CN107600070A - Control method and device of automatic emergency braking system, controller and automobile - Google Patents
Control method and device of automatic emergency braking system, controller and automobile Download PDFInfo
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Abstract
The invention provides a control method, a control device, a controller and an automobile of an automatic emergency braking system, and relates to the technical field of automobiles, wherein the method is applied to a medium-distance radar module MRR of the automatic emergency braking system, and comprises the following steps: when the automobile is detected to be in the self-adaptive cruise state, acquiring the distance data of the adjacent vehicles in the driving direction of the automobile; when the vehicle distance data is smaller than a first preset distance, executing an early warning process; when the vehicle distance data is smaller than a second preset distance, executing an automatic emergency braking process; the second preset distance is smaller than the first preset distance. The invention solves the problem of how to realize automatic emergency braking in the self-adaptive cruise state.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of control method of automatic emergency brake system, device, control
Device and automobile processed.
Background technology
With developing rapidly for automotive engineering, the new-energy automobile based on electric automobile is progressively opened up markets, entered
Enter the life of people.Adaptive learning algorithms (Adaptive Cruise Control, ACC) system is that one kind is intelligentized certainly
Autocontrol system, developed on the basis of cruise control technology.In vehicle travel process, when from car and front truck it
Between when away from it is too small when, ACC control units can by with brakes, electric machine control system coordination, make wheel appropriate
Braking, and makes the power output of motor decline so that from car remain safe with front truck when away from.Using adaptive cruise system
System, driver control acceleration or brake pedal without the moment, effectively alleviate degree of fatigue.However, how adaptively to patrol
Automatic emergency brake is realized under boat state, the problem of being still one to be solved at present.
The content of the invention
The invention provides a kind of control method of automatic emergency brake system, device, controller and automobile, the purpose is to
In order to solve the problems, such as how to realize automatic emergency brake under adaptive cruise state.
On the one hand, should the embodiment provides a kind of control method of automatic emergency brake system, methods described
For including in automatic emergency brake system apart from radar module MRR, methods described：
When detecting that automobile is in adaptive cruise state, the spacing number with the Adjacent vehicles on vehicle traveling direction is obtained
According to；
When the vehicle distance data is less than the first pre-determined distance, early warning flow is performed；
When the vehicle distance data is less than the second pre-determined distance, automatic emergency brake flow is performed；Described second it is default away from
From less than first pre-determined distance.
Alternatively, the step of execution early warning flow, including：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM is exported actively according to the pre-warning signal
Brake cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the braking system of automobile
The pressure of system is adjusted to default maximum pressure value.
Alternatively, the step of execution automatic emergency brake flow, including：
Indication motor control unit MCU obtains the brake pedal switch signal of automobile and the first speed of the automobile；
When the brake pedal of the brake pedal switch signal designation automobile is in enabled state and determines current brake effect
During fruit deficiency, the first brake signal is exported to ESC, indicates that the ESC performs automatic emergency brake with the first default braking amplitude；
Or
When the brake pedal of the brake pedal switch signal designation automobile, which is in, is not enabled on state, according to described first
Speed indicates the braking of ESC executable portions or all brakings.
Alternatively, the step for determining that current brake is not sufficiently effective, including：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, it is determined that currently
Braking effect deficiency, the relative velocity rate of change are that first speed subtracts second speed divided by the speed in sampling period
Numerical value after degree difference；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
Alternatively, described the step of indicating the ESC executable portions braking according to first speed or all brake, bag
Include：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, indicates institute
State ESC and carry out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, indicates institute
State ESC and carry out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
Alternatively, described the step of indicating the ESC executable portions braking according to first speed or all brake, bag
Include：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
Alternatively, methods described also includes：
The 3rd control signal is exported to the ESC, indicates that the ESC is being detected at the brake signal from the MRR
When trailing edge, after first preset time that is delayed, the signal of the MRR is received.
