CN106114478A - brake control method, device and vehicle - Google Patents

brake control method, device and vehicle Download PDF

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Publication number
CN106114478A
CN106114478A CN201610619595.8A CN201610619595A CN106114478A CN 106114478 A CN106114478 A CN 106114478A CN 201610619595 A CN201610619595 A CN 201610619595A CN 106114478 A CN106114478 A CN 106114478A
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China
Prior art keywords
brake
vehicle
barrier
described vehicle
exercise data
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Granted
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CN201610619595.8A
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Chinese (zh)
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CN106114478B (en
Inventor
马东辉
刘涛
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Beijing CHJ Automotive Information Technology Co Ltd
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Beijing CHJ Automotive Information Technology Co Ltd
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Priority to CN201610619595.8A priority Critical patent/CN106114478B/en
Publication of CN106114478A publication Critical patent/CN106114478A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger

Abstract

The invention provides a kind of brake control method, device and vehicle, the method includes: in vehicle operation, obtains the exercise data of this vehicle, and this exercise data is for describing the traffic information of this vehicle periphery and the driving information of this vehicle;According to this exercise data, determine that this vehicle is the need of actively brake;In the case of needs actively brake, generating brake control instruction, this brake control instruction produces for the brake force braking this vehicle for controlling motor;Realize the brake to vehicle according to brake control instruction to control.The technical scheme of the embodiment of the present invention, utilizes electric automobile by power-actuated feature, produces the brake force for abrupt deceleration vehicle by controlling motor, without by actuating device, braking energy is transferred to brake, and design is simple, easily realizes.

Description

Brake control method, device and vehicle
Technical field
The present embodiments relate to vehicular field, and more particularly, to brake control method, device and vehicle.
Background technology
At present, urban traffic environment is extremely complex, there will be some fortuitous events, such as front truck at any time prominent in driving process So brake, side vehicle are jumped a queue suddenly, the pedestrian front swarming into traffic route suddenly etc., make the driver of front vehicle be difficult to Quickly make brake.Accordingly, it would be desirable to a kind of brake system, it is possible to do not rely on the operation of driver and brake.For The brake type of difference vehicle, does not relies on the operation of driver by vehicle and the brake that carries out is referred to as actively brake, by vehicle The brake carried out because of the brake operation of driver is referred to as passive brake.
In order to solve the problems referred to above, target typically uses a kind of automatic emergency brake system (AEB, Autonomous Emergency Brake) system, this system, when the distance with preceding object thing is less than safe distance, actively controls brake system Dynamic pedal makes vehicle automatically be braked such that it is able to avoid knocking into the back and prevent collision.AEB system is by controlling skidding Pedal produces braking maneuver, controls braking effect and by braking energy by actuating device (such as mechanical driving device, hydraulic pressure biography Dynamic device or pneumatic actuator etc.) it is transferred to brake (such as drum brake, disk brake etc.), relate to parts many, Structure is complicated, and R&D costs are high.
Summary of the invention
Embodiments provide a kind of brake control method, device and vehicle, it is possible to utilize electric automobile by electric power The feature driven, it is achieved actively brake.
First aspect, it is provided that a kind of control method for vehicle, for there being motor to provide the vehicle of power, the method includes: In vehicle operation, obtaining the first environment data of this vehicle periphery, wherein, this vehicle is provided power by motor;According to These first environment data, determine that this vehicle is the need of actively brake;In the case of needs actively brake, generate brake and refer to Order, and send this brake instruction to the entire car controller of this vehicle, this brake instruction is used for indicating this vehicle control unit controls to be somebody's turn to do Motor produces the brake force for braking this vehicle.
In conjunction with first aspect, in the first possible implementation of first aspect, generate brake control instruction concrete It is embodied as: determine current brake emergency degree according to this exercise data and brake strategy;Generate the brake emergency current with this The brake control instruction that degree is corresponding, wherein, different brake emergency degree is corresponding to different brake control instructions.
In conjunction with first aspect and above-mentioned implementation thereof, in the implementation that the second of first aspect is possible, this fortune Dynamic data include the one or any multiple combination in data below:
The type of the barrier of vehicle, the type of this barrier includes life entity or non-life body;
Vehicle is relative to the range information of barrier;
Vehicle is relative to the velocity information of barrier;
Rainfall information when vehicle runs and/or wheel offset distance information.
In conjunction with first aspect and above-mentioned implementation thereof, in the third possible implementation of first aspect, work as root When determining current brake emergency degree according to this exercise data and brake strategy, this brake strategy includes in following brake strategy One or any multiple combination:
When this exercise data includes the type of the barrier of vehicle, this brake strategy includes first brake strategy, and this is years old One brake strategy includes: this barrier be brake emergency degree corresponding in the case of this life entity be non-life higher than this barrier Brake emergency degree corresponding in the case of life body;
When this exercise data includes vehicle relative to the range information of barrier, this brake strategy includes the second brake plan Slightly, this second brake strategy includes: brake emergency corresponding in the case of this vehicle is near relative to the range information of this barrier The brake emergency degree that degree is corresponding in the case of remote relative to the range information of this barrier higher than this vehicle;
When this exercise data includes vehicle relative to the velocity information of barrier, this brake strategy includes the 3rd brake plan Slightly, the 3rd brake strategy includes: this vehicle relative to this barrier fireballing in the case of corresponding brake emergency degree Higher than this vehicle relative to this barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, this is stopped Car strategy includes that the 4th brake strategy, the 4th brake strategy include: corresponding in the case of when this vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when brake emergency degree is run higher than this vehicle, car when this vehicle runs In the case of when brake emergency degree corresponding in the case of wheel offset distance is big is run higher than this vehicle, wheel offset distance is little Corresponding brake emergency degree.
In conjunction with first aspect and above-mentioned implementation thereof, in the 4th kind of possible implementation of first aspect, when this When exercise data includes the type of barrier, the type of the barrier obtaining this vehicle is implemented as: obtain this vehicle obstacle The image information of thing: the image information of this barrier is carried out graphical analysis and determines the type of this barrier.
In conjunction with first aspect and above-mentioned implementation thereof, in the 5th kind of possible implementation of first aspect, according to This exercise data, determines that this vehicle is implemented as the need of actively brake:
In the case of this vehicle is less than preset security distance relative to the distance of barrier, determine that this vehicle needs actively Brake;
When this exercise data also includes the type of the barrier of this vehicle, little relative to the distance of barrier at this vehicle In the case of the preset security distance that the type of this barrier is corresponding, determine that this vehicle needs actively brake;
When this exercise data also includes this vehicle relative to the velocity information of barrier, at this vehicle relative to barrier The distance preset security distance corresponding relative to the speed of barrier less than this vehicle in the case of, determine that this vehicle needs main Dynamic brake;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, at this Wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or this vehicle makes a reservation for more than second In the case of threshold value, determine that this vehicle needs actively brake.
In conjunction with first aspect and above-mentioned implementation thereof, in the 6th kind of possible implementation of first aspect, the party Method also includes: in the case of needs actively brake, open the brake lamp of this vehicle.
Second aspect, it is proposed that a kind of braking control device, for there being motor to provide the vehicle of power, this brake controls dress Put and include: acquiring unit, in vehicle operation, obtain the first environment data of this vehicle periphery, wherein, this vehicle Power is provided by motor;Determine unit, for according to these first environment data, determine that this vehicle is the need of actively brake;Refer to Making signal generating unit, for, in the case of needs actively brake, generating brake instruction, wherein, this brake instruction is used for indicating this This motor of the vehicle control unit controls of vehicle produces the brake force for braking this vehicle;Instruction output unit, for whole to this Vehicle controller sends this brake instruction.
