Brake emergency judgment method and device
阅读说明：本技术 刹车应急判决方法与装置 (Brake emergency judgment method and device ) 是由 侯瀚云 于 2020-05-22 设计创作，主要内容包括：刹车应急判决方法与装置。本发明涉及车辆安全技术,具体是一种辅助刹车应急状态判决的方法与装置；通过对驾驶员行为状态的判断,可避免误踩油门的严重安全隐患。所采用的技术方案是：通过油门踏板传感器检测驾驶员踩踏油门踏板的动作,通过方向盘传感器检测驾驶员向驾驶员座椅方向拉动方向盘的动作,在此两种动作同时存在的状态下,判断为应急状态。本发明给出的技术方案,结构简单、易于实现、符合驾驶员行为特征,可广泛用于增强车辆行车安全的场合。(A brake emergency judgment method and device. The invention relates to the vehicle safety technology, in particular to a method and a device for assisting in judging a brake emergency state; through the judgment of the behavior state of the driver, the serious potential safety hazard of mistakenly stepping on the accelerator can be avoided. The adopted technical scheme is as follows: the emergency state is judged when the two actions are simultaneously present. The technical scheme provided by the invention has the advantages of simple structure, easiness in realization and accordance with the behavior characteristics of a driver, and can be widely applied to occasions for enhancing the driving safety of vehicles.)
1. The brake emergency judgment method is characterized by comprising the following steps:
the emergency decision device, the accelerator pedal sensor and the steering wheel sensor are arranged;
the accelerator pedal sensor is used for detecting the acting force of a driver on an accelerator pedal and transmitting the detection result to the emergency decision device;
the steering wheel sensor is used for detecting the acting force of a driver on the steering wheel and transmitting the detection result to the emergency decision device;
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and judges that a first condition is true if the calculation result shows that the driver applies the acting force of stepping on the accelerator;
the emergency judger calculates the received detection result of the steering wheel sensor, and judges that the second condition is true if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the direction of the driver seat;
and if the first condition and the second condition are true at the same time, the emergency decision device decides the emergency state.
2. The brake emergency judgment method according to claim 1, wherein:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is the current position of the accelerator pedal;
and the emergency judgment device calculates the difference between the position and the position of the accelerator pedal in idling, and if the difference exists, the first condition is judged to be true.
3. The brake emergency judgment method according to claim 1, wherein:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is the current position of the accelerator pedal;
the emergency judger calculates the difference between the position and the position of the accelerator pedal at idle speed, and if the difference exists and exceeds a set threshold value, the first condition is judged to be true.
4. The brake emergency judgment method according to claim 1, wherein:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is data which is read from an electronic control system of the vehicle and is related to the opening degree of an oil path, the size of oil injection quantity and the rotating speed of an engine;
the emergency determiner calculates a difference between a current value of the data and a reference value at idle, and if there is a difference, determines that the first condition is true.
5. The brake emergency judgment method according to claim 1, wherein:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is engine speed data read from an electronic control system of the vehicle;
the emergency determiner calculates a difference between a current value of the data and a standard value at idle speed, and determines that the first condition is true if the difference exists and exceeds a set threshold.
6. The brake emergency judgment method according to claim 1, wherein:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
and the emergency judger calculates the direction and the magnitude of the acting force, and judges that the second condition is true if the acting direction of the acting force points to the direction in which the driver seat is positioned.
7. The brake emergency judgment method according to claim 1, wherein:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
and the emergency judgment device calculates the direction and the magnitude of the acting force, and judges that the second condition is true if the acting direction of the acting force points to the direction in which the driver seat is positioned and the magnitude of the acting force exceeds a set threshold value.
8. The brake emergency judgment method according to claim 1, wherein:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
the emergency determiner performs force decomposition on the acting force, calculates the direction and the magnitude of each component of the acting force, and determines that the second condition is true if the acting direction of one component points to the direction in which the driver seat is located.
9. The brake emergency judgment method according to claim 1, wherein:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
the emergency decision device carries out force decomposition on the acting force, calculates the direction and the magnitude of each component of the acting force, and decides that the second condition is true if the acting direction of one component points to the direction in which the driver seat is positioned and the magnitude of the component exceeds a set threshold value.
10. Emergent decision maker of brake, characterized by:
the emergency decision device, the accelerator pedal sensor and the steering wheel sensor are arranged;
the accelerator pedal sensor is used for detecting the acting force of a driver on an accelerator pedal and transmitting the detection result to the emergency decision device;
the steering wheel sensor is used for detecting the acting force of a driver on the steering wheel and transmitting the detection result to the emergency decision device;
the emergency decision device is provided with a numerical value and logic calculation component and is used for calculating the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver exerts the acting force of stepping on the accelerator, the first condition is judged to be true;
the emergency decision device is provided with a numerical value and logic calculation part and is used for calculating the received detection result of the steering wheel sensor, and if the calculation result shows that the driver exerts the acting force for pulling the steering wheel to the direction of the driver seat, the emergency decision device decides that the second condition is true;
and if the first condition and the second condition are true at the same time, the emergency decision device judges that the emergency state is an emergency state and outputs a brake control signal.
