CN106114478B - Brake control method, device and vehicle - Google Patents
Brake control method, device and vehicle Download PDFInfo
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- CN106114478B CN106114478B CN201610619595.8A CN201610619595A CN106114478B CN 106114478 B CN106114478 B CN 106114478B CN 201610619595 A CN201610619595 A CN 201610619595A CN 106114478 B CN106114478 B CN 106114478B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000004888 barrier function Effects 0.000 claims description 232
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- 238000013461 design Methods 0.000 abstract description 15
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- 230000005611 electricity Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 238000004458 analytical method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 238000001556 precipitation Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
Classifications
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- 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
Abstract
The present invention provides a kind of brake control method, device and vehicles, this method comprises: obtaining the exercise data of the vehicle in vehicle operation, which is used to describe the traffic information of the vehicle periphery and the driving information of the vehicle；According to the exercise data, determine whether the vehicle needs actively to brake；In the case where needing actively brake, control instruction of braking is generated, which generates brake force for braking the vehicle for controlling motor；Realize that the brake to vehicle controls according to brake control instruction.The characteristics of using electric car by being driven by electricity, the brake force for being used for abrupt deceleration vehicle is generated by control motor for the technical solution of the embodiment of the present invention, and without braking energy is transferred to brake by transmission device, design is simply, easy to accomplish.
Description
Technical field
The present embodiments relate to vehicular fields, and more particularly, to brake control method, device and vehicle.
Background technique
Currently, urban traffic environment is extremely complex, it will appear some fortuitous events in driving process at any time, such as front truck is dashed forward
Right brake, side vehicle is jumped a queue suddenly, pedestrian swarms into front of traffic route etc. suddenly, and the driver of front vehicle is enabled to be difficult
Quickly make brake.Therefore, it is necessary to a kind of brake system, can independent of driver operation and brake.For
The brake type of vehicle is distinguished, the brake that vehicle is carried out independent of the operation of driver is known as actively braking, by vehicle
The brake carried out by the brake operation of driver is known as passive brake.
To solve the above-mentioned problems, target generally use a kind of automatic emergency brake system (AEB,
AutonomousEmergency Brake) system, the system at a distance from front obstacle when being less than safe distance, actively
Control brake pedal brakes vehicle automatically, so as to avoid knocking into the back and prevent from colliding.AEB system passes through control
Brake pedal processed generates braking maneuver, control braking effect and braking energy is passed through transmission device (such as machine driving
Device, hydraulic transmission or pneumatic actuator etc.) it is transferred to brake (such as drum brake, disk brake etc.),
It is more to be related to component, structure is complicated, researches and develops at high cost.
Summary of the invention
The embodiment of the invention provides a kind of brake control method, device and vehicles, can be using electric car by electric power
The characteristics of driving, is realized and actively brakes.
In a first aspect, a kind of control method for vehicle is provided, for there is motor to provide the vehicle of power, this method comprises:
In vehicle operation, the first environment data of the vehicle periphery are obtained, wherein the vehicle provides power by motor；According to
The first environment data, determine whether the vehicle needs actively to brake；In the case where needing actively to brake, generates brake and refer to
It enables, and sends the brake instruction to the entire car controller of the vehicle, which is used to indicate the vehicle control unit controls should
Motor generates the brake force for braking the vehicle.
With reference to first aspect, in the first possible implementation of the first aspect, it is specific to generate brake control instruction
It realizes are as follows: current brake emergency degree is determined according to the exercise data and brake strategy；It generates and the current brake emergency
The corresponding brake control instruction of degree, wherein different brake emergency degree corresponds to different brake control instructions.
With reference to first aspect and its above-mentioned implementation, in the second possible implementation of the first aspect, the fortune
Dynamic data include one of following data or any a variety of combination:
The type of the barrier of vehicle, the type of the barrier include life entity or non-life body；
Range information of the vehicle relative to barrier；
Velocity information of the vehicle relative to barrier；
Rainfall information and/or wheel offset distance information when vehicle is run.
With reference to first aspect and its above-mentioned implementation works as root in a third possible implementation of the first aspect
When determining current brake emergency degree according to the exercise data and brake strategy, which includes in following brake strategy
One or any a variety of combination:
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, the brake
Vehicle strategy includes first brake strategy, corresponding in the case that rainfall is big when which includes: vehicle operation
Corresponding brake emergency degree in the case that rainfall is small when brake emergency degree is higher than vehicle operation, vehicle when which runs
In the case that wheel offset distance is small when corresponding brake emergency degree is higher than vehicle operation in the case that wheel offset distance is big
Corresponding brake emergency degree；
When the exercise data includes the type of the barrier of vehicle, which includes the second brake strategy, this
It is that corresponding brake emergency degree is higher than the barrier in the case where the life entity is non-life that two brake strategies, which include: the barrier,
Corresponding brake emergency degree in the case where life body；
When the exercise data includes range information of the vehicle relative to barrier, which includes third brake plan
Slightly, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where corresponding brake emergency
Degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency degree；
When the exercise data includes velocity information of the vehicle relative to barrier, which includes the 4th brake plan
Slightly, the 4th brake strategy includes: the vehicle relative to corresponding brake emergency degree in the fireballing situation of the barrier
Higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
With reference to first aspect and its above-mentioned implementation, in a fourth possible implementation of the first aspect, when this
When exercise data includes the type of barrier, the type specific implementation of the barrier of the vehicle is obtained are as follows: obtain the vehicle obstacle
The image information of object: the type that image analysis determines the barrier is carried out to the image information of the barrier.
With reference to first aspect and its above-mentioned implementation, in the fifth possible implementation of the first aspect, according to
The exercise data, determines whether the vehicle needs specific implementation of actively braking are as follows:
In the case where the vehicle is less than default safe distance relative to the distance of barrier, determine that the vehicle needs actively
Brake；
It is small relative to the distance of barrier in the vehicle when the exercise data further includes the type of the barrier of the vehicle
In the case where the corresponding default safe distance of type of the barrier, determine that the vehicle needs actively to brake；
When the exercise data further includes velocity information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than speed corresponding default safe distance of the vehicle relative to barrier in the case where, determine that the vehicle needs to lead
Dynamic brake；
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, at this
It is predetermined that wheel offset distance when rainfall when vehicle is run is greater than the first predetermined threshold and/or vehicle operation is greater than second
In the case where threshold value, determine that the vehicle needs actively to brake.
With reference to first aspect and its above-mentioned implementation, in the sixth possible implementation of the first aspect, the party
Method further include: in the case where needing actively to brake, open the brake lamp of the vehicle.
Second aspect proposes a kind of braking control device, for there is motor to provide the vehicle of power, brake control dress
Setting includes: acquiring unit, for obtaining the first environment data of the vehicle periphery, wherein the vehicle in vehicle operation
Power is provided by motor；Determination unit, for determining whether the vehicle needs actively to brake according to the first environment data；Refer to
Generation unit is enabled, for generating brake instruction, wherein the brake instruction is used to indicate this in the case where needing actively to brake
The vehicle control unit controls of the vehicle motor generates the brake force for braking the vehicle；Output unit is instructed, for whole to this
Vehicle controller sends the brake instruction.
