoticed gradient, meeting Sliding carriage with three wheels (sliding) one segment distance after releasing of brake, and such car phenomenon of slipping is outside chaufeur dimension of consciousness, if when traffic congestion or vehicle are close to the lever of toll booth, very easily cause and knock into the back or the accident such as clashing and breaking lever.For slipping car problem in this kind of noncoconscious scope, there is no efficient early-warning processing method now.
Summary of the invention
The invention provides in the noncoconscious scope of a kind of high efficiency chaufeur and slip car method for early warning, it can directly be integrated in the ECU of vehicle any node.The present invention has following features:
1. slip car early warning precondition using neutral information as entering, in vehicle normal course of operation, this part is in bypass operating mode, on each controller work of vehicle without impact.
2. use the speed of a motor vehicle and acceleration information, calculate displacement, slip car threshold value according to setting, carry out triggering and slip car early warning and parking request.
3. the method can be promoted to low and middle-end vehicle, is a kind of software approach of low cost, can directly be integrated in the ECU of arbitrary connection vehicle network, such as BCM, IP, ABS etc.
4. utilize the CAN/LIN bus of In-vehicle networking standard configuration, obtain and judge to slip the signals of vehicles of car, neither increase extra hardware development cost, information of vehicles can be extracted easily again.
Set forth technical scheme of the present invention below.
A kind of noncoconscious car method for early warning that slips, described method comprises the steps:
(1) obtain information of vehicles by In-vehicle networking, described information of vehicles comprises speed information, gear information, acceleration information and brake pedal information.
(2) filtering measures filtering interfering is passed through to the information of vehicles obtained.
(3) information of vehicles using the 2nd step to obtain, monitors gear information wherein, when gear information is shown as neutral, enters next step.
(4) speed information obtained according to the 2nd step and acceleration information, judge the speed of a motor vehicle of stopping, when the speed of a motor vehicle of the car that comes to a complete stop is less than a certain setting parking speed of a motor vehicle threshold value, enter next step.
(5) according to the parking speed of a motor vehicle that the 4th step obtains, calculate and slip spacing, during slipping spacing in calculating, gear is neutral and brake pedal is not stepped on, then enter next step; Otherwise, return step (3).
(6) spacing threshold value judge accordingly to slip car situation is slipped in setting, is greater than slips after spacing threshold value when slipping spacing, sends to slip car early warning signal.
A kind of noncoconscious car forewarn system that slips, described system comprises:
The device of the above-mentioned information of vehicles such as speed information, gear information, acceleration information and brake pedal information is obtained by In-vehicle networking;
To the device of the information of vehicles obtained by filtering measures filtering interfering;
Judge that the device of spacing is slipped in the parking speed of a motor vehicle and calculating according to speed information and acceleration information;
Spacing threshold value judge accordingly to slip car situation is slipped in setting, is greater than slips after spacing threshold value when slipping spacing, sends to slip the device of car early warning signal.
Accompanying drawing explanation
Fig. 1 is diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of noncoconscious car method for early warning that slips, described method comprises the steps:
1st step: obtain information of vehicles by vehicle network.
The information of vehicles that the present invention obtains is by being speed information, gear information, acceleration information, accelerator pedal position information and brake pedal information structure.
Not only it should be noted that the information transmission in vehicle now between each controller all carries out information transmission with standard CAN or LIN, the present invention takes its Network Capture information of vehicles, convenient but also feasible.
2nd step: filtering is carried out, filtering interfering to the signal obtaining information of vehicles, obtains clean vehicle information signals.The present invention considers digital filter algorithm complexity and realizability, and this filter order should be no more than second order for optimum, and its exponent number of the selection of optimization of the present invention is single order.The present invention is not limited to below second order, also can choose second order and above digital filter.For the vehicle network system that antijamming capability is strong, its information of vehicles exported also can do filtering process according to actual conditions.
3rd step: the vehicle information signals using the 2nd step, monitors its gear signal.
When gear signal is neutral signal, directly enter the 4th step; When gear signal is non-neutral signal, continue monitoring gear signal, until gear signal is neutral signal, just enter the 4th step.
4th step: according to the speed of a motor vehicle and the acceleration signal of the 2nd step, judge the parking speed of a motor vehicle.
Because vehicle speed is the measurement adopting Hall wheel speed sensors to carry out, its accuracy be generally 1km/h and more than, whether accurately cannot estimate vehicle speed close to parking threshold value, this threshold value generally chooses 0.1km/h and following, the present embodiment, preferably, threshold value is 0.05km/h.According to the rate of onset V of neutral position when stopping
0, longitudinal direction of car acceleration/accel a, utilizes speed and Acceleration Formula V
t=V
0+ at, accurately calculates the final velocity of vehicle parking.When final velocity is less than or equal to 0.05km/h, judge that vehicle remains static, then directly enter the 5th step, otherwise, wait for that the parking speed of a motor vehicle is less than or equal to 0.05km/h, just enter the 5th step.。
5th step: calculate according to the 4th step and stop after static speed, calculates and slips spacing.Because of the reason such as unfairness on road surface, also need to continue monitoring vehicle acceleration/accel and speed, according to displacement formula s=V
0t+0.5at
2, calculate vehicle and slip the displacement of car, if now gear is still neutral, and brake pedal or accelerator pedal position information are not stepped on, then directly enter the 6th step.Otherwise, directly enter the 3rd step.Need the V in the displacement formula illustrated
0be judge the parking speed of a motor vehicle be less than or equal to 0.05km/h after the speed of a motor vehicle, namely slip the speed of a motor vehicle of car.
6th step: slip car situation according to slipping spacing threshold decision.
