Automobile reversing emergency braking method, system and device

Abstract

The present application relates to the technical field of automobile driving safety, in particular to a method, system and device for emergency braking of a vehicle during reversing, which first acquires acceleration signals installed at different positions in real time during the reversing process of the vehicle; secondly, judges whether all the acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it indicates that the vehicle is in the reversing state during the reversing process, and whether an effective tapping signal is generated is judged; if an effective tapping signal is generated, the vehicle-mounted network is used to notify the brake system to perform emergency braking; if an ineffective tapping signal is generated, no processing is needed. According to the above discussion, it can be seen that the present application comprehensively utilizes acceleration signals to judge whether the vehicle is in the reversing state, when the vehicle is in the reversing state and an effective tapping signal is received, the vehicle is directly stopped by emergency braking, which not only directly involves the outside personnel in the reversing safety, but also omits the time needed for the outside personnel from giving a warning to the driver's reaction, so as to avoid loss as much as possible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile driving safety, in particular to an automobile reversing emergency braking method, system and device. BACKGROUND

[0002] With the rapid development of the country and the improvement of people's living standards, the travel tools of every family basically realize automobile freedom, and the driving skills of every driver are not equal, especially when reversing the automobile, the people outside the automobile as a special sensory dimension usually warn the driver when they find danger. However, from the warning of the people outside the automobile to the reaction of the driver, this time, may have caused loss.

[0003] If there are pedestrians behind when reversing, when the pedestrians encounter danger, some people will hit the car body to expect self-rescue, but the driver may not be able to step on the brake in time, resulting in no self-rescue of the pedestrians.

[0004] At present, there is a lack of an automobile reversing emergency braking strategy that can directly involve people outside the automobile in the reversing safety, omit the time required from the warning of the people outside the automobile to the reaction of the driver, and avoid the occurrence of loss as much as possible. SUMMARY

[0005] The purpose of the present application is to provide an automobile reversing emergency braking method, system and device to realize emergency braking and parking during reversing by combining the hit car body signal.

[0006] To achieve the above purpose, the present application provides an automobile reversing emergency braking method, which comprises:

[0007] Step S1: Real-time acquisition of acceleration signals installed at different positions during the automobile reversing process;

[0008] Step S2: Determine whether all the acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it indicates that the automobile is in the reversing state during the reversing process, and step S3 is executed, if all the acceleration signals are equal to zero, it indicates that the automobile belongs to the stop state during the reversing process, and returns to step S1;

[0009] Step S3: Determine whether an effective hit signal is generated; if an effective hit signal is generated, the brake system is notified of emergency braking through the vehicle-mounted network; if an invalid hit signal is generated, it is not necessary to process.

[0010] Preferably, the determination of whether an effective hit signal is generated specifically comprises:

[0011] Real-time acquisition of the hit car body signal by using the STA / LTA algorithm;

[0012] Determine whether the signal of tapping the vehicle body within a set time is greater than or equal to a set threshold; if it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated; if it is less than the set threshold, it means that an invalid tapping signal has been generated.

[0013] Preferably, before the step of acquiring the vehicle body tapping signal in real time using the STA / LTA algorithm, the method further includes:

[0014] Set the window lengths for STA and LTA, and set the thresholds.

[0015] Preferably, before step S2, the method further includes:

[0016] Multiple acceleration signals are subjected to a 10Hz digital low-pass filter to obtain multiple acceleration filtered signals.

[0017] The present invention also provides a reversing emergency braking system for automobiles, the system comprising:

[0018] An acceleration signal acquisition module is used to acquire acceleration signals installed at different locations in real time during the process of a car reversing.

[0019] The first judgment module is used to determine whether all the acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it means that the car is in a reversing state during the reversing process, and the "second judgment module" is executed; if all acceleration signals are equal to zero, it means that the car is in a stopped state during the reversing process, and the process returns to the "acceleration signal acquisition module".

