CN107010028A - Collision avoidance system, control method and the electric automobile of electric automobile - Google Patents
Collision avoidance system, control method and the electric automobile of electric automobile Download PDFInfo
- Publication number
- CN107010028A CN107010028A CN201610053511.9A CN201610053511A CN107010028A CN 107010028 A CN107010028 A CN 107010028A CN 201610053511 A CN201610053511 A CN 201610053511A CN 107010028 A CN107010028 A CN 107010028A
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- wheel
- host vehicle
- vehicle speed
- speed
- braking
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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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of collision avoidance system of electric automobile, control method and electric automobile, the system includes：Vehicle speed detector device；Spacing detection means；The wheel electrical machine brake apparatus in host vehicle is arranged on, wheel electrical machine brake apparatus includes wheel braking motor, and wheel electrical machine brake apparatus is used to apply brake force to wheel when receiving emergency brake signal, to carry out regenerative braking to host vehicle；Entire car controller, for when host vehicle speed is more than preset vehicle speed and the first relative distance is less than preset distance, collision time is determined according to host vehicle speed, front vehicles speed and the first relative distance, and when collision time is less than the scheduled time, emergency brake signal is sent to wheel electrical machine brake apparatus.The collision avoidance system of the present invention effectively can prevent vehicle from knocking into the back, and have the advantages that braking response speed is fast, braking distance is short, vehicle safety is thereby may be ensured that, in addition, the collision avoidance system has the advantages that simple in construction, cost is low.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of collision avoidance system of electric automobile, control method and electronic vapour
Car.
Background technology
At present, some carry out early warning to driver when vehicle will knock into the back with front vehicles in correlation technique,
So as to remind driver to note deceleration, it is to avoid knock into the back.This improves traffic safety to a certain extent.But,
If driver does not take deceleration, generally or may knock into the back.In addition, there is some correlation techniques, judging
When going out to knock into the back with front truck, brake fluid system can be controlled to carry out Braking mode, then brake fluid system is in itself
Structure it is complex, and brake fluid system low-response, cost are high, and delayed braking is still not sufficient to ensure that row sometimes
Car safety.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
Therefore, it is an object of the present invention to propose a kind of collision avoidance system of electric automobile.The anticollision of the electric automobile
System effectively can prevent vehicle from knocking into the back, and have the advantages that braking response speed is fast, braking distance is short, so as to protect
Vehicle safety is demonstrate,proved, in addition, the collision avoidance system has the advantages that simple in construction, cost is low.
It is another object of the present invention to propose a kind of control method of the collision avoidance system of electric automobile.
Another object of the present invention is to propose a kind of electric automobile.
To achieve these goals, the embodiment of the first aspect of the present invention discloses a kind of collision avoidance system of electric automobile,
Including：Vehicle speed detector device, for detecting host vehicle speed and front vehicles speed；Spacing detection means, for detecting
The first relative distance between host vehicle and front vehicles；The wheel electrical machine brake apparatus in host vehicle is arranged on, it is described
Wheel electrical machine brake apparatus includes wheel braking motor, and the wheel electrical machine brake apparatus is used to receive emergency brake signal
When to wheel apply brake force, with to the host vehicle carry out regenerative braking；Entire car controller, the entire car controller is used
In when the host vehicle speed is more than preset vehicle speed and first relative distance is less than preset distance, according to the host
Vehicle speed, front vehicles speed and first relative distance determine collision time, and in the collision time less than predetermined
During the time, send alarm signal to the driver of host vehicle and/or send the urgent system to the wheel electrical machine brake apparatus
Dynamic signal.
The collision avoidance system of electric automobile according to embodiments of the present invention, when judging that host vehicle will occur with front vehicles
When knocking into the back, alarm, or even control vehicle Braking mode can be sent to driver, so as to avoid vehicle from occurring with front vehicles
Knock into the back, it is ensured that traffic safety.In addition, being compared by way of such as wheel motor or wheel hub motor etc. apply brake force to wheel
In correlation technique by way of hydraulic braking, with the fireballing advantage of braking response and wheel motor or wheel hub motor
Deng the advantage that opposed configuration is simple, cost is low.
