CN106976451B - Vehicle dynamic stability control system and control method thereof - Google Patents

Vehicle dynamic stability control system and control method thereof Download PDF

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Publication number
CN106976451B
CN106976451B CN201610033984.2A CN201610033984A CN106976451B CN 106976451 B CN106976451 B CN 106976451B CN 201610033984 A CN201610033984 A CN 201610033984A CN 106976451 B CN106976451 B CN 106976451B
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vehicle
brake
braking
signal
judging
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CN106976451A (en
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陆红丽
李岩
方恩
杨晓辉
张晨晨
刘广宇
吴晟
李坤
雷文渊
刘松岳
高晨
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

vehicle dynamic stability control system and control method thereof, the method includes obtaining brake fluid level information, judging whether the vehicle has driving risk when the brake fluid level is lower than the lowest liquid level indication position of a liquid storage device, and applying brake pressure to the brake system when the vehicle is judged to have the driving risk.

Description

Vehicle dynamic stability control system and control method thereof
Technical Field
The invention relates to the field of vehicle control, in particular to vehicle dynamic stability control systems and control methods thereof.
Background
A Dynamic Stability Control (DSC) is an important component of a vehicle. The novel vehicle can effectively prevent the phenomena of vehicle drift, sideslip, poor dynamic property and the like caused by tire slip under various road conditions, and effectively improves the stability, safety and dynamic property of the vehicle.
Although the existing DSC can realize functions such as anti-lock, traction control, dynamic stability control, hill start assist, and emergency brake assist, the vehicle still has driving risks in some cases.
Disclosure of Invention
The embodiment of the invention solves the problem of how to improve driving safety through DSC.
In order to solve the above problem, an embodiment of the present invention provides control methods for a vehicle dynamic stability control system, the method including:
acquiring brake fluid level information;
when the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device, judging whether the vehicle has driving risks or not;
and applying brake pressure to a brake system when the vehicle is determined to have a driving risk.
Optionally, after applying the braking pressure to the braking system, the method further includes: and judging whether the vehicle still has a driving risk or not, and when the driving risk still exists, sending a speed-limiting control signal to an engine management system to control the engine to execute speed-limiting operation.
Optionally, after applying the braking pressure to the braking system, the method further includes: and when the running risk of the vehicle still exists, sending a braking control signal to the electronic hand brake controller to control the electronic hand brake to execute braking operation.
Optionally, after applying the braking pressure to the braking system, the method further includes: and judging whether the vehicle still has a driving risk or not, and when the driving risk still exists, sending a speed-limiting control signal to an engine management system to control the engine to execute speed-limiting operation and sending a braking control signal to an electronic hand brake controller to control the electronic hand brake to execute braking operation.
Optionally, the determining whether the vehicle still has a driving risk includes:
detecting a wheel speed sensor signal, and obtaining the running speed of the vehicle according to the wheel speed sensor signal;
when the running speed of the vehicle is zero, the vehicle is judged to have running risk after the braking pressure is applied to the braking system, and otherwise, the vehicle is judged to be safe after the braking pressure is applied to the braking system.
Optionally, when the brake fluid level is lower than the lowest level indicator of the liquid storage device, determining whether there is a driving risk for the vehicle includes:
when the brake fluid level information is lower than the lowest liquid level indication position of the liquid storage device, detecting a wheel speed sensor signal and a brake signal;
obtaining the running speed of the vehicle according to the wheel speed sensor signal;
and when the braking signal is detected and the running speed of the vehicle is greater than or equal to a preset value, judging that the vehicle has running risk, otherwise, judging that the vehicle is safe to run.
Optionally, when the braking signal is detected and the running speed of the vehicle is greater than or equal to a preset value, it is determined that the vehicle has a running risk, and otherwise, it is determined that the vehicle is safe to run.
The embodiment of the invention also provides vehicle dynamic stability control systems, which comprise:
the acquisition unit is used for acquiring brake fluid level information;
an th judging unit, which is used for judging whether the vehicle has a driving risk when the brake fluid level is lower than the lowest level indication position of the liquid storage device;
an th execution unit, for applying brake pressure to the brake system when the vehicle is determined to be at risk of driving.
Optionally, the system further comprises:
the second judgment unit is used for judging whether the vehicle still has driving risks after the brake pressure is applied to the brake system;
and the second execution unit is used for sending a speed limit control signal to the engine management system to control the engine to execute speed limit operation when the vehicle still has driving risk.
