Vehicle deviation brake control system and vehicle brake control method

Abstract

The invention discloses a vehicle deviation braking control system and a vehicle braking control method, and the vehicle deviation braking control system comprises a vehicle automatic braking system which is provided with a braking detection device; the test sensing equipment is suitable for being mounted on a road side; the data processing unit is in communication connection with the test sensing equipment; the torque sensing unit is arranged on the steering wheel; the road side unit is arranged on the road side; and the cloud platform is in communication connection with the data processing unit and the road side unit, receives the vehicle deviation data and the torque data, and controls the cloud platform to issue an adjustment instruction to the vehicle-mounted communication unit according to the deviation data and the torque data so as to adjust the detection position of the brake detection device. The vehicle deviation brake control system has the advantages of being high in safety, high in response speed and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle deviation braking control system and a vehicle braking control method. Background Art

[0002] According to relevant regulations, towing vehicles are all equipped with a braking control system. In the vehicle deviation braking control system in the related art, when the vehicle has a braking deviation, the sensing device of the braking control system is easily caused to lose the detection target due to the vehicle deviation, and then the vehicle braking function is inhibited and fails, resulting in a vehicle collision phenomenon, and the driving safety of the driver is relatively low. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, an object of the present invention is to provide a vehicle deviation braking control system, which has the advantages of high safety and fast response speed.

[0004] A second object of the present invention is to provide a vehicle braking control method.

[0005] To solve the above problems, an embodiment of the first aspect of the present invention provides a vehicle deviation braking control system, including: a vehicle automatic braking system, wherein the vehicle braking system is provided with a braking detection device; a test sensing device, which is adapted to be installed on the roadside for obtaining the driving information of an autonomous vehicle; a data processing unit, which is communicatively connected to the test sensing device to receive the driving information and calculate vehicle deviation data; a torque sensing unit, which is arranged on the steering wheel for sensing the torque data of the steering wheel; a roadside unit, which is arranged on the roadside and is communicatively connected to the torque sensing unit; a cloud platform, which is communicatively connected to the data processing unit and the roadside unit respectively. The cloud platform receives the vehicle deviation data and the torque data, and the cloud platform controls the cloud platform to send an adjustment instruction to the in-vehicle communication unit according to the deviation data and the torque data to adjust the detection position of the braking detection device.

[0006] The vehicle deviation braking control system according to an embodiment of the present invention is configured with a braking detection device capable of real-time monitoring of the vehicle braking state. The test sensing device is installed on the roadside and can obtain vehicle driving information such as driving speed, deviation trajectory, road conditions, etc., providing comprehensive external environment information during the vehicle driving process to ensure accurate judgment of vehicle deviation by the vehicle deviation braking control system. The data processing unit receives the information obtained by the test sensing device through a communication connection with the test sensing device and processes the driving information to calculate the deviation data of the vehicle. The torque sensing unit is arranged on the steering wheel to sense the torque applied by the driver to the steering wheel in real time, and can judge the driver's intention and the current vehicle control state. The cloud platform can quickly judge the vehicle state and decide whether to issue an adjustment instruction by analyzing the vehicle deviation data and torque data, and can quickly respond to the dynamic changes of the vehicle. The traditional vehicle deviation braking control system may lose the braking signal due to target loss or environmental changes when the vehicle deviates from the preset trajectory, resulting in functional failure. However, the vehicle deviation braking control system of this embodiment ensures that accurate vehicle position and state information can always be obtained through the cooperation of multiple sensors and the cloud platform, solves the problem of target loss, makes corresponding adjustments in a timely manner, significantly reduces the possibility of accidents, and improves the driving safety of the vehicle.

[0007] Therefore, the vehicle deviation braking control system according to an embodiment of the present invention has the advantages of high safety and fast response speed.

[0008] In some embodiments, the torque sensing unit includes: a vehicle-mounted communication unit communicatively connected to the roadside unit; a torque sensor for sensing the torque data of the steering wheel and connected to the vehicle-mounted communication unit, and the vehicle-mounted communication unit receives the torque detected by the torque sensor and transmits it to the roadside unit.