In conjunction with second aspect, in the first possible implementation of the second aspect, which is specifically used
In: current brake emergency degree is determined according to the exercise data and brake strategy；It generates and the current brake emergency degree
Corresponding brake control instruction, wherein different brake emergency degree corresponds to different brake control instructions.
In conjunction with second aspect and its above-mentioned implementation, in a second possible implementation of the second aspect, the fortune
Dynamic data include one of following data or any a variety of combination:
The type of the barrier of vehicle, the type of the barrier include life entity or non-life body；
Range information of the vehicle relative to barrier；
Velocity information of the vehicle relative to barrier；
Rainfall information and/or wheel offset distance information when vehicle is run.
In conjunction with second aspect and its above-mentioned implementation, in the fourth possible implementation of the second aspect, when this
When instruction generation unit determines current brake emergency degree according to the exercise data and brake strategy, the brake strategy include with
One of lower brake strategy or any a variety of combination:
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, the brake
Vehicle strategy includes first brake strategy, corresponding in the case that rainfall is big when which includes: vehicle operation
Corresponding brake emergency degree in the case that rainfall is small when brake emergency degree is higher than vehicle operation, vehicle when which runs
In the case that wheel offset distance is small when corresponding brake emergency degree is higher than vehicle operation in the case that wheel offset distance is big
Corresponding brake emergency degree；
When the exercise data includes the type of the barrier of vehicle, which includes the second brake strategy, this
It is that corresponding brake emergency degree is higher than the barrier in the case where the life entity is non-life that two brake strategies, which include: the barrier,
Corresponding brake emergency degree in the case where life body；
When the exercise data includes range information of the vehicle relative to barrier, which includes third brake plan
Slightly, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where corresponding brake emergency
Degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency degree；
When the exercise data includes velocity information of the vehicle relative to barrier, which includes the 4th brake plan
Slightly, the 4th brake strategy includes: the vehicle relative to corresponding brake emergency degree in the fireballing situation of the barrier
Higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
In conjunction with second aspect and its above-mentioned implementation, in a fifth possible implementation of the second aspect, when this
When exercise data includes the type of barrier, in the case where the type of the barrier for obtaining the vehicle, the acquiring unit
It is specifically used for: obtains the image information of the vehicle barrier: image analysis is carried out to the image information of the barrier and determines the barrier
Hinder the type of object.
In conjunction with second aspect and its above-mentioned implementation, in the sixth possible implementation of the second aspect, this is really
Order member is specifically used for:
When the exercise data includes range information of the vehicle relative to barrier, in the vehicle relative to barrier
In the case that distance is less than default safe distance, determine that the vehicle needs actively to brake；
It is small relative to the distance of barrier in the vehicle when the exercise data further includes the type of the barrier of the vehicle
In the case where the corresponding default safe distance of type of the barrier, determine that the vehicle needs actively to brake；
When the exercise data further includes velocity information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than speed corresponding default safe distance of the vehicle relative to barrier in the case where, determine that the vehicle needs to lead
Dynamic brake；
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, at this
It is predetermined that wheel offset distance when rainfall when vehicle is run is greater than the first predetermined threshold and/or vehicle operation is greater than second
In the case where threshold value, determine that the vehicle needs actively to brake.
In conjunction with second aspect and its above-mentioned implementation, in the 7th kind of possible implementation of second aspect, the brake
Vehicle control unit is also used to: in the case where needing actively to brake, opening the brake lamp of the vehicle.
The third aspect provides another braking control device, for there is motor to provide the vehicle of power, brake control
Device includes processor, which is used to execute the side in any possible implementation of first aspect or first aspect
Method.
Fourth aspect proposes a kind of computer readable storage medium, for storing computer program, the computer program
Instruction including the method in any possible implementation for executing first aspect or first aspect.
5th aspect, proposes a kind of vehicle, any in the above-mentioned implementation including the third aspect or the third aspect
It is any in the braking control device of possible implementation, or the above-mentioned implementation including fourth aspect or fourth aspect
The braking control device of possible implementation.
Based on above technical scheme, brake control method, device and the vehicle of the embodiment of the present invention, according to the movement of vehicle
Data determine the need for actively braking, and brake control instruction are generated in the case where needing actively to brake, and according to brake
Control instruction control motor generates the brake force for being used for abrupt deceleration vehicle, realizes that the brake to vehicle controls, the program utilizes electronic
The characteristics of automobile is by being driven by electricity generates the brake force for being used for abrupt deceleration vehicle by control motor, without passing through transmission dress
It sets and braking energy is transferred to brake, design is simple, easy to accomplish.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic flow chart 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 schematic diagram of the braking control device of an embodiment of the present invention.
Fig. 4 is the structural schematic diagram of the braking control device of another embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the brake control system of an embodiment of the present invention.
Fig. 6 is the structural schematic diagram of the vehicle of an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
It should be understood that the technical solution of the embodiment of the present invention can be applied to including electric car, hybrid vehicle
Have motor participate in driving automobile.
The embodiment of the present invention proposes a kind of control method for vehicle, braking control device and vehicle, passes through control vehicle
Motor is generated for braking the brake force of the vehicle, is actively braked to realize.Specific embodiment is as follows:
Fig. 1 is the schematic flow chart of the control method for vehicle of an embodiment of the present invention.The method of Fig. 1 is for there is motor
The vehicle of power is provided, is executed by braking control device.It should be understood that the vehicle can be the electric car of pure electric vehicle power, it can also
To be the electric car of hybrid electrically power, the embodiment of the present invention is without limitation.In specific application, brake control dress
Set the control system, etc. that can be on an intelligent chip or vehicle.This method may include following content.
110, in vehicle operation, the exercise data of the vehicle is obtained, the exercise data is for describing vehicle week
The driving information of the traffic information and the vehicle that enclose.
It should be understood that in the process of moving, there are the scenes that a variety of needs carry out active brake, for example, between barrier
Distance be less than safe distance, occur break away and break away be more than preset distance, rainfall or snowfall it is excessive cause pilot's line of vision by
Resistance, etc..It should be understood, of course, that enumerating herein is only schematical, need actively to brake in actual driving environment
Scene is without being limited thereto.
To determine whether vehicle currently needs actively to brake, need to obtain exercise data when vehicle operation, the movement number
According to the driving information etc. for the traffic information and the vehicle that can be used for describing the vehicle periphery, such as, it may include obstacle information, shadow
Ring the information of rainfall or the snowfall of pilot's line of vision, information that vehicle breaks away, etc..
Specifically, which may include one of following data or any a variety of combination:
The type of the barrier of vehicle, the type of the barrier include life entity or non-life body；
Range information of the vehicle relative to barrier；
Velocity information of the vehicle relative to barrier；
Rainfall information and/or wheel offset distance information when vehicle is run.
120, according to the exercise data, determine whether the vehicle needs actively to brake.
In the embodiment of the present invention, it can determine whether the vehicle needs actively to brake by analyzing the exercise data.
For example, whether vehicle can be analyzed can knock barrier according to current movement tendency.If the exercise data
Analysis is the result shows that vehicle continues that the danger for bumping against barrier can be faced by original speed traveling, it is determined that vehicle needs actively
Brake, avoids colliding.