The embodiment of second aspect of the present invention discloses a kind of control method of the collision avoidance system of electric automobile, including following step
Suddenly：Detect host vehicle speed and front vehicles speed；Detect the first relative distance between host vehicle and front vehicles；
When the host vehicle speed is more than preset vehicle speed and first relative distance is less than preset distance, according to host's car
Speed, front vehicles speed and first relative distance determine collision time；When the collision time is less than the scheduled time
When, send alarm signal to the driver of host vehicle and/or send the emergency brake signal to wheel electrical machine brake apparatus,
So that the wheel electrical machine brake apparatus applies brake force to wheel, to carry out regenerative braking to the host vehicle.
The control method of the collision avoidance system of electric automobile according to embodiments of the present invention, when judge host vehicle will with it is preceding
When square vehicle knocks into the back, alarm, or even control vehicle Braking mode can be sent to driver, so as to avoid vehicle with before
Square vehicle knocks into the back, it is ensured that traffic safety.In addition, applying brake force to wheel by such as wheel motor or wheel hub motor etc.
Mode compared in correlation technique by way of hydraulic braking, with the fireballing advantage of braking response and wheel motor
Or the advantage that opposed configuration is simple, cost is low such as wheel hub motor.
The embodiment of third aspect present invention discloses a kind of electric automobile, including：Embodiment according to a first aspect of the present invention
The collision avoidance system of described electric automobile.The vehicle, can when judging that host vehicle will knock into the back with front vehicles
To send alarm, or even control vehicle Braking mode to driver, so as to avoid vehicle from being knocked into the back with front vehicles, it is ensured that
Traffic safety.In addition, compared to correlation technique by way of such as wheel motor or wheel hub motor etc. apply brake force to wheel
In by way of hydraulic braking, with the opposed configuration such as the fireballing advantage of braking response and wheel motor or wheel hub motor
Simply, the low advantage of cost.
Brief description of the drawings
Fig. 1 is the structured flowchart of the collision avoidance system of electric automobile according to an embodiment of the invention；
Fig. 2 is the schematic diagram of the collision avoidance system of electric automobile according to an embodiment of the invention；And
Fig. 3 is the flow chart of the control method of the collision avoidance system of electric automobile according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from beginning to end
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Collision avoidance system, control method and the electric automobile of electric automobile according to embodiments of the present invention are described below in conjunction with accompanying drawing.
Fig. 1 is the structured flowchart of the collision avoidance system of electric automobile according to an embodiment of the invention.As shown in figure 1, root
According to the collision avoidance system 100 of the electric automobile of one embodiment of the invention, including：Vehicle speed detector device 110, spacing detection dress
Put 120, wheel electrical machine brake apparatus 130 and entire car controller 140.
Specifically, with reference to shown in Fig. 2, vehicle speed detector device 110 is used to detect host vehicle speed and front vehicles speed.
Spacing detection means 120 is used to detect the first relative distance between host vehicle and front vehicles.Wheel electrical machine brake apparatus
130 are arranged in host vehicle, and wheel electrical machine brake apparatus 130 includes wheel braking motor 131, wheel electrical machine brake apparatus
130 are used to apply brake force to wheel when receiving emergency brake signal, to carry out regenerative braking to vehicle.Full-vehicle control
Device 140 is used for when host vehicle speed is more than preset vehicle speed and the first relative distance is less than preset distance, according to host vehicle
Speed, front vehicles speed and the first relative distance determine collision time, and when collision time is less than the scheduled time, to place
The driver of main vehicle sends alarm signal and/or sends emergency brake signal to wheel electrical machine brake apparatus.
Wherein, host vehicle refers to this car, and front vehicles refer to the vehicle in front of host vehicle.Vehicle speed detector device 110 is, for example,
The vehicle speed sensor in host vehicle is arranged on, to monitor the vehicle velocity V of host vehicle in real time1And the vehicle velocity V of front vehicles2。
Spacing detection means 120 is, for example, the radar or laser ranging system being arranged in host vehicle, to monitor host's car in real time
With the distance between front vehicles (i.e. the first relative distance).Wheel braking motor 131 is wheel motor or wheel hub motor.