In conjunction with second aspect, in the first possible implementation of second aspect, this instruction signal generating unit is specifically used In: determine current brake emergency degree according to this exercise data and brake strategy;Generate the brake emergency degree current with this Corresponding brake control instruction, wherein, different brake emergency degree is corresponding to different brake control instructions.
In conjunction with second aspect and above-mentioned implementation thereof, in the implementation that the second of second aspect is possible, this fortune Dynamic data include the one or any multiple combination in data below:
The type of the barrier of vehicle, the type of this barrier includes life entity or non-life body;
Vehicle is relative to the range information of barrier;
Vehicle is relative to the velocity information of barrier;
Rainfall information when vehicle runs and/or wheel offset distance information.
In conjunction with second aspect and above-mentioned implementation thereof, in the 4th kind of possible implementation of second aspect, when this Instruction signal generating unit according to this exercise data and brake strategy determine current brake emergency degree time, this brake strategy include with One or any multiple combination in lower brake strategy:
When this exercise data includes the type of the barrier of vehicle, this brake strategy includes first brake strategy, and this is years old One brake strategy includes: this barrier be brake emergency degree corresponding in the case of this life entity be non-life higher than this barrier Brake emergency degree corresponding in the case of life body;
When this exercise data includes vehicle relative to the range information of barrier, this brake strategy includes the second brake plan Slightly, this second brake strategy includes: brake emergency corresponding in the case of this vehicle is near relative to the range information of this barrier The brake emergency degree that degree is corresponding in the case of remote relative to the range information of this barrier higher than this vehicle;
When this exercise data includes vehicle relative to the velocity information of barrier, this brake strategy includes the 3rd brake plan Slightly, the 3rd brake strategy includes: this vehicle relative to this barrier fireballing in the case of corresponding brake emergency degree Higher than this vehicle relative to this barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, this is stopped Car strategy includes that the 4th brake strategy, the 4th brake strategy include: corresponding in the case of when this vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when brake emergency degree is run higher than this vehicle, car when this vehicle runs In the case of when brake emergency degree corresponding in the case of wheel offset distance is big is run higher than this vehicle, wheel offset distance is little Corresponding brake emergency degree.
In conjunction with second aspect and above-mentioned implementation thereof, in the 5th kind of possible implementation of second aspect, when this When exercise data includes the type of barrier, in the case of the type for the barrier obtaining this vehicle, this acquiring unit Specifically for: obtain the image information of this vehicle barrier: the image information of this barrier is carried out graphical analysis and determines this barrier Hinder the type of thing.
In conjunction with second aspect and above-mentioned implementation thereof, in the 6th kind of possible implementation of second aspect, this is true Cell specifically for:
When this exercise data includes this vehicle relative to the range information of barrier, at this vehicle relative to barrier In the case of distance is less than preset security distance, determine that this vehicle needs actively brake;
When this exercise data also includes the type of the barrier of this vehicle, little relative to the distance of barrier at this vehicle In the case of the preset security distance that the type of this barrier is corresponding, determine that this vehicle needs actively brake;
When this exercise data also includes this vehicle relative to the velocity information of barrier, at this vehicle relative to barrier The distance preset security distance corresponding relative to the speed of barrier less than this vehicle in the case of, determine that this vehicle needs main Dynamic brake;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, at this Wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or this vehicle makes a reservation for more than second In the case of threshold value, determine that this vehicle needs actively brake.
In conjunction with second aspect and above-mentioned implementation thereof, in the 7th kind of possible implementation of second aspect, this is stopped Car control unit is additionally operable to: in the case of needs actively brake, open the brake lamp of this vehicle.
The third aspect, it is provided that another kind of braking control device, for there being motor to provide the vehicle of power, this brake controls Device includes processor, this processor side in the most possible implementation performing first aspect or first aspect Method.
Fourth aspect, it is proposed that a kind of computer-readable recording medium, is used for storing computer program, this computer program Instruction including the method in the most possible implementation for performing first aspect or first aspect.
5th aspect, it is proposed that a kind of vehicle, including in the above-mentioned implementation of the third aspect or the third aspect any one The braking control device of possible implementation, or include any one in the above-mentioned implementation of fourth aspect or fourth aspect The braking control device of possible implementation.
Based on above technical scheme, the brake control method of the embodiment of the present invention, device and vehicle, according to the motion of vehicle Data determine the need for actively braking, and generate brake control instruction in the case of needs actively brake, and according to brake Control instruction controls motor and produces the brake force for abrupt deceleration vehicle, it is achieved the brake to vehicle controls, and the program utilizes electronic Automobile, by power-actuated feature, produces the brake force for abrupt deceleration vehicle by controlling motor, fills without by transmission Putting and braking energy is transferred to brake, design is simple, easily realizes.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, will make required in the embodiment of the present invention below Accompanying drawing be briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing.
Fig. 1 is the indicative flowchart of the control method for vehicle of an embodiment of the present invention.
Fig. 2 is the external structure schematic diagram of the vehicle of an embodiment of the present invention.
Fig. 3 is the structural representation of the braking control device of an embodiment of the present invention.
Fig. 4 is the structural representation of the braking control device of another embodiment of the present invention.
Fig. 5 is the structural representation of the brake control system of an embodiment of the present invention.
Fig. 6 is the structural representation of the vehicle of an embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiment wholely.Based on this Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of not making creative work Execute example, all should belong to the scope of protection of the invention.
Should be understood that the technical scheme of the embodiment of the present invention can apply to including electric automobile, hybrid vehicle Have motor participate in drive automobile.
The embodiment of the present invention proposes a kind of control method for vehicle, braking control device and vehicle, by controlling vehicle Motor produces the brake force for braking this vehicle, thus realizes actively braking.Specific embodiment is as follows:
Fig. 1 is the indicative flowchart of the control method for vehicle of an embodiment of the present invention.The method of Fig. 1 is used for there is motor The vehicle of power is provided, braking control device performs.Should be understood that this vehicle can be pure electrodynamic electric automobile, it is possible to To be the electric automobile of hybrid electrically power, the embodiment of the present invention is without limitation.In concrete application, this brake controls dress Putting can be a control system on an intelligent chip, or vehicle, etc..The method can include following content.
110, in vehicle operation, obtain the exercise data of this vehicle, this exercise data is used for describing this vehicle week The traffic information enclosed and the driving information of this vehicle.
Should be understood that in the process of moving, there is the scene that multiple needs carry out actively braking, such as, and between barrier Distance less than safe distance, occur to break away and break away to exceed that preset distance, rainfall or snowfall are excessive causes pilot's line of vision to be subject to Resistance, etc..It should be understood, of course, that herein enumerate only schematic, need actively to brake in actual driving environment Scene is not limited to this.
For determining that vehicle, currently the need of actively brake, needs to obtain exercise data when vehicle runs, this motion number According to can be used for the driving information etc. of traffic information and this vehicle describing this vehicle periphery, such as, it may include obstacle information, shadow Ring rainfall or the information of snowfall, the information of vehicle generation sideslip of pilot's line of vision, etc..
Specifically, this exercise data can include the one or any multiple combination in data below:
The type of the barrier of vehicle, the type of this barrier includes life entity or non-life body;
Vehicle is relative to the range information of barrier;
Vehicle is relative to the velocity information of barrier;
Rainfall information when vehicle runs and/or wheel offset distance information.
