CN106864450B - Vehicle brake control method, device and vehicle - Google Patents
Vehicle brake control method, device and vehicle Download PDFInfo
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- CN106864450B CN106864450B CN201510907286.6A CN201510907286A CN106864450B CN 106864450 B CN106864450 B CN 106864450B CN 201510907286 A CN201510907286 A CN 201510907286A CN 106864450 B CN106864450 B CN 106864450B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Toys (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiment of the invention discloses a kind of vehicle brake control method, device and vehicles, wherein method includes: to detect whether the opening value of vehicle accelerator pedal is zero；Opening value in response to vehicle accelerator pedal is zero, the speed difference that vehicle and front truck are calculated according to the toy vehicle velocity value of acquisition and preceding vehicle velocity value calculates the range difference of actual range and target range according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance；The speed difference and the corresponding brake torque value of the range difference are obtained, to carry out control for brake to vehicle according to the brake torque value.The embodiment of the present invention can be realized the braking intelligent control of vehicle.
Description
Technical field
The invention belongs to automobile technical fields, more particularly to a kind of vehicle brake control method, device and vehicle.
Background technique
At present on urban road, peak period especially on and off duty, major urban arterial highway, main traffic crossing, vehicle flowrate is big,
Vehicle driving is slow, or even traffic congestion has become normality, and the section distance that blocks up is longer.When driver drives over, frequency is needed
Numerous starting and braking, therefore driver wants frequent step on the accelerator and brake pedal.Driver is required in this process
Attention will be concentrated, and driver fatigue is easily caused, and be easy for the accidents such as causing to scrape, knock into the back unless you give your whole attention to it.
Currently, can only be by installing a kind of prior-warning device on vehicle, to detect the spacing between this vehicle and front truck, at this
Spacing between vehicle and front truck carries out early warning when reaching setting spacing.However, this prior-warning device can only to Ben Che and front truck it
Between spacing carry out early warning, not can control the distance between Ben Che and front truck.
Summary of the invention
One technical problem to be solved by the embodiment of the invention is that: provide a kind of vehicle brake control method, device and
Vehicle can be realized the braking intelligent control of vehicle.
According to an aspect of an embodiment of the present invention, a kind of vehicle brake control method provided, comprising:
Whether the opening value for detecting vehicle accelerator pedal is zero；
Opening value in response to vehicle accelerator pedal is zero, calculates vehicle according to the toy vehicle velocity value of acquisition and preceding vehicle velocity value
Speed difference with front truck, according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance calculate it is practical away from
From the range difference with target range；
Obtain the speed difference and the corresponding brake torque value of the range difference, so as to according to the brake torque value to vehicle
Carry out control for brake.
Method according to another embodiment of the present invention, it is described that control for brake packet is carried out to vehicle according to the brake torque value
It includes: control motor output brake torque value.
Method according to another embodiment of the present invention, it is described that vehicle progress control for brake is also wrapped according to the brake torque value
Include: controller dial plate shows that on-position, and control brake lamp light.
Method according to another embodiment of the present invention, the acquisition speed difference and the corresponding braking of the range difference are turned round
Square value includes: to obtain corresponding brake torque value according to the speed difference and the range difference inquiry table, and the table is to set in advance
The mapping table of the brake torque value and speed difference and range difference set；
The method also includes:
The opening information of vehicle accelerator pedal is acquired by accelerator pedal sensor；
Front truck velocity information is acquired by front truck vehicle speed sensor；
The actual range information of vehicle and front truck is acquired by spacing sensor；
Vehicle wheel speed information is acquired by wheel speed sensors；
Toy vehicle velocity value is calculated according to the vehicle wheel speed value of acquisition；Or toy vehicle velocity value is obtained from vehicle bus；
When the opening value for detecting vehicle accelerator pedal is greater than zero, control for brake mode is released.
Method according to another embodiment of the present invention, in response to receiving control for brake mode starting signal, or response
It is less than preset threshold speed in the toy vehicle velocity value detected, the opening value for starting to execute the detection vehicle accelerator pedal is
No is zero.
Other side according to an embodiment of the present invention, a kind of vehicle brake control apparatus provided, comprising:
Detection unit, whether the opening value for detecting vehicle accelerator pedal is zero；
Computing unit, the opening value in response to vehicle accelerator pedal are zero, according to the toy vehicle velocity value of acquisition and preceding speed
Angle value calculates the speed difference of vehicle and front truck, according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance
Calculate the range difference of actual range and target range；
Acquiring unit, for obtaining the speed difference and the corresponding brake torque value of the range difference；
Control unit, for carrying out control for brake to vehicle according to the brake torque value.