I.e.：Wheel braking motor 131 can be wheel motor or wheel hub motor.
As a specific example, as shown in Fig. 2 wheel electrical machine brake apparatus 130 includes：Wheel braking motor 131
With electric machine controller 133, certainly, speed changer 132 may also include.Wherein, wheel braking motor 131 passes through speed changer 132
It is connected with wheel, wheel braking motor 131 is used to apply brake force to wheel by speed changer 132.Electric machine controller 133
It is connected respectively with wheel braking motor 131 and entire car controller 140, to receive from the urgent of the transmission of entire car controller 140
Brake signal, and regenerative braking is carried out to vehicle according to emergency brake signal driving moment braking motor 131.Wherein, wheel
Braking motor 131 carries out regenerative braking to vehicle instigates wheel braking motor 131 to produce the braking opposite with vehicle heading
Power, so that the purpose of braking is reached, and wheel braking motor 131 can be by regenerative braking during regenerative braking is carried out
Energy be converted into electric energy and generated electricity, to be entered when electrokinetic cell needs charging to power battery charging by electrokinetic cell
Row energy regenerating, so as to reduce the energy consumption of vehicle.
Wheel electrical machine brake apparatus 130 is multiple, and multiple wheel electrical machine brake apparatus 130 correspond multiple cars in vehicle
Wheel.As shown in Fig. 2 vehicle includes 4 wheels, i.e.,：Front left wheel, right front wheel, rear left wheel and right rear wheel,
Front left wheel dynamic braking device 130-1 corresponding to front left wheel, the right front wheel dynamic braking device corresponding to right front wheel
130-2, the rear left wheel dynamic braking device 130-3 corresponding to rear left wheel, the right rear wheel motor corresponding to right rear wheel
Brake apparatus 130-4.Further in conjunction with shown in Fig. 2, wheel braking motor 131 is wheel motor or wheel hub motor.I.e.：Wheel
Braking motor 131 can be wheel motor or wheel hub motor.
In one embodiment of the invention, the risk class that will be collided can be determined according to the collision time determined,
Then different operations are performed according to different risk class.For example：When risk class is relatively low, driver can be pointed out
Note slowing down, to avoid colliding with front vehicles, when risk class is of a relatively high, driver can be pointed out to note deceleration
While, Braking mode is carried out to vehicle, to avoid colliding with front vehicles.
Specifically, the scheduled time includes first scheduled time and second scheduled time, and first scheduled time was more than second and made a reservation for
Time, entire car controller 140 is used for when host vehicle speed is more than preset vehicle speed and the first relative distance is less than preset distance,
Judge whether collision time was less than for first scheduled time and more than second scheduled time, if it is, generation alarm signal and to
The driver of host vehicle sends alarm signal, if collision time be less than second scheduled time, generate alarm signal and to
The driver of host vehicle sends alarm signal, and sends emergency brake signal to wheel electrical machine brake apparatus.
For example：The collision time that host vehicle collides with front vehicles is t1=L1/(V1-V2).Wherein, L1It is host's car
The first relative distance between front vehicles, V1It is host vehicle speed, V2It is front vehicles speed.If t1≤ 0 second,
Illustrate V2More than V1, i.e. front vehicles speed is higher than host vehicle speed, will not collide；If t1>0 second, then front
Vehicle speed is lower than host vehicle speed, it is possible to which collide danger.
Work as V1More than 80km/h (i.e.：Preset vehicle speed), and L1Less than 10m (i.e.：Preset distance), t1Less than 2s (i.e.
First scheduled time) when, entire car controller 140 judges that host vehicle is possible to collide with front vehicles.Full-vehicle control
Device 140 sends alarm signal by CAN network to the driver of host vehicle, and then, driver is reminded by alarm signal
Note running distance and driving safety.
