CN107010028B - Anti-collision system and control method of electric automobile and electric automobile - Google Patents
Anti-collision system and control method of electric automobile and electric automobile Download PDFInfo
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- CN107010028B CN107010028B CN201610053511.9A CN201610053511A CN107010028B CN 107010028 B CN107010028 B CN 107010028B CN 201610053511 A CN201610053511 A CN 201610053511A CN 107010028 B CN107010028 B CN 107010028B
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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
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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
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an anti-collision system and a control method of an electric automobile and the electric automobile, wherein the system comprises: a vehicle speed detection device; a vehicle distance detection device; the wheel motor braking device is arranged on the host vehicle and comprises a wheel braking motor and is used for applying braking force to the wheel when receiving an emergency braking signal so as to perform feedback braking on the host vehicle; and the vehicle control unit is used for determining collision time according to the speed of the host vehicle, the speed of the front vehicle and the first relative distance when the speed of the host vehicle is greater than the preset speed and the first relative distance is less than the preset distance, and sending an emergency braking signal to the wheel motor braking device when the collision time is less than the preset time. The anti-collision system can effectively prevent the rear-end collision of the vehicle, has the advantages of high braking response speed and short braking distance, can ensure the safety of the vehicle, and has the advantages of simple structure and low cost.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an anti-collision system and a control method of an electric automobile and the electric automobile.
Background
At present, some of the related technologies can warn a driver when a vehicle is about to collide with a front vehicle, so that the driver can be reminded to pay attention to deceleration and avoid collision. This improves driving safety to a certain extent. However, if the driver does not take the deceleration, a rear-end collision may often occur. In addition, there are some related technologies, when it is determined that a rear-end collision with a preceding vehicle will occur, a hydraulic braking system may be controlled to perform automatic braking, and then the structure of the hydraulic braking system itself is complex, and the hydraulic braking system is slow in response and high in cost, and the lagging braking is sometimes insufficient to ensure driving safety.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, an object of the present invention is to provide an anti-collision system for an electric vehicle. The anti-collision system of the electric automobile can effectively prevent the rear-end collision of the automobile, and has the advantages of high braking response speed and short braking distance, so that the safety of the automobile can be ensured.
Another object of the present invention is to provide a control method of an anti-collision system of an electric vehicle.
It is a further object of the present invention to provide an electric vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention discloses an anti-collision system for an electric vehicle, including: vehicle speed detection means for detecting a vehicle speed of the host vehicle and a vehicle speed of the preceding vehicle; a vehicle distance detection device for detecting a first relative distance between a host vehicle and a preceding vehicle; the wheel motor braking device is arranged on a host vehicle and comprises a wheel braking motor and is used for applying braking force to a wheel when receiving an emergency braking signal so as to perform feedback braking on the host vehicle; and the vehicle control unit is used for determining collision time according to the speed of the host vehicle, the speed of the front vehicle and the first relative distance when the speed of the host vehicle is greater than a preset speed and the first relative distance is less than a preset distance, and sending an alarm signal to a driver of the host vehicle and/or sending an emergency braking signal to the wheel motor braking device when the collision time is less than the preset time.
According to the anti-collision system of the electric automobile provided by the embodiment of the invention, when the host vehicle is judged to collide with the front vehicle, an alarm can be sent to a driver, and even the vehicle is controlled to automatically brake, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost.
The embodiment of the second aspect of the invention discloses a control method of an anti-collision system of an electric automobile, which comprises the following steps: detecting the speed of a host vehicle and the speed of a front vehicle; detecting a first relative distance between the host vehicle and the preceding vehicle; when the speed of the host vehicle is greater than a preset speed and the first relative distance is smaller than a preset distance, determining collision time according to the speed of the host vehicle, the speed of a front vehicle and the first relative distance; and when the collision time is less than the preset time, sending an alarm signal to a driver of the host vehicle and/or sending the emergency braking signal to the wheel motor braking device, so that the wheel motor braking device applies braking force to the wheel to perform feedback braking on the host vehicle.
