A method and system for vehicle braking performance control based on multi-sensor detection fusion

Abstract

This invention discloses a vehicle braking performance control method and system based on multi-sensor detection fusion, belonging to the field of vehicle braking technology. The method includes: establishing a basic braking force function for vehicle braking control under normal road conditions; acquiring road surface sensing parameters collected by at least two sensors; constructing a road surface slippage function based on the road surface sensing parameters to evaluate the current road slippage level; calculating the current road braking force function based on the basic braking force function and the road surface slippage function; and controlling the vehicle's braking force based on the current road braking force function. This invention can dynamically adjust the vehicle's braking force according to real-time road conditions, has a warning function for weakened vehicle braking performance, and allows the driver to have a clear understanding of the current braking performance.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and more specifically, to a method and system for controlling vehicle braking performance based on multi-sensor detection fusion. Background Technology

[0002] Currently, vehicle driver assistance and intelligent driving systems mainly consist of perception and control modules. At the perception level, devices such as cameras and lidar are used to construct the vehicle's field of vision to perform tasks such as pedestrian detection and lane detection. After receiving the perception information, the control unit generates vehicle attitude control commands based on obstacle and road surface information, including braking control commands. For example, when an adaptive cruise control (ACC) system is running, it can adjust the vehicle's acceleration and deceleration based on the distance to the vehicle in front, and apply braking control in emergency situations.

[0003] However, in unconventional weather conditions such as rain and snow, a vehicle's braking distance may change, making it difficult for the driver or vehicle to accurately control the braking distance, thus creating safety risks. In current scenarios, determining braking force largely relies on driver experience. For example, when the vehicle speed reaches 100 km / h and the distance to the vehicle in front is 100 meters, the driver usually judges the amount of force needed to brake the vehicle based on habit. However, in extreme road conditions, drivers often find it difficult to accurately assess the impact of the road surface on the braking effect. If they still brake according to their usual road braking habits, there is a high possibility of insufficient braking distance or wheel slippage due to excessive braking force.

[0004] The existing technology has the following drawbacks:

[0005] First, it is impossible to dynamically adjust the vehicle's braking level in real time to optimize braking performance under extreme road conditions (different weather and road conditions and different tire conditions).

[0006] Secondly, the driver assistance functions lack current braking performance control. For example, in heavy rain, the vehicle does not indicate that the braking performance has weakened on wet roads, causing the driver to mistakenly believe that the current braking performance is the same as on dry roads, thus creating a safety hazard.

[0007] Third, the driver assistance features do not provide recommended braking performance indicators. Drivers are often unaware of the optimal braking force for specific road conditions. For example, on wet and slippery roads, drivers often apply excessive force to the brake pedal based on past experience. While this may work successfully on dry roads, it can cause the vehicle to skid on wet and slippery surfaces due to excessive braking force, leading to a dangerous situation. Summary of the Invention

[0008] The purpose of this invention is to provide a vehicle braking performance control method and system based on multi-sensor detection fusion, in order to solve the problems that existing vehicle braking force cannot be dynamically adjusted according to real-time road conditions, that current assisted driving does not have a warning function for weakened vehicle braking performance, and that current assisted driving does not have a recommended index for the current vehicle braking force.

[0009] According to a first aspect of the present invention, a vehicle braking performance control method based on multi-sensor detection fusion is provided, comprising:

[0010] Establish the basic braking force function for vehicle braking control under normal road conditions;

[0011] Acquire road surface sensing parameters from at least two sensors;

[0012] Based on the road surface sensing parameters, a road surface slippage function is constructed to evaluate the current road slippage level.

[0013] Based on the basic braking force function and the road surface slippage function, the braking force function of the current road is calculated.

[0014] The braking force of the vehicle is controlled based on the braking force function of the current road.

[0015] Optionally, in the step of establishing the basic braking force function for vehicle braking control, the basic braking force function is set to Y, the distance between the current vehicle and the vehicle in front is set to X1, and the speed of the vehicle in front is set to X2. Then:

[0016] Y = AX1 + BX2, where A and B are proportional coefficients preset based on expert experience.