Optionally, the system further comprises:
the second judgment unit is used for judging whether the vehicle still has driving risks after the brake pressure is applied to the brake system;
and the second execution unit is used for sending a braking control signal to the electronic hand brake controller to control the electronic hand brake to execute braking operation when the vehicle still has driving risk.
Optionally, the system further comprises:
the second judgment unit is used for judging whether the vehicle still has driving risks after the brake pressure is applied to the brake system;
and the second execution unit is used for sending a speed limit control signal to the engine management system to control the engine to execute speed limit operation and sending a brake control signal to the electronic hand brake controller to control the electronic hand brake to execute brake operation when the vehicle still has driving risk.
Optionally, the second judging unit includes:
the detection subunit is used for detecting a wheel speed sensor signal;
the acquisition subunit is used for acquiring the running speed of the vehicle according to the wheel speed sensor signal;
and the judging subunit is used for judging that the vehicle still has the driving risk after the braking pressure is applied to the braking system when the driving speed of the vehicle is zero, and otherwise, judging that the vehicle is safe after the braking pressure is applied to the braking system.
Optionally, the th judging unit includes:
the detection subunit is used for respectively detecting a wheel speed sensor signal and a brake signal when the brake liquid level information is lower than the lowest liquid level indication position of the liquid storage device;
the acquisition subunit is used for acquiring the running speed of the vehicle according to the wheel speed sensor signal;
and the judging subunit is used for judging that the vehicle has driving risk under the condition that the braking signal is detected and the driving speed of the vehicle is greater than or equal to a preset value, and otherwise, judging that the vehicle is safe to drive.
Optionally, the braking signal comprises: a brake pedal displacement sensor signal or a brake switch signal.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following advantages:
the DSC in the embodiment of the invention can improve the driving safety of the vehicle by acquiring the brake liquid level information, judging whether the vehicle has driving risk according to the brake liquid level information, and applying brake pressure to the brake system when the vehicle has the driving risk so as to control the driving speed.
After the brake pressure is applied to the brake system, when the vehicle still has a driving risk, the driving safety of the vehicle can be further improved by sending a speed limit control signal to the engine management system to control the engine to execute speed limit operation or sending a brake control signal to the electronic hand brake controller to control the electronic hand brake to execute brake operation.
After the braking pressure is applied to the braking system, when the vehicle still has a driving risk, the driving safety of the vehicle can be further improved by sending a speed limit control signal to the engine management system to control the engine to execute speed limit operation and sending a braking control signal to the electronic hand brake controller to control the electronic hand brake to execute braking operation.
Drawings
FIG. 1 is a flow chart of a control method of vehicle dynamic stability control systems in an embodiment of the invention;
FIG. 2 is a flow chart of another control methods for a vehicle dynamic stability control system in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a control method of a further vehicle dynamic stability control system in an embodiment of the present invention;
FIG. 4 illustrates vehicle dynamic stability control systems according to an embodiment of the present invention;
fig. 5 shows another vehicle dynamic stability control system in an embodiment of the invention.
Detailed Description
The brake system is an important component of the vehicle. The device not only can make the running vehicle perform forced deceleration or even stop according to the requirements of the driver, but also can make the stopped vehicle stably park under various road conditions and keep the speed of the vehicle running on the downhill stable, thereby improving the running stability and safety of the vehicle.
Brake fluid is an important component of a brake system related to driving safety. According to statistics, in the annual traffic death accidents in China, nearly 1/3 are caused by brake system problems, and the main brake system problem is brake fluid leakage. In daily driving, traffic accidents are caused by the problem of brake fluid leakage, and further, physical damage and even personnel damage are not rare. The existing vehicle DSC has no control strategy for the driving safety problem caused by the leakage of brake fluid.
In view of the above problems, embodiments of the present invention provide methods for controlling a DSC, which determine whether there is a driving risk in a vehicle by acquiring brake fluid level information and determining whether there is a driving risk in the vehicle based on the acquired level information.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a control method of types of vehicle DSCs, which may include the steps of:
step 101, obtaining brake fluid level information.
Vehicle braking systems may generally include: brake pedal, brake fluid, brake pipe and brake. Brake fluid is injected into the brake pipeline through the liquid storage device. Wherein, the liquid storage device can be a liquid storage pot. During driving, the driver can apply a brake pressure by depressing the brake pedal, which is then transmitted by the brake fluid in the brake line to the brake, which acts to decelerate the vehicle. Therefore, the brake fluid is the fluid for transmitting pressure in the vehicle brake system and is an important component of the brake system related to the driving safety.