[0020] The second judgment module is used to determine whether a valid tap signal has been generated. If a valid tap signal is generated, the braking system is notified to brake urgently via the vehicle network. If an invalid tap signal is generated, no action is required.

[0021] Preferably, the second determination module specifically includes:

[0022] A vehicle body tapping signal acquisition unit is used to acquire vehicle body tapping signals in real time using the STA / LTA algorithm;

[0023] The judgment unit is used to determine whether the vehicle body tapping signal within a set time is greater than or equal to a set threshold. If it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated, and the braking system is notified to brake urgently through the vehicle network. If it is less than the set threshold, it means that an invalid tapping signal has been generated, and no processing is required.

[0024] Preferably, the system further includes:

[0025] The filtering module is used to perform 10Hz digital low-pass filtering on the multiple acceleration signals to obtain multiple acceleration filtered signals.

[0026] The present invention also provides a reversing emergency braking device for automobiles, the device further comprising:

[0027] At least three acceleration sensors are installed on the tailgate, C-pillar, and D-pillar of the car, respectively.

[0028] The controller, connected to each of the aforementioned acceleration sensors and the vehicle network, is used to perform emergency braking using the aforementioned vehicle reversing emergency braking method.

[0029] Preferably, the braking system includes: an automatic braking system (AEB) or an emergency braking system.

[0030] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0031] This invention discloses a method, system, and device for emergency braking of a car in reverse. First, it acquires acceleration signals installed at different locations during the car's reversing process in real time. Second, it determines whether all the acceleration signals are equal to zero. If at least one acceleration signal is greater than zero, it indicates that the car is in a reversing state, and it is then determined whether a valid trigger signal has been generated. If a valid trigger signal is generated, the braking system is notified to apply emergency braking via the vehicle network. If an invalid trigger signal is generated, no action is required. In summary, this invention comprehensively utilizes acceleration signals to determine whether the car is in a reversing state. When in a reversing state and a valid trigger signal is received, it directly applies emergency braking to stop the car. This not only allows people outside the vehicle to directly participate in reversing safety but also eliminates the time required for outsiders to warn and for the driver to react, minimizing the risk of loss. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of an emergency braking method for reversing a car according to an embodiment of the present invention. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The purpose of this invention is to provide a method, system, and device for emergency braking of a car in reverse, so as to achieve emergency braking and stopping during the reversing process by combining the signal of tapping the car body.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Example 1

[0038] like Figure 1 As shown, this invention discloses a method for emergency braking of a car in reverse, the method comprising:

[0039] Step S1: Acquire acceleration signals installed at different locations in real time during the car's reversing process;

[0040] Step S2: Determine whether all the acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it means that the car is in a reversing state during the reversing process, and proceed to "Step S3"; if all the acceleration signals are equal to zero, it means that the car is in a stopped state during the reversing process, and return to "Step S1";

[0041] Step S3: Determine whether a valid tap signal has been generated; if a valid tap signal has been generated, notify the braking system to apply emergency braking via the vehicle network; if an invalid tap signal has been generated, no action is required.

[0042] The following is a detailed discussion of each step:

[0043] Step S1: Real-time acquisition of acceleration signals installed at different locations during the car's reversing process. In this embodiment, the acquired acceleration signal can be either an analog signal or a digital signal; different acceleration sensors detect different signals, and the appropriate sensor can be selected based on actual needs. In this embodiment, the selected acceleration sensor has a measurement range of ±19.6 m / s². 2 The relative error is less than 5%, the nonlinearity is less than 1%, and the accelerometer sampling frequency is 100Hz. The above is just an example and is not intended to limit the invention.

[0044] Because a car is sometimes in a reversing state and sometimes in a stopped state during the reversing process, if the car is stopped and a warning signal is received immediately, no action is needed since personal safety is not involved. Therefore, this invention only considers the safe driving problem in the reversing state, and the specific steps are as follows:

[0045] Step S2: Determine whether all acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it means that the car is in a reversing state during reversing, and proceed to "Step S3"; if all acceleration signals are equal to zero, it means that the car is in a stopped state during reversing, and return to "Step S1".