Device according to another embodiment of the present invention, described control unit, with specific reference to acquiring unit as a result, control electricity
Motivation exports the brake torque value.
Device according to another embodiment of the present invention, described control unit are also used to according to acquiring unit as a result, control
Instrument board shows that on-position, and control brake lamp light.
Device according to another embodiment of the present invention, further includes:
Accelerator pedal sensor, for acquiring the opening information of vehicle accelerator pedal；
Front truck vehicle speed sensor, for acquiring front truck velocity information；
Spacing sensor, for acquiring the actual range information of vehicle and front truck；
Wheel speed sensors, for acquiring vehicle wheel speed information；
The computing unit is also used to calculate toy vehicle velocity value according to the vehicle wheel speed value of acquisition；Or from vehicle bus
Upper acquisition toy vehicle velocity value；
The acquiring unit tables look-up to obtain corresponding brake torque value with specific reference to the speed difference and the range difference,
The table is the mapping table of pre-set brake torque value and speed difference and range difference；
Described control unit is also used to release control for brake mould when the opening value for detecting vehicle accelerator pedal is greater than zero
Formula.
Another aspect according to an embodiment of the present invention, a kind of vehicle provided, comprising: above-mentioned vehicle braking control dress
It sets.
Based on vehicle brake control method, device and vehicle that the above embodiment of the present invention provides, needed in vehicle frequent
Starting and braking when, trample brake pedal without driver, it is only necessary to driver control accelerator pedal drive vehicle driving,
Accelerator pedal is lifted when needing to brake, and control for brake is carried out to vehicle by vehicle brake control apparatus, i.e., controllable and front truck
Distance, so that vehicle and front truck is kept suitable spacing, realize the braking intelligent control of vehicle.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
The attached drawing for constituting part of specification describes the embodiment of the present invention, and together with description for explaining
The principle of the present invention.
The present invention can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the flow chart of one embodiment of vehicle brake control method of the present invention.
Fig. 2 is the structural schematic diagram of one embodiment of vehicle brake control apparatus of the present invention.
Fig. 3 is the structural schematic diagram of a specific embodiment of vehicle brake control apparatus of the present invention.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the positioned opposite of the component otherwise illustrated in these embodiments, numerical expression and the unlimited system of numerical value are of the invention
Range.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Refering to Figure 1, being the flow chart of one embodiment of vehicle brake control method of the present invention.The present embodiment
Vehicle brake control method includes:
102, whether the opening value for detecting vehicle accelerator pedal is zero.
104, the opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value of acquisition and preceding vehicle velocity value meter
The speed difference for calculating vehicle and front truck calculates real according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance
The range difference of border distance and target range.
106, the speed difference and the corresponding brake torque value of the range difference are obtained, so as to according to the brake torque value pair
Vehicle carries out control for brake.
Based on the vehicle brake control method that the above embodiment of the present invention provides, frequent starting and braking are needed in vehicle
When, brake pedal is trampled without driver, it is only necessary to which driver controls accelerator pedal and drives vehicle driving, lifts when braking is required
It plays accelerator pedal, control for brake is carried out to vehicle by vehicle brake control apparatus, i.e., it is controllable at a distance from front truck, make vehicle
Suitable spacing is kept with front truck, realizes the braking intelligent control of vehicle.
The vehicle brake control method of the present embodiment is in response in receiving control for brake mode starting signal, or response
It is less than preset threshold speed in the toy vehicle velocity value detected, starts to execute operation 102.
Wherein, control for brake mode starting signal is that the generation of control for brake mode is manually selected by driver.When detecting
When toy vehicle velocity value is less than preset threshold speed, show that vehicle is in low-speed running state.The present embodiment is manual in driver
When selecting control for brake mode, vehicle enters control for brake mode, or when vehicle is in low-speed running state, automatically into
Control for brake mode.
The vehicle brake control method of the present embodiment further include: vehicle accelerator pedal is acquired by accelerator pedal sensor
Opening information；Front truck velocity information is acquired by front truck vehicle speed sensor；The reality of vehicle and front truck is acquired by spacing sensor
Border range information；Vehicle wheel speed information is acquired by wheel speed sensors, toy vehicle velocity value is calculated according to the vehicle wheel speed value of acquisition；
Or toy vehicle velocity value is obtained from vehicle bus；When the opening value for detecting vehicle accelerator pedal is greater than zero, braking control is released
Molding formula.