In another example can analyze whether current driver's sight is influenced by weather.If the analysis result of the exercise data
Showing seriously to be obstructed due tos the pilot's line of vision of vehicle is waited because raining, does not see surface conditions, it is determined that vehicle needs actively to brake,
It avoids that accident (for example, driving direction deviates road surface, etc.) occurs because unsighted
In another example if the analysis of the exercise data is the result shows that vehicle occurs to break away and skids off relatively large distance, it is determined that
Vehicle needs actively to brake, and prevents to lose control of one's vehicle.
130, in the case where needing actively to brake, brake control instruction is generated, the brake control instruction is for controlling electricity
Machine generates the brake force for braking the vehicle.
It should be understood that the brake force for abrupt deceleration vehicle, for example, it may be the brake force opposite with the traffic direction of vehicle,
Etc..
140, realize that the brake to vehicle controls according to brake control instruction.
After generating brake control instruction, it can realize that the brake to vehicle is controlled according to the brake control instruction.In a kind of tool
In the sight scheme of body, which can be sent 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 the brake control instruction, and then is controlled motor and generated the system for braking the vehicle
Power, to carry out active brake, etc..Certainly, in actual application, it is also possible to according to brake control instruction using other
Mode realize that the brake to vehicle controls, the embodiment of the present invention is without being limited thereto.
In existing AEB system, mechanical braking mode, hydraulic braking mode or air-pressure brake mode are whether used,
The multiple devices that will be related to including brake pedal, and the driven Design being related between multiple devices, structure are multiple
It is miscellaneous.For example, the hydraulic brake system being related to includes brake pedal, master cylinder, wheel cylinder, drum in hydraulic braking mode
Formula (wheel) brake and oil pipe etc.；In air-pressure brake mode, the air braking systems being related to include brake pedal, sky
Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and tracheae etc.；AEB system passes through transmission device
The scheme of control brake braking, is even more related to a large amount of mechanics design and operation, design and implementation are all complex.
And in the embodiment of the present invention, it determines the need for actively braking according to the exercise data of vehicle, and needing actively
Brake control instruction is generated in the case where brake, and the braking for being used for abrupt deceleration vehicle is generated according to brake control instruction control motor
Power realizes and controls the brake of vehicle, the program using electric car by being driven by electricity the characteristics of, pass through control motor and generate use
Travel safety is improved so as to active brake deceleration in the brake force of abrupt deceleration vehicle, without inciting somebody to action by transmission device
Braking energy is transferred to brake, and design is simple, easy to accomplish.
In the following, the content that will be may include according to exercise data, is further described the method for the embodiment of the present invention.
For ease of description, the embodiment of the present invention introduces the structural schematic diagram of Fig. 2.Fig. 2 is the outer of the vehicle of an embodiment of the present invention
Portion's structural schematic diagram.
In step 110 shown in Fig. 1, need to obtain the exercise data of vehicle.
It should be understood that the exercise data of vehicle may include the information of the barrier of vehicle.The barrier may include in vehicle
Running route in front of or side in front of the object of obstacle can be constituted to the traveling of the vehicle, for example, front vehicles, pedestrian, dynamic
Object, the boulder of road, the tree for being poured on road, etc..The information of barrier may 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 of the barrier of vehicle etc..
Specifically, believe relative to the range information or vehicle of barrier relative to the speed of barrier for obtaining vehicle
When breath, braking control device can be measured by equipment such as radars.Radar is normally at the front end of vehicle, for example, radar can
The top position, etc. of the vehicle front window shown in the 202 of embodiment illustrated in fig. 2.In the prior art, radar frequently includes
Ranging and speed measuring function, so as to directly measure vehicle relative to barrier range information and vehicle relative to barrier
Velocity information.If radar only includes distance measurement function, braking control device can also determine vehicle by secondary ranging and its time difference
Velocity information relative to barrier.Might as well assume to measure vehicle at a distance from barrier as d1 in time point t1, when
Between point t2 measure vehicle at a distance from barrier as d2, then relative velocity v=(d2-d1)/(t2-t1).It should be understood, of course, that
(it can be referred in vehicle moving distance substantially negligible a period of time, for example, 0.01 in a short period of time by using radar
Second, etc.) repeatedly measure the same barrier, using measurement result (including distance and/or speed) average value as finally
Measurement result.If there is multiple radars, can by multiple radars for the same barrier measurement result (including distance and/
Or speed) averaged is as final measurement result.
In addition, braking control device can be adopted by images such as cameras in the type of the barrier for obtaining vehicle
Collection equipment obtains the image information of the barrier of the vehicle, then carries out image analysis to the image information of the barrier and determine the barrier
Hinder the type of object.For example, determining that barrier is life entity or non-life body, etc..The image capture devices such as camera are general
It also is located at the front end of vehicle, such as the top position, etc. of vehicle front window shown in the 202 of embodiment illustrated in fig. 2.
It should be understood that radar and camera can according to need concentration or be discretely arranged in the vehicle in the embodiment of the present invention
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 camera shooting
Head is placed in top position of front window, etc..It should be understood that in the embodiment of the present invention, it is not limited to use radar and camera
Data are acquired, for example, it is also possible to use other rangings/speed measuring device or image collecting device, etc..It should be understood that passing through combination
Using camera and radar, vehicle can be made more fully to obtain the exercise data of vehicle, to more accurately know vehicle week
The traffic information (for example, whether relative velocity, the barrier at a distance from barrier, with barrier are life entity, etc.) enclosed.
It should be understood, of course, that other data acquisition devices can also be installed on the vehicle, alternatively, radar or camera may be used also
Integrated others function.For example, camera can integrate speed measuring function.Camera sends the reference signal for testing the speed, the ginseng
It examines signal and is reflected back the camera by barriers such as the vehicles or pedestrians in front.Camera is according to reflected reference signal
Direction, the sending time of reference signal and recovery time etc., can determine the distance between the vehicle and barrier, orientation etc..
According at a distance from multiple point in time measurement are between barrier, phase of the vehicle relative to the barrier can be further determined that
To speed.According to this distance with the relative velocity, it may be determined that time margin, for indicating that the vehicle knocks the barrier with present speed
Hinder the time etc. of object.Alternatively, speed measuring device, etc. can be mounted directly on the vehicle.
In addition, braking control device can obtain the image letter of the barrier of the vehicle by image capture devices such as cameras
Breath, then the type that image analysis determines the barrier is carried out to the image information of the barrier.
It should be understood that the exercise data of vehicle may also include rainfall information and/or wheel offset distance when vehicle is run
Information.If rainfall is larger, the rainwater of landing influences whether the sight of driver, needs actively to brake；If the vehicle of vehicle
When taking turns offset distance greater than predetermined threshold, then show to break away, it is also desirable to actively brake.
Specifically, for example, braking control device can obtain wheel offset distance letter by the wheel speed sensors etc. on vehicle
Breath obtains rainfall information when vehicle operation by the precipitation rain fall sensor etc. on vehicle.Certainly, it is also not excluded for setting using other
A possibility that standby rainfall information and/or wheel offset distance information acquired when vehicle is run.
After the step 110 of Fig. 1, step 120 is needed to be implemented, exercise data is analyzed, to determine the need for
Actively brake.
Optionally, as one embodiment, when the exercise data includes range information of the vehicle relative to barrier,
Step 120 specific implementation are as follows: in the case where the vehicle is less than default safe distance relative to the distance of barrier, determine the vehicle
Need actively brake.