Alternatively, methods described also includes：
The 4th control signal is sent to the MCU, the MCU receives the first signal, described of the MRR if indicating
During three signal of ESC secondary signal including torque request and self-adaption cruise system,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds described the
The priority of binary signal is higher than the priority for responding the 3rd signal.
Alternatively, the secondary signal includes：The 4th signal comprising reduction torque request includes rise torque request
The 5th signal；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
Alternatively, methods described also includes：
When receiving vehicle high-voltage signal, enable signal is sent into enabled state, and to self-adaption cruise system.
On the other hand, embodiments of the invention additionally provide a kind of control device of automatic emergency brake system, are applied to
Include in automatic emergency brake system apart from radar module MRR, described device：
Data acquisition module, during for detecting that automobile is in adaptive cruise state, obtain with vehicle traveling direction
Adjacent vehicles vehicle distance data；
Early warning execution module, for when the vehicle distance data is less than the first pre-determined distance, performing early warning flow；
Execution module is braked, for when the vehicle distance data is less than the second pre-determined distance, performing automatic emergency brake stream
Journey；Second pre-determined distance is less than first pre-determined distance.
Alternatively, the early warning execution module is used for：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM is exported actively according to the pre-warning signal
Brake cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the braking system of automobile
The pressure of system is adjusted to default maximum pressure value.
Alternatively, the braking execution module includes：
Acquisition submodule, the brake pedal switch signal of automobile and described is obtained for indication motor control unit MCU
First speed of automobile；
First braking submodule, for being in enabled shape when the brake pedal of the brake pedal switch signal designation automobile
When state and not sufficiently effective determination current brake, the first brake signal is exported to ESC, indicates the ESC with the first default braking width
Degree performs automatic emergency brake；Or
Second braking submodule, for being not enabled on when the brake pedal of the brake pedal switch signal designation automobile is in
During state, the ESC executable portions braking is indicated according to first speed or all braked.
Alternatively, the first braking submodule is used for：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, it is determined that currently
Braking effect deficiency, the relative velocity rate of change are that first speed subtracts second speed divided by the speed in sampling period
Numerical value after degree difference；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
Alternatively, the second braking submodule is used for：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, indicates institute
State ESC and carry out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, indicates institute
State ESC and carry out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
Alternatively, the second braking submodule is used for：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
Alternatively, described device also includes：
Be delayed receiving module, for exporting the 3rd control signal to the ESC, indicates that the ESC comes from institute detecting
When stating MRR brake signal and being in trailing edge, after first preset time that is delayed, the signal of the MRR is received.
Alternatively, described device also includes：
Respond module, for sending the 4th control signal to the MCU, if indicating, the MCU receives the of the MRR
During three signal of one signal, the secondary signal including torque request of the ESC and self-adaption cruise system,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds described the
The priority of binary signal is higher than the priority for responding the 3rd signal.
Alternatively, the secondary signal includes：The 4th signal comprising reduction torque request includes rise torque request
The 5th signal；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
Alternatively, described device also includes：
Enabled module, during for receiving vehicle high-voltage signal, sent into enabled state, and to self-adaption cruise system
Enable signal.
Another aspect, embodiments of the invention additionally provide a kind of controller, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor reads the journey in the memory
Sequence, perform the step in the control method of above-mentioned automatic emergency brake system.
Another further aspect, embodiments of the invention additionally provide a kind of automobile, including controller noted above.