Wherein, the opening value of the accelerator pedal in operation 102 is obtained by accelerator pedal sensor.If detecting, acceleration is stepped on
The opening value of plate is greater than zero, shows that the positive step on the accelerator of driver, vehicle are in driving condition, do not enter control for brake mould
Formula.If detecting, the opening value of accelerator pedal is zero, shows driver's release the gas pedal, does not drive to vehicle,
Then enter control for brake mode.
Preceding vehicle velocity value V in operation 104fIt is to be obtained by front truck vehicle speed sensor.The actual distance value S of vehicle and front truck
It is to be obtained by spacing sensor.Toy vehicle velocity value VcIt is to be calculated by the vehicle wheel speed value of wheel speed sensors acquisition, either
It is obtained from the speed signal on vehicle bus.Default minimum threshold of distance SoIt is the minimum target of preset vehicle and front truck
Distance.The speed difference and actual range of vehicle and front truck and the range difference of target range are specifically according to formula Δ V=Vc-VfAnd
Δ S=S-SoIt is calculated.
The operation 106 of the present embodiment is specifically to table look-up to obtain corresponding braking torque according to speed difference Δ V and range difference Δ S
Value TBreakReg, wherein table is the mapping table of pre-set brake torque value and speed difference and range difference, such as following table 1 institute
Show.
Table 1
| ΔSj | ΔSj-1 | ΔSj-2 | … | ΔS2 | ΔS1 | 0 | |
| ΔVi | Ti,j | Ti,j-1 | Ti,j-2 | … | Ti,2 | Ti,1 | Tmax |
| ΔVi-1 | Ti-1,j | Ti-1,j-1 | Ti-1,j-2 | … | Ti-1,2 | Ti-1,1 | Tmax |
| ΔVi-2 | Ti-2,j | Ti-2,j-1 | Ti-2,j-2 | … | Ti-2,2 | Ti-2,1 | Tmax |
| … | … | … | … | … | … | … | … |
| ΔV2 | T2,j | T2,j-1 | T2,j-2 | … | T2,2 | T2,1 | Tmax |
| ΔV1 | T1,j | T1,j-1 | T1,j-2 | … | T1,2 | T1,1 | Tmax |
| 0 | 0 | 0 | 0 | … | 0 | 0 | Tmax |
In the vehicle brake control method of the present embodiment, it is specific that control for brake is carried out to vehicle according to the brake torque value
It include: control motor output brake torque value, further includes: controller dial plate display on-position, and control brake lamp are bright
It rises.
Wherein, control for brake is carried out to vehicle, brake torque value obtained is specifically sent to motor, control electricity
Motivation brakes vehicle according to the demand of the brake torque value, realizes Brake energy recovery, while sending instrument display control
Signal and brake lamp processed control signal, and the instrument board for controlling vehicle shows on-position, and controls brake lamp and light, after warning
Vehicle.
It please refers to shown in Fig. 2, is the structural schematic diagram of one embodiment of vehicle brake control apparatus of the present invention.This implementation
The vehicle brake control apparatus of example includes: detection unit 202, computing unit 204, acquiring unit 206 and control unit 208.Its
In:
Detection unit 202, whether the opening value for detecting vehicle accelerator pedal is zero.
Computing unit 204, the opening value in response to vehicle accelerator pedal are zero, according to the toy vehicle velocity value and front truck of acquisition
Velocity amplitude calculates the speed difference of vehicle and front truck, according to the actual distance value of the vehicle of acquisition and front truck and default minimum range threshold
Value calculates the range difference of actual range and target range.
Acquiring unit 206, for obtaining the speed difference and the corresponding brake torque value of the range difference.
Control unit 208, for carrying out control for brake to vehicle according to the brake torque value.
Based on the vehicle brake control apparatus that the above embodiment of the present invention provides, frequent starting and braking are needed in vehicle
When, brake pedal is trampled without driver, it is only necessary to which driver controls accelerator pedal and drives vehicle driving, lifts when braking is required
It plays accelerator pedal, control for brake is carried out to vehicle by vehicle brake control apparatus, i.e., it is controllable at a distance from front truck, make vehicle
Suitable spacing is kept with front truck, realizes the braking intelligent control of vehicle.
The detection unit 202 of the present embodiment be in response to receiving control for brake mode starting signal, or in response to
When the toy vehicle velocity value detected is less than preset threshold speed, start to detect whether the opening value of vehicle accelerator pedal is zero.
Wherein, control for brake mode starting signal is that the generation of control for brake mode is manually selected by driver.When detecting
When toy vehicle velocity value is less than preset threshold speed, show that vehicle is in low-speed running state.The present embodiment is manual in driver
When selecting control for brake mode, vehicle enters control for brake mode, or when vehicle is in low-speed running state, automatically into
Control for brake mode.