[0017] Optionally, in the step of acquiring road surface sensing parameters collected by at least two sensors, the sensors include a rain sensor and a forward-looking camera.

[0018] Optionally, if the data collected by the rain sensor is set to x, the data collected by the forward-looking camera is set to y, and the road surface slippage function used to evaluate the current road slippage level is set to Y1, then:

[0019] Y1 = ax + by, where a and b are proportional coefficients preset based on expert experience.

[0020] Optionally, in the step of calculating the braking force function of the current road based on the basic braking force function and the road surface slippage function, the braking force function of the current road is set as Y. 合 ,but:

[0021] Y 合=Y+CY1=AX1+BX2+CY1, where C is a proportional coefficient preset based on expert experience.

[0022] Optionally, the vehicle braking performance control method based on multi-sensor detection fusion further includes:

[0023] The braking distance required to bring a vehicle to a complete stop under normal road conditions is set as Z;

[0024] Obtain the braking distance that will bring the vehicle to a complete stop under the current road conditions, and set it as Z1;

[0025] If the braking distance extension warning level percentage is set to W, then:

[0026] W=(Z1-Z) / Z*100%.

[0027] Optionally, multiple percentage ranges for the braking distance extension warning level can be set, including [0, 30%], [30%, 50%], and greater than 50%.

[0028] Optionally, when the percentage of the braking distance extension warning level is in the range of [0, 30%], only the instrument panel will be triggered to display the warning information;

[0029] When the percentage of the braking distance extension warning is in the range of [30%, 50%], the ambient light will illuminate and the information in the instrument panel will flash as a reminder.

[0030] When the braking distance extension warning percentage exceeds 50%, the ambient lights will flash red, and the instrument panel and in-vehicle display screen will also flash bright red.

[0031] According to a second aspect of the present invention, a vehicle braking performance control system based on multi-sensor detection fusion is provided, comprising:

[0032] The first function determination module is used to establish the basic braking force function for vehicle braking control under normal road conditions;

[0033] The parameter acquisition module is used to acquire road surface sensing parameters collected by at least two sensors;

[0034] The second function determination module is used to construct a road surface slippage function based on the road surface sensing parameters to evaluate the current road slippage level.

[0035] The third function determination module is used to calculate the braking force function of the current road based on the basic braking force function and the road surface slipperiness function.

[0036] The execution module is used to control the braking force of the vehicle based on the braking force function of the current road.

[0037] Optionally, the vehicle braking performance control system based on multi-sensor detection fusion also includes:

[0038] The braking warning module is used to obtain the percentage of braking distance extension warning level and trigger the corresponding warning device according to the range in which the braking distance extension warning level warning level falls.

[0039] The vehicle braking performance control method and system based on multi-sensor detection fusion disclosed herein have the following technical advantages:

[0040] Based on road surface sensing parameters collected by rain sensors and a forward-facing camera, a road surface slippage function is constructed to assess the current road slippage level. Then, based on the baseline braking force function and the road surface slippage function, the braking force function for the current road is calculated. In autonomous driving, braking performance can be dynamically adjusted according to different weather and road conditions, enabling the vehicle to adapt to various scenarios.

[0041] It can trigger corresponding warning devices based on the percentage range of the extended braking distance warning level. This allows drivers to anticipate the dynamics of the vehicle's braking performance, providing advance notice when braking performance deteriorates due to road conditions or vehicle-related issues.

[0042] Vehicle braking performance can be displayed numerically and visually on a screen to the driver, allowing the driver to intuitively understand whether the vehicle's braking performance has only decreased slightly or has decreased significantly, thus helping the driver to better control the car.

[0043] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0045] Figure 1 This is a flowchart illustrating the vehicle braking performance control method based on multi-sensor detection fusion provided in an embodiment of the present invention. Detailed Implementation

[0046] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0047] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0048] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0049] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0050] This invention proposes an embodiment of a vehicle braking performance control method based on multi-sensor detection fusion, specifically, as follows: Figure 1 As shown, it includes:

[0051] Establish a basic braking force function for vehicle braking control under normal road conditions; specifically, normal road conditions can refer to dry road surfaces.