120, according to this exercise data, determine that this vehicle is the need of actively brake.
In the embodiment of the present invention, can determine that this vehicle is the need of actively brake by analyzing this exercise data.
Such as, can analyze whether vehicle can knock barrier according to current movement tendency.If this exercise data Analysis result shows vehicle to continue by original speed traveling can face the danger bumping against barrier, it is determined that vehicle needs actively Brake, it is to avoid collide.
The most such as, can analyze whether current driver's sight line is affected by weather.If the analysis result of this exercise data Show that the pilot's line of vision of vehicle is seriously obstructed because of rainy grade, do not see surface conditions, it is determined that vehicle needs actively brake, Avoid occurring unexpected (such as, travel direction deviation road surface, etc.) because of unsighted
The most such as, if the analysis result of this exercise data shows that vehicle occurs break away and skid off relatively large distance, it is determined that Vehicle needs actively brake, prevents to lose control of one's vehicle.
130, in the case of needs actively brake, generate brake control instruction, this brake control instruction is used for controlling electricity Machine produces the brake force for braking this vehicle.
Should be understood that the brake force for abrupt deceleration vehicle, for example, it may be the brake force contrary with the traffic direction of vehicle, Etc..
140, realize the brake to vehicle according to brake control instruction and control.
After generating brake control instruction, the brake to vehicle can be realized according to this brake control instruction and control.Have in one In the sight line scheme of body, this brake control instruction can be mail to the entire car controller of vehicle, entire car controller by braking control device The battery management system of vehicle can be controlled according to this brake control instruction, and then control motor generation for braking the system of this vehicle Power, thus carry out actively braking, etc..Certainly, in actual application, it is also possible to use other according to brake control instruction Mode realize the brake to vehicle control, the embodiment of the present invention is not limited to this.
In existing AEB system, whether use mechanical braking mode, hydraulic braking mode or air-pressure brake mode, Will relate to the multiple devices including brake pedal, and relate to the driven Design between multiple device, structure is multiple Miscellaneous.Such as, in hydraulic braking mode, the hydraulic brake system related to includes brake pedal, master cylinder, wheel cylinder, drum Formula (wheel) brake and oil pipe etc.;In air-pressure brake mode, the air braking systems related to includes brake pedal, sky Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and trachea etc.;AEB system passes through actuating device The scheme of control brake braking, more relates to the design of substantial amounts of mechanics and computing, designs and realize the most complex.
And in the embodiment of the present invention, determine the need for actively braking according to the exercise data of vehicle, and at needs actively Generate brake control instruction in the case of brake, and control the motor generation braking for abrupt deceleration vehicle according to brake control instruction Power, it is achieved the brake to vehicle controls, the program utilizes electric automobile by power-actuated feature, produces use by controlling motor Brake force in abrupt deceleration vehicle such that it is able to actively brake deceleration, improves travel safety, incites somebody to action without by actuating device Braking energy is transferred to brake, and design is simple, easily realizes.
Below, the content that will potentially include according to exercise data, the method for the embodiment of the present invention is further described. For ease of describing, the embodiment of the present invention introduces the structural representation of Fig. 2.Fig. 2 is outside the vehicle of an embodiment of the present invention Portion's structural representation.
In the step 110 shown in Fig. 1, need to obtain the exercise data of vehicle.
Should be understood that the exercise data of vehicle can include the information of the barrier of vehicle.This barrier can be included in vehicle Running route front or front, side this vehicle can be travelled the object constituting obstacle, such as, front vehicles, pedestrian, dynamic Boulder on thing, road, tree on the way, etc..The information of barrier can include that vehicle is believed relative to the distance of barrier Breath or vehicle are relative to the velocity information of barrier or the type etc. of the barrier of vehicle.
Specifically, believing relative to the speed of barrier relative to the range information of barrier or vehicle for obtaining vehicle During breath, braking control device can be measured by equipment such as radars.Radar is normally at the front end of vehicle, and such as, radar can It is positioned at the tip position of the vehicle front window shown in the 202 of embodiment illustrated in fig. 2, etc..In prior art, radar frequently includes Range finding and speed measuring function such that it is able to directly measurement vehicle relative to the range information of barrier and vehicle relative to barrier Velocity information.If radar only includes distance measurement function, braking control device also can be found range by secondary and time difference determines car Relative to the velocity information of barrier.Might as well assume that the distance measuring vehicle and barrier at time point t1 is d1, time Between put t2 to measure the distance of vehicle and barrier be d2, then relative velocity v=(d2-d1)/(t2-t1).It should be understood, of course, that Can be by using radar in a short period of time (in referring to vehicle displacement the most negligible a period of time, such as, 0.01 Second, etc.) the same barrier of repetitive measurement, using the meansigma methods of measurement result (including distance and/or speed) as final Measurement result.If there is multiple radars, can by multiple radars for same barrier measurement result (include distance and/ Or speed) averaged is as final measurement result.
Additionally, when the type for the barrier obtaining vehicle, braking control device can be adopted by imaging first-class image Collection equipment obtains the image information of the barrier of this vehicle, then the image information of this barrier is carried out graphical analysis determines this barrier Hinder the type of thing.Such as, determine that barrier is life entity or non-life body, etc..Image first-class image capture device general It also is located at the tip position of the vehicle front window shown in the 202 of the front end of vehicle, such as embodiment illustrated in fig. 2, etc..
Should be understood that in the embodiment of the present invention, radar and photographic head can be concentrated as required or be arranged in this car discretely On.In a kind of discrete modes of emplacement, for example, it is also possible to radar is placed on the front bumper of vehicle, or will shooting Head is placed in the tip position of front window, etc..Should be understood that in the embodiment of the present invention, it is not limited to use radar and photographic head Gather data, for example, it is also possible to use other range finding/speed measuring device or image collecting device, etc..Should be understood that by combining Use photographic head and radar, vehicle can be made more fully to obtain the exercise data of vehicle, thus know vehicle week more accurately The traffic information that encloses (such as, whether it is life entity with the distance of barrier and the relative velocity of barrier, barrier, etc.).
It should be understood, of course, that and other data acquisition unit can also be installed on this vehicle, or, radar or photographic head also may be used Other function integrated.Such as, photographic head can be with integrated speed measuring function.Photographic head sends the reference signal for testing the speed, this ginseng Examine signal and be reflected back this photographic head by barriers such as the vehicles or pedestrians in front.Photographic head is according to the reference signal reflected Direction, the transmission time of reference signal and recovery time etc., it is possible to determine the distance between this vehicle and barrier, orientation etc.. According to multiple point in time measurement and distance between barrier, this vehicle phase relative to this barrier can be further determined that To speed.According to this distance and this relative velocity, it may be determined that time margin, it is used for representing that this vehicle knocks this barrier with present speed Time hindering thing etc..Or, this vehicle can be mounted directly a speed measuring device, etc..
Additionally, braking control device can be believed by imaging the image of the barrier that first-class image capture device obtains this vehicle Breath, then the image information of this barrier is carried out graphical analysis determine the type of this barrier.
Should be understood that the exercise data of vehicle may also include rainfall information when vehicle runs and/or wheel offset distance Information.If rainfall is relatively big, the rainwater of landing influences whether the sight line of driver, needs actively brake;If the car of vehicle When wheel offset distance is more than predetermined threshold, then show to break away, it is also desirable to actively brake.
