CN107600070B - 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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- CN107600070B CN107600070B CN201710762365.1A CN201710762365A CN107600070B CN 107600070 B CN107600070 B CN 107600070B CN 201710762365 A CN201710762365 A CN 201710762365A CN 107600070 B CN107600070 B CN 107600070B
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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 invention relates to the technical field of automobiles, in particular to a control method, a control device, a control controller and an automobile for an automatic emergency braking system.
background
with the rapid development of automobile technology, new energy automobiles mainly comprising electric automobiles have gradually opened the market and enter people's lives. An Adaptive Cruise Control (ACC) system is an intelligent automatic Control system, and is developed on the basis of a Cruise Control technology. When the time interval between the self vehicle and the front vehicle is too small in the running process of the vehicle, the ACC control unit can properly brake the wheels and reduce the output power of the motor through the coordinated action of the braking system and the motor control system, so that the self vehicle and the front vehicle can always keep a safe time interval. By adopting the self-adaptive cruise system, a driver does not need to control an acceleration pedal or a brake pedal all the time, and the fatigue degree is effectively relieved. However, how to realize automatic emergency braking in the adaptive cruise state is still a problem to be solved at present.
Disclosure of Invention
The invention provides a control method, a control device, a controller and an automobile of an automatic emergency braking system, and aims to solve the problem of how to realize automatic emergency braking in an adaptive cruise state.
in one aspect, an embodiment of the present invention provides a control method for an automatic emergency braking system, where the method is applied to a middle-range radar module MRR of the automatic emergency braking system, and the method includes:
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.
Optionally, the step of executing an early warning process includes:
sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
And outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
optionally, the step of executing an automatic emergency braking process includes:
The method comprises the steps that an indication motor control unit MCU obtains a brake pedal switch signal of an automobile and a first speed of the automobile;
when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabled state and the current braking effect is determined to be insufficient, outputting a first braking signal to the ESC, and indicating the ESC to execute automatic emergency braking at a first preset braking amplitude; or
and when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state, indicating the ESC to execute partial braking or full braking according to the first vehicle speed.
Optionally, the step of determining that the current braking effect is insufficient comprises:
acquiring a second vehicle speed of the adjacent vehicle;
When determining that the relative speed change rate is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed change rate is a numerical value obtained by subtracting a speed difference of the second vehicle speed divided by a sampling period from the first vehicle speed;
Or
And when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
optionally, the step of instructing the ESC to perform partial braking or full braking according to the first vehicle speed comprises:
outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
When the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
optionally, the step of instructing the ESC to perform partial braking or full braking according to the first vehicle speed comprises:
and outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
optionally, the method further comprises:
and outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
Optionally, the method further comprises:
sending a fourth control signal to the MCU instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
Priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
optionally, the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
Wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
Optionally, the method further comprises:
and when receiving the high-voltage signal of the whole vehicle, entering an enabling state and sending an enabling signal to the self-adaptive cruise system.
on the other hand, an embodiment of the present invention further provides a control apparatus for an automatic emergency braking system, which is applied to a middle-range radar module MRR of the automatic emergency braking system, and the apparatus includes:
the data acquisition module is used for acquiring vehicle distance data of adjacent vehicles in the driving direction of the vehicle when the vehicle is detected to be in the self-adaptive cruise state;
the early warning execution module is used for executing an early warning process when the vehicle distance data is smaller than a first preset distance;
the brake execution module is used for executing an automatic emergency brake process when the vehicle distance data is smaller than a second preset distance; the second preset distance is smaller than the first preset distance.