For example, it is assumed that preset safe distance is 2m；If front obstacle is the vehicle of stagnation of movement, and the vehicle and stagnation of movement
Vehicle the distance between be less than 2m, determine need actively brake.
Optionally, as another embodiment, when the exercise data is in addition to the distance including the vehicle relative to barrier
Outside information, when further including the type of the vehicle barrier, step 120 specific implementation are as follows: the vehicle relative to barrier away from
In the case where from the corresponding default safe distance of type for being less than the barrier, determine that the vehicle needs actively to brake.
For example, it is assumed that the corresponding default safe distance of non-life body is 2m, the corresponding default safe distance of life entity is 5m,
Front obstacle is 3m apart from vehicle；If front obstacle is boulder, obstacle identity is non-life body, then vehicle is with before
The distance of square barrier is greater than the corresponding default safe distance 2m of non-life body, determines and does not need actively to brake；If front hinders
Hindering object is people, and obstacle identity is life entity, then vehicle is less than the corresponding default safety of life entity at a distance from front obstacle
Distance 5m is determined and is needed actively to brake.
It should be understood that the method for the embodiment of the present invention, the barrier be static or low speed barrier (vehicle of stagnation of movement,
The pedestrian of walking, the vehicle being advanced slowly, etc.) when, judge more accurate.
Barrier faster for movement velocity, also can be used more accurate method, judge whether to need actively to brake.
Optionally, as further embodiment, when the exercise data is in addition to the distance including the vehicle relative to barrier
Outside information, when further including velocity information of the vehicle relative to barrier, step 120 specific implementation are as follows: the vehicle relative to
In the case that the distance of barrier is less than the corresponding default safe distance of speed of the vehicle relative to barrier, the vehicle is determined
It needs actively to brake.
The corresponding safe distance of speed in the embodiment of the present invention can be configured with reference to safe driving common sense.Security row
There is the principle to maintain safe distance in vehicle common sense, that is, maintaining safe distance as the one thousandth of speed, such as speed is 50km/h, is kept
Spacing 50m, speed 120km/h, maintain safe distance 120m, that is to say, that the corresponding safe distance of the relative velocity of 50km/h can
To be set as 50m, the corresponding safe distance of the relative velocity of 120km/h can be set to 120m.In the embodiment of the present invention, it is assumed that
The vehicle and the relative velocity of front vehicles are 50km/h (in other words, the low 50km/h of the front truck speed ratio car speed), if
The vehicle and front truck spacing are apart less than or equal to 50 meters, determine that the vehicle needs actively to brake.
In inventive embodiments, pass through the preset safe distance of each speed, it is ensured that enough safety shut-down distances, from
And realize the active brake of safety.It should be understood, of course, that being likely present a kind of corresponding relationship between safe distance and speed.Example
Such as, the numerical value of the safe distance (as unit of m) is equal to the numerical value * 1 of speed (as unit of km/h).；It should be understood, of course, that peace
The setting of spacing in full driving common sense, it is also contemplated that person's development time.And the control method for vehicle of the embodiment of the present invention, according to
Rely braking control device automatic trigger, does not need driver's participation, which can be than the spacing in safe driving common sense
Setting it is smaller.For example, the numerical value of safe distance (as unit of m) is equal to the number of relative velocity (as unit of km/h)
Value * 0.95, etc..
In addition, also different safe distances can be arranged for the same speed according to the type of barrier in active brake gear.
For example, the corresponding safe distance of the relative velocity of 50km/h can be set to 50m for non-life body；For life entity,
The corresponding safe distance of the relative velocity of 50km/h can be set to 60m, etc..
It should be understood that can also be based on time margin judgement other than judging whether to need actively to brake based on safe distance
No needs actively brake, which indicates to collide when the relative velocity of the vehicle and barrier remains unchanged required
Time.
Optionally, as another embodiment, when the exercise data is in addition to the distance including the vehicle relative to barrier
Outside information, when further including velocity information of the vehicle relative to barrier, step 120 specific implementation are as follows: the vehicle relative to
In the case that the time margin of barrier is less than the corresponding default safety time surplus of speed of the vehicle relative to barrier, really
The fixed vehicle needs actively to brake, which indicates to collide when the relative velocity of the vehicle and barrier remains unchanged
The required time.
By formula d=vt it is found that when speed is constant, a safe distance corresponds to a time margin.Therefore, similar
The setting on ground, safety time is configured see also safe driving common sense.
In the embodiment of the present invention, by the preset safety time of each relative velocity, guarantee the enough safety shut-down time,
To realize safe active brake.
Optionally, as another embodiment, rainfall information when the exercise data includes vehicle operation and/or
When wheel offset distance information, step 120 specific implementation are as follows: the rainfall in vehicle operation is greater than the first predetermined threshold
And/or in the case that wheel offset distance when vehicle operation is greater than the second predetermined threshold, determine that the vehicle needs actively to stop
Vehicle.
In the rainy day, more than moderate rain large effect can be caused to the sight of driver.Meanwhile the rainy day is relatively easy to send out
It is raw to break away, it needs actively to brake.Certainly, snowy weather is relatively easy to cause large effect to the sight of driver, or
It is to break away, needs actively to brake.For example, could dictate that if 24 hourly rainfall depths are greater than 17mm, it is determined that need actively to stop
Vehicle；In another example could dictate that if wheel offset distance is greater than 5cm, it is determined that need actively to brake；Etc..It is examined alternatively, can integrate
Rainfall information and wheel offset distance information are considered, it is specified that if 24 hourly rainfall depths are greater 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 analysis rainfall and/or wheel offset distance, determine whether vehicle needs actively to subtract
Speed, so as to avoid the generation of contingency.
After the step 120 of Fig. 1, step 130 is needed to be implemented, generates brake control instruction.
Specifically, step 130 can be realized are as follows:
Current brake emergency degree is determined according to the exercise data and brake strategy；
Generate brake control instruction corresponding with the current brake emergency degree, wherein different brake emergency degree
Corresponding to different brake control instructions.
It should be understood that brake instruction can be generated in several ways.For example, can be chosen from preset brake instruction set
Brake instruction corresponding with the current brake emergency degree, the brake instruction set include multiple brake instructions, multiple brake
Different brake instructions in vehicle instruction correspond to different brake emergency degree.In another example can be according to the grade of the brake emergency degree
, dynamic generation brake instruction, wherein not may include the size of brake force in the parameter of the brake instruction, the size of the brake force with
Rank correlation of the brake emergency degree, etc..
It should be understood that in the embodiment of the present invention, by determining brake emergency degree according to exercise data and brake strategy, in turn
Corresponding brake control instruction is selected, the active brake under the application scenarios so as to realize different brake emergency degree,
While hair is avoided into collision, better experience is provided for user.
It in specific application scenarios, needs by analyzing exercise data, is that different scenes determine in conjunction with brake strategy
Different brake emergency degree, so that corresponding brake control instruction is generated, to realize different brake control.