According to the control method of the anti-collision system of the electric automobile, when the host vehicle is judged to collide with the front vehicle, an alarm can be sent to a driver, and even the vehicle is controlled to automatically brake, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost.
An embodiment of a third aspect of the invention discloses an electric vehicle, comprising: the anti-collision system of the electric automobile is characterized in that the anti-collision system is arranged on the electric automobile. When the host vehicle is judged to collide with the front vehicle, the vehicle can give an alarm to a driver and even control the automatic braking of the vehicle, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost.
Drawings
Fig. 1 is a block diagram of a collision avoidance system of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a collision avoidance system of an electric vehicle according to an embodiment of the present invention; and
fig. 3 is a flowchart of a control method of an anti-collision system of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes an anti-collision system of an electric vehicle, a control method and an electric vehicle according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a block diagram of a collision avoidance system of an electric vehicle according to an embodiment of the present invention. As shown in fig. 1, the anti-collision system 100 for an electric vehicle according to an embodiment of the present invention includes: vehicle speed detection device 110, inter-vehicle distance detection device 120, wheel motor braking device 130, and vehicle control unit 140.
Specifically, as shown in conjunction with fig. 2, the vehicle speed detection means 110 is for detecting the host vehicle speed and the preceding vehicle speed. The vehicle distance detection device 120 is configured to detect a first relative distance between the host vehicle and the preceding vehicle. The wheel motor brake device 130 is provided on the host vehicle, the wheel motor brake device 130 includes a wheel brake motor 131, and the wheel motor brake device 130 is configured to apply a braking force to a wheel upon receiving an emergency braking signal to regenerative brake the vehicle. Vehicle control unit 140 is configured to determine a collision time according to a vehicle speed of the host vehicle, a vehicle speed of a vehicle ahead, and the first relative distance when the vehicle speed of the host vehicle is greater than a predetermined vehicle speed and the first relative distance is less than the predetermined distance, and send an alarm signal to a driver of the host vehicle and/or an emergency braking signal to a wheel motor braking device when the collision time is less than the predetermined time.
Wherein, the host vehicle is the vehicle,the preceding vehicle refers to a vehicle in front of the host vehicle. The vehicle speed detecting device 110 is, for example, a vehicle speed sensor provided on the host vehicle to monitor the vehicle speed V of the host vehicle in real time1And the speed V of the preceding vehicle2. The vehicle distance detecting device 120 is, for example, a radar or laser ranging device provided on the host vehicle to monitor the distance (i.e., the first relative distance) between the host vehicle and the preceding vehicle in real time. The wheel brake motor 131 is a wheel-side motor or a wheel hub motor. Namely: the wheel brake motor 131 may be a wheel-side motor or a wheel-hub motor.
As a specific example, as shown in fig. 2, the wheel motor brake device 130 includes: wheel brake motors 131 and motor controller 133, and of course, transmission 132. Wherein the wheel brake motor 131 is connected to the wheel through the transmission 132, and the wheel brake motor 131 is used to apply a braking force to the wheel through the transmission 132. Motor controller 133 is connected to wheel brake motor 131 and vehicle controller 140, respectively, to receive an emergency braking signal from vehicle controller 140, and to drive wheel brake motor 131 to perform regenerative braking on the vehicle according to the emergency braking signal. The wheel braking motor 131 performs regenerative braking on the vehicle to enable the wheel braking motor 131 to generate braking force opposite to the vehicle running direction, so that the purpose of braking is achieved, the wheel braking motor 131 can convert regenerative braking energy into electric energy to generate electricity in the process of performing regenerative braking, and when the power battery needs to be charged, the power battery is charged to recover energy through the power battery, so that energy consumption of the whole vehicle can be reduced.