The vehicle brake control apparatus of the present embodiment further include: accelerator pedal sensor, for acquiring vehicle accelerator pedal
Opening information；Front truck vehicle speed sensor, for acquiring front truck velocity information；Spacing sensor, for acquiring vehicle and front truck
Actual range information；Wheel speed sensors, for acquiring vehicle wheel speed information.
Wherein, detection unit 202 is to detect the opening value of the accelerator pedal obtained by accelerator pedal sensor.If detecting
The opening value of accelerator pedal is greater than zero, shows that the positive step on the accelerator of driver, vehicle are in driving condition, does not enter braking control
Molding formula.If detecting, the opening value of accelerator pedal is zero, shows driver's release the gas pedal, does not drive to vehicle
It is dynamic, then enter control for brake mode.
Computing unit 204 is according to the preceding vehicle velocity value V obtained by front truck vehicle speed sensorf, obtained by spacing sensor
Vehicle and front truck actual distance value S, by wheel speed sensors obtain vehicle wheel speed value calculate toy vehicle velocity value Vc, Huo Zhecong
The toy vehicle velocity value V that speed signal on vehicle bus obtainscAnd the preset minimum target for indicating vehicle and front truck away from
From default minimum threshold of distance So, according to formula Δ V=Vc-VfAnd Δ S=S-SoCalculate the speed difference and reality of vehicle and front truck
The range difference of border distance and target range.
Acquiring unit 206 is specifically to table look-up to obtain corresponding brake torque value according to speed difference Δ V and range difference Δ S
TBreakReg, wherein table is the mapping table of pre-set brake torque value and speed difference and range difference, such as table 1 above institute
Show.
In the vehicle brake control apparatus of the present embodiment, control unit 208 is specifically the knot according to acquiring unit 206
Fruit controls the motor output brake torque value, while according to acquiring unit 206 as a result, controller dial plate display braking shape
State, and control brake lamp light.
Wherein, brake torque value obtained is specifically sent to motor by control unit 208, controls motor root
Vehicle is braked according to the demand of the brake torque value, realizes Brake energy recovery, while sending instrument display control signal
And brake lamp controls signal, the instrument board for controlling vehicle shows on-position, and controls brake lamp and light, to warn rear car.
The control unit 208 of the present embodiment is also used to release system when the opening value for detecting vehicle accelerator pedal is greater than zero
Dynamic control model.
It please refers to shown in Fig. 3, is the structural schematic diagram of a specific embodiment of vehicle brake control apparatus of the present invention.This
Detection unit 202,204 acquiring unit 206 of computing unit and the control unit 208 of the vehicle brake control apparatus of embodiment are integrated
In entire car controller, detection unit 202, computing unit 204, acquiring unit 206 and control unit are completed by entire car controller
208 function.Concrete function about detection unit 202, computing unit 204, acquiring unit 206 and control unit 208 please join
See the explanation to Fig. 2.Wherein, in the present embodiment, toy vehicle velocity value is obtained from the speed signal on vehicle bus.
In addition, the present embodiment additionally provides a kind of vehicle with above-mentioned vehicle brake control apparatus, especially a kind of electricity
Motor-car and hybrid electric vehicle etc. have the vehicle of the power assembly form of motor direct-drive vehicle driving.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with its
The difference of its embodiment, the same or similar part cross-reference between each embodiment.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (9)
1. a kind of vehicle brake control method characterized by comprising
In response to receiving control for brake mode starting signal, or the toy vehicle velocity value in response to detecting less than preset speed
Threshold value is spent, starts to execute whether the opening value of detection vehicle accelerator pedal is zero；
Whether the opening value for detecting vehicle accelerator pedal is zero；
Opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value of acquisition and preceding vehicle velocity value calculate vehicle with
The speed difference of front truck, according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance calculate actual range with
The range difference of target range；
The speed difference and the corresponding brake torque value of the range difference are obtained, to carry out according to the brake torque value to vehicle
Control for brake.
2. the method according to claim 1, wherein described carry out braking control to vehicle according to the brake torque value
System includes: control motor output brake torque value.
3. according to the method described in claim 2, it is characterized in that, described carry out braking control to vehicle according to the brake torque value
System further include: controller dial plate shows that on-position, and control brake lamp light.