[0009] In some embodiments, the braking detection device includes: a vehicle-mounted radar; a position controller arranged in the cab, the position controller communicating with the vehicle-mounted communication unit to receive the signal of the vehicle-mounted communication unit; a steering motor, the vehicle-mounted radar being connected to the steering motor, and the steering motor being adapted to be installed at the front of the cab and driving the vehicle-mounted radar to rotate laterally.

[0010] In some embodiments, the braking detection device further includes: a lateral guide rail adapted to be installed at the front end of the cab and extending laterally, and the steering motor and the vehicle-mounted radar are both installed on the lateral guide rail, and the steering motor and the vehicle-mounted radar move along the lateral guide rail.

[0011] In some embodiments, the test perception device includes: a roadside camera adapted to be installed on the roadside for collecting vehicle speed and distance information; a roadside radar adapted to be installed on the roadside for collecting vehicle speed information and distance information when the light is insufficient.

[0012] In a second aspect embodiment of the present invention, a vehicle braking control system method is provided. The method is applied to the vehicle deviation braking control system in the above embodiments. The method includes: controlling the cloud platform to receive the vehicle deviation data calculated by the data processing unit and the torque data sensed by the torque sensing unit; judging whether the vehicle deflects according to the vehicle deviation data and the torque data; if so, judging whether the deflection type is steering wheel steering deflection or braking deflection; if it is steering wheel steering deflection, controlling the cloud platform to send a first adjustment instruction to the vehicle-mounted communication unit to adjust the braking detection device to the steering detection position; if it is braking skid deflection, controlling the cloud platform to send a second adjustment instruction to the vehicle-mounted communication unit to adjust the braking detection device to the road detection position.

[0013] In some embodiments, judging whether the vehicle deflects according to the vehicle deviation data and the torque data includes: Condition A: detecting the deflection angle of the vehicle and judging whether the deflection angle is greater than a predetermined deflection angle; Condition B: detecting the deviation distance of the vehicle from the center line and judging whether the deviation distance is greater than a predetermined deviation distance; if Condition A is satisfied or Condition B is satisfied, it is determined that the vehicle deflects.

[0014] In some embodiments, judging whether the deflection type is steering wheel steering deflection or braking deflection includes: detecting the steering wheel torque and judging whether the steering wheel torque is greater than a preset torque; if so, determining that the vehicle is steering wheel steering deflection during braking; if not, determining that the vehicle is braking skid deflection.

[0015] In some embodiments, the first adjustment instruction includes: controlling the angle of the braking detection device to be adjusted to the steering detection position; the second adjustment instruction includes: controlling the angle of the braking detection device to be adjusted to the road detection position.

[0016] In some embodiments, both the first adjustment instruction and the second adjustment instruction further include: controlling the braking detection device to move in the reverse direction of the vehicle deflection direction along the moving slide rail.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein: Figure 1 is a structural block diagram of a vehicle deviation braking control system according to an embodiment of the present invention; Figure 2 is a structural schematic diagram of a vehicle deviation braking control system according to an embodiment of the present invention; Figure 3 is a structural schematic diagram of the occurrence of braking deviation of a vehicle deviation braking control system according to an embodiment of the present invention; Figure 4 is a structural schematic diagram of the re-detection of the occurrence of braking deviation of a vehicle deviation braking control system according to an embodiment of the present invention; Figure 5 is a structural schematic diagram of a vehicle deviation braking control system receiving a first adjustment instruction according to an embodiment of the present invention; Figure 6 is a structural schematic diagram of a vehicle deviation braking control system receiving a second adjustment instruction according to an embodiment of the present invention; Figure 7 is a flowchart of a vehicle braking control method according to an embodiment of the present invention.