[0052] In this embodiment of the invention, in the step of establishing the basic braking force function for vehicle braking control, the basic braking force function is set to Y, the distance between the current vehicle and the vehicle in front is set to X1, and the speed of the vehicle in front is set to X2. Then:

[0053] Y = AX1 + BX2, where A and B are proportional coefficients preset based on expert experience, specifically proportional coefficients set based on a large amount of actual driving data and experience.

[0054] Based on the road surface sensing parameters, a road surface slippage function is constructed to evaluate the current road slippage level.

[0055] In this embodiment of the invention, the data collected by the rain sensor is set to x, the data collected by the forward-looking camera is set to y, and the road surface slipperiness function used to evaluate the current road slipperiness is set to Y1. Then:

[0056] Y1 = ax + by, where a and b are proportional coefficients preset based on expert experience, specifically weighting coefficients determined based on sensor characteristics and a large number of experiments.

[0057] The system acquires road surface sensing parameters from at least two sensors. Specifically, these sensors include a rain sensor and a forward-facing camera. The rain sensor detects rainfall to assess road slipperiness, while the forward-facing camera detects road surface reflectivity or puddles to determine water accumulation. In addition, multiple other vehicle sensors can be used to assess road slipperiness. Besides the aforementioned sensors, tire pressure sensors can indirectly provide road information. Different road conditions result in varying tire-road friction, causing slight changes in tire pressure. For example, on a slippery surface, tire grip decreases, causing slight tire deformation and fluctuations in tire pressure. By monitoring changes in tire pressure sensor readings and combining them with data from other sensors, road conditions can be assessed more accurately. Specifically, the tire pressure sensor data is denoted as z, and Y1 = ax + by + ez, where e is a pre-set proportionality coefficient based on expert experience, specifically a weighting coefficient determined based on sensor characteristics and extensive experimentation.

[0058] Based on the basic braking force function and the road surface slippage function, the braking force function of the current road is calculated; specifically, the braking force function of the current road is set as Y. 合 ,but:

[0059] Y 合 =Y+CY1=AX1+BX2+CY1, where C is a proportional coefficient preset based on expert experience.

[0060] The braking force of the vehicle is controlled based on the braking force function of the current road. The vehicle's control unit (such as the electronic control unit ECU) can accurately calculate and adjust the braking force based on the current distance between the vehicle and the vehicle in front (X1), the speed of the vehicle in front (X2), and the real-time road surface slippage (Y1).

[0061] By incorporating these additional conditions and corresponding functions, the braking control function becomes more closely aligned with real-world, complex road conditions. It can dynamically adjust braking force in real time based on different weather, road surface, and tire conditions, significantly improving the accuracy and safety of vehicle braking. Whether in slippery rain, treacherous snow, or when tire wear causes changes in grip, the vehicle can more effectively control braking force, preventing traffic accidents caused by under- or over-braking and enhancing its adaptability under various operating conditions.

[0062] It should be noted that during vehicle operation, the value of the road surface slippage function Y1 changes dynamically as the road surface sensing parameters change in real time, which in turn affects the braking force function Y of the current road surface. 合Continuous adjustments. For example, if a vehicle suddenly enters a section of road with significant water accumulation, the rain sensor and forward-facing camera detect a sharp increase in road surface slipperiness, causing the road slipperiness function Y1 to rise rapidly. At this point, the braking force function Y1 for the current road surface changes accordingly. 合 It will immediately adjust the braking force, enabling the vehicle to adjust the braking operation in a timely manner according to the actual road conditions, ensuring the safety and effectiveness of braking.

[0063] On the other hand, a series of safety measures are in place during the braking force control process based on the braking force function of the current road. For example, upper and lower limits for braking force are set to prevent dangerous situations such as loss of vehicle control or insufficient braking caused by excessive or insufficient braking force due to sensor failure or calculation errors.

[0064] In this embodiment of the invention, the vehicle braking performance control method based on multi-sensor detection fusion further includes:

[0065] The braking distance that brings a vehicle to a complete stop under normal road conditions is set as Z. Specifically, under normal road conditions, with a dry road surface and friction within the normal standard range, the distance that a vehicle travels from a certain speed to a complete stop is the braking distance (Z) under normal road conditions.