Work as V1More than 80km/h, and L1Less than 10m, t1During less than 1s, entire car controller 140 judges that host vehicle will
To be knocked into the back with front vehicles.Entire car controller 140 sends emergency brake signal, car to wheel electrical machine brake apparatus 130
Turbin generator brake apparatus 130 applies brake force to wheel, reaches the purpose of Braking mode, and then prevent host vehicle and front
Vehicle knocks into the back, and lifts traffic safety.
When determining host vehicle and will knocked into the back during running at high speed with front vehicles, entire car controller 140 can
To determine braking moment according to host vehicle speed, vehicle wheel rotational speed and predetermined tire slip rate, and generated according to braking moment
The emergency brake signal stated, is specifically included：Tire actual slip rate is obtained according to host vehicle speed and vehicle wheel rotational speed；According to
Tire actual slip rate and the predetermined tire slip rate determine wheel rotating speed of target；Brake force is determined according to wheel rotating speed of target
Square, and emergency brake signal is generated according to braking moment.
Specifically, process of running at high speed and when will be knocked into the back with front vehicles, in order to reduce braking distance, it is necessary to really
Fixed maximum braking moment.And embodiments of the invention can slide according to host vehicle speed, vehicle wheel rotational speed and predetermined tire
Rate determines this maximum braking moment.First, tire actual slip rate is obtained by equation below, the formula is：
S=(V-u)/V × 100%,
Wherein, S is tire actual slip rate, and V is that speed, u are vehicle wheel rotational speed.
Understood according to experiment, when tire actual slip rate S is 20% (i.e. predetermined wheel slip rate) left and right, now wheel
The brake force of maximum can be obtained, entire car controller 140 calculates tire actual slip rate S in real time, then actual according to tire
Slip rate S and predetermined wheel slip rate etc. determine the braking moment of maximum, and then wheel electrical machine brake apparatus 130 is according to this
Maximum braking moment applies brake force to wheel, and tire actual slip rate S remains at 20% during making brake hard
Left and right, so as to reach the effect of fast braking, reduces braking distance, it is ensured that vehicle safety.
The collision avoidance system of electric automobile according to embodiments of the present invention, when judging that host vehicle will occur with front vehicles
When knocking into the back, alarm, or even control vehicle Braking mode can be sent to driver, so as to avoid vehicle from occurring with front vehicles
Knock into the back, it is ensured that traffic safety.In addition, being compared by way of such as wheel motor or wheel hub motor etc. apply brake force to wheel
In correlation technique by way of hydraulic braking, with the fireballing advantage of braking response and wheel motor or wheel hub motor
Deng the advantage that opposed configuration is simple, cost is low.
In one embodiment of the invention, vehicle speed detector device 110 is additionally operable to detect front vehicle speed, spacing detection dress
Put 120 to be additionally operable to detect the second relative distance between host vehicle and front vehicle, entire car controller 140 is additionally operable to rear
When square vehicle speed is more than preset vehicle speed and the second relative distance and is less than preset distance, according to host vehicle speed, front vehicle
Speed and the second relative distance determine collision time, and when collision time is less than the scheduled time, rearward vehicle sends alarm
Signal.
Specifically, the time that front vehicle collides with host vehicle is t2=L2/(V3-V1), L2It is the second relative distance,
V3It is front vehicle speed.If t2≤ 0s, illustrates V1More than V3, i.e. host vehicle speed than front vehicle speed greatly, will not
Collide, if t2>0s, illustrates V1Less than V3, i.e. host vehicle speed is smaller than front vehicle speed, it is possible to touch
Hit.
And then, work as V3More than 80km/h (i.e.：Preset vehicle speed), L2Less than 10m (i.e.：Preset distance), and t2It is less than
2s is (i.e.：First scheduled time), entire car controller 140 judges that front vehicle is possible to collide with host vehicle.Vehicle
Rearward vehicle sends alarm signal to controller 140.
Work as V2More than 80km/h, L2Less than 10m, and t2Less than 1s, entire car controller 140 judges that front vehicle will be with place
Main vehicle knocks into the back.While entire car controller 150 sends alarm signal, vehicle tail lamp and critical alarm lamp are opened,
Rear car owner is alerted, two car hypotelorisms have rear end collision.So as to avoid front vehicle from being knocked into the back with host vehicle.Enter one
Step deduction traffic safety.