The such scheme of the present invention comprises at least following beneficial effect：
Control method, device, controller and the automobile of automatic emergency brake system provided by the invention, it is in certainly in automobile
When adapting to cruising condition, by detecting vehicle distance data, automatic early-warning or automatic emergency brake are performed according to vehicle distance data decision-making, it is real
The adaptive cruise of electric automobile is showed to control with the coordination of active brake hard, ensure that the security that vehicle drives, improve
The safe class of active safety, prevent function priority that may be present define it is unclear caused by control disorder problem；This hair
It is bright to solve the problems, such as how under adaptive cruise state to realize automatic emergency brake.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 represents the basic step flow of the control method for the automatic emergency brake system that embodiments of the invention provide
Figure；
Fig. 2 represents the network structure of the specific example of the present invention；
Fig. 3 represents the block diagram of the control device for the automatic emergency brake system that embodiments of the invention provide.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Referring to Fig. 1, the embodiment provides a kind of control method of automatic emergency brake system, methods described should
For including in automatic emergency brake system apart from radar module MRR, methods described：
Step 101, when detecting that automobile is in adaptive cruise state, obtain and the Adjacent vehicles on vehicle traveling direction
Vehicle distance data；
Wherein, automatic emergency brake (Autonomous Emergency Braking, AEB) is a kind of automobile active safety
Technology, AEB systems are mainly made up of perceived distance module, analysis decision module and actuator module, middle apart from radar module
(Mid Range Radar, MRR) can provide road ahead as the core of perceived distance module and scheme comprehensively, accurately, in real time
As with traffic information etc..
When detecting that automobile is in adaptive cruise state, the vehicle distance data of automobile, specific implementation of the invention are obtained
In example, Adjacent vehicles are mainly the vehicle in front of direction of traffic is got on the car, and vehicle distance data is front truck spacing.Millimeter wave thunder can be passed through
Up to detection from the distance of car and front truck, in order to mitigate controller LAN (Controller Area Network, CAN) bus
Load, reduction load factor, the front or behind vehicular characteristics data that will be perceived based on millimetre-wave radar, before being directly processed into,
Vehicle distance data afterwards, MRR can pass through advanced drive assist system (Advanced Driver Assistant Systems, ADAS)
Privately owned CAN obtains this spacing signal.
As a specific example, referring to Fig. 2, in the network architecture shown in Fig. 2, entire car controller (Vehicle Control
Unit, VCU) obtain brake pedal switch signal and accelerator pedal switching signal, MRR and VCU, electric stabilizing system
(Electronic Stability Program, ESP), middle control unit (Entertainment Head Unit, EHU), motor
Controller (Motor Control Unit, MCU) and instrument controller (Instrument Control Management,
ICM) communicated to connect by CAN；Wherein CAN_H represents CAN high level signal, and CAN_L represents CAN low level
Signal.VCU gathers brake pedal switch signal and accelerator pedal switching signal by rigid line；MRR and VCU, ESP, EHU) MCU with
And ICM realizes monitoring and control of the MRR to brakes, drive system by the signal interaction of CAN.
Alternatively, the switch of MRR functions can be arranged to the soft-switching being integrated in middle control, and this is gathered by EHU and opened
OFF signal, the switching of different mode can be also realized by the switch.
Step 102, when the vehicle distance data is less than the first pre-determined distance, early warning flow is performed.
Wherein, when MRR detects that vehicle distance data is less than the first pre-determined distance, AEB warning function is activated, performs early warning
Flow.
Specifically, the step of performing early warning flow includes：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM is exported actively according to the pre-warning signal
Brake cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the braking system of automobile
The pressure of system is adjusted to default maximum pressure value.
Wherein, early warning flow includes sending pre-warning signal to ICM, and pre-warning signal is used to indicate that ICM exports master by instrument
Dynamic braking cue, reminds driver to carry out active brake；And/or electronic stabilizing control system is to (Electronic
Stability Control, ESC) the first control signal of output, instruction ESC carries out braking preparation, by the brakes of automobile
Pressure is adjusted to default maximum pressure value, and to shorten braking time, specifically, the internal magnetic valve of ESC controls, which is built rapidly, to be depressed into
The system maximum pressure value, it is therefore an objective to eliminate brake(-holder) block and braking dish gap, and store brake force, worked rank with eliminating AEB
The delay of section is built the pressure time, under this situation, ensures the impression of driver's atactilia, the sense of hearing, vision and sensation etc..