Technical Field
The invention relates to a vehicle safety technology, in particular to a method and a device for assisting in judging whether an emergency braking measure should be taken.
Background
The driving safety of the vehicle is guaranteed, and the safety protection device has important significance for protecting the safety of lives and properties. When the brake should be stepped on, the wrong behavior of stepping on the accelerator by mistake often leads to serious accident consequences. There is no simple and reliable device to avoid the vehicle out of control caused by this accident, and new techniques and devices are needed to solve this serious safety hazard.
Disclosure of Invention
The invention provides a brake emergency judgment method and device, which are used for judging the emergency state of vehicle braking. The driver is prevented from stepping on the accelerator mistakenly in an emergency state by a simple and reliable technical device.
The invention adopts the following technical scheme:
the brake emergency judgment method is characterized by comprising the following steps:
the emergency decision device, the accelerator pedal sensor and the steering wheel sensor are arranged;
the accelerator pedal sensor is used for detecting the acting force of a driver on an accelerator pedal and transmitting the detection result to the emergency decision device;
the steering wheel sensor is used for detecting the acting force of a driver on the steering wheel and transmitting the detection result to the emergency decision device;
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and judges that a first condition is true if the calculation result shows that the driver applies the acting force of stepping on the accelerator;
the emergency judger calculates the received detection result of the steering wheel sensor, and judges that the second condition is true if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the direction of the driver seat;
and if the first condition and the second condition are true at the same time, the emergency decision device decides the emergency state.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is the current position of the accelerator pedal;
and the emergency judgment device calculates the difference between the position and the position of the accelerator pedal in idling, and if the difference exists, the first condition is judged to be true.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is the current position of the accelerator pedal;
the emergency judger calculates the difference between the position and the position of the accelerator pedal at idle speed, and if the difference exists and exceeds a set threshold value, the first condition is judged to be true.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is data which is read from an electronic control system of the vehicle and is related to the opening degree of an oil path, the size of oil injection quantity and the rotating speed of an engine;
the emergency determiner calculates a difference between a current value of the data and a reference value at idle, and if there is a difference, determines that the first condition is true.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency judgment device calculates the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver is applying the acting force of stepping on the accelerator, the first condition is judged to be true, which means that:
the detection result of the accelerator pedal sensor is engine speed data read from an electronic control system of the vehicle;
the emergency determiner calculates a difference between a current value of the data and a standard value at idle speed, and determines that the first condition is true if the difference exists and exceeds a set threshold.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
and the emergency judger calculates the direction and the magnitude of the acting force, and judges that the second condition is true if the acting direction of the acting force points to the direction in which the driver seat is positioned.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
and the emergency judgment device calculates the direction and the magnitude of the acting force, and judges that the second condition is true if the acting direction of the acting force points to the direction in which the driver seat is positioned and the magnitude of the acting force exceeds a set threshold value.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
the emergency determiner performs force decomposition on the acting force, calculates the direction and the magnitude of each component of the acting force, and determines that the second condition is true if the acting direction of one component points to the direction in which the driver seat is located.
The brake emergency judgment method is characterized by comprising the following steps:
the emergency determiner calculates the received detection result of the steering wheel sensor, and if the calculation result indicates that the driver is applying an acting force for pulling the steering wheel to the driver seat, the second condition is determined to be true, which means that:
the detection result of the steering wheel sensor is the acting force of the driver on the steering wheel;
the emergency decision device carries out force decomposition on the acting force, calculates the direction and the magnitude of each component of the acting force, and decides that the second condition is true if the acting direction of one component points to the direction in which the driver seat is positioned and the magnitude of the component exceeds a set threshold value.
Emergent decision maker of brake, characterized by:
the emergency decision device, the accelerator pedal sensor and the steering wheel sensor are arranged;
the accelerator pedal sensor is used for detecting the acting force of a driver on an accelerator pedal and transmitting the detection result to the emergency decision device;
the steering wheel sensor is used for detecting the acting force of a driver on the steering wheel and transmitting the detection result to the emergency decision device;
the emergency decision device is provided with a numerical value and logic calculation component and is used for calculating the received detection result of the accelerator pedal sensor, and if the calculation result shows that the driver exerts the acting force of stepping on the accelerator, the first condition is judged to be true;
the emergency decision device is provided with a numerical value and logic calculation part and is used for calculating the received detection result of the steering wheel sensor, and if the calculation result shows that the driver exerts the acting force for pulling the steering wheel to the direction of the driver seat, the emergency decision device decides that the second condition is true;
and if the first condition and the second condition are true at the same time, the emergency decision device judges that the emergency state is an emergency state and outputs a brake control signal.
The invention has the advantages of simple structure, easy realization and accordance with the behavior characteristics of the driver. Can be widely used in occasions for enhancing the driving safety of vehicles.