[0019] Reference numerals: Vehicle deviation braking control system 1, vehicle automatic braking system 100, test sensing device 200, Data processing unit 300, torque sensing unit 400, roadside unit 500, cloud platform 600, Braking detection device 110, vehicle-mounted radar 111, position controller 112, steering motor 113, Lateral guide rail 114, transverse and longitudinal motor 115, longitudinal pull rod 116, roadside camera 210, Roadside radar 220, vehicle-mounted communication unit 410, torque sensor 420. Detailed implementation manners

[0020] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0022] In the description of the present invention, the "first feature" and "second feature" may include one or more of such features.

[0023] In the description of the present invention, the meaning of "a plurality" is two or more, and the meaning of "several" is one or more.

[0024] The vehicle deviation braking control system 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0025] As Figures 1-7 shown, the vehicle deviation braking control system 1 according to the first aspect embodiment of the present invention includes a vehicle automatic braking system 100, a test sensing device 200, a data processing unit 300, a torque sensing unit 400, a roadside unit 500, and a cloud platform 600.

[0026] The vehicle braking system 100 is provided with a braking detection device 110. The test sensing device 200 is adapted to be installed on the roadside for obtaining the driving information of the autonomous vehicle. The data processing unit 300 is communicatively connected to the test sensing device 200 to receive the driving information and calculate the vehicle deviation data. The torque sensing unit 400 is disposed on the steering wheel for sensing the torque data of the steering wheel. The roadside unit 500 is disposed on the roadside, and the roadside unit 500 is communicatively connected to the torque sensing unit 400. The cloud platform 600 is communicatively connected to the data processing unit 300 and the roadside unit 500 respectively. The cloud platform 600 receives the vehicle deviation data and the torque data, and the cloud platform 600 controls the cloud platform 600 to send an adjustment instruction to the in-vehicle communication unit 410 according to the deviation data and the torque data to adjust the detection position of the braking detection device 110.

[0027] For example, the data processing unit 300 can receive the motion information of the moving vehicle on the road transmitted by the test sensing device 200, including the motion speed, motion posture, deviation distance, rotation angle, etc., and perform data fusion on the sensing information of the test sensing device 200, and transmit the deflection angle of the vehicle posture angle around the Z axis and the distance of deviation from the center line of the lane in the lateral Y direction to the cloud platform 600 for comprehensive judgment with the steering wheel torque sensor.

[0028] The cloud platform 600 receives the deflection angle of the vehicle posture angle around the Z axis calculated by the test sensing device 200 transmitted by the data processing unit 300 and the distance of deviation from the center line of the lane in the lateral Y direction, and at the same time the steering wheel torque sent from the vehicle end transmitted by the roadside unit 500. The cloud platform 600 performs comprehensive judgment and processing on the data information to comprehensively judge whether the vehicle is braking and deviating.

[0029] The roadside unit 500 is arranged above the road pole, receives the vehicle steering wheel torque signal transmitted by the vehicle-mounted communication unit 410, and transmits the torque information to the cloud platform 600. At the same time, it receives the perception control instruction issued by the cloud platform and transmits it to the vehicle-mounted communication unit 410.

[0030] According to the vehicle deviation braking control system 1 of an embodiment of the present invention, a braking detection device 110 is configured to be able to monitor the vehicle braking state in real time. The test and perception device 200 is installed on the roadside and can obtain the driving information of the vehicle, such as driving speed, deviation trajectory, road conditions, etc., providing comprehensive external environment information during the vehicle driving process to ensure the accurate judgment of the vehicle deviation by the vehicle deviation braking control system 1. The data processing unit 300 receives the information obtained by the test and perception device 200 through the communication connection with the test and perception device 200 and processes the driving information to calculate the deviation data of the vehicle. The torque sensing unit 400 is arranged on the steering wheel to sense the torque applied by the driver to the steering wheel in real time, and can judge the driver's intention and the current vehicle control state. The cloud platform 600 can quickly judge the vehicle state and decide whether to issue an adjustment instruction by analyzing the vehicle deviation data and torque data, and can quickly respond to the dynamic changes of the vehicle. In the traditional vehicle deviation braking control system, when the vehicle deviates from the preset trajectory, the braking signal may be lost due to target loss or environmental changes, resulting in the failure of the function. However, the vehicle deviation braking control system 1 of this embodiment ensures that accurate vehicle position and state information can always be obtained through the cooperation of multiple sensors and the cloud platform, solves the problem of target loss, makes corresponding adjustments in time, significantly reduces the possibility of accidents, and improves the safety of vehicle driving.