In a specific implementation, a liquid level sensor can be arranged in the liquid storage device, and the liquid level information of the brake fluid can be obtained by detecting the signal of the liquid level sensor, and a liquid level alarm can be arranged in the liquid storage device, and the liquid level information of the brake fluid can be obtained by arranging the alarm limit value of the liquid level alarm and detecting the liquid level alarm signal generated by the liquid level alarm.
And 102, judging whether the vehicle has a driving risk or not when the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device.
In a specific implementation, a minimum level indicator and a maximum level indicator are typically provided on the reservoir. When the brake fluid level is higher than the highest level indicator, the brake fluid in the fluid storage device is excessive. When the brake fluid level is lower than the lowest level indicator, it indicates that brake fluid leaks.
In specific implementation, whether the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device or not can be directly judged, and whether the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device or not can be indirectly judged. For example, when a liquid level sensor is arranged in the liquid storage device, whether the brake liquid level is lower than the lowest liquid level indication position of the liquid storage device or not can be determined by judging the acquired liquid level sensor signal. When a liquid level alarm is arranged in the liquid storage device, whether the brake liquid level is lower than the lowest liquid level indication position of the liquid storage device or not can be judged when an alarm signal generated by the liquid level alarm is received.
In specific implementation, when the brake fluid level is lower than the lowest fluid level indication position of the fluid storage device, in order to more accurately judge whether the vehicle has a driving risk, a wheel speed sensor signal and a brake signal can be detected after brake fluid level information is acquired, and the driving speed of the vehicle can be acquired according to the wheel speed sensor signal.
The braking signal may be a braking pedal displacement sensor signal generated by a braking pedal displacement sensor, or may be a braking switch signal generated by a braking switch. When the brake pedal displaces, the signal of the brake pedal displacement sensor can be generated, and a brake switch connected with the brake pedal can be triggered to generate a brake switch signal. When a brake pedal displacement sensor signal or a brake switch signal is detected, the driver requests braking, otherwise, the driver does not request braking.
When the driver requests braking and the running speed of the vehicle is larger than or equal to a preset value, namely the driver performs braking operation, but the vehicle is not decelerated, at the moment, the vehicle is judged to have running risk, and otherwise, the vehicle is judged to be safe to run. The preset value may be set by a person in the art according to actual conditions, and is not limited herein.
And 103, applying brake pressure to a brake system when the vehicle is judged to have the driving risk.
In a specific implementation, the DSC is connected to the brake line of the brake system. When it is determined that the vehicle is at a driving risk, the DSC may apply a braking pressure to the brake fluid in the brake line, and the braking pressure is transmitted to the brake by the brake fluid, thereby controlling deceleration of the vehicle.
As can be seen from steps 101 to 103, according to the control method provided by the embodiment of the invention, by acquiring the brake fluid level information and judging whether the vehicle has a driving risk according to the brake fluid level information, when the vehicle has a driving risk due to brake fluid leakage, the vehicle is controlled to decelerate by actively applying brake pressure to the brake system, so that the vehicle safety is effectively improved.
In order to better avoid the driving risk of the vehicle caused by the leakage of the brake fluid and further improve the driving safety of the vehicle , the embodiment of the invention also provides DSC control methods, which are explained in detail below:
as shown in fig. 2, the control method may include the steps of:
step 201, brake fluid level information is obtained.
Step 202, when the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device, judging whether the vehicle has driving risks.
And step 203, applying brake pressure to a brake system when the vehicle is judged to have the driving risk.
In a specific implementation, a person skilled in the art may refer to the above description of steps 101 to 103 to implement steps 201 to 203, which is not described herein again. With respect to the control method shown in fig. 1, after applying the control pressure to the brake system, steps 204 and 205 are further included, in which:
and 204, judging whether the vehicle still has a driving risk.
Therefore, to further increase the driving safety of the vehicle at , a determination may be made as to whether there is a driving risk remaining with the vehicle.
In particular implementations, the determination of whether the vehicle is still at risk may be made in a number of ways. For example, the determination may be made by detecting a signal from a wheel speed sensor. When the wheel speed sensor signal is detected, the current running speed of the vehicle is judged according to the wheel speed sensor signal. When the running of the vehicle is zero, the vehicle is judged to have running risk after the step 203 is executed, otherwise, the vehicle is judged to be safe after the step 203 is executed.
And step 205, when the vehicle still has a driving risk, sending a braking control signal to an electronic hand Brake controller to control an electronic hand Brake (EPB) to perform a braking operation.
The DSC is connected with an EPB controller. When the DSC still has driving risk after actively pressurizing the braking system, the DSC sends a braking control signal to the EPB controller, and the controller can directly perform braking operation according to the control signal after receiving the control signal so as to quickly react to the vehicle with driving risk and improve driving safety.