Drawings
FIG. 1 is a schematic structural diagram of a brake emergency judgment method and device of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
First, the following description is given: the terms accelerator, accelerator pedal, brake, steering wheel, driver's seat, force, applied force, pulling force, force resolution, force component, direction of force application, magnitude of force, threshold value, etc., are used in the usual sense as well as in the sense of vehicle and vehicle travel control.
Fig. 1 is a schematic structural diagram of a brake emergency determination method and device according to the present invention. In the vehicle cabin 100, an accelerator pedal 101, a steering wheel 102, and a driver seat 103 are mounted. The accelerator pedal sensor 111 detects the force of the accelerator pedal being stepped on by the driver, and outputs the detection result to the emergency determiner 120. The steering wheel sensor 112 detects the force applied to the steering wheel by the driver, and outputs the detection result to the emergency determiner 120. The emergency determiner 120 determines whether an emergency situation exists according to the received detection result. If the detection result shows that: the driver applies the acting force of stepping on the accelerator, and simultaneously, the driver applies the acting force pointing to the direction of the driver seat on the steering wheel (namely, the driver applies the pulling force for pulling the steering wheel to the direction of the driver seat on the steering wheel); then the emergency determiner determines an emergency condition. Or, in order to further improve the accuracy of emergency judgment, a force threshold value is set for judging the acting force of the accelerator stepped by the driver; similarly, a force threshold value is also set for judging the acting force of the driver for pulling the steering wheel to the direction of the driver seat; an emergency condition is only determined if both thresholds are exceeded simultaneously. If the emergency situation is judged, the emergency decision device outputs an emergency signal; the emergency signal may further act on the vehicle's braking system (e.g., cutting oil lines, applying brakes, etc.).
Various technical means can be adopted for detecting the acting force of the accelerator stepping of the driver. For example, the current position of the accelerator pedal is measured and compared with the position of the accelerator pedal at idle speed, and obviously, the larger the difference between the two is, the larger the acting force of the driver stepping on the accelerator is reflected. The current position of the accelerator pedal can be calculated by measuring the current angle of the accelerator pedal, wherein the angle can be an included angle formed between the accelerator pedal and any non-movable part in the vehicle body, such as an included angle between the accelerator pedal and the floor of the vehicle body; obviously, the greater the difference between the current angle of the accelerator pedal and the angle at idle indicates the greater the effort of the driver to step on the accelerator pedal. Besides, the acting force of the driver stepping on the accelerator can be indirectly obtained by measuring the opening and closing size of the accelerator, or the oil injection quantity of the engine, or the rotating speed of the engine. For example, the accelerator pedal sensor may read the current value of the engine speed from the vehicle electronic control system, and obviously, if the value is greater than the idling standard value, it indicates that the driver is stepping on the accelerator; more accurate determination can further measure the difference between the value and the idle speed standard value and the variation rate of the value, which are not described herein again. Notably, forces follow the laws of decomposition and synthesis. The force applied by the driver to pull the steering wheel towards the driver seat also comprises the component of the force applied by the driver on the steering wheel; if the component is directed in the direction of the driver's seat, it corresponds to the driver applying a force to pull the steering wheel in the direction of the driver's seat.
Accidental gas pedal results in accidental acceleration of the vehicle, which suddenly puts the driver in an extremely stressful state. In this state, the driver's mind is severely affected to produce some subconscious action. A typical subconscious act is to pull the steering wheel backward, i.e., in the direction of the driver's seat (or, in the opposite direction to vehicle travel), in an attempt to "pull" the vehicle. Meanwhile, in order to keep the body balance, the legs of the driver can exert force forwards unconsciously (when the body unconsciously hides backwards and the force points of the hands exert force backwards, the force points of the feet exert force forwards), namely the force of stepping on the accelerator is increased. In this way, a vicious circle is entered. Since strain is often in between transients, accidents have occurred or are difficult to recover before the driver thinks back to normal to take corrective action.
Through detection of wrong behaviors of a driver, the brake emergency judgment method and the brake emergency judgment device can judge the situation to actively assist vehicle braking, so that accidents are effectively avoided or accident hazards are reduced.
The above embodiments are only specific implementations according to the technical solutions of the present invention. General changes and replacements performed within the technical scheme of the present invention, such as installation positions and detection modes of sensors (for example, detecting changes of accelerator pedal positions or accelerator pedal angles, which is equivalent to detecting whether or not to apply acting force for stepping on the accelerator) (for example, reading relevant data in a vehicle electronic control system, such as engine speed values, which is equivalent to detecting whether or not to apply acting force for stepping on the accelerator), setting of detection threshold values, comprehensively considering states such as vehicle speed, and the like, are non-inventive changes based on the technical scheme of the present invention, and are all included in the protection scope of the present invention.
The present invention is applicable to all apparatus and methods constructed in accordance with the teachings of the present invention and variations available without the ability of other inventive features. Thus, the present invention is to be accorded the widest scope consistent with the principles and features described herein.