The wheel motor brake devices 130 are plural, and the plural wheel motor brake devices 130 correspond to the plural wheels of the vehicle one by one. As shown in fig. 2, the vehicle includes 4 wheels, namely: a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel, a left front wheel motor brake device 130-1 corresponding to the left front wheel, a right front wheel motor brake device 130-2 corresponding to the right front wheel, a left rear wheel motor brake device 130-3 corresponding to the left rear wheel, and a right rear wheel motor brake device 130-4 corresponding to the right rear wheel. Referring again to fig. 2, the wheel brake motor 131 is a wheel-side motor or a wheel hub motor. Namely: the wheel brake motor 131 may be a wheel-side motor or a wheel-hub motor.
In one embodiment of the present invention, the risk level of the imminent collision may be determined according to the determined collision time, and then different operations may be performed according to different risk levels. For example: when the risk level is relatively low, the driver can be prompted to pay attention to deceleration so as to avoid collision with the front vehicle, and when the risk level is relatively high, the driver can be prompted to pay attention to deceleration and automatically brake the vehicle so as to avoid collision with the front vehicle.
Specifically, the predetermined time includes a first predetermined time and a second predetermined time, where the first predetermined time is greater than the second predetermined time, and vehicle control unit 140 is configured to determine whether the collision time is less than the first predetermined time and greater than the second predetermined time when the vehicle speed of the host vehicle is greater than the predetermined vehicle speed and the first relative distance is less than the predetermined distance, if so, generate and send an alarm signal to a driver of the host vehicle, and if the collision time is less than the second predetermined time, generate and send an alarm signal to the driver of the host vehicle, and send an emergency braking signal to the wheel motor braking device.
For example: the collision time of the host vehicle with the preceding vehicle is t1＝L1/(V1-V2). Wherein L is1Is a first relative distance, V, between the host vehicle and the preceding vehicle1Is the speed of the host vehicle, V2Is the front vehicle speed. If t1Less than or equal to 0 second, indicate V2Greater than V1The front vehicle is higher than the host vehicle, so that collision can not occur; if t1>0 second, the front vehicle speed is lower than the host vehicle speed, and there is a risk of collision.
When V is1Greater than 80km/h (i.e. predetermined vehicle speed), and L1Less than 10m (i.e., the predetermined distance), t1When it is less than 2s (i.e., the first predetermined time), vehicle control unit 140 determines that there is a possibility of collision between the host vehicle and the preceding vehicle. Vehicle control unit 140 transmits the information to the driver of the host vehicle through the CAN networkAnd giving out an alarm signal, and further reminding a driver of paying attention to the driving distance and the driving safety through the alarm signal.
When V is1Greater than 80km/h and L1Less than 10m, t1When the time is less than 1s, vehicle control unit 140 determines that the host vehicle is about to collide with the preceding vehicle. The vehicle control unit 140 sends an emergency braking signal to the wheel motor braking device 130, and the wheel motor braking device 130 applies a braking force to the wheel, so that the purpose of automatic braking is achieved, the host vehicle and the front vehicle are prevented from rear-end collision, and the driving safety is improved.
When it is determined that the host vehicle is about to collide with the front vehicle during high-speed running, vehicle control unit 140 may determine a braking torque according to the speed of the host vehicle, the wheel speed, and the predetermined tire slip ratio, and generate the emergency braking signal according to the braking torque, which specifically includes: obtaining the actual slip rate of the tire according to the speed of the host vehicle and the rotating speed of the wheel; determining a target rotating speed of the wheel according to the actual slip rate of the tire and the preset tire slip rate; and determining a braking torque according to the target rotating speed of the wheel, and generating an emergency braking signal according to the braking torque.
Specifically, during high-speed travel and when a rear-end collision with a preceding vehicle is about to occur, it is necessary to determine the maximum braking torque in order to reduce the braking distance. Embodiments of the present invention may determine this maximum braking torque based on the host vehicle speed, wheel speed, and a predetermined tire slip rate. Firstly, the actual slip ratio of the tire is obtained by the following formula:
S＝(V-u)/V×100％，
wherein S is the actual slip ratio of the tire, V is the vehicle speed, and u is the wheel rotation speed.