Step 103, when the vehicle distance data is less than the second pre-determined distance, automatic emergency brake flow is performed；Described
Two pre-determined distances are less than first pre-determined distance.
Wherein, when vehicle distance data is further contracted to the second pre-determined distance, automatic emergency brake flow is performed；AEB systems
System measures distance with front truck or barrier using radar, then using analysis decision module by the distance measured and alarm away from
It is compared from, safe distance, even in driver when just carrying out alarm during less than alarm distance, and being less than safe distance
Do not have enough time in the case of stepping on brake pedal, AEB systems can also start, and make automobile automatic emergency brake, so as to be safety trip
Escort.
Specifically, step 103 includes：
Indication motor control unit MCU obtains the brake pedal switch signal of automobile and the first speed of the automobile；
When the brake pedal of the brake pedal switch signal designation automobile is in enabled state and determines current brake effect
During fruit deficiency, the first brake signal is exported to ESC, indicates that the ESC performs automatic emergency brake with the first default braking amplitude；
Or
When the brake pedal of the brake pedal switch signal designation automobile, which is in, is not enabled on state, according to described first
Speed indicates the braking of ESC executable portions or all brakings.
Wherein, during performing automatic emergency brake, brake pedal switch signal is obtained first, it is hard referring to Fig. 2, VCU
Line obtains brake pedal switch signal；MRR obtains the brake pedal switch signal of VCU acquisitions by CAN.MRR indicates MCU
The first speed of current automobile is obtained, amplitude is braked according to brake pedal switch signal and the first speed decision-making.
Specifically, if dynamic pedal is in enabled state, and when judging that current brake is not sufficiently effective according to the first speed, MRR
The first brake signal is exported to ESC, the first brake signal is used to indicate that ESC carries out active brake hard, and brakes amplitude as the
One default braking amplitude, the first default braking amplitude can be demarcated to obtain according to the braking precise requirements of vehicle by real vehicle.
If brake pedal indicates the ESC executable portions braking or complete in when being not enabled on state according to the first speed
Brake in portion；If speed is higher, partial brake is carried out；If speed is relatively low, whole brakings are carried out.
In embodiments of the invention, when MRR also controls the ESC to receive MRR brake signal, output Brake lamp lights letter
Number, light Brake lamp.
Alternatively, the step for determining that current brake is not sufficiently effective, including：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, it is determined that currently
Braking effect deficiency, the relative velocity rate of change are that first speed subtracts second speed divided by the speed in sampling period
Numerical value after degree difference；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
Wherein, Adjacent vehicles herein are front truck；When user's brake pedal, and the phase from car relative to Adjacent vehicles
Percentage speed variation is still being increased, is showing that current brake is not sufficiently effective, wherein, relative velocity is that the first speed subtracts the second car
The difference of speed, and relative velocity rate of change is the relative velocity at current time divided by the value of the relative velocity in sampling period；And
User's brake pedal, still reducing from the vehicle distance data of car and Adjacent vehicles, showing that current brake is not sufficiently effective.
Alternatively, described the step of indicating the ESC executable portions braking according to first speed or all brake, bag
Include：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, indicates institute
State ESC and carry out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, indicates institute
State ESC and carry out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
Wherein, when the first speed is higher, during higher than the first pre-set velocity threshold value, consider for traffic safety, to the ESC
The second brake signal is exported, the second brake signal is used to indicate that the ESC carries out partial brake, and speed is down into a pre-set velocity
；When first speed is relatively low, during less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, the 3rd
Brake signal is used to indicate that the ESC carries out whole brakings, current vehicle speed can be decelerated into stopping with maximum deceleration, maximum subtracts
The maximum stopping power that speed can be born according to motor vehicle braking system determines.
Alternatively, described the step of indicating the ESC executable portions braking according to first speed or all brake, bag
Include：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
Wherein, while ESC executable portions are braked or all braked, MRR exports the second control signal, the second control to ESC
Signal processed is used to indicate that the ESC sends reduction torque request to the MCU of automobile, and the response of MCU controlled motors reduces torque request,
Realize without gradient limitation and torque smooth control processing.