[0046] Since the vehicle will vibrate when people or other objects fall from outside the vehicle while it is reversing, it is necessary to determine whether the received signal is a valid tapping signal. In this embodiment, the valid tapping signal is defined as multiple taps on the vehicle body in a short period of time, with a tapping frequency of 0.5Hz to 10Hz and a minimum of 2 taps. The short period of time mentioned here can be set according to actual needs. The above-mentioned valid tapping signal is just an example and is not a limitation of the present invention.

[0047] Step S3: Determine whether a valid tapping signal has been generated, specifically including:

[0048] Step S31: Use the STA / LTA algorithm to acquire the vehicle body tapping signal in real time; in this embodiment, before performing this step, it is also necessary to set the time window length of STA and LTA. The STA / LTA algorithm can only be used after the time window length is set; the specific time window length can be set according to actual needs.

[0049] Step S32: Determine whether the vehicle body tapping signal within the set time is greater than or equal to the set threshold; if it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated, and the braking system is notified to brake urgently through the vehicle network; if it is less than the set threshold, it means that an invalid tapping signal has been generated, and no action is required.

[0050] In this embodiment, the threshold is set to 2 times. It can be set according to actual needs, or it can be 3 times, 5 times, etc., which will not be discussed in detail here.

[0051] After testing, it was found that it is difficult for a normal human to produce a slapping frequency exceeding 10Hz. Therefore, a low-pass filter is used to filter out the vibration acceleration generated when the car is reversing at a slow speed. This step should be completed before step S2. The specific steps are as follows:

[0052] Multiple acceleration signals are subjected to a 10Hz digital low-pass filter to obtain multiple acceleration filtered signals.

[0053] As can be seen from the above discussion, this invention comprehensively utilizes acceleration signals to determine whether a car is in a reversing state. When it is in a reversing state and receives a valid warning signal, it directly applies emergency braking to stop the car. This not only allows people outside the car to directly participate in the reversing safety process, but also eliminates the time required for people outside the car to warn and for the driver to react, thus minimizing the possibility of loss.

[0054] Example 2

[0055] This invention discloses a reversing emergency braking system for automobiles, the system comprising:

[0056] An acceleration signal acquisition module is used to acquire acceleration signals installed at different locations during the car's reversing process in real time.

[0057] The first judgment module is used to determine whether all the acceleration signals are equal to zero. If at least one acceleration signal is greater than zero, it means that the car is in a reversing state during the reversing process, and the "second judgment module" is executed. If all acceleration signals are equal to zero, it means that the car is in a stopped state during the reversing process, and the process returns to the "acceleration signal acquisition module".

[0058] The second judgment module is used to determine whether a valid tap signal has been generated. If a valid tap signal is generated, the braking system is notified to brake urgently via the vehicle network. If an invalid tap signal is generated, no action is required.

[0059] As an optional implementation, the second determination module of the present invention specifically includes:

[0060] The vehicle body tapping signal acquisition unit is used to acquire vehicle body tapping signals in real time using the STA / LTA algorithm.

[0061] The judgment unit is used to determine whether the vehicle body tapping signal within a set time is greater than or equal to a set threshold. If it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated, and the braking system is notified to brake urgently through the vehicle network. If it is less than the set threshold, it means that an invalid tapping signal has been generated, and no processing is required.

[0062] As an optional implementation, the system of the present invention further includes:

[0063] The filtering module is used to perform 10Hz digital low-pass filtering on the multiple acceleration signals to obtain multiple acceleration filtered signals.

[0064] Example 3

[0065] The present invention also discloses an emergency braking device for reversing a car, the device further comprising:

[0066] At least three acceleration sensors are installed on the tailgate, C-pillar, and D-pillar of the car, respectively.

