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CN-116409316-B - Safety following distance control method for commercial vehicle

CN116409316BCN 116409316 BCN116409316 BCN 116409316BCN-116409316-B

Abstract

The invention provides a commercial vehicle safety following distance control method, which comprises the steps of detecting vehicle load before and after starting and stopping or when the vehicle moves at a uniform speed, obtaining a vehicle load coefficient, obtaining a road attachment coefficient and a road gradient of the current running of the vehicle, calculating the vehicle safety following distance according to the current load coefficient of the vehicle, the road attachment coefficient and the road gradient of the current running of the vehicle and combining the current speed of the vehicle, determining a following danger level based on the relation between the distance between the current vehicle and the front vehicle and the safety following distance, and formulating a corresponding active safety following protection strategy according to the following danger level. According to the method, the safety following distance is calculated according to the current running road conditions of the vehicle, various environmental factors and the like, the calculated safety following distance is not fixed, the safety following distance is more accurate, the vehicle is actively protected, and the problem that no active safety function or active safety measures are too single in the running process of the vehicle is solved.

Inventors

  • LI SENLIN
  • ZENG YU

Assignees

  • 武汉光庭信息技术股份有限公司

Dates

Publication Date
20260512
Application Date
20230329

Claims (9)

  1. 1. The utility model provides a safe following distance control method of commercial car which characterized in that includes: detecting the load of the vehicle before and after the start and stop of the vehicle or when the vehicle moves at a uniform speed, acquiring a vehicle load coefficient, and acquiring a road surface adhesion coefficient and a road gradient of the current running of the vehicle; according to the current load coefficient of the vehicle, the attachment coefficient of the road surface on which the vehicle is currently running and the road gradient, calculating the safe following distance of the vehicle by combining the current speed of the vehicle ; Based on the distance between the current vehicle and the preceding vehicle Distance from the safe following vehicle Determining a following hazard level, the following hazard level comprising 1, 2 and 3; a corresponding active safety vehicle following protection strategy is formulated according to the vehicle following danger level; the method for preparing the active safety car following protection strategy according to the car following danger level comprises the following steps: When the vehicle following danger level is 2, and the driver is prompted by the instrument, and the vehicle acceleration is limited by limiting the torque of the engine or the driving motor, specifically: And outputting the attenuation depth of the accelerator pedal according to the distance between the current vehicle and the front vehicle: When (when) When the accelerator pedal inputs 100% of the actual depth; When (when) At this time, the accelerator pedal decays to 50% of the actual depth of input; When (when) The accelerator pedal signal decays to 0, the accelerator pedal depth is reduced by a percentage between 1.6 and 1.4s0, and the accelerator pedal depth is regarded as invalid when s1=1.4s0; when the following distance between the vehicle and the front vehicle is In the interval, press The percentage decay is the depth of the currently depressed accelerator pedal, limiting vehicle acceleration, and considering the accelerator pedal depth as invalid when the level of risk of following a vehicle is 3 or more.
  2. 2. The method for controlling the safe following distance according to claim 1, wherein detecting the load of the vehicle before and after the start and stop of the vehicle or when the vehicle moves at a uniform speed, obtaining the load factor of the vehicle, and obtaining the road adhesion factor and the road gradient of the current running of the vehicle, comprises: when the speed of the vehicle is 0 or the vehicle moves at a uniform speed, detecting the load of the vehicle through a load sensor, and acquiring a vehicle load coefficient k; acquiring current weather conditions through an atmospheric pressure sensor or an air humidity sensor, and acquiring corresponding road surface adhesion coefficients mu according to the current weather conditions; if the current speed of the vehicle is greater than the set speed threshold, acquiring the current road gradient alpha of the vehicle through a gradient sensor, otherwise, not processing; And adjusting a vehicle load coefficient k according to the road gradient alpha.
  3. 3. The safe following distance control method according to claim 2, wherein adjusting the vehicle load factor k according to the road gradient α includes: ; where k' is the adjusted vehicle load factor.