Alternatively, methods described also includes：
The 3rd control signal is exported to the ESC, indicates that the ESC is being detected at the brake signal from the MRR
When trailing edge, after first preset time that is delayed, the signal of the MRR is received.
After preventing AEB from stopping car brake, motor responds rapidly to the request of driver's accelerator pedal, causes close rapidly from car
AEB is activated once again caused by front truck, is caused moment of torsion pause and transition in rhythm or melody, is caused comfortableness to reduce, and in embodiments of the invention, is come detecting
When being in trailing edge from the brake signal of the MRR, after the first preset time of delay, ESC is just allowed to receive MRR letter again
Number, it is allowed to AEB functions are activated next time.
Wherein, when ESC detects that the brake signal from the MRR is in trailing edge, it is necessary to remove brakes rapidly
Hydraulic pressure, ensure that braking effect disappears.
Alternatively, methods described also includes：
The 4th control signal is sent to the MCU, the MCU receives the first signal, described of the MRR if indicating
During three signal of ESC secondary signal including torque request and self-adaption cruise system,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds described the
The priority of binary signal is higher than the priority for responding the 3rd signal.
Wherein, the 4th control signal is sent to the MCU, the 4th control signal is used to indicate MCU while receive MRR's
First signal, the secondary signal including torque request of the ESC and when adapting to three signal of cruise system, respond three
Priority.It is security functions to be turned round due to AEB and ESC lifting/lowering, and ACC is comfortable sexual function, therefore is examined for security
Consider, AEB and ESC lifting/lowering are turned round is that security functions priority is higher than ACC function priority, i.e. the first signal, secondary signal
Priority is higher than the priority for responding the 3rd signal；And AEB functional safety requires higher, therefore AEB functions are preferential
Lifting/lowering of the level higher than ESC turns round function, so the priority of response first signal is higher than secondary signal described in response response
Priority.
Alternatively, the secondary signal includes：The 4th signal comprising reduction torque request includes rise torque request
The 5th signal；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
Wherein, set out to MCU controls angle, AEB functions are to turn round performance by ESC drop, so priority is answers
The priority of the 4th signal is stated higher than the priority for responding the 5th signal；That is ESC drop turns round the priority of function
Liter higher than ESC turns round the priority of function, and ESC liter turns round priority of the priority higher than ACC functions of function, and MCU is being received
During to three of the above signal, responded with high priority.
Alternatively, methods described also includes：
When receiving vehicle high-voltage signal, enable signal is sent into enabled state, and to self-adaption cruise system.
Wherein, it is actively tight when only MRR receives the vehicle high-voltage signal, i.e. Ready modulating signals mark position 1 of VCU transmissions
Anxious braking function just allows to enable, and MRR sends enable signal, adaptive cruise and active brake hard to self-adaption cruise system
Function only can just work under drive mode.
In the above embodiment of the present invention, when automobile is in adaptive cruise state, by detecting vehicle distance data, according to
Vehicle distance data decision-making performs automatic early-warning or automatic emergency brake, realizes the adaptive cruise and actively urgent system of electric automobile
Dynamic coordination control, ensure that the security that vehicle drives, improves the safe class of active safety, prevent work(that may be present
Energy priority defines unclear caused control disorder problem；How the present invention realizes automatically under adaptive cruise state if solving
The problem of brake hard.
Referring to Fig. 3, embodiments of the invention additionally provide a kind of control device of automatic emergency brake system, applied to certainly
Include in dynamic emergency braking system apart from radar module MRR, described device：
Data acquisition module 301, during for detecting that automobile is in adaptive cruise state, obtain and vehicle traveling direction
On Adjacent vehicles vehicle distance data；
Early warning execution module 302, for when the vehicle distance data is less than the first pre-determined distance, performing early warning flow；
Execution module 303 is braked, for when the vehicle distance data is less than the second pre-determined distance, performing automatic emergency brake
Flow；Second pre-determined distance is less than first pre-determined distance.