Specifically, which includes one of following brake strategy or any a variety of combination:
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, the brake
Vehicle strategy includes first brake strategy, corresponding in the case that rainfall is big when which includes: vehicle operation
Corresponding brake emergency degree in the case that rainfall is small when brake emergency degree is higher than vehicle operation, vehicle when which runs
In the case that wheel offset distance is small when corresponding brake emergency degree is higher than vehicle operation in the case that wheel offset distance is big
Corresponding brake emergency degree.For example, it is assumed that brake emergency degree is divided into several grades, 1 grade minimum, if 24 hourly rainfall depths are every
Increasing 2mm, then brake emergency degree adds 1, and brake emergency degree adds 1, etc. if the every increase 2cm of wheel offset distance.This hair
In bright embodiment, pass through the brake emergency for the bigger and/or bigger wheel offset distance scene setting higher level of rainfall
Degree can preferably avoid vehicle from bumping against barrier, and the traffic accident for bumping against barrier is preferably avoided to occur.
When the exercise data includes the type of vehicle barrier, which includes the second brake strategy, this second
It is that corresponding brake emergency degree is higher than the barrier in the case where the life entity is non-life that brake strategy, which includes: the barrier,
Corresponding brake emergency degree in the case where body.For example, it is assumed that brake emergency degree is divided into several grades, 1 grade minimum, if obstacle
Species type is that then brake emergency degree adds 2 to life entity, and brake emergency degree remains unchanged if obstacle identity is life entity,
Etc..In the embodiment of the present invention, by be for barrier life entity scene setting than barrier be the scene of non-life body more
High level brake emergency degree can preferably avoid vehicle from bumping against life entity, preferably avoid the occurrence of and jeopardize other people life
The traffic accident of safety occurs.
When the exercise data includes range information of the vehicle relative to barrier, which includes third brake plan
Slightly, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where corresponding brake emergency
Degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency degree.For example, it is assumed that
Brake emergency degree is divided into several grades, and 1 grade minimum, and brake emergency degree adds 1, etc. if apart from every reduction 2m.The present invention
In embodiment, by the brake emergency degree for the closer scene setting higher level of obstacle distance, can preferably it avoid
Vehicle bumps against barrier, and the traffic accident for bumping against barrier is preferably avoided to occur.
When the exercise data includes velocity information of the vehicle relative to barrier, which includes the 4th brake plan
Slightly, the 4th brake strategy includes: the vehicle relative to corresponding brake emergency degree in the fireballing situation of the barrier
Higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.For example, it is assumed that brake emergency
Degree is divided into several grades, and 1 grade minimum, and brake emergency degree adds 1, etc. if the every raising 5km/h of relative velocity.The present invention is real
It applies in example, by the brake emergency degree for the faster scene setting higher level of barrier relative velocity, can preferably keep away
Exempt from vehicle and bump against barrier, the traffic accident for bumping against barrier is preferably avoided to occur.
It should be understood that the grade setting of brake emergency degree herein, is only used for illustrating in above-mentioned several brake strategies
Determine the mode of brake emergency degree.
Optionally, this method may also include that in the case where needing actively to brake, and open the brake lamp of the vehicle.Brake
Lamp is normally at the rear portion of vehicle, prompts this vehicle to have taken up brake measure for rearward vehicle.For example, the brake lamp can position
Position shown in the 201 of Fig. 2, etc..Since the braking control device of the embodiment of the present invention is not by mechanical brake system
Dynamic pedal brakes, and can not open brake lamp by brake pedal.
Braking control device can open brake lamp in several ways.For example, braking control device can pass through full-vehicle control
The brake lamp of device unlocking vehicle；In another example braking control device directly can send open command to brake lamp, which is used
In the unlatching brake lamp.
The technical solution of the embodiment of the present invention can open brake when mechanical brake pedal is not operated
Lamp reminds front vehicle to pay attention to braking.
Based on the above method, the active brake gear of the embodiment of the present invention, the characteristics of using electric car by being driven by electricity,
The brake force for being used for abrupt deceleration vehicle is generated by control motor, without braking energy is transferred to braking by transmission device
Device provides another active brake scheme entirely different with existing method, and design is simple, easy to accomplish.
Fig. 3 is the structural schematic diagram of an embodiment of the present invention braking control device 300.It should be understood that the embodiment of the present invention
Braking control device 300 be used to there is motor to provide the vehicle of power, the mechanical brake with brake pedal in the prior art etc.
Vehicle brake apparatus is different.As shown in figure 3, braking control device 300 can include: acquiring unit 301, determination unit 302, instruction life
At unit 303 and brake control unit 304.Wherein,
Acquiring unit 301 is used in vehicle operation, obtains the exercise data of the vehicle, and the exercise data is for retouching
State the traffic information of the vehicle periphery and the driving information of the vehicle.
Specifically, acquiring unit 301 can obtain the exercise data of vehicle by the data acquisition device being installed on vehicle.
For example, ranging can be carried out by radar, tested the speed, by camera collection image information, rainfall is acquired by precipitation rain fall sensor
Information acquires speed and wheel offset distance information, etc. by wheel detector.
Optionally, which includes one of following data or any a variety of combination:
The type of vehicle barrier, the type of the barrier include life entity or non-life body；
Range information of the vehicle relative to barrier；
Velocity information of the vehicle relative to barrier；
Rainfall information and/or wheel offset distance information when vehicle is run.
Determination unit 302 is used to determine whether the vehicle needs actively to brake according to the exercise data.
By analyzing exercise data, it may be determined that whether the driving information of the current traffic information of vehicle and vehicle itself can lead
The generation of cause accident determines whether to need actively to brake.
For example, whether vehicle can be analyzed can knock barrier according to current movement tendency.If the exercise data
Analysis is the result shows that vehicle continues that the danger for bumping against barrier can be faced by original speed traveling, it is determined that vehicle needs actively
Brake, avoids colliding.
In another example can analyze whether current driver's sight is influenced by weather.If the analysis result of the exercise data
Showing seriously to be obstructed due tos the pilot's line of vision of vehicle is waited because raining, does not see surface conditions, it is determined that vehicle needs actively to brake,
It avoids that accident (for example, driving direction deviates road surface, etc.) occurs because unsighted
In another example if the analysis of the exercise data is the result shows that vehicle occurs to break away and skids off relatively large distance, it is determined that
Vehicle needs actively to brake, and prevents to lose control of one's vehicle.
Instruction generation unit 303 is used in the case where needing actively to brake, and generates brake control instruction, brake control
It instructs and generates brake force for braking the vehicle for controlling motor.
Brake control unit 304, for realizing that the brake to vehicle is controlled according to the brake control instruction.
In existing AEB system, mechanical braking mode, hydraulic braking mode or air-pressure brake mode are whether used,
The multiple devices that will be related to including brake pedal, and the driven Design being related between multiple devices, structure are multiple
It is miscellaneous.For example, the hydraulic brake system being related to includes brake pedal, master cylinder, wheel cylinder, drum in hydraulic braking mode
Formula (wheel) brake and oil pipe etc.；In air-pressure brake mode, the air braking systems being related to include brake pedal, sky
Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and tracheae etc.；AEB system passes through transmission device
The scheme of control brake braking, is even more related to a large amount of mechanics design and operation, design and implementation are all complex.