Optionally, the early warning execution module is configured to:
Sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
And outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
Optionally, the brake execution module includes:
the acquisition submodule is used for indicating the motor control unit MCU to acquire a brake pedal switch signal of an automobile and a first speed of the automobile;
the first braking submodule is used for outputting a first braking signal to the ESC when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabling state and the current braking effect is determined to be insufficient, and indicating the ESC to execute automatic emergency braking with a first preset braking amplitude; or
And the second brake submodule is used for indicating the ESC to execute partial braking or full braking according to the first vehicle speed when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state.
optionally, the first brake submodule is configured to:
acquiring a second vehicle speed of the adjacent vehicle;
when determining that the relative speed change rate is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed change rate is a numerical value obtained by subtracting a speed difference of the second vehicle speed divided by a sampling period from the first vehicle speed;
or
And when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
Optionally, the second brake submodule is configured to:
Outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
when the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
Optionally, the second brake submodule is configured to:
And outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
Optionally, the apparatus further comprises:
And the delay receiving module is used for outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
Optionally, the apparatus further comprises:
A response module for sending a fourth control signal to the MCU, instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
Priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
Optionally, the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
Wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
Optionally, the apparatus further comprises:
and the enabling module is used for entering an enabling state when receiving the high-voltage signal of the whole vehicle and sending an enabling signal to the self-adaptive cruise system.
In yet another aspect, an embodiment of the present invention further provides a controller, which includes a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor reads the program in the memory and executes the steps in the control method of the automatic emergency braking system.
In still another aspect, embodiments of the present invention further provide an automobile, including the above controller.
the scheme of the invention at least comprises the following beneficial effects:
According to the control method, the control device and the automobile of the automatic emergency braking system, when the automobile is in the self-adaptive cruise state, the automatic early warning or the automatic emergency braking is executed according to the decision of the distance data by detecting the distance data, so that the coordination control of the self-adaptive cruise and the active emergency braking of the electric automobile is realized, the driving safety of the whole automobile is ensured, the safety level of the active safety is improved, and the possible problem of control disorder caused by unclear definition of the function priority is prevented; the invention solves the problem of how to realize automatic emergency braking in the self-adaptive cruise state.
Drawings
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart illustrating the basic steps of a method for controlling an automatic emergency braking system according to an embodiment of the present invention;
FIG. 2 illustrates a network architecture diagram of a specific example of the present invention;
fig. 3 is a block diagram of a control device of an automatic emergency braking system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a control method of an automatic emergency braking system, which is applied to a middle-range radar module MRR of the automatic emergency braking system, and includes:
step 101, when detecting that an automobile is in a self-adaptive cruise state, acquiring distance data of adjacent vehicles in the driving direction of the automobile;
The Automatic Emergency Braking (AEB) is an automobile active safety technology, the AEB system mainly comprises a distance sensing module, an analysis decision module and an execution mechanism module, and a Mid-Range Radar (MRR) module serving as a core of the distance sensing module can provide comprehensive, accurate and real-time images and road condition information of a front road.
When the automobile is detected to be in the self-adaptive cruise state, the vehicle distance data of the automobile is obtained. The distance between the self-vehicle and the front-vehicle CAN be detected through the millimeter wave radar, in order to reduce the bus load of a Controller Area Network (CAN) and reduce the load rate, the front or rear vehicle characteristic data sensed based on the millimeter wave radar is directly processed into front and rear vehicle distance data, and the MRR CAN acquire the vehicle distance signal through an Advanced Driver Assistance Systems (ADAS) private CAN.
as a specific example, referring to fig. 2, in the network architecture shown in fig. 2, a Vehicle Control Unit (VCU) acquires a brake pedal switch signal and an accelerator pedal switch signal, and an MRR is communicatively connected to the VCU, an Electronic Stability Program (ESP), a central Control Unit (EHU), a Motor Control Unit (MCU), and an Instrument Control Unit (ICM) through a CAN bus; wherein CAN _ H represents a CAN bus high level signal, and CAN _ L represents a CAN bus low level signal. The VCU acquires a brake pedal switch signal and an accelerator pedal switch signal through a hard wire; MRR, VCU, ESP, EHU) MCU and ICM interact through signals of CAN bus, realizing MRR to the control and control of braking system, actuating system.
Alternatively, the switch of the MRR function may be set as a soft switch integrated on the central controller, and the EHU collects the switch signal, and the switch of different modes may also be implemented by the switch.
And 102, executing an early warning process when the vehicle distance data is smaller than a first preset distance.
When the MRR detects that the vehicle distance data is smaller than a first preset distance, the early warning function of the AEB is activated, and an early warning process is executed.