[0031] Therefore, the vehicle deviation braking control system 1 according to the embodiment of the present invention has the advantages of high safety and fast response speed.

[0032] In some alternative embodiments of the present invention, as Figure 1 and Figure 2 shown, the torque sensing unit 400 includes a vehicle-mounted communication unit 410 and a torque sensor 420. The vehicle-mounted communication unit 410 is communicatively connected to the roadside unit 500. The torque sensor 420 is used to sense the torque data of the steering wheel and is connected to the vehicle-mounted communication unit 410. The vehicle-mounted communication unit 410 receives the torque detected by the torque sensor 420 and transmits it to the roadside unit 500.

[0033] The vehicle-mounted communication unit 410 is arranged at the bottom of the vehicle cockpit, used to receive the torque information sent by the vehicle steering wheel torque sensor 420, and transmit the information to the roadside unit 500 through wireless communication. At the same time, it receives the perception control instruction issued by the cloud platform 600 transmitted by the roadside unit 500 and transmits it to the position controller.

[0034] The torque sensor 420 is arranged inside the steering column of the steering wheel, detects the torque value of the steering wheel in real time, judges the torque operation condition of the driver on the steering wheel, and transmits the information to the vehicle-mounted communication unit 410 for uploading to the roadside unit 500 to judge whether the driver performs an active steering intervention operation.

[0035] In some alternative embodiments of the present invention, such as Figure 1 and Figure 2 As shown, the braking detection device 110 includes a vehicle-mounted radar 111, a position controller 112 and a steering motor 113. The position controller 112 is arranged in the cab, and the position controller 112 communicates with the vehicle-mounted communication unit 410 to receive the signal of the vehicle-mounted communication unit 410. The vehicle-mounted radar 111 is connected to the steering motor 113, and the steering motor 113 is suitable for being installed at the front of the cab and driving the vehicle-mounted radar 111 to rotate horizontally.

[0036] The vehicle-mounted radar 111 is arranged at the front end of the front bumper of the vehicle. As a sensing device for the braking control function, it detects obstacles in front of the vehicle in real time, including pedestrians, vehicles, cones, etc., and is connected to the steering motor 113, the longitudinal pull rod 116, etc. When receiving the sensing control instruction from the cloud platform 600, it can be steered, moved horizontally and vertically and rotated under the drive of the steering motor 113.

[0037] The position controller 112 is arranged on the floor of the vehicle cab, is connected to the horizontal and vertical motors 115 and the steering motor 113, receives the instruction signal of the cloud platform 600 transmitted by the vehicle-mounted communication unit 410, controls the horizontal and vertical motors 115 and the steering motor 113 according to the control instruction, so as to drive the vehicle-mounted radar 111 to rotate in angle and move in position, ensure the detection of the target in different situations, thus avoiding the occurrence of the phenomenon that the target of the sensing device is lost due to braking deviation, and ensuring the normal triggering and activation of the braking control function.

[0038] The steering motor 113 is connected to the vehicle-mounted radar 111, and can rotate the angle of the vehicle-mounted radar 111 under the instruction of the position controller 112. The rotation angle a is equal to the angle b by which the vehicle deflects around the Z axis, so as to ensure that the detection plane of the vehicle-mounted radar 111 maintains the forward detection of the original lane.

[0039] In some alternative embodiments of the present invention, such as Figure 1 and Figure 2 As shown, the braking detection device 110 further includes a transverse guide rail 114. The transverse guide rail 114 is suitable for being installed at the front end of the cab and extending horizontally. The steering motor 113 and the vehicle-mounted radar 111 are both installed on the transverse guide rail 114, and the steering motor 113 and the vehicle-mounted radar 111 move along the transverse guide rail 114.