Alternatively, the early warning execution module 302 is used for：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM is exported actively according to the pre-warning signal
Brake cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the braking system of automobile
The pressure of system is adjusted to default maximum pressure value.
Alternatively, the braking execution module 303 includes：
Acquisition submodule, the brake pedal switch signal of automobile and described is obtained for indication motor control unit MCU
First speed of automobile；
First braking submodule, for being in enabled shape when the brake pedal of the brake pedal switch signal designation automobile
When state and not sufficiently effective determination current brake, the first brake signal is exported to ESC, indicates the ESC with the first default braking width
Degree performs automatic emergency brake；Or
Second braking submodule, for being not enabled on when the brake pedal of the brake pedal switch signal designation automobile is in
During state, the ESC executable portions braking is indicated according to first speed or all braked.
Alternatively, the first braking submodule is used for：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, it is determined that currently
Braking effect deficiency, the relative velocity rate of change are that first speed subtracts second speed divided by the speed in sampling period
Numerical value after degree difference；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
Alternatively, the second braking submodule is used for：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, indicates institute
State ESC and carry out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, indicates institute
State ESC and carry out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
Alternatively, the second braking submodule is used for：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
Alternatively, described device also includes：
Be delayed receiving module, for exporting the 3rd control signal to the ESC, indicates that the ESC comes from institute detecting
When stating MRR brake signal and being in trailing edge, after first preset time that is delayed, the signal of the MRR is received.
Alternatively, described device also includes：
Respond module, for sending the 4th control signal to the MCU, if indicating, the MCU receives the of the MRR
During three signal of one signal, the secondary signal including torque request of the ESC and self-adaption cruise system,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds described the
The priority of binary signal is higher than the priority for responding the 3rd signal.
Alternatively, the secondary signal includes：The 4th signal comprising reduction torque request includes rise torque request
The 5th signal；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
Alternatively, described device also includes：
Enabled module, during for receiving vehicle high-voltage signal, sent into enabled state, and to self-adaption cruise system
Enable signal.
Another aspect, embodiments of the invention additionally provide a kind of controller, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor reads the journey in the memory
Sequence, perform the step in the control method of above-mentioned automatic emergency brake system.
Another further aspect, embodiments of the invention additionally provide a kind of automobile, including controller noted above.
In the above embodiment of the present invention, when automobile is in adaptive cruise state, by detecting vehicle distance data, according to
Vehicle distance data decision-making performs automatic early-warning or automatic emergency brake, realizes the adaptive cruise and actively urgent system of electric automobile
Dynamic coordination control, ensure that the security that vehicle drives, improves the safe class of active safety, prevent work(that may be present
Energy priority defines unclear caused control disorder problem；How the present invention realizes automatically under adaptive cruise state if solving
The problem of brake hard.
It should be noted that the control device of automatic emergency brake system provided in an embodiment of the present invention is to apply above-mentioned side
All embodiments of the device of method, the i.e. above method are applied to the device, and can reach same or analogous beneficial effect.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (22)
1. a kind of control method of automatic emergency brake system, applied in automatic emergency brake system apart from radar module
MRR, it is characterised in that methods described includes：
When detecting that automobile is in adaptive cruise state, the vehicle distance data with the Adjacent vehicles on vehicle traveling direction is obtained；
When the vehicle distance data is less than the first pre-determined distance, early warning flow is performed；
When the vehicle distance data is less than the second pre-determined distance, automatic emergency brake flow is performed；Second pre-determined distance is small
In first pre-determined distance.
2. according to the method for claim 1, it is characterised in that described the step of performing early warning flow, including：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM exports active brake according to the pre-warning signal
Cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the brakes of automobile
Pressure is adjusted to default maximum pressure value.