Specifically, the step of executing the early warning process includes:
sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
and outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
the early warning process comprises the steps of sending an early warning signal to the ICM, wherein the early warning signal is used for indicating the ICM to output an active braking prompt signal through an instrument and reminding a driver to brake actively; and/or the electronic stability Control system outputs a first Control signal to an Electronic Stability Control (ESC) to instruct the ESC to perform braking preparation, and adjusts the pressure of the braking system of the automobile to a preset maximum pressure value to shorten the braking time.
103, 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.
When the distance data is further reduced to a second preset distance, executing an automatic emergency braking process; the AEB system measures the distance between the automobile and a front automobile or an obstacle by adopting a radar, then compares the measured distance with an alarm distance and a safety distance by utilizing an analysis decision module, and carries out alarm prompt when the measured distance is less than the alarm distance, and the AEB system can be started to automatically and emergently brake the automobile even if a driver does not have time to step on a brake pedal when the measured distance is less than the safety distance, so that the safe trip is protected.
specifically, step 103 includes:
the method comprises the steps that an indication motor control unit MCU obtains a brake pedal switch signal of an automobile and a first speed of the automobile;
when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabled state and the current braking effect is determined to be insufficient, outputting a first braking signal to the ESC, and indicating the ESC to execute automatic emergency braking at a first preset braking amplitude; or
And when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state, indicating the ESC to execute partial braking or full braking according to the first vehicle speed.
In the process of executing automatic emergency braking, firstly, a brake pedal switch signal is obtained, and referring to fig. 2, a VCU hard wire obtains the brake pedal switch signal; and the MRR acquires the brake pedal switch signal acquired by the VCU through the CAN bus. And the MRR instructs the MCU to obtain a first speed of the current automobile, and the braking amplitude is determined according to the brake pedal switch signal and the first speed.
Specifically, if the movable pedal is in an enabling state, and when the current braking effect is judged to be insufficient according to the first vehicle speed, the MRR outputs a first braking signal to the ESC, the first braking signal is used for indicating the ESC to perform active emergency braking, the braking amplitude is a first preset braking amplitude, and the first preset braking amplitude can be obtained through real vehicle calibration according to the braking accuracy requirement of the whole vehicle.
If the brake pedal is in the non-enabled state, indicating the ESC to execute partial braking or full braking according to the first vehicle speed; if the vehicle speed is higher, partial braking is carried out; if the vehicle speed is low, all braking is performed.
In the embodiment of the invention, the MRR also controls the ESC to output a brake lamp lighting signal and light the brake lamp when receiving the brake signal of the MRR.
Optionally, the step of determining that the current braking effect is insufficient comprises:
Acquiring a second vehicle speed of the adjacent vehicle;
When determining that the relative speed change rate is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed change rate is a numerical value obtained by subtracting a speed difference of the second vehicle speed divided by a sampling period from the first vehicle speed;
or
And when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
Wherein the adjacent vehicle is a front vehicle; when a user steps on a brake pedal, the relative speed change rate of the self vehicle relative to the adjacent vehicle is still increased, and the current braking effect is insufficient, wherein the relative speed is the difference value of subtracting the second vehicle speed from the first vehicle speed, and the relative speed change rate is the value of dividing the relative speed at the current moment by the relative speed of the sampling period; and when the user steps on the brake pedal, the vehicle distance data of the vehicle and the adjacent vehicle is still reduced, and the current braking effect is insufficient.
optionally, the step of instructing the ESC to perform partial braking or full braking according to the first vehicle speed comprises:
Outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
When the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
When the first vehicle speed is higher than a first preset speed threshold value, outputting a second braking signal to the ESC for the consideration of driving safety, wherein the second braking signal is used for indicating the ESC to perform partial braking and reducing the speed to a preset speed; and when the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC, wherein the third braking signal is used for indicating the ESC to perform full braking, and the current vehicle speed can be decelerated to stop at the maximum deceleration, and the maximum deceleration is determined according to the maximum braking capacity which can be borne by a vehicle braking system.