[0040] Among them, a transverse guide rail 114 is arranged at the front end of the vehicle. Under the action of the transverse and longitudinal motor 115, the vehicle-mounted radar 111 can move transversely along the transverse guide rail 114, so that the vehicle-mounted radar 111 can be moved to the position closest to the center line of the lane according to the deviation of the vehicle, ensuring that the detection angle range of the test sensing device 200 can better detect the front targets in this lane. The transverse and longitudinal motor 115 is connected to the position controller 112. Under the command of the position controller 112, the longitudinal pull rod 116 is manipulated to extend and contract, driving the longitudinal position transformation of the vehicle-mounted radar 111, and can slide back and forth along the transverse guide rail 114, driving the vehicle-mounted radar 111 to perform transverse position transformation.

[0041] The longitudinal pull rod 116 is connected to the vehicle-mounted radar 111 and can extend and contract under the action of the transverse and longitudinal motor 115, and can drive the vehicle-mounted radar 111 to extend to facilitate the rotation angle operation.

[0042] In some alternative embodiments of the present invention, such as Figure 1 and Figure 2 shown, the test sensing device 200 includes a roadside camera 210 and a roadside radar 220. The roadside camera 210 is suitable for being installed on the roadside and is used for collecting vehicle speed and distance information. The roadside radar 220 is suitable for being installed on the roadside and is used for collecting vehicle speed information and distance information when the light is insufficient.

[0043] The roadside camera 210 is arranged above the roadside pole. Among them, the dust and waterproof level of the roadside camera 210 is IP69, and it is a high-definition sensing device, which can collect the motion state of road vehicles in real time, including information such as the vehicle attitude deflection angle and the vehicle lateral deviation distance, calculate whether the vehicle runs off course, etc., and transmit it to the data processing unit 300 for redundant judgment processing with the three-dimensional data collected by the roadside radar 220.

[0044] The roadside radar 220 is also arranged above the roadside pole. A semi-solid state lidar is adopted, and the detection angle reaches 270° at the roadside end. It collects the motion postures of vehicles on the road in real time, establishes a three-dimensional model, calculates the distance of the vehicle from the center line of the lane and the deflection angle of the vehicle attitude angle around the Z axis, and transmits it to the data processing unit 300 for judging whether the moving vehicle on the road runs off course.

[0045] An embodiment of the second aspect of the present invention provides a vehicle braking control system method, such as Figures 3-7As shown in the figure, the vehicle braking control system method is applied to the vehicle deviation braking control system of the above embodiment, including: the control cloud platform receives the vehicle deviation data calculated by the data processing unit and the torque data sensed by the torque sensing unit; determines whether the vehicle deflects according to the vehicle deviation data and the torque data; if so, determines whether the deflection type is steering wheel steering deflection or braking deflection; if it is steering wheel steering deflection, the control cloud platform issues a first adjustment instruction to the vehicle-mounted communication unit to adjust the braking detection device to the steering detection position; if it is braking skid deflection, the control cloud platform issues a second adjustment instruction to the vehicle-mounted communication unit to adjust the braking detection device to the road detection position.

[0046] Specifically, a test sensing device is used to detect the deviation of the vehicle, and combined with the vehicle-end braking detection device to determine whether it is braking deflection or steering wheel steering deflection, and then the cloud platform issues a position instruction to the test sensing device. The cloud platform receives the data processing unit and the steering wheel torque signal, and comprehensively determines whether the vehicle is braking deviation.

[0047] Through the above vehicle braking control method, the braking control function and the steering system can be dynamically adjusted to ensure that the vehicle maintains the best controllability under various driving conditions and improve the driving experience.

[0048] In some alternative embodiments of the present invention, determining whether the vehicle deflects according to the vehicle deviation data and the torque data includes: Condition A: detecting the deflection angle of the vehicle and determining whether the deflection angle is greater than a predetermined deflection angle; Condition B: detecting the deviation distance of the vehicle from the center line and determining whether the deviation distance is greater than a predetermined deviation distance; if Condition A is satisfied or Condition B is satisfied, it is determined that the vehicle deflects.