Specifically, such as, braking control device can obtain wheel offset distance letter by the wheel speed sensors on vehicle etc. Breath, obtains rainfall information when vehicle runs by the rain sensor on vehicle etc..Certainly, also it is not excluded for using other to set Rainfall information when standby collection vehicle is run and/or the probability of wheel offset distance information.
After the step 110 of Fig. 1, need to perform step 120, exercise data is analyzed, to determine the need for Actively brake.
Alternatively, as an embodiment, when this exercise data includes this vehicle relative to the range information of barrier, Step 120 is implemented as: in the case of this vehicle is less than preset security distance relative to the distance of barrier, determine this car The actively brake of needs.
For example, it is assumed that the safe distance preset is 2m;If preceding object thing is the vehicle of stagnation of movement, and this vehicle and stagnation of movement Vehicle between distance less than 2m, determine needs actively brake.
Alternatively, as another embodiment, when this exercise data is except including this vehicle distance relative to barrier Outside information, when also including the type of this vehicle barrier, step 120 is implemented as: this vehicle relative to barrier away from In the case of the preset security distance that the type less than this barrier is corresponding, determine that this vehicle needs actively brake.
For example, it is assumed that preset security distance corresponding to non-life body is 2m, the preset security distance that life entity is corresponding is 5m, Preceding object thing distance vehicle is 3m;If preceding object thing is boulder, obstacle identity is non-life body, then vehicle is with front The distance of side's barrier is more than preset security distance 2m that non-life body is corresponding, determines and need not actively brake;If front hinders Hindering thing is people, and obstacle identity is life entity, then the preset security that vehicle is corresponding less than life entity with the distance of preceding object thing Distance 5m, determines needs actively brake.
The method that should be understood that the embodiment of the present invention, this barrier be static or the barrier of low speed (vehicle of stagnation of movement, The pedestrian of walking, the vehicle being advanced slowly, etc.) time, it is judged that the most accurate.
For movement velocity barrier faster, also can use more accurate method, it may be judged whether need actively brake.
Alternatively, as further embodiment, when this exercise data is except including this vehicle distance relative to barrier Outside information, when also including this vehicle relative to the velocity information of barrier, step 120 is implemented as: this vehicle relative to In the case of the preset security distance that the distance of barrier is corresponding relative to the speed of barrier less than this vehicle, determine this vehicle Need actively brake.
The safe distance that embodiment of the present invention medium velocity is corresponding, is referred to safe driving general knowledge and is configured.Security row Having a principle maintained safe distance in car general knowledge, i.e. the maintain safe distance one thousandth into speed, such as speed are 50km/h, keep Spacing 50m, speed is 120km/h, and maintain safe distance 120m, say, that the safe distance that the relative velocity of 50km/h is corresponding can To be set to 50m, the safe distance that the relative velocity of 120km/h is corresponding could be arranged to 120m.In the embodiment of the present invention, it is assumed that This vehicle is 50km/h (in other words, front vehicle speed 50km/h lower than this car speed) with the relative velocity of front vehicles, if This vehicle and front truck spacing, at a distance of less than or equal to 50 meters, determine that this vehicle needs actively brake.
In inventive embodiments, the safe distance preset by each speed, it is ensured that enough safety shut-down distances, from And realize safe active brake.It should be understood, of course, that and between safe distance and speed, be likely present a kind of corresponding relation.Example As, the numerical value of this safe distance (in units of m) is equal to the numerical value * 1 of speed (in units of km/h).
It should be understood, of course, that the setting of spacing in safe driving general knowledge, it is also contemplated that the person's development time.And the present invention The control method for vehicle of embodiment, relies on braking control device and automatically triggers, it is not necessary to driver participates in, and this safe distance is permissible More smaller than arranging of the spacing in safe driving general knowledge.Such as, the numerical value of safe distance (in units of m) is equal to speed relatively The numerical value * 0.95 of degree (in units of km/h), etc..
Additionally, actively brake gear also can arrange different safe distances according to the type of barrier for same speed. Such as, for non-life body, the safe distance that the relative velocity of 50km/h is corresponding could be arranged to 50m;For life entity, The safe distance that the relative velocity of 50km/h is corresponding could be arranged to 60m, etc..
Should be understood that in addition to judging whether based on safe distance to need actively brake, being also based on time margin judgement is No needs is actively braked, and it is required that this time margin represents that this vehicle collides when keeping constant with the relative velocity of barrier Time.
Alternatively, as another embodiment, when this exercise data is except including this vehicle distance relative to barrier Outside information, when also including this vehicle relative to the velocity information of barrier, step 120 is implemented as: this vehicle relative to In the case of the preset security time margin that the time margin of barrier is corresponding relative to the speed of barrier less than this vehicle, really This vehicle fixed needs actively brake, and this time margin represents that this vehicle collides when keeping constant with the relative velocity of barrier The required time.
From formula d=vt, when speed is constant, a safe distance is corresponding to a time margin.Therefore, similar Ground, the setting of safety time also refers to safe driving general knowledge and is configured.
In the embodiment of the present invention, the safety time preset by each relative velocity, it is ensured that enough safety shut-down time, Thus realize safe active brake.
Alternatively, as another embodiment, rainfall information when this exercise data includes that this vehicle runs and/or During wheel offset distance information, step 120 is implemented as: the rainfall when this vehicle runs is more than the first predetermined threshold And/or the wheel offset distance during operation of this vehicle is more than in the case of the second predetermined threshold, determines this vehicle to need actively and stops Car.
When the rainy day, more than moderate rain the sight line of driver can be caused large effect.Meanwhile, the rainy day is relatively easy to send out Raw sideslip, needs actively brake.Certainly, snowy weather is relatively easy to the sight line of driver is caused large effect, or It is to break away, needs actively brake.Such as, could dictate that if 24 hourly rainfall depths are more than 17mm, it is determined that need actively to stop Car;The most such as, could dictate that if wheel offset distance is more than 5cm, it is determined that need actively brake;Etc..Or, can comprehensively examine Consider rainfall information and wheel offset distance information, it is stipulated that if 24 hourly rainfall depths are more than 10mm, and wheel offset distance is big In 3cm, it is determined that need actively brake, etc..
In the embodiment of the present invention, by analyzing rainfall and/or wheel offset distance, determine that vehicle is the need of actively subtracting Speed such that it is able to avoid the generation of contingency.
After the step 120 of Fig. 1, need to perform step 130, generate brake control instruction.
Specifically, step 130 can be embodied as:
Current brake emergency degree is determined according to this exercise data and brake strategy;
Generate the brake control instruction corresponding with this current brake emergency degree, wherein, different brake emergency degree Corresponding to different brake control instructions.
Should be understood that and can generate brake instruction in several ways.For example, it is possible to choose from default brake instruction set The brake instruction corresponding with this current brake emergency degree, this brake instruction set includes multiple brake instruction, the plurality of stops The corresponding different brake emergency degree of different brake instruction in car instruction.The most such as, can be according to the level of this brake emergency degree Not, dynamically generate brake instruction, the parameter of this brake instruction wherein can include the size of brake force, the size of this brake force with The rank of this brake emergency degree is correlated with, etc..
Should be understood that in the embodiment of the present invention, by determining brake emergency degree according to exercise data and brake strategy, and then Select corresponding brake control instruction such that it is able to realize the active brake under the application scenarios of different brake emergency degree, While avoiding sending out into collision, provide the user more preferable experience.
In concrete application scenarios, need, by analyzing exercise data, to determine in conjunction with the brake slightly different scene of plan Different brake emergency degree, thus generate control instruction of braking accordingly, to realize different brake control.