That calculates according to the 5th step slips spacing, and it is tire radius that the present embodiment preferably slips spacing threshold value, when slip spacing exceed slip spacing threshold value time, then think and seriously slip car, can trigger and slip car and report to the police, then directly enter the 7th step.Otherwise, wait for that slipping spacing is greater than this threshold value, just enters the 7th step.
7th step: send and slip car early warning signal, and provide parking information to electronic parking system (ELECTRICAL PARKINGBRAKE is called for short EPB), EPB can carry out parking according to this parking information.If do not configure EPB, Vehicular system can do the safe handling of alternate manner according to slipping car early warning signal.
Claims (6)
1. the noncoconscious car method for early warning that slips, described method comprises the steps:
(1) obtain information of vehicles by In-vehicle networking, described information of vehicles comprises speed information, gear information, acceleration information and brake pedal information;
(2) gear information is wherein monitored, when gear information is shown as neutral, enter next step;
(3) according to speed information and acceleration information, judge the parking speed of a motor vehicle, when the parking speed of a motor vehicle is less than a certain setting parking speed of a motor vehicle threshold value, enter next step;
(4) according to the parking speed of a motor vehicle that previous step obtains, calculate and slip spacing, during slipping spacing in calculating, gear is neutral and brake pedal is not stepped on, then enter next step; Otherwise, return step (2);
(5) spacing threshold value judge accordingly to slip car situation is slipped in setting, is greater than slips after spacing threshold value when slipping spacing, sends to slip car early warning signal.
2. method according to claim 1, described method also comprises the information of vehicles obtained by filtering measures filtering interfering.
3. method according to claim 1 and 2, the parking speed of a motor vehicle threshold value wherein in step (3) is (0.05 ~ 0.1) km/h.
4. method according to claim 1 and 2, the spacing threshold value of slipping wherein in step (5) is tire radius.
5. the noncoconscious car forewarn system that slips, described system comprises:
The device of the above-mentioned information of vehicles such as speed information, gear information, acceleration information and brake pedal information is obtained by In-vehicle networking;
Judge that the device of spacing is slipped in the parking speed of a motor vehicle and calculating according to speed information and acceleration information;
Spacing threshold value judge accordingly to slip car situation is slipped in setting, is greater than slips after spacing threshold value when slipping spacing, sends to slip the device of car early warning signal.
6. system according to claim 5, also comprises the device of the information of vehicles obtained by filtering measures filtering interfering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410837261.9A CN104709173A (en) | 2014-12-29 | 2014-12-29 | Forewarning method for non-conscious vehicle sliding and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410837261.9A CN104709173A (en) | 2014-12-29 | 2014-12-29 | Forewarning method for non-conscious vehicle sliding and system |
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| CN104709173A true CN104709173A (en) | 2015-06-17 |
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| CN201410837261.9A Pending CN104709173A (en) | 2014-12-29 | 2014-12-29 | Forewarning method for non-conscious vehicle sliding and system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080603A (en) * | 2016-08-18 | 2016-11-09 | 北京汽车股份有限公司 | Vehicle and vehicle slip car control method and device |
| CN106696994A (en) * | 2016-12-19 | 2017-05-24 | 交控科技股份有限公司 | Vehicle front sliding protection method and vehicle-mounted ATP |
| CN107878380A (en) * | 2016-09-29 | 2018-04-06 | 法乐第(北京)网络科技有限公司 | A kind of automobile car slipping based reminding method and device |
| CN108275134A (en) * | 2017-01-05 | 2018-07-13 | 北京行易道科技有限公司 | The processing method and processing unit of vehicle movement |
| CN109435919A (en) * | 2018-10-25 | 2019-03-08 | 北京汽车研究总院有限公司 | A kind of braking system and vehicle |
| CN110954098A (en) * | 2019-12-18 | 2020-04-03 | 苏州精源创智能科技有限公司 | Inertial navigation system applied to automobile |
| CN112977455A (en) * | 2021-04-23 | 2021-06-18 | 广州小鹏自动驾驶科技有限公司 | Anti-sliding processing method and device |
| CN113734239A (en) * | 2020-05-28 | 2021-12-03 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| WO2022082404A1 (en) * | 2020-10-20 | 2022-04-28 | 华为技术有限公司 | Information prompt method, vehicle control method, and related apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080603A (en) * | 2016-08-18 | 2016-11-09 | 北京汽车股份有限公司 | Vehicle and vehicle slip car control method and device |
| CN107878380A (en) * | 2016-09-29 | 2018-04-06 | 法乐第(北京)网络科技有限公司 | A kind of automobile car slipping based reminding method and device |
| CN106696994A (en) * | 2016-12-19 | 2017-05-24 | 交控科技股份有限公司 | Vehicle front sliding protection method and vehicle-mounted ATP |
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| CN108275134A (en) * | 2017-01-05 | 2018-07-13 | 北京行易道科技有限公司 | The processing method and processing unit of vehicle movement |
| CN109435919A (en) * | 2018-10-25 | 2019-03-08 | 北京汽车研究总院有限公司 | A kind of braking system and vehicle |
| CN110954098A (en) * | 2019-12-18 | 2020-04-03 | 苏州精源创智能科技有限公司 | Inertial navigation system applied to automobile |
| CN113734239A (en) * | 2020-05-28 | 2021-12-03 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| CN113734239B (en) * | 2020-05-28 | 2023-08-08 | 比亚迪汽车工业有限公司 | Rail vehicle and control method thereof |
| WO2022082404A1 (en) * | 2020-10-20 | 2022-04-28 | 华为技术有限公司 | Information prompt method, vehicle control method, and related apparatus |
| CN112977455A (en) * | 2021-04-23 | 2021-06-18 | 广州小鹏自动驾驶科技有限公司 | Anti-sliding processing method and device |
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Application publication date: 20150617 |
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