3. according to the method for claim 1, it is characterised in that described the step of performing automatic emergency brake flow, including：
Indication motor control unit MCU obtains the brake pedal switch signal of automobile and the first speed of the automobile；
When the brake pedal of the brake pedal switch signal designation automobile is in enabled state and determines current brake effect not
When sufficient, the first brake signal is exported to ESC, indicates that the ESC performs automatic emergency brake with the first default braking amplitude；Or
When the brake pedal of the brake pedal switch signal designation automobile, which is in, is not enabled on state, according to first speed
Indicate the braking of ESC executable portions or all brakings.
4. according to the method for claim 3, it is characterised in that the step for determining that current brake is not sufficiently effective, including：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, current brake is determined
Not sufficiently effective, the relative velocity rate of change is that first speed subtracts second speed divided by the speed difference in sampling period
Numerical value afterwards；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
5. according to the method for claim 3, it is characterised in that described to indicate that the ESC is performed according to first speed
The step of partial brake or all braking, including：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, described in instruction
ESC carries out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, described in instruction
ESC carries out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
6. according to the method for claim 3, it is characterised in that described to indicate that the ESC is performed according to first speed
The step of partial brake or all braking, including：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
7. according to the method for claim 3, it is characterised in that also include：
The 3rd control signal is exported to the ESC, indicates the ESC in the case where detecting that the brake signal from the MRR is in
Drop along when, after first preset time that is delayed, receive the signal of the MRR.
8. according to the method for claim 3, it is characterised in that also include：
The 4th control signal is sent to the MCU, the MCU receives the first signal of the MRR, the ESC if indicating
During three signal of secondary signal and self-adaption cruise system including torque request,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds second letter
Number priority higher than the priority for responding the 3rd signal.
9. according to the method for claim 8, it is characterised in that the secondary signal includes：Include reduction torque request
4th signal or the 5th signal for including rise torque request；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
10. according to the method for claim 1, it is characterised in that also include：
When receiving vehicle high-voltage signal, enable signal is sent into enabled state, and to self-adaption cruise system.
11. a kind of control device of automatic emergency brake system, applied in automatic emergency brake system apart from radar module
MRR, it is characterised in that described device includes：
Data acquisition module, during for detecting that automobile is in adaptive cruise state, obtain and the phase on vehicle traveling direction
The vehicle distance data of adjacent vehicle；
Early warning execution module, for when the vehicle distance data is less than the first pre-determined distance, performing early warning flow；
Execution module is braked, for when the vehicle distance data is less than the second pre-determined distance, performing automatic emergency brake flow；Institute
State the second pre-determined distance and be less than first pre-determined distance.
12. device according to claim 11, it is characterised in that the early warning execution module is used for：
Pre-warning signal is sent to the instrument controller ICM of automobile, indicates that the ICM exports active brake according to the pre-warning signal
Cue；And/or
The first control signal is exported to the electronic stabilizing control system ESC of automobile, indicates the ESC by the brakes of automobile
Pressure is adjusted to default maximum pressure value.
13. device according to claim 11, it is characterised in that the braking execution module includes：
Acquisition submodule, the brake pedal switch signal of automobile and the automobile are obtained for indication motor control unit MCU
The first speed；
First braking submodule, for when the brake pedal of the brake pedal switch signal designation automobile be in enabled state and
When determining that current brake is not sufficiently effective, the first brake signal is exported to ESC, indicates that the ESC is held with the first default braking amplitude
Row automatic emergency brake；Or
Second braking submodule, for being not enabled on state when the brake pedal of the brake pedal switch signal designation automobile is in
When, the ESC executable portions braking is indicated according to first speed or all braked.
14. device according to claim 13, it is characterised in that the first braking submodule is used for：
Obtain the second speed of the Adjacent vehicles；
When according to first speed and second speed, determining the increase of relative velocity rate of change, current brake is determined
Not sufficiently effective, the relative velocity is that first speed subtracts the number after second speed divided by the speed difference in sampling time
Value；
Or
When the vehicle distance data reduces, determine that current brake is not sufficiently effective.