Specifically, the one or any multiple combination during this brake strategy includes following brake strategy:
When this exercise data includes the type of vehicle barrier, this brake strategy includes first brake strategy, and this is first years old Brake strategy includes: this barrier be brake emergency degree corresponding in the case of this life entity be non-life higher than this barrier Brake emergency degree corresponding in the case of body.For example, it is assumed that brake emergency degree is divided into some levels, 1 grade is minimum, if obstacle Species type is that life entity then brake emergency degree adds 2, if obstacle identity is life entity, brake emergency degree keeps constant, Etc..In the embodiment of the present invention, by for barrier be life entity scene setting than barrier be the scene of non-life body more High level brake emergency degree, it is possible to preferably avoid vehicle to bump against life entity, preferably avoid the occurrence of and jeopardize other people life The traffic accident of safety occurs.
When this exercise data includes vehicle relative to the range information of barrier, this brake strategy includes the second brake plan Slightly, this second brake strategy includes: brake emergency corresponding in the case of this vehicle is near relative to the range information of this barrier The brake emergency degree that degree is corresponding in the case of remote relative to the range information of this barrier higher than this vehicle.For example, it is assumed that Brake emergency degree is divided into some levels, and 1 grade is minimum, if distance often reduces 2m, brake emergency degree adds 1, etc..The present invention In embodiment, by for obstacle distance closer to the brake emergency degree of scene setting higher level, it is possible to preferably avoid Vehicle bumps against barrier, preferably avoids the traffic accident bumping against barrier to occur.
When this exercise data includes vehicle relative to the velocity information of barrier, this brake strategy includes the 3rd brake plan Slightly, the 3rd brake strategy includes: this vehicle relative to this barrier fireballing in the case of corresponding brake emergency degree Higher than this vehicle relative to this barrier slow-footed in the case of corresponding brake emergency degree.For example, it is assumed that brake emergency Degree is divided into some levels, and 1 grade is minimum, if relative velocity often improves 5km/h, brake emergency degree adds 1, etc..The present invention is real Execute in example, by the brake emergency degree for barrier relative velocity faster scene setting higher level, it is possible to preferably keep away Exempt from vehicle and bump against barrier, preferably avoid the traffic accident bumping against barrier to occur.
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, this is stopped Car strategy includes that the 4th brake strategy, the 4th brake strategy include: corresponding in the case of when this vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when brake emergency degree is run higher than this vehicle, car when this vehicle runs In the case of when brake emergency degree corresponding in the case of wheel offset distance is big is run higher than this vehicle, wheel offset distance is little Corresponding brake emergency degree.For example, it is assumed that brake emergency degree is divided into some levels, 1 grade minimum, if 24 hourly rainfall depths are every Increasing 2mm then brake emergency degree and add 1, if wheel offset distance often increases 2cm, brake emergency degree adds 1, etc..This In bright embodiment, by the brake emergency for rainfall is bigger and/or wheel offset distance is bigger scene setting higher level Degree, it is possible to preferably avoid vehicle to bump against barrier, preferably avoids the traffic accident bumping against barrier to occur.
Should be understood that the grade setting of brake emergency degree herein, be only used for illustrating in above-mentioned several brake strategy Determine the mode of brake emergency degree.
Alternatively, the method may also include that in the case of needs actively brake, opens the brake lamp of this vehicle.Brake Lamp is normally at the rear portion of vehicle, points out this car to have taken up brake measure for rearward vehicle.Such as, this brake lamp can position In Fig. 2 201 shown in position, etc..Owing to the braking control device of the embodiment of the present invention is not by mechanical brake system Dynamic pedal brakes, it is impossible to open brake lamp by brake pedal.
Braking control device can open brake lamp in several ways.Such as, braking control device can pass through full-vehicle control The brake lamp of device unlocking vehicle;The most such as, braking control device directly can send open command to brake lamp, and this open command is used In opening this brake lamp.
The technical scheme of the embodiment of the present invention, it is possible to when the brake pedal of machinery is not operated, open brake Lamp reminds front vehicle to note brake.
Based on said method, the active brake gear of the embodiment of the present invention, utilize electric automobile by power-actuated feature, Produce the brake force for abrupt deceleration vehicle by controlling motor, be transferred to brake by braking energy without by actuating device Device, it is provided that another kind diverse with existing method actively brakes scheme, design is simple, easily realizes.
Fig. 3 is the structural representation of an embodiment of the present invention braking control device 300.Should be understood that the embodiment of the present invention Braking control device 300 for there being motor to provide the vehicle of power, with stopping of the machinery such as brake pedal in prior art Vehicle brake is different.As it is shown on figure 3, braking control device 300 comprises the steps that acquiring unit 301, determines that unit 302, instruction are raw Become unit 303 and brake control unit 304.Wherein,
Acquiring unit 301, in vehicle operation, obtains the exercise data of this vehicle, and this exercise data is used for retouching State the traffic information of this vehicle periphery and the driving information of this vehicle.
Specifically, acquiring unit 301 can obtain the exercise data of vehicle by the data acquisition unit being arranged on vehicle. Such as, can carry out finding range, testing the speed by radar, by camera collection image information, gather rainfall by rain sensor Information, gathers speed and wheel offset distance information by wheel detector, etc..
Alternatively, this exercise data includes the one or any multiple combination in data below:
The type of vehicle barrier, the type of this barrier includes life entity or non-life body;
Vehicle is relative to the range information of barrier;
Vehicle is relative to the velocity information of barrier;
Rainfall information when vehicle runs and/or wheel offset distance information.
Determine that unit 302, for according to this exercise data, determines that this vehicle is the need of actively brake.
By analyzing exercise data, it may be determined that whether traffic information and the driving information of vehicle self that vehicle is current can lead The generation of cause accident, determines whether to need actively brake.
Such as, can analyze whether vehicle can knock barrier according to current movement tendency.If this exercise data Analysis result shows vehicle to continue by original speed traveling can face the danger bumping against barrier, it is determined that vehicle needs actively Brake, it is to avoid collide.
The most such as, can analyze whether current driver's sight line is affected by weather.If the analysis result of this exercise data Show that the pilot's line of vision of vehicle is seriously obstructed because of rainy grade, do not see surface conditions, it is determined that vehicle needs actively brake, Avoid occurring unexpected (such as, travel direction deviation road surface, etc.) because of unsighted
The most such as, if the analysis result of this exercise data shows that vehicle occurs break away and skid off relatively large distance, it is determined that Vehicle needs actively brake, prevents to lose control of one's vehicle.
Instruction signal generating unit 303, in the case of needs actively brake, generates brake control instruction, and this brake controls Instruction produces for the brake force braking this vehicle for controlling motor.
Brake control unit 304, controls for realizing the brake to vehicle according to this brake control instruction.
In existing AEB system, whether use mechanical braking mode, hydraulic braking mode or air-pressure brake mode, Will relate to the multiple devices including brake pedal, and relate to the driven Design between multiple device, structure is multiple Miscellaneous.Such as, in hydraulic braking mode, the hydraulic brake system related to includes brake pedal, master cylinder, wheel cylinder, drum Formula (wheel) brake and oil pipe etc.;In air-pressure brake mode, the air braking systems related to includes brake pedal, sky Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and trachea etc.;AEB system passes through actuating device The scheme of control brake braking, more relates to the design of substantial amounts of mechanics and computing, designs and realize the most complex.