According to tests, when the actual slip rate S of the tire is about 20% (namely, the predetermined wheel slip rate), the wheel can obtain the maximum braking force, the vehicle control unit 140 calculates the actual slip rate S of the tire in real time, then determines the maximum braking torque according to the actual slip rate S of the tire and the predetermined wheel slip rate, and the like, and then the wheel motor braking device 130 applies the braking force to the wheel according to the maximum braking torque, so that the actual slip rate S of the tire is always kept about 20% in the emergency braking process, thereby achieving the effect of rapid braking, reducing the braking distance, and ensuring the safety of the vehicle.
According to the anti-collision system of the electric automobile provided by the embodiment of the invention, when the host vehicle is judged to collide with the front vehicle, an alarm can be sent to a driver, and even the vehicle is controlled to automatically brake, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost.
In an embodiment of the present invention, vehicle speed detecting device 110 is further configured to detect a vehicle speed of a rear vehicle, vehicle distance detecting device 120 is further configured to detect a second relative distance between the host vehicle and the rear vehicle, and vehicle control unit 140 is further configured to determine a collision time according to the vehicle speed of the host vehicle, the vehicle speed of the rear vehicle, and the second relative distance when the vehicle speed of the rear vehicle is greater than a predetermined vehicle speed and the second relative distance is less than the predetermined distance, and send an alarm signal to the rear vehicle when the collision time is less than the predetermined time.
Specifically, the time at which the rear vehicle collides with the host vehicle is t2＝L2/(V3-V1)，L2Is the second relative distance, V3Is the rear vehicle speed. If t2Less than or equal to 0s, indicate V1Greater than V3That is, the speed of the host vehicle is higher than that of the rear vehicle, so that no collision occurs, if t2>0s, denotes V1Less than V3That is, the host vehicle is lower in speed than the rear vehicle, and a collision may occur.
Further, when V3Greater than 80km/h (i.e. predetermined vehicle speed), L2Less than 10m (i.e., the predetermined distance), and t2Less than 2s (i.e., the first predetermined time), vehicle control unit 140 determines that the rear vehicle is likely to collide with the host vehicle. Vehicle control unit 140 sends an alarm signal to the rear vehicle.
When V is2Greater than 80km/h, L2Less than 10m, and t2If the time is less than 1s, vehicle control unit 140 determines that the rear vehicle will collide with the host vehicle. When the vehicle controller 150 sends an alarm signal, the vehicle rear tail lamp and the emergency alarm lamp are turned on to warn the rear vehicle owner that the vehicle is in rear-end collision danger due to the fact that the distance between the vehicle and the rear vehicle is too short. Thereby avoiding rear-end collision between the rear vehicle and the host vehicle. Further improve the driving safety.
In one embodiment of the present invention, during the emergency braking of the vehicle by the wheel motor braking device 130, the method further includes: judge whether power battery satisfies the charging condition, when power battery's electric quantity is not enough, can also collect the energy that the braking produced through wheel motor arresting gear 130, charge for power battery after converting the electric energy into, realize energy recuperation, and then can promote electric automobile's continuation of the journey mileage to avoid the waste of the energy.
Fig. 3 is a flowchart of a control method of an anti-collision system of an electric vehicle according to an embodiment of the present invention.
In the method for controlling the anti-collision system of the electric vehicle according to the embodiment of the present invention, the anti-collision system of the electric vehicle is the anti-collision system of the electric vehicle described in the above embodiment.
As shown in fig. 3, a control method of an anti-collision system of an electric vehicle according to an embodiment of the present invention includes the steps of:
s301: the host vehicle speed and the preceding vehicle speed are detected.
S302: a first relative distance between the host vehicle and the preceding vehicle is detected.
S303: and when the speed of the host vehicle is greater than a preset speed and the first relative distance is less than a preset distance, determining the collision time according to the speed of the host vehicle, the speed of the front vehicle and the first relative distance.
S304: and when the collision time is less than the preset time, sending an alarm signal to a driver of the host vehicle and/or sending the emergency braking signal to the wheel motor braking device, so that the wheel motor braking device applies braking force to the wheel to perform feedback braking on the host vehicle.