And in the embodiment of the present invention, braking control device 300 determines the need for leading by the exercise data according to vehicle
Dynamic brake, and brake control instruction is generated in the case where needing actively to brake, and produce according to brake control instruction control motor
The raw brake force for being used for abrupt deceleration vehicle realizes that the brake to vehicle controls, and the program is using electric car by the spy that is driven by electricity
Point generates the brake force for being used for abrupt deceleration vehicle by control motor, so as to active brake deceleration, improves travel safety,
Without braking energy is transferred to brake by transmission device, design is simple, easy to accomplish.
Optionally, which is specifically used for: determining current brake according to the exercise data and brake strategy
Vehicle urgency level；Generate brake control instruction corresponding with the current brake emergency degree, wherein different brake emergency journeys
Degree corresponds to different brake control instructions.It 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, so as to realize the application of different brake emergency degree
Active brake under scene provides better experience while avoiding hair at collision for user.
Further, which includes one of following brake strategy or any a variety of combination:
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, the brake
Vehicle strategy includes first brake strategy, corresponding in the case that rainfall is big when which includes: vehicle operation
Corresponding brake emergency degree in the case that rainfall is small when brake emergency degree is higher than vehicle operation, vehicle when which runs
In the case that wheel offset distance is small when corresponding brake emergency degree is higher than vehicle operation in the case that wheel offset distance is big
Corresponding brake emergency degree
When the exercise data includes the type of vehicle barrier, which includes the second brake strategy, this second
It is that corresponding brake emergency degree is higher than the barrier in the case where the life entity is non-life that brake strategy, which includes: the barrier,
Corresponding brake emergency degree in the case where body；
When the exercise data includes range information of the vehicle relative to barrier, which includes third brake plan
Slightly, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where corresponding brake emergency
Degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency degree；
When the exercise data includes velocity information of the vehicle relative to barrier, which includes the 4th brake plan
Slightly, the 4th brake strategy includes: the vehicle relative to corresponding brake emergency degree in the fireballing situation of the barrier
Higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
In the embodiment of the present invention, different brake emergency degree is determined for different scenes according to above-mentioned brake strategy, thus
Corresponding brake control instruction is generated, to realize different brake control.
Further, which is specifically used for:
When the exercise data includes range information of the vehicle relative to barrier, in the vehicle relative to barrier
In the case that distance is less than default safe distance, determine that the vehicle needs actively to brake；
When the exercise data further includes the type of the vehicle barrier, it is less than in the vehicle relative to the distance of barrier
In the case where the corresponding default safe distance of the type of the barrier, determine that the vehicle needs actively to brake；
When the exercise data further includes velocity information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than speed corresponding default safe distance of the vehicle relative to barrier in the case where, determine that the vehicle needs to lead
Dynamic brake；
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, at this
It is predetermined that wheel offset distance when rainfall when vehicle is run is greater than the first predetermined threshold and/or vehicle operation is greater than second
In the case where threshold value, determine that the vehicle needs actively to brake.
In the embodiment of the present invention, by several analyses that may cause vehicle and unexpected scene occurs, in exercise data
When meeting the preset condition under corresponding scene, determine that vehicle needs actively to brake, so as to avoid the generation of accident.
In addition, when the exercise data includes the type of barrier, in the feelings of the type for obtaining the vehicle barrier
Under condition, which is specifically used for: obtaining the image information of the vehicle barrier；To the image information of the barrier into
Row image analysis determines the type of the barrier.
In the embodiment of the present invention, the type of barrier is determined by image information, so as to be vehicle identification life entity
Data are provided with non-life body, and then determine different brake strategies according to the type of barrier.
Optionally, which is also used to: in the case where needing actively to brake, opening the brake of the vehicle
Car light.
In the embodiment of the present invention, by opening the brake lamp of the vehicle, can remind in the case where needing actively to brake
Front vehicle pays attention to braking, and front vehicle brake is avoided to knock this vehicle not in time.
The method that braking control device 300 can also carry out embodiment illustrated in fig. 1, and realize braking control device in Fig. 1 institute
Show the function of embodiment, details are not described herein for the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of braking control device of the embodiment of the present invention 400.It should be understood that the brake of the embodiment of the present invention
Truck control device 400 is used to have motor to provide the vehicle of power, the mechanical brake system with brake pedal in the prior art etc.
Dynamic device is different.As shown in figure 4, braking control device 400 can include: processor 402.Optionally, including channel interface 401,
Optionally, including memory 403.
Channel interface 401, processor 402 and memory 403 can be connected with each other by 404 system of bus.Bus 404 can
To be ISA (Industry Standard Architecture, industry standard architecture) bus, PCI
(PeripheralComponent Interconnect, Peripheral Component Interconnect standard) bus or EISA (Extended
Industry StandardArchitecture, expanding the industrial standard structure) bus etc..It is total that the bus can be divided into address
Line, data/address bus, control bus etc..Only to be indicated with a four-headed arrow in Fig. 4, it is not intended that only one convenient for indicating
Root bus or a type of bus.
Optionally, including memory 403, for storing program.Specifically, program may include program code, the journey
Sequence code includes computer operation instruction.Memory 403 may include read-only memory and random access memory, and to processing
Device 402 provides instruction and data.Memory 403 may comprising high-speed random access memory (Random-Access Memory,
RAM), it is also possible to further include nonvolatile memory (non-volatile memory), for example, at least 1 magnetic disk storage.
Processor 402 optionally, executes the program that memory 403 is stored, and specifically use for performing the following operations
The operation below executing:
In vehicle operation, the exercise data of the vehicle is obtained, the exercise data is for describing the vehicle periphery
The driving information of traffic information and the vehicle；
According to the exercise data, determine whether the vehicle needs actively to brake；
In the case where needing actively to brake, brake control instruction is generated, the brake control instruction is for controlling motor production
Give birth to the brake force for braking the vehicle；
Realize that the brake to the vehicle controls according to the brake control instruction.
The method that the above-mentioned braking control device as disclosed in embodiment illustrated in fig. 1 of the present invention executes can be applied to processor
In 402, or realized by processor 402.Processor 402 may be a kind of IC chip, the processing capacity with signal.
During realization, each step of the above method can pass through the integrated logic circuit or software of the hardware in processor 402
The instruction of form is completed.Above-mentioned processor 402 can be general processor, including central processing unit
(CentralProcessing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be number
Signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific
IntegratedCircuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA)
Either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute
Disclosed each method, step and logic diagram in the embodiment of the present invention.General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can directly embody
Execute completion for hardware decoding processor, or in decoding processor hardware and software module combination execute completion.Software
Module can be located at random access memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable storage
In the storage medium of this fields such as device, register maturation.The storage medium is located at memory 403, and processor 402 reads memory
Information in 403, in conjunction with the step of its hardware completion above method.
In existing AEB system, mechanical braking mode, hydraulic braking mode or air-pressure brake mode are whether used,
The multiple devices that will be related to including brake pedal, and the driven Design being related between multiple devices, structure are multiple
It is miscellaneous.For example, the hydraulic brake system being related to includes brake pedal, master cylinder, wheel cylinder, drum in hydraulic braking mode
Formula (wheel) brake and oil pipe etc.；In air-pressure brake mode, the air braking systems being related to include brake pedal, sky
Air compressor, air gauge, brake valve, brake chamber, drum-type (wheel) brake and tracheae etc.；AEB system passes through transmission device
The scheme of control brake braking, is even more related to a large amount of mechanics design and operation, design and implementation are all complex.