In one embodiment of the invention, when the process that brake hard is taken vehicle by wheel electrical machine brake apparatus 130
In, in addition to：When judging whether electrokinetic cell meets the not enough power supply of charge condition, such as electrokinetic cell, car can also be passed through
Turbin generator brake apparatus 130 collects the energy that braking is produced, and it is power battery charging to be converted to after electric energy, realizes energy regenerating,
And then the course continuation mileage of electric automobile can be lifted, and avoid the waste of the energy.
Fig. 3 is the flow chart of the control method of the collision avoidance system of electric automobile according to an embodiment of the invention.
It should be noted that in the control method of the collision avoidance system of the electric automobile of the embodiment of the present invention, electric automobile
Collision avoidance system is the collision avoidance system of the electric automobile described in above-described embodiment.
As shown in figure 3, the control method of the collision avoidance system of electric automobile according to an embodiment of the invention, including it is following
Step：
S301：Detect host vehicle speed and front vehicles speed.
S302：Detect the first relative distance between host vehicle and front vehicles.
S303：When the host vehicle speed is more than preset vehicle speed and first relative distance is less than preset distance, according to
The host vehicle speed, front vehicles speed and first relative distance determine collision time.
S304：When the collision time is less than the scheduled time, alarm signal is sent and/or to car to the driver of host vehicle
Turbin generator brake apparatus sends the emergency brake signal, so that the wheel electrical machine brake apparatus applies brake force to wheel,
To carry out regenerative braking to the host vehicle.
Further, the scheduled time includes first scheduled time and second scheduled time, and first scheduled time is more than described
It is second scheduled time, described when the collision time is less than the scheduled time, send alarm signal to the driver of host vehicle
And/or the emergency brake signal is sent to wheel electrical machine brake apparatus, so that the wheel electrical machine brake apparatus applies to wheel
Brake force, to carry out regenerative braking to the host vehicle, including：Judge whether the collision time is less than described first pre-
Fix time and more than second scheduled time, if it is, generating the alarm signal and being sent out to the driver of host vehicle
Go out the alarm signal；If the collision time is less than second scheduled time, the alarm signal is generated and to place
The driver of main vehicle sends the alarm signal, and sends the emergency brake signal to the wheel electrical machine brake apparatus.
In one embodiment of the invention, the control method of the collision avoidance system of electric automobile, in addition to：According to the place
Main vehicle speed and vehicle wheel rotational speed obtain tire actual slip rate；Slided according to the tire actual slip rate and the predetermined tire
Shifting rate determines wheel rotating speed of target；The braking moment is determined according to the wheel rotating speed of target, and according to the braking moment
Generate the emergency brake signal.
Further, the control method also includes：Detect front vehicle speed；Detect between host vehicle and front vehicle
Second relative distance；When the front vehicle speed is more than preset vehicle speed and second relative distance is less than preset distance,
Collision time is determined according to the host vehicle speed, front vehicle speed and second relative distance, and in the collision
When time is less than the scheduled time, rearward vehicle sends alarm signal.
The control method of the collision avoidance system of electric automobile according to embodiments of the present invention, when judge host vehicle will with it is preceding
When square vehicle knocks into the back, alarm, or even control vehicle Braking mode can be sent to driver, so as to avoid vehicle with before
Square vehicle knocks into the back, it is ensured that traffic safety.In addition, applying brake force to wheel by such as wheel motor or wheel hub motor etc.
Mode compared in correlation technique by way of hydraulic braking, with the fireballing advantage of braking response and wheel motor
Or the advantage that opposed configuration is simple, cost is low such as wheel hub motor.
It should be noted that the specific implementation of the control method of the collision avoidance system of the electric automobile of the embodiment of the present invention please
Referring to the specific implementation of the collision avoidance system of the electric automobile of the embodiment of the present invention, in order to reduce redundancy, do not do herein superfluous
State.