  4. 4. The method according to claim 1, wherein the calculating the safe following distance of the vehicle based on the current load factor of the vehicle, the road attachment factor of the current running road of the vehicle, and the road gradient in combination with the current speed of the vehicle comprises: According to the current load coefficient k of the vehicle, the road adhesion coefficient mu and the road gradient alpha of the current running of the vehicle, and by combining the current speed v of the vehicle and a set functional relation, calculating a vehicle braking distance s Braking system ; Calculating a safe distance s=s Braking system +s Reaction of the vehicle, wherein s Reaction is a driver reaction distance s Reaction =t Reaction V, safe following distance s 0 = 1.1s.
  5. 5. The method according to claim 1 or 4, wherein the determining a following hazard level based on a magnitude relation between a distance of a current vehicle from a preceding vehicle and the safety following distance includes: Setting a plurality of distance intervals based on the safe following distance, and configuring corresponding following danger levels for each distance interval; And determining the current vehicle following danger level of the vehicle according to the distance interval in which the distance between the current vehicle and the front vehicle falls.
  6. 6. The method for controlling a safe following distance according to claim 5, wherein determining the current following risk level of the vehicle according to a distance interval in which a distance between the current vehicle and a preceding vehicle falls comprises: If the distance between the current vehicle and the preceding vehicle The current vehicle following danger level is 0; If the distance between the current vehicle and the preceding vehicle The current vehicle following danger level is 1; If the distance between the current vehicle and the preceding vehicle The current vehicle following danger level is 2; If the distance between the current vehicle and the preceding vehicle The current vehicle following danger level is 3; If the distance between the current vehicle and the preceding vehicle The current vehicle following danger level is 4; If the distance between the current vehicle and the preceding vehicle The current risk level for following the vehicle is 5.
  7. 7. The method according to claim 6, wherein a hysteresis space is provided between two adjacent following danger levels when the following danger level of the vehicle jumps each time the following danger level of the vehicle jumps Wherein: When (when) The dangerous grade of following the car is set to 0 when When the dangerous level of following the car jumps to 1, when When the vehicle following danger level is changed to 0; When (when) When the following danger level is 1, when When the dangerous level of following the car jumps to 2, when When the vehicle following danger level is changed to 1 again; When (when) When the following danger level is 2, when When the vehicle following danger level jumps to 3, when When the vehicle following danger level is changed to 2; When (when) When the following danger level is 3, when When the dangerous level of following the car is changed to 4 again, when When the vehicle following danger level is changed to 3; When (when) The following danger level is set to 4 when When the vehicle following danger level jumps to 5, when And when the vehicle following danger level is changed to 4 again.
  8. 8. The method of claim 1, wherein the step of formulating a corresponding active safety following protection strategy based on the following hazard class, further comprises: when the vehicle following danger level is 0, no measures are taken; when the vehicle following danger level is 1, prompting a driver to keep a following distance through an instrument, and controlling the vehicle speed; when the vehicle following danger level is 3, prompting a driver to stop driving of the vehicle by the aid of the instrument, and sending a signal to cut off driving of the vehicle; When the vehicle following danger level is 4, prompting a driver to have the vehicle following danger level of 4 through an instrument, and adopting active braking to reduce the vehicle speed; When the vehicle following danger level is 5, prompting the driver to follow the vehicle distance through the instrument, enabling the dangerous level to be 5, and actively performing emergency braking on the vehicle.
  9. 9. The method for controlling a safe following distance according to claim 8, wherein when the following danger level of the vehicle is 4, prompting the driver of the following danger level of 4 through the meter, and adopting the active braking to reduce the vehicle speed, comprising: When the vehicle following danger level is 4, prompting a driver to be 4 through an instrument, and defining the simulated active braking depth through the relation between the distance between the current vehicle and the front vehicle and the safe following distance: When (when) When the depth of the simulated brake pedal is 0; When (when) When the simulated brake pedal depth is 50%; When (when) When the depth of the simulated brake pedal is 100%, namely the brake pedal is fully pressed, the vehicle is braked by the ABS.