[0066] The braking distance required to bring the vehicle to a complete stop under current road conditions is obtained and set as Z1. Specifically, under the influence of various factors such as weather (such as rain, snow, fog, etc.), road conditions (such as water accumulation, ice, potholes, etc.), and tire wear, the distance that the vehicle travels from a certain speed to a complete stop under such actual road conditions is Z1.

[0067] If the braking distance extension warning level percentage is set to W, then:

[0068] W=(Z1-Z) / Z*100%.

[0069] The above formula aims to compare the braking distance (Z1) under current road conditions with the braking distance (Z) under normal road conditions. Using the normal road braking distance (Z) as a benchmark, it calculates the percentage of this difference to Z, thus intuitively reflecting the extent to which the braking distance is extended due to the deterioration of current road conditions. For example, if W=30%, it means that under current road conditions, the vehicle's braking distance is 30% longer than under normal road conditions.

[0070] By calculating the percentage increase in braking distance warning (W), the impact of current road conditions on braking performance compared to normal road conditions can be displayed to the driver or the vehicle's intelligent control system in an intuitive and quantitative way. Drivers can clearly understand how much longer the braking distance has become under current road conditions, allowing them to prepare mentally and take appropriate driving actions (such as increasing following distance and reducing speed) to ensure driving safety.

[0071] In this embodiment of the invention, multiple percentage ranges for the degree of braking distance extension warning are set, including [0, 30%], [30%, 50%] and greater than 50%.

[0072] When the percentage of the braking distance extension warning level is in the range of [0, 30%], it indicates that the degree of braking distance extension is relatively small, and only triggers the instrument panel to display warning information, issuing a mild warning to remind the driver that the road conditions have changed slightly but are still within a controllable range;

[0073] When the percentage of the extended braking distance warning level is in the range of [30%, 50%], the ambient light will be triggered and the information in the instrument panel will flash to indicate a moderate warning, prompting drivers to drive more cautiously and increase their following distance.

[0074] When the braking distance extension warning percentage exceeds 50%, it is considered a high warning, triggering the ambient lighting to flash red, while the instrument panel and in-vehicle display screens also flash bright red. Simultaneously, the vehicle control system can take emergency measures, such as actively reducing speed and preparing for greater braking force. This tiered warning system and targeted measures effectively address the impact of varying road conditions on braking performance, comprehensively ensuring driving safety.

[0075] This invention, through dividing the braking distance extension warning level into different percentage ranges and corresponding to different warning triggering mechanisms, achieves a graded warning function based on the degree of impact of road conditions on braking performance. It can accurately convey warning information of appropriate intensity to the driver according to the severity of actual road conditions, avoiding the drawbacks of using the same strong or weak warning method regardless of the magnitude of the road condition impact.

[0076] On the other hand, in special road conditions, the driver has already learned through the interactive interface that the braking performance has decreased and the braking distance has increased. At this time, the invention can also provide the driver with a braking rating display on the interactive interface. On dry roads, the interface displays a recommended braking force of level 6, but in special road conditions, the recommended braking force is level 7. The driver can intuitively feel the change in braking performance parameters, which helps the driver to have a better understanding of the vehicle's current braking performance.

[0077] The present invention also provides an embodiment of a vehicle braking performance control system based on multi-sensor detection fusion, comprising:

[0078] The first function determination module is used to establish the basic braking force function for vehicle braking control under normal road conditions;

[0079] The parameter acquisition module is used to acquire road surface sensing parameters collected by at least two sensors;

[0080] The second function determination module is used to construct a road surface slippage function based on the road surface sensing parameters to evaluate the current road slippage level.

[0081] The third function determination module is used to calculate the braking force function of the current road based on the basic braking force function and the road surface slipperiness function.

[0082] The execution module is used to control the braking force of the vehicle based on the braking force function of the current road.

[0083] In this embodiment of the invention, the vehicle braking performance control system based on multi-sensor detection fusion further includes:

[0084] The braking warning module is used to obtain the percentage of braking distance extension warning level and trigger the corresponding warning device according to the range in which the braking distance extension warning level warning level falls.