Optionally, the step of instructing the ESC to perform partial braking or full braking according to the first vehicle speed comprises:
And outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
When the ESC executes partial braking or all braking, the MRR outputs a second control signal to the ESC, the second control signal is used for indicating the ESC to send a torque reduction request to the MCU of the automobile, and the MCU controls the motor to respond to the torque reduction request, so that gradient-free limitation and torque smoothing are realized.
optionally, the method further comprises:
and outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
In order to prevent the AEB from quickly responding to the driver accelerator pedal request after the AEB brakes the vehicle, causing the AEB to reactivate, causing torque jerk, and causing reduced comfort, when the vehicle approaches the front vehicle quickly, in an embodiment of the present invention, when the brake signal from the MRR is detected to be on the falling edge, and a first predetermined time will be delayed, the ESC is allowed to receive the MRR signal again, allowing the next AEB function to be activated.
when the ESC detects that the braking signal from the MRR is at a falling edge, the hydraulic pressure of a braking system needs to be quickly removed, and the braking effect is ensured to disappear.
Optionally, the method further comprises:
sending a fourth control signal to the MCU instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
Priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
And sending a fourth control signal to the MCU, wherein the fourth control signal is used for indicating the MCU to respond the priorities of the MRR first signal, the ESC second signal comprising the torque request and the third signal adapting to the cruise system when the MCU simultaneously receives the MRR first signal, the ESC second signal comprising the torque request and the third signal adapting to the cruise system. Because the rising/falling torsion of the AEB and the ESC is a safety function and the ACC is a comfort function, the rising/falling torsion of the AEB and the ESC is higher in safety function priority than the ACC function priority due to safety, namely the first signal and the second signal have higher priority than the third signal; and the functional safety of the AEB is more demanding, so the AEB function has a higher priority than the torque up/down function of the ESC, so the priority in response to the first signal is higher than the priority in response to the second signal.
Optionally, the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
wherein, from the viewpoint of MCU control, AEB function is represented by torque reduction of ESC, so the priority is higher for the fourth signal than for the fifth signal; that is, the priority of the torque-down function of the ESC is higher than that of the torque-up function of the ESC, the priority of the torque-up function of the ESC is higher than that of the ACC function, and the MCU responds with high priority when receiving the above three signals.
optionally, the method further comprises:
And when receiving the high-voltage signal of the whole vehicle, entering an enabling state and sending an enabling signal to the self-adaptive cruise system.
the active emergency braking function is enabled only when the MRR receives a high-voltage signal of the whole vehicle, namely the Ready lamp signal mark position 1, which is sent by the VCU, the MRR sends an enabling signal to the adaptive cruise system, and the adaptive cruise and active emergency braking functions can work only in a driving mode.
In the embodiment of the invention, when the automobile is in the self-adaptive cruise state, the automatic early warning or the automatic emergency braking is executed according to the decision of the vehicle distance data by detecting the vehicle distance data, so that the coordination control of the self-adaptive cruise and the active emergency braking of the electric automobile is realized, the driving safety of the whole automobile is ensured, the safety level of the active safety is improved, and the problem of control disorder caused by unclear definition of the function priority level which possibly exists is prevented; the invention solves the problem of how to realize automatic emergency braking in the self-adaptive cruise state.
Referring to fig. 3, an embodiment of the present invention further provides a control apparatus for an automatic emergency braking system, which is applied to a middle-range radar module MRR of the automatic emergency braking system, and the apparatus includes:
The data acquisition module 301 is configured to acquire vehicle distance data of an adjacent vehicle in a vehicle driving direction when detecting that the vehicle is in the adaptive cruise state;
The early warning execution module 302 is configured to execute an early warning process when the vehicle distance data is smaller than a first preset distance;
the brake execution module 303 is configured to execute an automatic emergency braking process when the vehicle distance data is smaller than a second preset distance; the second preset distance is smaller than the first preset distance.