Further, the predetermined time includes a first predetermined time and a second predetermined time, the first predetermined time is greater than the second predetermined time, and when the collision time is less than the predetermined time, an alarm signal is sent to a driver of the host vehicle and/or the emergency braking signal is sent to the wheel motor braking device so that the wheel motor braking device applies a braking force to the wheel to perform regenerative braking on the host vehicle, including: judging whether the collision time is less than the first preset time and greater than the second preset time, if so, generating the alarm signal and sending the alarm signal to a driver of the host vehicle; and if the collision time is less than the second preset time, generating the alarm signal, sending the alarm signal to a driver of the host vehicle, and sending the emergency braking signal to the wheel motor braking device.
In one embodiment of the present invention, the control method of the anti-collision system of the electric vehicle further includes: obtaining the actual slip rate of the tire according to the speed of the host vehicle and the rotating speed of the wheel; determining a target rotating speed of the wheel according to the actual tire slip rate and the preset tire slip rate; and determining the braking torque according to the target rotating speed of the wheel, and generating the emergency braking signal according to the braking torque.
Further, the control method further includes: detecting the speed of a rear vehicle; detecting a second relative distance between the host vehicle and the rear vehicle; and when the speed of the rear vehicle is greater than the preset speed and the second relative distance is less than the preset distance, determining collision time according to the speed of the host vehicle, the speed of the rear vehicle and the second relative distance, and sending an alarm signal to the rear vehicle when the collision time is less than the preset time.
According to the control method of the anti-collision system of the electric automobile, when the host vehicle is judged to collide with the front vehicle, an alarm can be sent to a driver, and even the vehicle is controlled to automatically brake, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost.
Please refer to a specific implementation manner of the anti-collision system of the electric vehicle in the embodiment of the present invention, and details are not described herein in order to reduce redundancy.
In an embodiment of the present invention, there is further disclosed an electric vehicle including: the anti-collision system of the electric automobile according to any one of the above embodiments. When the host vehicle is judged to collide with the front vehicle, the vehicle can give an alarm to a driver and even control the automatic braking of the vehicle, so that the collision between the vehicle and the front vehicle is avoided, and the driving safety is ensured. In addition, compared with the hydraulic braking method in the related art, the method of applying the braking force to the wheel by using the wheel-side motor or the in-wheel motor has the advantages of high braking response speed, relatively simple structure and low cost. .
In addition, other structures and functions of the electric vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. An anti-collision system of an electric vehicle, comprising:
vehicle speed detection means for detecting a vehicle speed of the host vehicle and a vehicle speed of the preceding vehicle;
a vehicle distance detection device for detecting a first relative distance between a host vehicle and a preceding vehicle;
the wheel motor braking device is arranged on a host vehicle and comprises a wheel braking motor and is used for applying braking force to a wheel when receiving an emergency braking signal so as to perform feedback braking on the host vehicle;
the vehicle control unit is used for determining collision time according to the vehicle speed of the host vehicle, the vehicle speed of the front vehicle and the first relative distance when the vehicle speed of the host vehicle is greater than a preset vehicle speed and the first relative distance is smaller than a preset distance, and sending an alarm signal to a driver of the host vehicle and/or sending an emergency braking signal to the wheel motor braking device when the collision time is smaller than the preset time, wherein the vehicle control unit is further used for determining a braking torque according to the vehicle speed of the host vehicle, the wheel rotating speed and a preset tire slip rate, and generating the emergency braking signal according to the braking torque, and specifically comprises: obtaining the actual slip rate of the tire according to the speed of the host vehicle and the rotating speed of the wheel; determining a target rotating speed of the wheel according to the actual tire slip rate and the preset tire slip rate; determining the braking torque according to the target rotating speed of the wheel, generating the emergency braking signal according to the braking torque,
the vehicle control unit is used for judging whether the collision time is less than the first preset time and greater than the second preset time when the vehicle speed of the host vehicle is greater than the preset vehicle speed and the first relative distance is less than the preset distance, if so, generating the alarm signal and sending the alarm signal to a driver of the host vehicle, and if the collision time is less than the second preset time, generating the alarm signal and sending the alarm signal to the driver of the host vehicle and sending the emergency braking signal to the wheel motor braking device.