And in the embodiment of the present invention, braking control device 300 is main by determining the need for according to the exercise data of vehicle Dynamic brake, and in the case of needs actively brake, generate brake control instruction, and control motor product according to brake control instruction The raw brake force for abrupt deceleration vehicle, it is achieved the brake to vehicle controls, and the program utilizes electric automobile by power-actuated spy Point, produces the brake force for abrupt deceleration vehicle by controlling motor such that it is able to actively brake deceleration, improves travel safety, Without by actuating device, braking energy being transferred to brake, design is simple, easily realizes.
Alternatively, this instruction signal generating unit 303 specifically for: according to this exercise data and brake strategy determine current stopping Car urgency level;Generate the brake control instruction corresponding with this current brake emergency degree, wherein, different brake emergency journeys Degree is corresponding to different brake control instructions.Should be understood that in the embodiment of the present invention, by true according to exercise data and brake strategy Determine brake emergency degree, and then select corresponding brake control instruction such that it is able to realize the application of different brake emergency degree Active brake under scene, while avoiding sending out into collision, has provided the user more preferable experience.
Further, the one or any multiple combination during this brake strategy includes following brake strategy:
When this exercise data includes the type of vehicle barrier, this brake strategy includes first brake strategy, and this is first years old Brake strategy includes: this barrier be brake emergency degree corresponding in the case of this life entity be non-life higher than this barrier Brake emergency degree corresponding in the case of body;
When this exercise data includes vehicle relative to the range information of barrier, this brake strategy includes the second brake plan Slightly, this second brake strategy includes: brake emergency corresponding in the case of this vehicle is near relative to the range information of this barrier The brake emergency degree that degree is corresponding in the case of remote relative to the range information of this barrier higher than this vehicle;
When this exercise data includes vehicle relative to the velocity information of barrier, this brake strategy includes the 3rd brake plan Slightly, the 3rd brake strategy includes: this vehicle relative to this barrier fireballing in the case of corresponding brake emergency degree Higher than this vehicle relative to this barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, this is stopped Car strategy includes that the 4th brake strategy, the 4th brake strategy include: corresponding in the case of when this vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when brake emergency degree is run higher than this vehicle, car when this vehicle runs In the case of when brake emergency degree corresponding in the case of wheel offset distance is big is run higher than this vehicle, wheel offset distance is little Corresponding brake emergency degree.
In the embodiment of the present invention, determine different brake emergency degree according to the above-mentioned slightly different scene of brake plan, thus Generate control instruction of braking accordingly, to realize different brake control.
Further, this determine unit 302 specifically for:
When this exercise data includes this vehicle relative to the range information of barrier, at this vehicle relative to barrier In the case of distance is less than preset security distance, determine that this vehicle needs actively brake;
When this exercise data also includes the type of this vehicle barrier, it is less than relative to the distance of barrier at this vehicle In the case of the preset security distance that the type of this barrier is corresponding, determine that this vehicle needs actively brake;
When this exercise data also includes this vehicle relative to the velocity information of barrier, at this vehicle relative to barrier The distance preset security distance corresponding relative to the speed of barrier less than this vehicle in the case of, determine that this vehicle needs main Dynamic brake;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, at this Wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or this vehicle makes a reservation for more than second In the case of threshold value, determine that this vehicle needs actively brake.
In the embodiment of the present invention, by several analyses that may cause vehicle that unexpected scene occurs, at exercise data Meet under corresponding scene pre-conditioned time, determine that vehicle needs actively brake such that it is able to avoid the generation of accident.
Additionally, when this exercise data includes the type of barrier, in the feelings of the type for obtaining this vehicle barrier Under condition, this acquiring unit 301 specifically for: obtain the image information of this vehicle barrier;The image information of this barrier is entered Row graphical analysis determines the type of this barrier.
In the embodiment of the present invention, determined the type of barrier by image information such that it is able to for vehicle identification life entity There is provided data with non-life body, and then determine different brake strategies according to the type of barrier.
Alternatively, this brake control unit 304 is additionally operable to: in the case of needs actively brake, open stopping of this vehicle Car light.
In the embodiment of the present invention, by, in the case of needs actively brake, opening the brake lamp of this vehicle, it is possible to remind Front vehicle notes brake, it is to avoid front vehicle brake knocks this car not in time.
Braking control device 300 can also carry out the method for embodiment illustrated in fig. 1, and realizes braking control device in Fig. 1 institute Showing the function of embodiment, the embodiment of the present invention does not repeats them here.
Fig. 4 is the structural representation of embodiment of the present invention braking control device 400.Should be understood that stopping of the embodiment of the present invention Truck control device 400 is for there being motor to provide the vehicle of power, with the brake system of the machinery such as brake pedal in prior art Dynamic device is different.As shown in Figure 4, braking control device 400 comprises the steps that processor 402.Alternatively, including channel interface 401, Alternatively, including memorizer 403.
Channel interface 401, processor 402 and memorizer 403 can be connected with each other by bus 404 system.Bus 404 can To be ISA (Industry Standard Architecture, industry standard architecture) bus, PCI (Peripheral Component Interconnect, Peripheral Component Interconnect standard) bus or EISA (Extended Industry Standard Architecture, EISA) bus etc..Described bus can be divided into address bus, data/address bus, control total Line etc..For ease of representing, Fig. 4 only represents with a four-headed arrow, it is not intended that an only bus or a type of Bus.
Alternatively, including memorizer 403, it is used for depositing program.Specifically, program can include program code, described journey Sequence code includes computer-managed instruction.Memorizer 403 can include read only memory and random access memory, and to process Device 402 provides instruction and data.Memorizer 403 may comprise high-speed random access memory (Random-Access Memory, RAM), it is also possible to also include nonvolatile memory (non-volatile memory), for example, at least 1 disk memory.
Processor 402, is used for performing following operation, alternatively, performs the program that memorizer 403 is deposited, and specifically use Operate below performing:
In vehicle operation, obtaining the exercise data of this vehicle, this exercise data is for describing this vehicle periphery Traffic information and the driving information of this vehicle;
According to this exercise data, determine that this vehicle is the need of actively brake;
In the case of needs actively brake, generating brake control instruction, this brake control instruction is used for controlling motor and produces The raw brake force for braking this vehicle;
Realize the brake to this vehicle according to this brake control instruction to control.
The above-mentioned method performed such as the braking control device disclosed in embodiment illustrated in fig. 1 of the present invention can apply to processor In 402, or realized by processor 402.Processor 402 is probably a kind of IC chip, has the disposal ability of signal. During realizing, each step of said method can be by the integrated logic circuit of the hardware in processor 402 or software The instruction of form completes.Above-mentioned processor 402 can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.;Can also is that Digital Signal Processing Device (Digital Signal Processor, DSP), special IC (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other can Programmed logic device, discrete gate or transistor logic, discrete hardware components.Can realize or perform the present invention to implement Disclosed each method, step and logic diagram in example.General processor can be that microprocessor or this processor can also It it is the processor etc. of any routine.Step in conjunction with the method disclosed in the embodiment of the present invention can be embodied directly in hardware decoding Processor has performed, or completes with the hardware in decoding processor and software module combination execution.Software module can position In random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memorizer, depositor In storage medium Deng this area maturation.This storage medium is positioned at memorizer 403, and processor 402 reads the letter in memorizer 403 Breath, completes the step of said method in conjunction with its hardware.