[0049] For example, the preset deflection angle is 5°, and the predetermined deviation distance is 50m. When the deflection angle of the vehicle > 5° and the deviation distance of the vehicle from the center line > 50m, it is determined that the vehicle deflects. At the same time, when the deflection angle of the vehicle ≤ 5°, or the deviation distance of the vehicle from the center line ≤ 50m, it is determined that the vehicle does not deflect.

[0050] In some alternative embodiments of the present invention, determining whether the deflection type is steering wheel steering deflection or braking deflection includes: detecting the steering wheel torque and determining whether the steering wheel torque is greater than a preset torque; if so, it is determined that the vehicle is steering deflection by braking; if not, it is determined that the vehicle is skid deflection by braking.

[0051] Among them, the preset torque can be 1N.

[0052] Specifically, when the deflection angle of the vehicle > 5°, and the deviation distance of the vehicle from the center line > 50cm, and the steering wheel torque < 1N, the system determines that the vehicle is skid deflection by braking.

[0053] When the vehicle's deflection angle is greater than 5°, and the vehicle's deviation distance from the center line is greater than 50cm, and the steering wheel torque is ≥1N, the system determines it as braking steering wheel steering deflection, not braking slip deflection.

[0054] When the vehicle's deflection angle is ≤5° or the vehicle's deviation distance from the center line is ≤50cm, the vehicle is judged as not running off the track. At this time, it is not easy to cause the test perception device to lose the target and cause functional failure. The cloud platform does not issue a vehicle radar position adjustment command and maintains the current state. Therefore, different position operations are performed according to different running deviation situations, so as to better activate the running deviation brake control function trigger, avoid the occurrence of collision problems caused by target loss, thereby better protecting the driver's safety and reducing the occurrence of running deviation brake control function failure.

[0055] In some optional embodiments of the present invention, the first adjustment instruction includes: controlling the angle of the brake detection device to be adjusted to the steering detection position; the second adjustment instruction includes: controlling the angle of the brake detection device to be adjusted to the road detection position.

[0056] Furthermore, the first adjustment instruction and the second adjustment instruction both further include: controlling the brake detection device to move in the opposite direction of the vehicle deflection direction along the movable slide rail.

[0057] When the vehicle's deflection angle is greater than 5°, and the vehicle's deviation distance from the center line is greater than 50cm, and the steering wheel torque is less than 1N, the system determines that the vehicle is skidding and deflecting due to braking. This may easily cause the vehicle to lose its braking control system target and cause functional failure. The cloud platform issues the first adjustment command to the on-board radar to control the millimeter wave to adjust the angle to ensure detection of the front. At the same time, it issues the second adjustment command to adjust the lateral position of the lane to ensure detection of obstacles in front of the lane, avoid functional failure due to loss of the braking control system target, and ensure that the braking function is triggered normally, thereby avoiding vehicle collision.

[0058] When the vehicle's deflection angle is greater than 5°, and the vehicle's deviation distance from the center line is greater than 50cm, and the steering wheel torque is ≥1N, the system determines that it is a braking steering wheel steering deflection, not a braking slip deflection. The cloud platform issues the first adjustment command and the second adjustment command of the vehicle-mounted radar, maintaining the existing vehicle offset detection angle of the vehicle-mounted radar, and adjusting the vehicle-mounted radar to offset laterally toward the lane, ensuring that the vehicle-mounted radar takes into account the detection of the offset direction and the lane at the same time, which is conducive to the driver's active offset to avoid obstacle detection in the avoidance area and avoid collision.