Description

Safety following distance control method for commercial vehicle Technical Field The invention relates to the field of vehicle control, in particular to a safety following distance control method for a commercial vehicle. Background Investigation shows that the number of dead people caused by traffic accidents caused by large trucks is up to 70% of the number of accident dead people, and most of traffic accidents caused by untimely braking of vehicles or too fast speed are related to commercial vehicles, which means that reducing the accident rate of trucks is a key factor for reducing traffic accidents, and a strategy for controlling the safe following distance of trucks and applying active safety is particularly important. In the past, the vehicle calculates the safe following distance in the running process, and calculates or tests the maximum braking distance of the vehicle as the safe following distance of the vehicle by a plurality of assumed factors and setting a fixed value when the vehicle leaves a factory, and the influence of various reasonable change factors, which can occur in the actual use of the commercial vehicle, on the safe following distance is not considered, and the current concrete method is as follows: 1. Before the vehicle leaves the factory, the vehicle is driven to brake at different speeds in a fixed test site, and the braking distance of the vehicle is measured to be used as a safe following distance. The braking distance of a vehicle is related to a number of factors, such as road adhesion coefficient, driver reaction time, vehicle load, suspension system, tire pressure, brake disc condition, etc., whereas it is obviously not reasonable to directly take the braking distance of the test site as the safe following distance. 2. The most conservative safe following distance is adopted, namely, when the vehicle is fully loaded and is driven and braked at the highest speed at the test site, the maximum braking distance is manufactured as far as possible, and the braking distance is taken as the safe following distance. The scheme meets the national standard of vehicle braking performance, and the speed of the vehicle is limited to shorten the vehicle braking distance, so that the vehicle can not run at a high speed when the vehicle is empty or the load is very small, the vehicle movement performance can not be well exerted, and the driving experience of a driver is influenced. 3. The current vehicle alarm strategy with the following distance approaching alarm system is too single, only can output two signals of safety or danger, and also only stays on the instrument prompt, belongs to passive safety, shortens the safety following distance when the driver is not concentrated or has a slow response to the instrument in the vehicle driving process, and increases the risk of accidents. The braking distance of the vehicle during running is related to many factors, and the control of the following distance by the current vehicle speed, the vehicle load and the visual detection of the following vehicle distance only through the driving experience of the driver has a certain potential safety hazard, and the phenomenon of overload is frequently and frequently not the same as the situation of the current commercial vehicle load in China, so that the driver does not always consider that the braking distance of the vehicle is increased under the conditions of full load and overload, and the calculation of the safety following distance during the running of the vehicle is particularly important. Disclosure of Invention The invention provides a method for controlling the safe following distance of a commercial vehicle, aiming at the technical problems in the prior art, comprising the following steps: detecting the load of the vehicle before and after the start and stop of the vehicle or when the vehicle moves at a uniform speed, acquiring a vehicle load coefficient, and acquiring a road surface adhesion coefficient and a road gradient of the current running of the vehicle; Calculating the safe following distance of the vehicle according to the current load coefficient of the vehicle, the attachment coefficient of the road surface on which the vehicle is currently running and the road gradient by combining the current speed of the vehicle; determining a following danger level based on the magnitude relation between the distance between the current vehicle and the front vehicle and the safety following distance; and formulating a corresponding active safety vehicle following protection strategy according to the vehicle following danger level. On the basis of the technical scheme, the invention can also make the following improvements. Optionally, the detecting the load of the vehicle before and after the start and stop of the vehicle or when the vehicle moves at a uniform speed, obtaining a load coefficient of the vehicle, and obtaining a road adhesion coefficient and a road gradient of the current r