In existing AEB system, whether use mechanical braking mode, hydraulic braking mode or air-pressure brake mode, Will relate to the multiple devices including brake pedal, and relate to the driven Design between multiple device, structure is multiple Miscellaneous.Such as, in hydraulic braking mode, the hydraulic brake system related to includes brake pedal, master cylinder, wheel cylinder, drum Formula (wheel) brake and oil pipe etc.;In air-pressure brake mode, the air braking systems related to includes brake pedal, sky Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and trachea etc.;AEB system passes through actuating device The scheme of control brake braking, more relates to the design of substantial amounts of mechanics and computing, designs and realize the most complex.
In the embodiment of the present invention, braking control device 400 is by determining the need for actively according to the exercise data of vehicle Brake, and in the case of needs actively brake, generate brake control instruction, and control motor generation according to brake control instruction Brake force for abrupt deceleration vehicle, it is achieved the brake of vehicle is controlled, the program utilize electric automobile by power-actuated feature, The brake force for abrupt deceleration vehicle is produced such that it is able to actively brake deceleration by controlling motor, raising travel safety, and not Needing, by actuating device, braking energy is transferred to brake, design is simple, easily realizes.
Alternatively, in the case of being used for generating this brake control instruction, processor 402 specifically for: according to this motion Data and brake strategy determine current brake emergency degree;Generate the brake corresponding with this current brake emergency degree to control Instruction, wherein, different brake emergency degree is corresponding to different brake control instructions.
Alternatively, this exercise data includes the one or any multiple combination in data below:
The type of vehicle barrier, the type of this barrier includes life entity or non-life body;
Vehicle is relative to the range information of barrier;
Vehicle is relative to the velocity information of barrier;
Rainfall information when vehicle runs and/or wheel offset distance information.
Further, the one or any multiple combination during this brake strategy includes following brake strategy:
When this exercise data includes the type of vehicle barrier, this brake strategy includes first brake strategy, and this is first years old Brake strategy includes: this barrier be brake emergency degree corresponding in the case of this life entity be non-life higher than this barrier Brake emergency degree corresponding in the case of body;
When this exercise data includes vehicle relative to the range information of barrier, this brake strategy includes the second brake plan Slightly, this second brake strategy includes: brake emergency corresponding in the case of this vehicle is near relative to the range information of this barrier The brake emergency degree that degree is corresponding in the case of remote relative to the range information of this barrier higher than this vehicle;
When this exercise data includes vehicle relative to the velocity information of barrier, this brake strategy includes the 3rd brake plan Slightly, the 3rd brake strategy includes: this vehicle relative to this barrier fireballing in the case of corresponding brake emergency degree Higher than this vehicle relative to this barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, this is stopped Car strategy includes that the 4th brake strategy, the 4th brake strategy include: corresponding in the case of when this vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when brake emergency degree is run higher than this vehicle, car when this vehicle runs In the case of when brake emergency degree corresponding in the case of wheel offset distance is big is run higher than this vehicle, wheel offset distance is little Corresponding brake emergency degree.
Further, for according to this exercise data, in the case of determining that this vehicle is the need of actively brake, process Device 402 specifically for:
When this exercise data includes this vehicle relative to the range information of barrier, at this vehicle relative to barrier In the case of distance is less than preset security distance, determine that this vehicle needs actively brake;
When this exercise data also includes the type of this vehicle barrier, it is less than relative to the distance of barrier at this vehicle In the case of the preset security distance that the type of this barrier is corresponding, determine that this vehicle needs actively brake;
When this exercise data also includes this vehicle relative to the velocity information of barrier, at this vehicle relative to barrier The distance preset security distance corresponding relative to the speed of barrier less than this vehicle in the case of, determine that this vehicle needs main Dynamic brake;
When rainfall information when this exercise data includes that this vehicle runs and/or wheel offset distance information, at this Wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or this vehicle makes a reservation for more than second In the case of threshold value, determine that this vehicle needs actively brake.
Additionally, when this exercise data includes the type of barrier, in the feelings of the type for obtaining this vehicle barrier Under condition, processor 402 specifically for: obtain the image information of this vehicle barrier;The image information of this barrier is carried out figure As analyzing the type determining this barrier.
Alternatively, processor 402 is additionally operable to: in the case of needs actively brake, open the brake lamp of this vehicle.
Braking control device 400 can also carry out the method for embodiment illustrated in fig. 1, and realizes braking control device in Fig. 1 institute Showing the function of embodiment, the embodiment of the present invention does not repeats them here.
Fig. 5 is the structural representation of embodiment of the present invention brake control system 500.For ease of understanding the embodiment of the present invention Control method for vehicle and braking control device, Fig. 5 shows the structural representation of a kind of possible active breaking systems.Brake control System 500 processed can include braking control device 501, data acquisition unit 502, motor 503, entire car controller 503, brake lamp 505, battery management system 506, electric machine controller 507, etc..
Braking control device 501 in Fig. 5, can be the braking control device 300 of embodiment illustrated in fig. 3, or Fig. 4 The braking control device 400 of illustrated embodiment.
As it is shown in figure 5, braking control device 501 can obtain motion number when vehicle runs by data acquisition unit 502 According to, generate brake control instruction, and realize the control of the brake to vehicle by brake control instruction.
As a example by Fig. 5, braking control device 501 can send brake control instruction, entire car controller to entire car controller 504 504 can control this motor 503 according to this brake control instruction produces the brake force for braking this vehicle.Specifically, example As, entire car controller 504 can be according to this brake control instruction, and controlling battery management system 506 provides this brake control for motor 503 The electric power that system instruction is corresponding, and control motor 503 by electric machine controller 507 and produce corresponding with this electric power for abrupt deceleration vehicle Brake force, thus carry out actively braking.
Additionally, the brake lamp that entire car controller 504 also according to this brake control instruction, can control low-voltage circuit is unlocked, Front vehicle is reminded to note brake.
It addition, in the embodiment of the present invention, the braking device at machineries such as brake pedal is operated to stop Che Shi, motor 503 switching state also can be used by entire car controller 504 as electromotor, the machinery that can be produced by skidding Electric energy can be converted to.Electric energy after motor conversion can be charged to realize energy regenerating to battery by battery management system 506.? In braking procedure, the inertia kinetic energy drawing generator of vehicle rotates, and produces an electromagnetic force contrary with direction of vehicle movement, makees For motor system, so that vehicle slows down further.
The embodiment of the present invention also proposed a kind of computer-readable recording medium, is used for storing computer program, this calculating Machine program includes for performing the instruction of the method that braking control device performs in Fig. 1.
Fig. 6 is the structural representation of the vehicle 600 of an embodiment of the present invention.As shown in Figure 6, the embodiment of the present invention also carries Go out a kind of vehicle 600, including braking control device 601.Braking control device 601 can be stopping in embodiment illustrated in fig. 3 Truck control device 300, or the braking control device 400 in embodiment illustrated in fig. 4.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.

Claims (15)

1. a brake control method, for there being motor to provide the vehicle of power, it is characterised in that including:
In vehicle operation, obtaining the exercise data of described vehicle, described exercise data is used for describing described vehicle periphery Traffic information and the driving information of described vehicle;
According to described exercise data, determine that described vehicle is the need of actively brake;
In the case of needs actively brake, generating brake control instruction, described brake control instruction is used for controlling motor and produces For braking the brake force of described vehicle;
Realize the brake to described vehicle according to brake control instruction to control.
Method the most according to claim 1, it is characterised in that described generation brake control instruction includes:
Current brake emergency degree is determined according to described exercise data and brake strategy;
Generate the brake control instruction corresponding with described current brake emergency degree, wherein, different brake emergency degree pair Should be in different brake control instructions.