Referring to fig. 3, another DSC control method is provided in the embodiments of the present invention, which may include the following steps:
and 301, acquiring brake fluid level information.
And step 302, when the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device, judging whether the vehicle has driving risk or not.
And step 303, applying brake pressure to a brake system when the vehicle is judged to have the driving risk.
For the steps 301 to 304, reference may be made to the above description of the steps 201 to 204, which is not described herein again.
After applying brake pressure to the brake system, the method may perform step 305, namely: the speed limit control signal is sent to an Engine Management System (EMS) to control the Engine to perform speed limit operations.
The DSC may be connected to the EMS. When the DSC actively boosts the braking system and the vehicle still has driving risks, the DSC sends a speed-limiting control signal to the EMS, and the EMS can directly reduce torque output according to the speed-limiting control signal after receiving the speed-limiting control signal, so as to limit the speed of the vehicle, quickly respond to the vehicle with the driving risks and improve the driving safety.
It should be noted that, in a specific implementation, the control method may include only step 205, may also include only step 305, and may also include both steps 205 and 305, that is: when the vehicle still has driving risk, the DSC not only sends a speed limit control signal to the EMS to control the engine to execute speed limit operation, but also sends a brake control signal to the EPB controller to control the EPB to execute brake operation, so that the vehicle can better avoid driving risk caused by brake fluid leakage, and the safety of the vehicle is improved.
Also, steps 205 and 305 are not subject to execution order restrictions. Step 205 may be performed first and then step 305 may be performed, step 305 may be performed first and then step 205 may be performed, or steps 205 and 305 may be performed simultaneously. No particular limitation on the present invention is intended by the order in which steps 205 and 305 are performed.
In order to make the present invention more understandable and practical for those skilled in the art, the dynamic stabilization system of the above control method is described in detail below.
As shown in fig. 4, the embodiment of the present invention provides DSCs 40, and the system 40 may include an obtaining unit 41, a th judging unit 42, and a th executing unit 43.
The th judging unit 42 may be used for judging whether the vehicle has a driving risk when the brake liquid level is lower than the lowest liquid level indication of a liquid storage device, and the st executing unit 43 may be used for applying brake pressure to a brake system when the vehicle is judged to have the driving risk.
For example, the th judging unit 42 may comprise a detecting subunit 421, an obtaining subunit 422 and a judging subunit 423, wherein the detecting subunit 421 may be used for respectively detecting a wheel speed sensor signal and a braking signal when the brake liquid level information is lower than the lowest liquid level indication of the liquid storage device, the obtaining subunit 422 may be used for obtaining the running speed of the vehicle according to the wheel speed sensor signal, the judging subunit 423 may be used for judging that the vehicle has the running risk when the braking signal is detected and the running speed of the vehicle is greater than or equal to a preset value, and otherwise, judging that the vehicle is safe to run.
In a specific implementation, the braking signal may be a braking pedal displacement sensor signal sent by a braking pedal displacement sensor, or may be a braking switch signal sent by a braking switch. The embodiment of the present invention is not limited, particularly, no matter what kind of device sends the signal, as long as the signal can represent the braking request of the driver.
As shown in fig. 5, another DSCs 50 are provided in the embodiment of the present invention, in comparison with the DSC40 shown in fig. 4, the DSC40 includes a second determination unit 54 and a second execution unit 55 in addition to the acquisition unit 51, the th determination unit 52 and the th execution unit 43, wherein, a person skilled in the art can refer to the above description of the acquisition unit 41, the th determination unit 42 and the th execution unit 43 in fig. 4 to implement the acquisition unit 51, the th determination unit 52 and the execution unit 53 correspondingly, and the second determination unit 54 and the second execution unit 55 are described in detail below:
in a specific implementation, the second determination unit 54 may be configured to determine whether there is a driving risk of the vehicle after applying the brake pressure to the brake system. The vehicle may take a variety of configurations to determine whether there is still a driving risk. For example, the second determination unit 54 may include: the device comprises a detection subunit, an acquisition subunit and a judgment subunit. Wherein, the detection subunit can be used for detecting a wheel speed sensor signal. The acquisition sub-unit may be configured to obtain a running speed of the vehicle from the wheel speed sensor signal. The judging subunit is configured to, when the running speed of the vehicle is zero, judge that there is a running risk in the vehicle after applying the braking pressure to the braking system, and otherwise judge that the vehicle is safe after applying the braking pressure to the braking system.