In an embodiment of the present invention, a kind of electric automobile is further disclosed, including：According to any one above-mentioned embodiment
The collision avoidance system of described electric automobile.The vehicle, can when judging that host vehicle will knock into the back with front vehicles
To send alarm, or even control vehicle Braking mode to driver, so as to avoid vehicle from being knocked into the back with front vehicles, it is ensured that
Traffic safety.In addition, compared to correlation technique by way of such as wheel motor or wheel hub motor etc. apply brake force to wheel
In by way of hydraulic braking, with the opposed configuration such as the fireballing advantage of braking response and wheel motor or wheel hub motor
Simply, the low advantage of cost..
In addition, other compositions of electric automobile according to embodiments of the present invention and effect are for one of ordinary skill in the art
For be all known, in order to reduce redundancy, do not repeat herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specific example ",
Or the description of " some examples " etc. means to combine specific features, structure, material or the feature bag that the embodiment or example are described
It is contained at least one embodiment of the present invention or example.In addition, term " first ", " second " are only used for describing purpose, and
It is not intended that indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define
At least one this feature can be expressed or be implicitly included to the feature of " first ", " second ".In the description of the invention, it is " many
It is individual " it is meant that at least two, such as two, three etc., unless otherwise specifically defined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary,
It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment
It is changed, changes, replacing and modification.
Claims (12)
1. a kind of collision avoidance system of electric automobile, it is characterised in that including：
Vehicle speed detector device, for detecting host vehicle speed and front vehicles speed；
Spacing detection means, for detecting the first relative distance between host vehicle and front vehicles；
The wheel electrical machine brake apparatus in host vehicle is arranged on, the wheel electrical machine brake apparatus includes wheel braking motor,
The wheel electrical machine brake apparatus is used to apply brake force to wheel when receiving emergency brake signal, with to host's car
Carry out regenerative braking；
Entire car controller, the entire car controller is used to be more than preset vehicle speed and described first relative in the host vehicle speed
When distance is less than preset distance, determined to touch according to the host vehicle speed, front vehicles speed and first relative distance
Hit the time, and when the collision time is less than the scheduled time, alarm signal is sent and/or to institute to the driver of host vehicle
State wheel electrical machine brake apparatus and send the emergency brake signal.
2. the collision avoidance system of electric automobile according to claim 1, it is characterised in that the wheel electrical machine braking dress
Put including：
Electric machine controller, the electric machine controller is connected with the wheel braking motor and the entire car controller respectively, to connect
The emergency brake signal sent from the entire car controller is received, and the wheel is driven according to the emergency brake signal
Braking motor carries out regenerative braking to vehicle；
The wheel braking motor, the wheel braking motor is connected by the speed changer with wheel, the wheel braking electricity
Machine is used to apply brake force to wheel by the speed changer.
3. the collision avoidance system of electric automobile according to claim 1 or 2, it is characterised in that the wheel electrical machine system
Dynamic device is multiple, and multiple wheel electrical machine brake apparatus correspond multiple wheels in vehicle.
4. the collision avoidance system of electric automobile according to claim 1, it is characterised in that the wheel braking motor is
Wheel motor or wheel hub motor.
5. the collision avoidance system of electric automobile according to claim 1, it is characterised in that the scheduled time includes the
One scheduled time and second scheduled time, first scheduled time are more than second scheduled time,
The entire car controller is used to be more than preset vehicle speed in the host vehicle speed and first relative distance is less than predetermined
Apart from when, judge whether the collision time is less than first scheduled time and more than second scheduled time, if it is,
Then generate the alarm signal and send the alarm signal to the driver of host vehicle, if the collision time is less than institute
Stated for second scheduled time, then generate the alarm signal and send the alarm signal, Yi Jixiang to the driver of host vehicle
The wheel electrical machine brake apparatus sends the emergency brake signal.