Method the most according to claim 1 and 2, it is characterised in that described exercise data includes the one in data below Or the most multiple combination:
The type of the barrier of described vehicle, the type of described barrier includes life entity or non-life body;
Described vehicle is relative to the range information of barrier;
Described vehicle is relative to the velocity information of barrier;
Rainfall information when described vehicle runs and/or wheel offset distance information.
Method the most according to claim 3, it is characterised in that when determining currently according to described exercise data and brake strategy Brake emergency degree time, described brake strategy includes the one or any multiple combination in following brake strategy:
When described exercise data includes the type of the barrier of described vehicle, described brake strategy includes first brake strategy, Described first brake strategy includes: described barrier is that brake emergency degree corresponding in the case of described life entity is higher than described Barrier is brake emergency degree corresponding in the case of non-life body;
When described exercise data includes described vehicle relative to the range information of barrier, described brake strategy includes that second stops Car strategy, described second brake strategy includes: corresponding in the case of described vehicle is near relative to the range information of described barrier The brake emergency degree brake emergency corresponding in the case of remote relative to the range information of described barrier higher than described vehicle Degree;
When described exercise data includes described vehicle relative to the velocity information of barrier, described brake strategy includes that the 3rd stops Car strategy, described 3rd brake strategy includes: described vehicle relative to described barrier fireballing in the case of corresponding stopping Car urgency level higher than described vehicle relative to described barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when described exercise data includes that described vehicle runs and/or wheel offset distance information, described Brake strategy includes that the 4th brake strategy, described 4th brake strategy include: in the case of when described vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when corresponding brake emergency degree is run higher than described vehicle, described car Wheel offset distance when corresponding brake emergency degree is run higher than described vehicle in the case of wheel offset distance is big when running Brake emergency degree corresponding in the case of little.
Method the most according to claim 3, it is characterised in that when described exercise data includes the type of barrier, obtain The type of the barrier taking described vehicle includes:
Obtain the image information of the barrier of described vehicle;
The image information of described barrier is carried out graphical analysis and determines the type of described barrier.
Method the most according to claim 3, it is characterised in that according to described exercise data, determines whether described vehicle needs Actively to brake and to include:
When described exercise data includes described vehicle relative to the range information of barrier, at described vehicle relative to barrier Distance less than preset security distance in the case of, determine that described vehicle needs actively brake;
When described exercise data also includes the type of the barrier of described vehicle, at described vehicle relative to the distance of barrier In the case of the preset security distance corresponding less than the type of described barrier, determine that described vehicle needs actively brake;
When described exercise data also includes described vehicle relative to the velocity information of barrier, at described vehicle relative to obstacle In the case of the preset security distance that the distance of thing is corresponding relative to the speed of barrier less than described vehicle, determine described vehicle Need actively brake;
When rainfall information when described exercise data includes that described vehicle runs and/or wheel offset distance information, in institute State wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or described vehicle more than second In the case of predetermined threshold, determine that described vehicle needs actively brake.
7. according to the method according to any one of claim 1-6, it is characterised in that described method also includes: at needs actively In the case of brake, open the brake lamp of described vehicle.
8. a braking control device, for there being motor to provide the vehicle of power, it is characterised in that including:
Acquiring unit, in vehicle operation, obtains the exercise data of described vehicle, and described exercise data is used for describing The traffic information of described vehicle periphery and the driving information of described vehicle;
Determine unit, for according to described exercise data, determine that described vehicle is the need of actively brake;
Instruction signal generating unit, in the case of needs actively brake, generates brake control instruction, described brake control instruction Produce for the brake force braking described vehicle for controlling motor;
Brake control unit, controls for realizing the brake to described vehicle according to described brake control instruction.
Braking control device the most according to claim 8, it is characterised in that described instruction signal generating unit specifically for:
Current brake emergency degree is determined according to described exercise data and brake strategy;
Generate the brake control instruction corresponding with described current brake emergency degree, wherein, different brake emergency degree pair Should be in different brake control instructions.
Braking control device the most according to claim 8 or claim 9, it is characterised in that described exercise data includes data below In one or any multiple combination:
The type of the barrier of described vehicle, the type of described barrier includes life entity or non-life body;
Described vehicle is relative to the range information of barrier;
Described vehicle is relative to the velocity information of barrier;
Rainfall information when described vehicle runs and/or wheel offset distance information.
11. braking control devices according to claim 10, it is characterised in that when described instruction signal generating unit is according to described When exercise data and brake strategy determine current brake emergency degree, described brake strategy includes in following brake strategy Kind or the most multiple combination:
When described exercise data includes the type of the barrier of described vehicle, described brake strategy includes first brake strategy, Described first brake strategy includes: described barrier is that brake emergency degree corresponding in the case of described life entity is higher than described Barrier is brake emergency degree corresponding in the case of non-life body;
When described exercise data includes described vehicle relative to the range information of barrier, described brake strategy includes that second stops Car strategy, described second brake strategy includes: corresponding in the case of described vehicle is near relative to the range information of described barrier The brake emergency degree brake emergency corresponding in the case of remote relative to the range information of described barrier higher than described vehicle Degree;
When described exercise data includes described vehicle relative to the velocity information of barrier, described brake strategy includes that the 3rd stops Car strategy, described 3rd brake strategy includes: described vehicle relative to described barrier fireballing in the case of corresponding stopping Car urgency level higher than described vehicle relative to described barrier slow-footed in the case of corresponding brake emergency degree;
When rainfall information when described exercise data includes that described vehicle runs and/or wheel offset distance information, described Brake strategy includes that the 4th brake strategy, described 4th brake strategy include: in the case of when described vehicle runs, rainfall is big Brake emergency degree corresponding in the case of rainfall is little when corresponding brake emergency degree is run higher than described vehicle, described car Wheel offset distance when corresponding brake emergency degree is run higher than described vehicle in the case of wheel offset distance is big when running Brake emergency degree corresponding in the case of little.
12. braking control devices according to claim 10, it is characterised in that when described exercise data includes barrier During type, in the case of the type of the barrier that obtains described vehicle, described acquiring unit specifically for:
Obtain the image information of the barrier of described vehicle;
The image information of described barrier is carried out graphical analysis and determines the type of described barrier.
13. braking control devices according to claim 10, it is characterised in that described determine unit specifically for:
When described exercise data includes described vehicle relative to the range information of barrier, at described vehicle relative to barrier Distance less than preset security distance in the case of, determine that described vehicle needs actively brake;
When described exercise data also includes the type of the barrier of described vehicle, at described vehicle relative to the distance of barrier In the case of the preset security distance corresponding less than the type of described barrier, determine that described vehicle needs actively brake;
When described exercise data also includes described vehicle relative to the velocity information of barrier, at described vehicle relative to obstacle In the case of the preset security distance that the distance of thing is corresponding relative to the speed of barrier less than described vehicle, determine described vehicle Need actively brake;
When rainfall information when described exercise data includes that described vehicle runs and/or wheel offset distance information, in institute State wheel offset distance when rainfall when vehicle runs runs more than the first predetermined threshold and/or described vehicle more than second In the case of predetermined threshold, determine that described vehicle needs actively brake.
14. 1 kinds of braking control devices, for there being motor to provide the vehicle of power, it is characterised in that described braking control device Including processor, described processor is specifically for performing the method according to any one of claim 1-7.
15. 1 kinds of vehicles, it is characterised in that include the braking control device according to Claim 8 according to any one of-14.
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