2. The collision avoidance system of an electric vehicle of claim 1, wherein the wheel motor brake device comprises:
the motor controller is respectively connected with the wheel braking motor and the vehicle controller so as to receive the emergency braking signal sent by the vehicle controller and drive the wheel braking motor to perform feedback braking on a vehicle according to the emergency braking signal;
the wheel brake motor is connected with the wheel through a transmission and used for applying braking force to the wheel through the transmission.
3. The collision avoidance system of the electric vehicle according to claim 1 or 2, wherein the number of the wheel motor brake devices is plural, and the plural wheel motor brake devices correspond to plural wheels of the vehicle one by one.
4. The collision avoidance system of claim 1, wherein the wheel brake motor is a wheel edge motor or an in-wheel motor.
5. The anti-collision system of an electric vehicle according to claim 1, wherein the vehicle speed detection device is further configured to detect a rear vehicle speed, the inter-vehicle distance detection device is further configured to detect a second relative distance between the host vehicle and the rear vehicle, and the vehicle controller is further configured to determine a collision time according to the host vehicle speed, the rear vehicle speed, and the second relative distance when the rear vehicle speed is greater than a predetermined vehicle speed and the second relative distance is less than the predetermined distance, and send an alarm signal to the rear vehicle when the collision time is less than a predetermined time.
6. A control method of an anti-collision system of an electric vehicle is characterized by comprising the following steps:
detecting the speed of a host vehicle and the speed of a front vehicle;
detecting a first relative distance between the host vehicle and the preceding vehicle;
when the speed of the host vehicle is greater than a preset speed and the first relative distance is smaller than a preset distance, determining collision time according to the speed of the host vehicle, the speed of a front vehicle and the first relative distance;
when the collision time is less than the preset time, an alarm signal is sent to a driver of the host vehicle and/or an emergency braking signal is sent to a wheel motor braking device, so that the wheel motor braking device applies braking force to the wheel to perform feedback braking on the host vehicle;
further comprising:
obtaining the actual slip rate of the tire according to the speed of the host vehicle and the rotating speed of the wheel;
determining a target rotating speed of the wheel according to the actual tire slip rate and the preset tire slip rate;
determining a braking torque according to the target rotating speed of the wheel, generating an emergency braking signal according to the braking torque,
wherein the predetermined time includes a first predetermined time and a second predetermined time, the first predetermined time is greater than the second predetermined time, and when the collision time is less than the predetermined time, an alarm signal is sent to a driver of a host vehicle and/or the emergency braking signal is sent to a wheel motor braking device, so that the wheel motor braking device applies a braking force to a wheel to perform regenerative braking on the host vehicle, comprising: judging whether the collision time is less than the first preset time and greater than the second preset time, if so, generating the alarm signal and sending the alarm signal to a driver of the host vehicle; and if the collision time is less than the second preset time, generating the alarm signal, sending the alarm signal to a driver of the host vehicle, and sending the emergency braking signal to the wheel motor braking device.
7. The control method of the collision avoidance system of the electric vehicle according to claim 6, further comprising:
detecting the speed of a rear vehicle;
detecting a second relative distance between the host vehicle and the rear vehicle;
and when the speed of the rear vehicle is greater than the preset speed and the second relative distance is less than the preset distance, determining collision time according to the speed of the host vehicle, the speed of the rear vehicle and the second relative distance, and sending an alarm signal to the rear vehicle when the collision time is less than the preset time.
8. An electric vehicle, comprising: the collision avoidance system of the electric vehicle according to any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
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| 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 CN107010028A (en) | 2017-08-04 |
| CN107010028B true CN107010028B (en) | 2020-06-19 |
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| WO (1) | WO2017129091A1 (en) |
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