6. the collision avoidance system of electric automobile according to claim 1, it is characterised in that the entire car controller is also used
In determining braking moment according to the host vehicle speed, vehicle wheel rotational speed and predetermined tire slip rate, and according to the brake force
Square generates the emergency brake signal, specifically includes：
Tire actual slip rate is obtained according to the host vehicle speed and vehicle wheel rotational speed；
Wheel rotating speed of target is determined according to the tire actual slip rate and the predetermined tire slip rate；
The braking moment is determined according to the wheel rotating speed of target, and the brake hard letter is generated according to the braking moment
Number.
7. the collision avoidance system of electric automobile according to claim 1, it is characterised in that the vehicle speed detector device is also
For detecting front vehicle speed, the spacing detection means is additionally operable to detect the second phase between host vehicle and front vehicle
Adjust the distance, the entire car controller is additionally operable to that square vehicle speed in the rear is more than preset vehicle speed and second relative distance is small
When preset distance, collision time is determined according to the host vehicle speed, front vehicle speed and second relative distance,
And when the collision time is less than the scheduled time, rearward vehicle sends alarm signal.
8. a kind of control method of the collision avoidance system of electric automobile, it is characterised in that comprise the following steps：
Detect host vehicle speed and front vehicles speed；
Detect the first relative distance between host vehicle and front vehicles；
When the host vehicle speed is more than preset vehicle speed and first relative distance is less than preset distance, according to the place
Main vehicle speed, front vehicles speed and first relative distance determine collision time；
When the collision time is less than the scheduled time, alarm signal is sent and/or to wheel electrical machine to the driver of host vehicle
Brake apparatus sends the emergency brake signal, so that the wheel electrical machine brake apparatus applies brake force to wheel, with to institute
State host vehicle and carry out regenerative braking.
9. the control method of the collision avoidance system of electric automobile according to claim 8, it is characterised in that described predetermined
Time includes first scheduled time and second scheduled time, and first scheduled time is more than second scheduled time,
It is described when the collision time is less than the scheduled time, send alarm signal and/or to wheel to the driver of host vehicle
Dynamic braking device sends the emergency brake signal, so that the wheel electrical machine brake apparatus applies brake force to wheel, with
Regenerative braking is carried out to the host vehicle, including：
Judge whether the collision time is less than first scheduled time and more than second scheduled time, if it is,
Generate the alarm signal and send the alarm signal to the driver of host vehicle；
If the collision time is less than second scheduled time, the alarm signal is generated and to the driving of host vehicle
Member sends the alarm signal, and sends the emergency brake signal to the wheel electrical machine brake apparatus.
10. the control method of the collision avoidance system of electric automobile according to claim 8, it is characterised in that also include：
Tire actual slip rate is obtained according to the host vehicle speed and vehicle wheel rotational speed；
Wheel rotating speed of target is determined according to the tire actual slip rate and the predetermined tire slip rate；
The braking moment is determined according to the wheel rotating speed of target, and the brake hard letter is generated according to the braking moment
Number.
11. the control method of the collision avoidance system of electric automobile according to claim 8, it is characterised in that also include：
Detect front vehicle speed；
Detect the second relative distance between host vehicle and front vehicle；
When the front vehicle speed is more than preset vehicle speed and second relative distance is less than preset distance, according to the place
Main vehicle speed, front vehicle speed and second relative distance determine collision time, and are less than in advance in the collision time
When fixing time, rearward vehicle sends alarm signal.
12. a kind of electric automobile, it is characterised in that including：Electric automobile according to claim any one of 1-7
Collision avoidance system.
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| CN201610053511.9A CN107010028B (en) | 2016-01-27 | 2016-01-27 | Anti-collision system and control method of electric automobile and electric automobile |
| PCT/CN2017/072206 WO2017129091A1 (en) | 2016-01-27 | 2017-01-23 | Collision avoidance system of electric vehicle, control method therefor, and electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610053511.9A CN107010028B (en) | 2016-01-27 | 2016-01-27 | Anti-collision system and control method of electric automobile and electric automobile |
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| CN107010028A true CN107010028A (en) | 2017-08-04 |
| CN107010028B CN107010028B (en) | 2020-06-19 |
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| WO (1) | WO2017129091A1 (en) |
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| WO2017129091A1 (en) | 2017-08-03 |
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