[0085] In summary, in autonomous driving mode, the vehicle's braking performance can be dynamically adjusted according to different weather and road conditions, ensuring good adaptability and responsiveness in diverse driving scenarios. This helps drivers anticipate changes in the vehicle's braking performance, allowing them to prepare mentally and plan their response strategies in advance, enhancing their sense of control and predictive ability regarding vehicle driving conditions. It enables drivers to intuitively and accurately grasp the vehicle's current braking performance.

[0086] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. They are devices corresponding to the above-mentioned vehicle braking performance control method based on multi-sensor detection fusion. All implementation methods in the above-mentioned method embodiments are applicable to the embodiments of this device. For details on its specific functions and the resulting technical effects, please refer to the method embodiment section. It will not be repeated here.

[0087] The above description of the structure, features, and effects of the present invention is based on the embodiments shown in the figures. However, the above are only preferred embodiments of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched by those skilled in the art to form a variety of equivalent solutions without departing from or changing the design concept and technical effects of the present invention. Therefore, the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A vehicle braking performance control method based on multi-sensor detection fusion, characterized in that, include: Establish the basic braking force function for vehicle braking control under normal road conditions; Acquire road surface sensing parameters from at least two sensors; Based on the road surface sensing parameters, a road surface slippage function is constructed to evaluate the current road slippage level. Based on the basic braking force function and the road surface slippage function, the braking force function of the current road is calculated. The braking force of the vehicle is controlled based on the braking force function of the current road. It also includes: calculating the percentage of braking distance extension warning based on the braking distance under normal road conditions and the current road conditions, and outputting braking intensity warning information based on the different braking distance extension warning percentage intervals, so that the driver can be aware of the dynamic changes in vehicle braking performance in advance. Specifically, it displays the driver's braking rating on the interactive interface: on dry roads, the interactive interface displays the recommended braking force level; in special road conditions, the recommended braking force level is changed, so that the driver can intuitively understand the changes in braking performance parameters, in order to avoid the driver misjudging that the braking performance of special roads is the same as that of dry roads and mistakenly using the same braking force as in normal road conditions.

2. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 1, characterized in that, In the step of establishing the basic braking force function for vehicle braking control, the basic braking force function is set to Y, the distance between the current vehicle and the vehicle in front is set to X1, and the speed of the vehicle in front is set to X2. Then: Y = AX1 + BX2, where A and B are proportional coefficients preset based on expert experience.

3. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 1, characterized in that, In the step of acquiring road surface sensing parameters from at least two sensors, including a rain sensor and a forward-looking camera.

4. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 3, characterized in that, Let the data collected by the rain sensor be x, the data collected by the forward-looking camera be y, and the road surface slipperiness function used to evaluate the current road slipperiness be Y1, then: Y1 = ax + by, where a and b are proportional coefficients preset based on expert experience.

5. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 4, characterized in that, In the step of calculating the braking force function of the current road based on the basic braking force function and the road surface slippage function, the braking force function of the current road is set as Y. 合 ,but: Y 合 =Y+CY1=AX1+BX2+CY1, where C is a proportional coefficient preset based on expert experience.

6. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 1, characterized in that, Also includes: The braking distance required to bring a vehicle to a complete stop under normal road conditions is set as Z; Obtain the braking distance that will bring the vehicle to a complete stop under the current road conditions, and set it as Z1; If the braking distance extension warning level percentage is set to W, then: W=(Z1-Z) / Z*100%.

7. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 6, characterized in that, Multiple percentage ranges for braking distance extension warnings are set, including [0, 30%], [30%, 50%], and greater than 50%.

8. The vehicle braking performance control method based on multi-sensor detection fusion according to claim 7, characterized in that, When the percentage of the braking distance extension warning level is in the range of [0, 30%], only the instrument panel will be triggered to display the warning information. When the percentage of the braking distance extension warning is in the range of [30%, 50%], the ambient light will illuminate and the information in the instrument panel will flash as a reminder. When the braking distance extension warning percentage exceeds 50%, the ambient lights will flash red, and the instrument panel and in-vehicle display screen will also flash bright red.

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