In the embodiment of the present invention, braking control device 400 is determined the need for actively by the exercise data according to vehicle
Brake, and brake control instruction is generated in the case where needing actively to brake, and generate according to brake control instruction control motor
For the brake force of abrupt deceleration vehicle, realize that the brake to vehicle controls, the program using electric car by being driven by electricity the characteristics of,
The brake force for being used for abrupt deceleration vehicle is generated by control motor, so as to active brake deceleration, improves travel safety, without
It needs that braking energy is transferred to brake by transmission device, design is simple, easy to accomplish.
Optionally, in the case where generating the brake control instruction, processor 402 to be specifically used for: according to the movement
Data and brake strategy determine current brake emergency degree；Generate brake control corresponding with the current brake emergency degree
Instruction, wherein different brake emergency degree corresponds to different brake control instructions.
Optionally, which includes one of following data or any a variety of combination:
The type of vehicle barrier, the type of the barrier include life entity or non-life body；
Range information of the vehicle relative to barrier；
Velocity information of the vehicle relative to barrier；
Rainfall information and/or wheel offset distance information when vehicle is run.
Further, which includes one of following brake strategy or any a variety of combination:
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, the brake
Vehicle strategy includes first brake strategy, corresponding in the case that rainfall is big when which includes: vehicle operation
Corresponding brake emergency degree in the case that rainfall is small when brake emergency degree is higher than vehicle operation, vehicle when which runs
In the case that wheel offset distance is small when corresponding brake emergency degree is higher than vehicle operation in the case that wheel offset distance is big
Corresponding brake emergency degree；
When the exercise data includes the type of vehicle barrier, which includes the second brake strategy, this second
It is that corresponding brake emergency degree is higher than the barrier in the case where the life entity is non-life that brake strategy, which includes: the barrier,
Corresponding brake emergency degree in the case where body；
When the exercise data includes range information of the vehicle relative to barrier, which includes third brake plan
Slightly, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where corresponding brake emergency
Degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency degree；
When the exercise data includes velocity information of the vehicle relative to barrier, which includes the 4th brake plan
Slightly, the 4th brake strategy includes: the vehicle relative to corresponding brake emergency degree in the fireballing situation of the barrier
Higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
Further, for determining whether the vehicle needs actively to brake according to the exercise data, processing
Device 402 is specifically used for:
When the exercise data includes range information of the vehicle relative to barrier, in the vehicle relative to barrier
In the case that distance is less than default safe distance, determine that the vehicle needs actively to brake；
When the exercise data further includes the type of the vehicle barrier, it is less than in the vehicle relative to the distance of barrier
In the case where the corresponding default safe distance of the type of the barrier, determine that the vehicle needs actively to brake；
When the exercise data further includes velocity information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than speed corresponding default safe distance of the vehicle relative to barrier in the case where, determine that the vehicle needs to lead
Dynamic brake；
When the exercise data includes rainfall information and/or wheel offset distance information when the vehicle is run, at this
It is predetermined that wheel offset distance when rainfall when vehicle is run is greater than the first predetermined threshold and/or vehicle operation is greater than second
In the case where threshold value, determine that the vehicle needs actively to brake.
In addition, when the exercise data includes the type of barrier, in the feelings of the type for obtaining the vehicle barrier
Under condition, processor 402 is specifically used for: obtaining the image information of the vehicle barrier；Figure is carried out to the image information of the barrier
The type of the barrier is determined as analyzing.
Optionally, processor 402 is also used to: in the case where needing actively to brake, opening the brake lamp of the vehicle.
The method that braking control device 400 can also carry out embodiment illustrated in fig. 1, and realize braking control device in Fig. 1 institute
Show the function of embodiment, details are not described herein for the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of brake control system of the embodiment of the present invention 500.The embodiment of the present invention for ease of understanding
Control method for vehicle and braking control device, Fig. 5 show a kind of structural schematic diagram of possible active breaking systems.Brake control
System 500 processed may include braking control device 501, data acquisition device 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 or Fig. 4 of embodiment illustrated in fig. 3
The braking control device 400 of illustrated embodiment.
As shown in figure 5, braking control device 501 can obtain movement number when vehicle is run by data acquisition device 502
According to, generation brake control instruction, and the brake control by the realization of brake control instruction to vehicle.
By taking Fig. 5 as an example, braking control device 501 can send brake control instruction, entire car controller to entire car controller 504
504, which can control the motor 503 according to the brake control instruction, generates the brake force for braking the vehicle.Specifically, example
Such as, entire car controller 504 can be according to the brake control instruction, and controlling battery management system 506 is that motor 503 provides the brake control
System instructs corresponding electric power, and is used for abrupt deceleration vehicle by the way that the control generation of motor 503 of electric machine controller 507 is corresponding with the electric power
Brake force, to carry out active brake.
In addition, entire car controller 504 can be also turned on according to the brake control instruction, the brake lamp for controlling low-voltage circuit,
Front vehicle is reminded to pay attention to braking.
In addition, being operated in the embodiment of the present invention in the braking device of the machinery such as brake pedal to stop
Che Shi, entire car controller 504 can also be used using 503 switching state of motor as generator, the machinery that can generate brake
Electric energy can be converted to.Electric energy after motor conversion can be charged by battery management system 506 to battery to realize energy regenerating.?
In braking process, the inertia kinetic energy drawing generator of vehicle is rotated, and generates an electromagnetic force opposite with direction of vehicle movement, is made
For kinematic system, so that vehicle be made further to slow down.
The embodiment of the present invention also proposed a kind of computer readable storage medium, for storing computer program, the calculating
Machine program includes the instruction for executing the method that braking control device executes in Fig. 1.
Fig. 6 is the structural schematic diagram of the vehicle 600 of an embodiment of the present invention.As shown in fig. 6, the embodiment of the present invention also mentions
A kind of vehicle 600, including braking control device 601 are gone out.Braking control device 601 can be the brake in embodiment illustrated in fig. 3
Braking control device 400 in truck control device 300 or embodiment illustrated in fig. 4.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
1. a kind of brake control method, for there is motor to provide the vehicle of power characterized by comprising
In vehicle operation, the exercise data of the vehicle is obtained, the exercise data is for describing the vehicle periphery
Traffic information and the vehicle driving information；
According to the exercise data, determine whether the vehicle needs actively to brake；
In the case where needing actively to brake, brake control instruction is generated, the brake control instruction is for controlling motor generation
For braking the brake force of the vehicle；
Realize that the brake to the vehicle controls according to brake control instruction,
Wherein, the generation brake control instruction includes:
Current brake emergency degree is determined according to the exercise data and brake strategy, and is generated tight with the current brake
The corresponding brake control instruction of anxious degree；
Wherein, the exercise data includes at least the vehicle relative to the range information of barrier, vehicle relative to barrier
Velocity information, the vehicle operation when rainfall information and wheel offset distance information；In the vehicle relative to obstacle
In the case that the distance of object is less than the corresponding default safe distance of speed of the vehicle relative to barrier, the vehicle is determined
It needs actively to brake；Rainfall in vehicle operation is greater than vehicle when the first predetermined threshold and/or vehicle operation
In the case that wheel offset distance is greater than the second predetermined threshold, determine that the vehicle needs actively to brake,
Wherein, the brake strategy includes first brake strategy, and the first brake strategy includes:
Corresponding brake emergency degree is higher than rainfall when the vehicle is run in the case that rainfall is big when the vehicle is run
Corresponding brake emergency degree in the case where small, corresponding brake is tight in the case that wheel offset distance is big when the vehicle is run
Corresponding brake emergency degree in the case that wheel offset distance is small when anxious degree is higher than vehicle operation.
