Auxiliary cruise active braking method integrating pavement environment and vehicle safety model

Abstract

The invention discloses an auxiliary cruise active braking method integrating a road surface environment and a vehicle safety model. The method comprises the following steps of 1) classifying and identifying image features acquired by a binocular camera based on an ALexNet model by adopting an image processing module, and acquiring environment information and road surface features; (2) a distance measuring module being adopted to classify driving conditions based on environment information, and distance measurement and relative speed measurement of a front vehicle being carried out; 3) performing feature classification on the pavement features acquired based on the IndeMind binocular vision inertia module through deep learning by adopting a safety judgment module to identify the pavement type, and acquiring current pavement safety state information; and 4) analyzing the real-time safety state of the vehicle based on the safety time model by adopting a brake response module, and performing active brake control. The method is advantaged in that binocular vision is adopted to obtain front road information, ranging correction based on environment change is carried out, a safety state of the vehicle is judged in cooperation with the safety time model, the most appropriate active braking effect is obtained in different environments, and braking efficiency is improved.

Description

technical field [0001] The invention relates to an active braking method, in particular to an auxiliary cruise active braking method that integrates road surface environment and vehicle safety model. Background technique [0002] In vehicle unmanned driving technology, the active braking module is an important part, which requires different responses when faced with different vehicle conditions, and performs brake deceleration and emergency stop operations to ensure the safety of the unmanned driving process. The advantage of active braking is that it can actively respond to auxiliary braking to improve driving safety. [0003] In 2019, Liu Zonggang proposed a vehicle adaptive active braking method (application publication number: CN109421679A), which uses an effective and intelligent method to reflect changes in the internal and external factors of the vehicle in real time, can completely collect vehicle information, and calculates and evaluates whether it is most suitable ...

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Problems solved by technology

[0003] In 2019, Liu Zonggang proposed a vehicle adaptive active braking method (application publication number: CN109421679A), which uses an effective and intelligent method to reflect changes in the internal and external factors of the vehicle in real time, can completely collect vehicle information, and calculates and evaluates whether it is most suitable through a neural network. The timing of braking can cope with complex driving environments, but it does not consider the influence of the environment on the effect of active braking

[0005] In 2021, Chen Ji and others proposed an automobile intelligent braking system and method (authorized announcement number: CN111516663B), which can detect the distance between the front and rear sides of the automobile and the obstacle and the liquid level of the automobile brake fluid in real time. Warn the driver and cut off the throttle control to force the car to brake when necessary. It provides a way to deal with emergency braking, but it cannot be self-adaptive and cancel the compulsory measures when it is out of danger.

[0006] In 2021, Zhang Liubing proposed an active braking system and method for electric vehicles based on the Internet of Things (application publication number: CN113147989A), which analyzed the safety status of the vehicle body through the vehicle speed sensor, millimeter-wave radar and state analysis unit, and controlled it through the brake controller. The speed of the driving motor is reduced to achieve the active braking effect, but the influence of the environment on the active braking effect is not considered

[0007] The feature of active braking technology is that it can generate different degrees of braking response according to real-time conditions. The above-mentioned technology can realize active braking by analyzing the vehicle state, but it does not consider the impact of braking effect on wheel pressure and road friction.

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