[0059] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0060] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle deviation braking control system, characterized in that, Including: A vehicle automatic braking system, which is provided with a braking detection device; A test sensing device, which is adapted to be installed on the roadside and used to obtain the driving information of an autonomous vehicle; A data processing unit, which is communicatively connected to the test sensing device to receive the driving information and calculate vehicle deviation data; A torque sensing unit, which is arranged on the steering wheel and used to sense the torque data of the steering wheel; A roadside unit, which is arranged on the roadside and is communicatively connected to the torque sensing unit; A cloud platform, which is respectively communicatively connected to the data processing unit and the roadside unit. The cloud platform receives the vehicle deviation data and the torque data, and according to the deviation data and the torque data, controls the cloud platform to send an adjustment instruction to the in-vehicle communication unit to adjust the detection position of the braking detection device.

2. The vehicle deviation braking control system according to claim 1, characterized in that The torque sensing unit includes: An in-vehicle communication unit, which is communicatively connected to the roadside unit; A torque sensor, which is used to sense the torque data of the steering wheel and is connected to the in-vehicle communication unit. The in-vehicle communication unit receives the torque detected by the torque sensor and transmits it to the roadside unit.

3. The vehicle deviation braking control system according to claim 1, characterized in that The braking detection device includes: An in-vehicle radar; A position controller, which is arranged in the cab and is communicatively connected to the in-vehicle communication unit to receive the signal of the in-vehicle communication unit; A steering motor, the in-vehicle radar is connected to the steering motor, and the steering motor is adapted to be installed in the front of the cab and drive the in-vehicle radar to rotate horizontally.

4. The vehicle deviation braking control system according to claim 3, wherein The braking detection device further includes: A horizontal guide rail, which is adapted to be installed at the front end of the cab and extends horizontally. The steering motor and the in-vehicle radar are both installed on the horizontal guide rail, and the steering motor and the in-vehicle radar move along the horizontal guide rail.

5. The vehicle deviation braking control system according to claim 1, characterized in that, The test sensing device includes: A roadside camera, which is adapted to be installed on the roadside and used to collect vehicle speed and distance information; A roadside radar, which is adapted to be installed on the roadside and used to collect vehicle speed information and distance information when the light is insufficient.

6. A vehicle braking control method, characterized in that, The method is applied to the vehicle deviation braking control system according to any one of claims 1 to 5, and the method includes: Controlling the cloud platform to receive the vehicle deviation data calculated by the data processing unit and the torque data sensed by the torque sensing unit; Judging whether the vehicle deflects according to the vehicle deviation data and the torque data; If so, judging that the deflection type is steering wheel steering deflection or braking deflection; If it is steering wheel steering deflection, controlling the cloud platform to send a first adjustment instruction to the in-vehicle communication unit to adjust the braking detection device to the steering detection position; If it is braking slip deflection, controlling the cloud platform to send a second adjustment instruction to the in-vehicle communication unit to adjust the braking detection device to the road detection position.

7. The vehicle braking control method according to claim 6, characterized in that, Judging whether the vehicle deflects according to the vehicle deviation data and the torque data includes: Condition A: Detecting the deflection angle of the vehicle and judging whether the deflection angle is greater than a predetermined deflection angle; Condition B: Detect the deviation distance of the vehicle from the center line and determine whether the deviation distance is greater than a predetermined deviation distance; If Condition A is satisfied or Condition B is satisfied, it is determined that the vehicle has deflected.

8. The vehicle braking control method according to claim 6, wherein, The determination of the deflection type as steering wheel steering deflection or braking deflection includes: Detect the steering wheel torque and determine whether the steering wheel torque is greater than a preset torque; If so, it is determined that the vehicle has a steering deflection of the braking steering wheel; If not, it is determined that the vehicle has a skidding deflection of the braking.

9. The vehicle braking control method according to claim 6, characterized in that, The first adjustment instruction includes: controlling the angle of the braking detection device to be adjusted to the steering detection position; The second adjustment instruction includes: controlling the angle of the braking detection device to be adjusted to the road detection position.

10. The vehicle braking control method according to claim 9, characterized in that, Both the first adjustment instruction and the second adjustment instruction further include: controlling the braking detection device to move along the moving slide rail in the opposite direction of the vehicle deflection direction.

Images