2. the control instruction the method according to claim 1, wherein the generation is braked further include:
Generate brake control instruction corresponding with the current brake emergency degree, wherein different brake emergency degree pair
It should be in different brake control instructions.
3. the method according to claim 1, wherein the exercise data further include:
The type of the barrier of the vehicle, the type of the barrier include life entity or non-life body.
4. according to the method described in claim 3, it is characterized in that, current when being determined according to the exercise data and brake strategy
Brake emergency degree when, the brake strategy further includes following brake one of strategy or arbitrarily a variety of combinations:
When the exercise data includes the type of the barrier of the vehicle, the brake strategy includes the second brake strategy,
The second brake strategy include: the barrier be in the case where the life entity corresponding brake emergency degree be higher than it is described
Barrier is corresponding brake emergency degree in the case where non-life body；
When the exercise data includes range information of the vehicle relative to barrier, the brake strategy includes that third is stopped
Vehicle strategy, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where correspondence
Brake emergency degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency
Degree；
When the exercise data includes velocity information of the vehicle relative to barrier, the brake strategy includes the 4th brake
Vehicle strategy, the 4th brake strategy includes: the vehicle relative to corresponding brake in the fireballing situation of the barrier
Vehicle urgency level is higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
5. according to the method described in claim 3, it is characterized in that, being obtained when the exercise data includes the type of barrier
The type for taking the barrier of the vehicle includes:
Obtain the image information of the barrier of the vehicle；
The type that image analysis determines the barrier is carried out to the image information of the barrier.
6. according to the method described in claim 3, it is characterized in that, determining whether the vehicle needs according to the exercise data
It actively to brake and include:
When the exercise data includes range information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than default safe distance in the case where, determine that the vehicle needs actively to brake；
When the exercise data further includes the type of the barrier of the vehicle, in distance of the vehicle relative to barrier
In the case where the corresponding default safe distance of type less than the barrier, determine that the vehicle needs actively to brake.
7. method according to claim 1 to 6, which is characterized in that the method also includes: it is needing actively
In the case where brake, the brake lamp of the vehicle is opened.
8. a kind of braking control device, for there is motor to provide the vehicle of power characterized by comprising
Acquiring unit, in vehicle operation, obtaining the exercise data of the vehicle, the exercise data is for describing
The driving information of the traffic information of the vehicle periphery and the vehicle；
Determination unit, for determining whether the vehicle needs actively to brake according to the exercise data；
Instruction generation unit, in the case where needing actively to brake, generating brake control instruction, the brake control instruction
Brake force for braking the vehicle is generated for controlling motor；
Brake control unit, for realizing that the brake to the vehicle controls according to the brake control instruction,
Wherein, described instruction generation unit is also used to:
Current brake emergency degree is determined according to the exercise data and brake strategy, and is generated tight with the current brake
The corresponding brake control instruction of anxious degree,
Wherein, the exercise data includes at least the vehicle relative to the range information of barrier, vehicle relative to barrier
Velocity information, the vehicle operation when rainfall information and wheel offset distance information,
Wherein, the determination unit is also used to:
It is less than speed corresponding default safety of the vehicle relative to barrier relative to the distance of barrier in the vehicle
In the case where distance, determine that the vehicle needs actively to brake；
Rainfall in vehicle operation is greater than wheel offset distance when the first predetermined threshold and/or vehicle operation
In the case where greater than the second predetermined threshold, determine that the vehicle needs actively to brake, and
Wherein, the brake strategy includes first brake strategy, and the first brake strategy includes:
Corresponding brake emergency degree is higher than rainfall when the vehicle is run in the case that rainfall is big when the vehicle is run
Corresponding brake emergency degree in the case where small, corresponding brake is tight in the case that wheel offset distance is big when the vehicle is run
Corresponding brake emergency degree in the case that wheel offset distance is small when anxious degree is higher than vehicle operation.
9. braking control device according to claim 8, which is characterized in that described instruction generation unit is also used to:
Generate brake control instruction corresponding with the current brake emergency degree, wherein different brake emergency degree pair
It should be in different brake control instructions.
10. braking control device according to claim 8 or claim 9, which is characterized in that the exercise data further include:
The type of the barrier of the vehicle, the type of the barrier include life entity or non-life body.
11. braking control device according to claim 10, which is characterized in that when described instruction generation unit is according to
When exercise data and brake strategy determine current brake emergency degree, the brake strategy further includes in following brake strategy
One or any a variety of combination:
When the exercise data includes the type of the barrier of the vehicle, the brake strategy includes the second brake strategy,
The second brake strategy include: the barrier be in the case where the life entity corresponding brake emergency degree be higher than it is described
Barrier is corresponding brake emergency degree in the case where non-life body；
When the exercise data includes range information of the vehicle relative to barrier, the brake strategy includes that third is stopped
Vehicle strategy, third brake strategy include: the vehicle relative to the range information of the barrier it is close in the case where correspondence
Brake emergency degree be higher than the vehicle relative to the range information of the barrier it is remote in the case where corresponding brake emergency
Degree；
When the exercise data includes velocity information of the vehicle relative to barrier, the brake strategy includes the 4th brake
Vehicle strategy, the 4th brake strategy includes: the vehicle relative to corresponding brake in the fireballing situation of the barrier
Vehicle urgency level is higher than the vehicle relative to corresponding brake emergency degree in the slow-footed situation of the barrier.
12. braking control device according to claim 10, which is characterized in that when the exercise data includes barrier
When type, in the case where the type of the barrier for obtaining the vehicle, the acquiring unit is also used to:
Obtain the image information of the barrier of the vehicle；
The type that image analysis determines the barrier is carried out to the image information of the barrier.
13. braking control device according to claim 10, which is characterized in that the determination unit is also used to:
When the exercise data includes range information of the vehicle relative to barrier, in the vehicle relative to barrier
Distance be less than default safe distance in the case where, determine that the vehicle needs actively to brake；
When the exercise data further includes the type of the barrier of the vehicle, in distance of the vehicle relative to barrier
In the case where the corresponding default safe distance of type less than the barrier, determine that the vehicle needs actively to brake.
14. a kind of braking control device, for there is motor to provide the vehicle of power, which is characterized in that the braking control device
Including processor, the processor requires method described in any one of 1-7 for perform claim.
15. a kind of vehicle, which is characterized in that including the braking control device according to any one of claim 8-14.
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| CN201610619595.8A CN106114478B (en) | 2016-07-29 | 2016-07-29 | Brake control method, device and vehicle |
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| CN201610619595.8A CN106114478B (en) | 2016-07-29 | 2016-07-29 | Brake control method, device and vehicle |
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| CN108583550A (en) * | 2018-03-02 | 2018-09-28 | 浙江鼎奕科技发展有限公司 | Vehicle automatic braking method and device |
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