Optionally, the early warning execution module 302 is configured to:
sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
and outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
Optionally, the brake executing module 303 includes:
the acquisition submodule is used for indicating the motor control unit MCU to acquire a brake pedal switch signal of an automobile and a first speed of the automobile;
the first braking submodule is used for outputting a first braking signal to the ESC when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabling state and the current braking effect is determined to be insufficient, and indicating the ESC to execute automatic emergency braking with a first preset braking amplitude; or
and the second brake submodule is used for indicating the ESC to execute partial braking or full braking according to the first vehicle speed when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state.
optionally, the first brake submodule is configured to:
acquiring a second vehicle speed of the adjacent vehicle;
When determining that the relative speed change rate is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed change rate is a numerical value obtained by subtracting a speed difference of the second vehicle speed divided by a sampling period from the first vehicle speed;
Or
and when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
Optionally, the second brake submodule is configured to:
outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
when the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
Optionally, the second brake submodule is configured to:
and outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
optionally, the apparatus further comprises:
And the delay receiving module is used for outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
Optionally, the apparatus further comprises:
A response module for sending a fourth control signal to the MCU, instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
Priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
Optionally, the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
Wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
Optionally, the apparatus further comprises:
and the enabling module is used for entering an enabling state when receiving the high-voltage signal of the whole vehicle and sending an enabling signal to the self-adaptive cruise system.
in yet another aspect, an embodiment of the present invention further provides a controller, which includes a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor reads the program in the memory and executes the steps in the control method of the automatic emergency braking system.
In still another aspect, embodiments of the present invention further provide an automobile, including the above controller.
In the embodiment of the invention, when the automobile is in the self-adaptive cruise state, the automatic early warning or the automatic emergency braking is executed according to the decision of the vehicle distance data by detecting the vehicle distance data, so that the coordination control of the self-adaptive cruise and the active emergency braking of the electric automobile is realized, the driving safety of the whole automobile is ensured, the safety level of the active safety is improved, and the problem of control disorder caused by unclear definition of the function priority level which possibly exists is prevented; the invention solves the problem of how to realize automatic emergency braking in the self-adaptive cruise state.
it should be noted that the control device of the automatic emergency braking system provided by the embodiment of the present invention is a device applying the above method, that is, all embodiments of the above method are applicable to the device, and can achieve the same or similar beneficial effects.
while the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (20)
1. A control method of an automatic emergency braking system is applied to a medium-distance radar Module (MRR) of the automatic emergency braking system, and is characterized by comprising 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 step of executing the automatic emergency braking process includes:
The method comprises the steps that an indication motor control unit MCU obtains a brake pedal switch signal of an automobile and a first speed of the automobile;
when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabled state and the current braking effect is determined to be insufficient, outputting a first braking signal to the ESC, and indicating the ESC to execute automatic emergency braking at a first preset braking amplitude; or
and when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state, indicating the ESC to execute partial braking or full braking according to the first vehicle speed.
2. the method of claim 1, wherein the step of performing an early warning procedure comprises:
Sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
and outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
3. The method of claim 1, wherein the step of determining that the current braking effectiveness is insufficient comprises:
Acquiring a second vehicle speed of the adjacent vehicle;
when determining that the relative speed change rate is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed change rate is a numerical value obtained by subtracting a speed difference of the second vehicle speed divided by a sampling period from the first vehicle speed;
or
and when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
4. The method of claim 1, wherein said step of instructing said ESC to perform partial braking or full braking based on said first vehicle speed comprises:
Outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
When the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
5. The method of claim 1, wherein said step of instructing said ESC to perform partial braking or full braking based on said first vehicle speed comprises:
and outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
6. the method of claim 1, further comprising:
And outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
7. The method of claim 1, further comprising:
sending a fourth control signal to the MCU instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
Priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
8. The method of claim 7, wherein the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
Wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
9. the method of claim 1, further comprising:
And when receiving the high-voltage signal of the whole vehicle, entering an enabling state and sending an enabling signal to the self-adaptive cruise system.
10. A control apparatus for an automatic emergency braking system, which is applied to a middle range radar module MRR of the automatic emergency braking system, the apparatus comprising:
The data acquisition module is used for acquiring vehicle distance data of adjacent vehicles in the driving direction of the vehicle when the vehicle is detected to be in the self-adaptive cruise state;
The early warning execution module is used for executing an early warning process when the vehicle distance data is smaller than a first preset distance;
The brake execution module is used for executing an automatic emergency brake process when the vehicle distance data is smaller than a second preset distance; the second preset distance is smaller than the first preset distance;
the brake execution module includes:
the acquisition submodule is used for indicating the motor control unit MCU to acquire a brake pedal switch signal of an automobile and a first speed of the automobile;
The first braking submodule is used for outputting a first braking signal to the ESC when the brake pedal switch signal indicates that a brake pedal of the automobile is in an enabling state and the current braking effect is determined to be insufficient, and indicating the ESC to execute automatic emergency braking with a first preset braking amplitude; or
And the second brake submodule is used for indicating the ESC to execute partial braking or full braking according to the first vehicle speed when the brake pedal switch signal indicates that a brake pedal of the automobile is in an disabled state.