In a specific implementation, the second execution unit 55 may be configured to send a speed limit control signal to the EMS to control the engine to perform a speed limit operation or send a brake control signal to the EPB controller to control the EPB to perform a brake operation when there is still a driving risk in the vehicle. The second execution unit 55 may also send a speed limit control signal to the EMS to control the engine to perform a speed limit operation and a brake control signal to the EPB controller to control the EPB to perform a brake operation when there is still a driving risk in the vehicle.
As can be seen from the DSC shown in fig. 5, after the brake pressure is actively applied to the brake system, when there is still a driving risk in the vehicle, the transmission of the speed limit control signal to the EMS to control the engine to perform the speed limit operation and the transmission of the brake control signal to the EPB controller to control the EPB to perform at least operations among the braking operations are performed by the second execution unit 55, so that the driving risk of the vehicle due to the leakage of the brake fluid can be better avoided, and the driving safety of the vehicle can be improved steps.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer readable storage medium, which may include ROM, RAM, magnetic or optical disk, etc.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

  1. The control method of the dynamic stability control system of vehicles is characterized by comprising the following steps:
    acquiring brake fluid level information;
    when the brake fluid level is lower than the lowest liquid level indication position of the liquid storage device, judging whether the vehicle has driving risks or not;
    applying brake pressure to a brake system when it is determined that the vehicle is at a driving risk;
    and after the braking pressure is applied to the braking system, judging whether the vehicle still has a driving risk, and when the driving risk still exists, sending a speed-limiting control signal to an engine management system to control the engine to execute speed-limiting operation and/or sending a braking control signal to an electronic hand brake controller to control the electronic hand brake to execute braking operation.
  2. 2. The control method according to claim 1, wherein the determining whether the vehicle still has a driving risk includes:
    detecting a wheel speed sensor signal, and obtaining the running speed of the vehicle according to the wheel speed sensor signal;
    when the running speed of the vehicle is zero, the vehicle is judged to have running risk after the braking pressure is applied to the braking system, and otherwise, the vehicle is judged to be safe after the braking pressure is applied to the braking system.
  3. 3. The control method of claim 1, wherein determining whether the vehicle is at a driving risk when the brake fluid level is below a minimum level indicator of a reservoir comprises:
    when the brake fluid level information is lower than the lowest liquid level indication position of the liquid storage device, detecting a wheel speed sensor signal and a brake signal;
    obtaining the running speed of the vehicle according to the wheel speed sensor signal;
    and when the braking signal is detected and the running speed of the vehicle is greater than or equal to a preset value, judging that the vehicle has running risk, otherwise, judging that the vehicle is safe to run.
  4. 4. The control method of claim 3, wherein the brake signal comprises: a brake pedal displacement sensor signal or a brake switch signal.
  5. The vehicle dynamic stability control system of , comprising:
    the acquisition unit is used for acquiring brake fluid level information;
    an th judging unit, which is used for judging whether the vehicle has a driving risk when the brake fluid level is lower than the lowest level indication position of the liquid storage device;
    an executing unit, for applying brake pressure to a brake system when the vehicle is judged to have the driving risk;
    the second judgment unit is used for judging whether the vehicle still has driving risks after the brake pressure is applied to the brake system;
    and the second execution unit is used for sending a speed limit control signal to the engine management system to control the engine to execute speed limit operation and/or sending a brake control signal to the electronic hand brake controller to control the electronic hand brake to execute brake operation when the vehicle still has driving risk.
  6. 6. The vehicle dynamic stability control system according to claim 5, characterized in that the second determination unit includes:
    the detection subunit is used for detecting a wheel speed sensor signal;
    the acquisition subunit is used for acquiring the running speed of the vehicle according to the wheel speed sensor signal;
    and the judging subunit is used for judging that the vehicle still has the driving risk after the braking pressure is applied to the braking system when the driving speed of the vehicle is zero, and otherwise, judging that the vehicle is safe after the braking pressure is applied to the braking system.
  7. 7. The dynamic stabilization control system of claim 5, wherein the th judging unit includes:
    the detection subunit is used for respectively detecting a wheel speed sensor signal and a brake signal when the brake liquid level information is lower than the lowest liquid level indication position of the liquid storage device;
    the acquisition subunit is used for acquiring the running speed of the vehicle according to the wheel speed sensor signal;
    and the judging subunit is used for judging that the vehicle has driving risk under the condition that the braking signal is detected and the driving speed of the vehicle is greater than or equal to a preset value, and otherwise, judging that the vehicle is safe to drive.
  8. 8. The dynamic stability control system of claim 7, wherein the braking signal comprises: a brake pedal displacement sensor signal or a brake switch signal.
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