[0067] The controller, connected to each of the aforementioned acceleration sensors and the vehicle network, is used for emergency braking using the vehicle reversing emergency braking method described in Embodiment 1.

[0068] As an optional implementation, the accelerometer selected in this invention has a measurement range of ±19.6 m / s². 2 The relative error is less than 5%, and the nonlinearity is less than 1%. This accelerometer has high measurement accuracy, is easy to use, and has a low cost.

[0069] The present invention preferably sets up multiple acceleration sensors, which are multiples of 3, on the tailgate, C-pillar, and D-pillar of the car respectively. In this way, if one acceleration sensor fails, the other acceleration sensors can detect it, realizing multiple signal reminders and control in the same direction.

[0070] The braking system provided by this invention includes two types: one is the automatic emergency braking system (AEB) built into the car, and the other is an external emergency braking system that can be set up by the user. This allows for use in more situations and enables dual braking.

[0071] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0072] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for emergency braking of a car in reverse, characterized in that, The method includes: Step S1: Acquire acceleration signals installed at different locations in real time during the car's reversing process; Step S2: Determine whether all acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it means that the car is in a reversing state during the reversing process, and proceed to "Step S3"; if all acceleration signals are equal to zero, it means that the car is in a stopped state during the reversing process, and return to "Step S1"; Step S3: Determine whether a valid tap signal has been generated; if a valid tap signal has been generated, notify the braking system to apply emergency braking via the vehicle network; if an invalid tap signal has been generated, no action is required. The determination of whether a valid tapping signal has been generated specifically includes: The STA / LTA algorithm is used to acquire the vehicle body tapping signal in real time; Determine whether the signal of tapping the vehicle body within a set time is greater than or equal to a set threshold; if it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated; if it is less than the set threshold, it means that an invalid tapping signal has been generated. Before the step of acquiring the vehicle body tapping signal in real time using the STA / LTA algorithm, the following is also included: Set the window lengths for STA and LTA, and set the thresholds; Before step S2, the following is also included: Multiple acceleration signals are subjected to a 10Hz digital low-pass filter to obtain multiple acceleration filtered signals.

2. A reversing emergency braking system for automobiles, the system comprising: An acceleration signal acquisition module is used to acquire acceleration signals installed at different locations in real time during the process of a car reversing. The first judgment module is used to determine whether all the acceleration signals are equal to zero; if at least one acceleration signal is greater than zero, it means that the car is in a reversing state during the reversing process, and the "second judgment module" is executed; if all acceleration signals are equal to zero, it means that the car is in a stopped state during the reversing process, and the process returns to the "acceleration signal acquisition module". The second judgment module is used to determine whether a valid tapping signal has been generated; if a valid tapping signal has been generated, the braking system is notified to brake urgently via the vehicle network. If an invalid tapping signal is generated, no action is required; The second judgment module specifically includes: A vehicle body tapping signal acquisition unit is used to acquire vehicle body tapping signals in real time using the STA / LTA algorithm; The judgment unit is used to determine whether the vehicle body tapping signal within a set time is greater than or equal to a set threshold; if it is greater than or equal to the set threshold, it means that a valid tapping signal has been generated, and the braking system is notified to brake urgently through the vehicle network; if it is less than the set threshold, it means that an invalid tapping signal has been generated, and no processing is required. The system also includes: The filtering module is used to perform 10Hz digital low-pass filtering on the multiple acceleration signals to obtain multiple acceleration filtered signals.

3. A reversing emergency braking device for automobiles, characterized in that, The device further includes: At least three acceleration sensors are installed on the tailgate, C-pillar, and D-pillar of the car, respectively. The controller, connected to each of the acceleration sensors and the vehicle network, is used for emergency braking using the vehicle reversing emergency braking method of claim 1.

4. The emergency braking device for reversing a vehicle according to claim 3, characterized in that, The braking system includes: Automatic Emergency Braking (AEB) or Emergency Braking System.

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