11. The apparatus of claim 10, wherein the early warning execution module is configured to:
Sending an early warning signal to an instrument controller ICM of the automobile, and indicating the ICM to output an active braking prompt signal according to the early warning signal; and/or
and outputting a first control signal to an electronic stability control system (ESC) of the automobile, and indicating the ESC to adjust the pressure of a braking system of the automobile to a preset maximum pressure value.
12. the apparatus of claim 10, wherein the first brake submodule is to:
Acquiring a second vehicle speed of the adjacent vehicle;
When determining that the change rate of the relative speed is increased according to the first vehicle speed and the second vehicle speed, determining that the current braking effect is insufficient, wherein the relative speed is a numerical value obtained by subtracting a speed difference obtained by dividing the second vehicle speed by sampling time from the first vehicle speed;
or
And when the vehicle distance data is reduced, determining that the current braking effect is insufficient.
13. the apparatus of claim 10, wherein the second brake submodule is configured to:
Outputting a second braking signal to the ESC when the first vehicle speed is higher than a first preset speed threshold, and indicating the ESC to perform partial braking; or
when the first vehicle speed is lower than a second preset speed threshold value, outputting a third braking signal to the ESC to indicate the ESC to brake fully; the first preset speed threshold is higher than the second preset speed threshold.
14. The apparatus of claim 10, wherein the second brake submodule is configured to:
and outputting a second control signal to the ESC, and indicating the ESC to send a torque reduction request to the MCU of the automobile.
15. The apparatus of claim 10, further comprising:
And the delay receiving module is used for outputting a third control signal to the ESC, and indicating the ESC to receive the MRR signal after delaying for a first preset time under the condition that the braking signal from the MRR is detected to be at a falling edge.
16. The apparatus of claim 10, further comprising:
A response module for sending a fourth control signal to the MCU, instructing the MCU to, if the first signal of the MRR, the second signal of the ESC including the torque request and the third signal of the adaptive cruise system are received,
priority in response to the first signal is higher than priority in response to the second signal, and priority in response to the second signal is higher than priority in response to the third signal.
17. the apparatus of claim 16, wherein the second signal comprises: a fourth signal comprising a decreasing torque request or a fifth signal comprising an increasing torque request;
wherein the priority level in response to the fourth signal is higher than the priority level in response to the fifth signal.
18. The apparatus of claim 10, further comprising:
and the enabling module is used for entering an enabling state when receiving the high-voltage signal of the whole vehicle and sending an enabling signal to the self-adaptive cruise system.
19. A controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor reads the program in the memory and executes the steps of the method of controlling an automatic emergency braking system according to any one of claims 1 to 9.
20. An automobile, comprising: the controller of claim 19.
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| CN108394408A (en) * | 2018-03-03 | 2018-08-14 | 吴婷 | A kind of automobile intelligent auxiliary braking system |
| CN109878345B (en) * | 2019-03-13 | 2020-11-03 | 浙江吉利新能源商用车集团有限公司 | Vehicle torque coordination control method and device and automobile |
| CN110660258B (en) * | 2019-08-23 | 2022-04-26 | 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 |
| CN110979326B (en) * | 2019-12-24 | 2021-05-28 | 武汉理工大学 | Intelligent network-connected electric vehicle output torque calculation method |
| CN111942353B (en) * | 2020-07-22 | 2022-03-04 | 东风汽车集团有限公司 | Emergency braking control method for pure electric vehicle, vehicle control unit and control device |
| CN113022519B (en) * | 2021-03-31 | 2022-03-11 | 东风汽车集团股份有限公司 | Redundancy control emergency braking method and system |
| 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 |
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