15. device according to claim 13, it is characterised in that the second braking submodule is used for：
When first speed is higher than the first pre-set velocity threshold value, the second brake signal is exported to the ESC, described in instruction
ESC carries out partial brake；Or
When first speed is less than the second pre-set velocity threshold value, the 3rd brake signal is exported to the ESC, described in instruction
ESC carries out whole brakings；The first pre-set velocity threshold value is higher than the second pre-set velocity threshold value.
16. device according to claim 13, it is characterised in that the second braking submodule is used for：
The second control signal is exported to the ESC, indicating that the ESC is sent to the MCU of automobile reduces torque request.
17. device according to claim 13, it is characterised in that also include：
Be delayed receiving module, for exporting the 3rd control signal to the ESC, indicates that the ESC comes from the MRR detecting
Brake signal when being in trailing edge, after first preset time that is delayed, receive the signal of the MRR.
18. device according to claim 13, it is characterised in that also include：
Respond module, for sending the 4th control signal to the MCU, if indicating, the MCU receives the first letter of the MRR
Number, three signal of the secondary signal including torque request of the ESC and self-adaption cruise system when,
The priority for responding first signal is higher than the priority of secondary signal described in response response, and responds second letter
Number priority higher than the priority for responding the 3rd signal.
19. device according to claim 18, it is characterised in that the secondary signal includes：Include reduction torque request
The 4th signal or include rise torque request the 5th signal；
Wherein, the priority of the 4th signal is responded higher than the priority for responding the 5th signal.
20. device according to claim 11, it is characterised in that also include：
Enabled module, during for receiving vehicle high-voltage signal, into enabled state, and send to self-adaption cruise system enabled
Signal.
21. a kind of controller, including memory, processor and it is stored on the memory and can runs on the processor
Computer program, it is characterised in that the processor reads the program in the memory, performs such as claim 1 to 10
Any one of automatic emergency brake system control method in step.
A kind of 22. automobile, it is characterised in that including：Controller as claimed in claim 21.
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| CN108394408A (en) * | 2018-03-03 | 2018-08-14 | 吴婷 | A kind of automobile intelligent auxiliary braking system |
| CN108422982A (en) * | 2018-03-03 | 2018-08-21 | 魏德英 | A kind of automobile intelligent auxiliary braking system |
| CN109878345A (en) * | 2019-03-13 | 2019-06-14 | 浙江吉利新能源商用车集团有限公司 | Vehicle torque control method for coordinating, device and automobile |
| CN110660258A (en) * | 2019-08-23 | 2020-01-07 | 福瑞泰克智能系统有限公司 | Reminding method and device for automatically driving automobile |
| CN110758357A (en) * | 2019-10-23 | 2020-02-07 | 奇瑞汽车股份有限公司 | Automatic emergency braking system and method for vehicle reversing |
| CN110979326A (en) * | 2019-12-24 | 2020-04-10 | 武汉理工大学 | Intelligent network-connected electric vehicle output torque calculation method |
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| CN113895245A (en) * | 2021-11-24 | 2022-01-07 | 重庆邮电大学 | Afterloading AEB braking system for new energy vehicle and control method thereof |
| CN113997911A (en) * | 2021-11-09 | 2022-02-01 | 岚图汽车科技有限公司 | Automatic emergency braking control method and device |
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| CN113997911A (en) * | 2021-11-09 | 2022-02-01 | 岚图汽车科技有限公司 | Automatic emergency braking control method and device |
| CN113895245A (en) * | 2021-11-24 | 2022-01-07 | 重庆邮电大学 | Afterloading AEB braking system for new energy vehicle and control method thereof |
| CN114162121A (en) * | 2021-12-30 | 2022-03-11 | 上海洛轲智能科技有限公司 | Prompting method and device for vehicle autonomous braking, automobile and medium |
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