4. the method according to claim 1, wherein
The acquisition speed difference and the corresponding brake torque value of the range difference include: according to the speed difference and it is described away from
Deviation tables look-up to obtain corresponding brake torque value, and the table is pair of pre-set brake torque value and speed difference and range difference
Answer relation table；
The method also includes: when the opening value for detecting vehicle accelerator pedal is greater than zero, release control for brake mode.
5. a kind of vehicle brake control apparatus characterized by comprising
Detection unit, in response to receiving control for brake mode starting signal, or the speed of the vehicle in response to detecting
When angle value is less than preset threshold speed, start to detect whether the opening value of vehicle accelerator pedal is zero；
Computing unit, the opening value in response to vehicle accelerator pedal are zero, according to the toy vehicle velocity value of acquisition and preceding vehicle velocity value
The speed difference for calculating vehicle and front truck is calculated according to the actual distance value of the vehicle of acquisition and front truck and default minimum threshold of distance
The range difference of actual range and target range；
Acquiring unit, for obtaining the speed difference and the corresponding brake torque value of the range difference；
Control unit, for carrying out control for brake to vehicle according to the brake torque value.
6. device according to claim 5, which is characterized in that described control unit, with specific reference to the acquiring unit
As a result, control motor output brake torque value.
7. device according to claim 6, which is characterized in that described control unit is also used to according to the acquiring unit
As a result, controller dial plate show on-position, and control brake lamp light.
8. device according to claim 5, which is characterized in that further include:
Accelerator pedal sensor, for acquiring the opening information of vehicle accelerator pedal；
Front truck vehicle speed sensor, for acquiring front truck velocity information；
Spacing sensor, for acquiring the actual range information of vehicle and front truck；
Wheel speed sensors, for acquiring vehicle wheel speed information；
The computing unit is also used to calculate toy vehicle velocity value according to the vehicle wheel speed value of acquisition；Or it is obtained from vehicle bus
Take toy vehicle velocity value；
The acquiring unit tables look-up to obtain corresponding brake torque value with specific reference to the speed difference and the range difference, described
Table is the mapping table of pre-set brake torque value and speed difference and range difference；
Described control unit is also used to release control for brake mode when the opening value for detecting vehicle accelerator pedal is greater than zero.
9. a kind of vehicle characterized by comprising the vehicle braking control according to any claim in claim 5 to 8
Device processed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510907286.6A CN106864450B (en) | 2015-12-09 | 2015-12-09 | Vehicle brake control method, device and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510907286.6A CN106864450B (en) | 2015-12-09 | 2015-12-09 | Vehicle brake control method, device and vehicle |
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| CN106864450A CN106864450A (en) | 2017-06-20 |
| CN106864450B true CN106864450B (en) | 2019-04-16 |
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| JP6580108B2 (en) * | 2017-11-06 | 2019-09-25 | 本田技研工業株式会社 | Driving control device for autonomous driving vehicle |
| CN109753056B (en) * | 2017-11-07 | 2022-12-20 | 北京图森未来科技有限公司 | Method and device for dynamically controlling speed of automatic cruising of vehicle |
| CN108363396A (en) * | 2018-03-06 | 2018-08-03 | 苏州登阳信息技术有限公司 | A kind of automated driving system based on speed and distance |
| CN108556844B (en) * | 2018-06-15 | 2020-06-30 | 北京新能源汽车股份有限公司 | Vehicle control method, device and equipment and vehicle |
| CN112441000B (en) * | 2019-08-16 | 2022-07-19 | 华为技术有限公司 | Vehicle braking control method and device |
| CN111216728B (en) * | 2020-03-17 | 2021-03-02 | 江铃汽车股份有限公司 | Automatic brake control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010163058A (en) * | 2009-01-16 | 2010-07-29 | Fujitsu Ten Ltd | Vehicular driving assistance device |
| JP5835242B2 (en) * | 2013-02-01 | 2015-12-24 | 株式会社デンソー | Vehicle safety control system |
| JP6172451B2 (en) * | 2013-08-12 | 2017-08-02 | マツダ株式会社 | Braking device for vehicle |
| CN104627176A (en) * | 2013-11-14 | 2015-05-20 | 北汽福田汽车股份有限公司 | Control method and system of electric vehicle |
| KR20150071568A (en) * | 2013-12-18 | 2015-06-26 | 현대자동차주식회사 | System and method for autonomous emergency braking |
| CN104925042B (en) * | 2015-05-18 | 2018-11-30 | 北京新能源汽车股份有限公司 | A kind of pre- braking method of active for pure electric automobile |
-
2015
- 2015-12-09 CN CN201510907286.6A patent/CN106864450B/en not_active Expired - Fee Related
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| CN106864450A (en) | 2017-06-20 |
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