CN107697046A - Automatic emergency brake method and system - Google Patents
Automatic emergency brake method and system Download PDFInfo
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- CN107697046A CN107697046A CN201710882405.6A CN201710882405A CN107697046A CN 107697046 A CN107697046 A CN 107697046A CN 201710882405 A CN201710882405 A CN 201710882405A CN 107697046 A CN107697046 A CN 107697046A
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- parking
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- brake
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to emergency brake of vehicle field, and in particular to a kind of automatic emergency brake method and system.This method includes：Emergency brake signal is detected whether in real time；If it is, obtaining vehicle wheel speed and according to the wheel speed calculation current vehicle speed；Judge whether current vehicle speed is more than setting safe speed value；If it is, control vehicle enters emergency brake modes；Otherwise, the parking actuator is controlled with level land power parking.By the present invention, the security that vehicle is braked is improved.
Description
Technical field
The present invention relates to emergency brake of vehicle field, and in particular to a kind of automatic emergency brake method and system.
Background technology
The brakes of vehicle generally comprises service braking system and parking braking system, wherein, parking braking scheme root
It is divided into traditional mechanical type parking brake and electronic brake according to braking energy source difference.
Electronic brake includes two technology paths of wire drawing type electronic parking and the parking of clamp integrated type electrical；Wire drawing type
Electronic parking replaces traditional parking handle using motor, but still performs parking using two wire drawings；Clamp integrated form
Electronic parking integrates parking motor with clamp, directly controls during parking parking motor to perform parking.Mechanical type parking brake system
In brake hard, only with the mode of pull-up parking brake, rear lock easily occurs system for braking procedure.
When electric automobile uses mechanical parking system or wire drawing type electronic parking system, if service braking system loses
Effect, then need by pull-up parking brake or press electronic parking switch realize brake hard, now, mechanical parking system or wire drawing
Formula electronic parking system performs braking to EPB passing power, EPB by wire drawing according to wire drawing pulling force.
Electric automobile is had as a drawback that using mechanical parking system or wire drawing type electronic parking system：
1) when transmitting parking power using parking wire drawing, because the arrangement space of parking wire drawing is limited, parking wire drawing is easy to
Interfere with peripheral component；2) when performing brake hard, if parking wire drawing deforms, absorb after clamping energy, sometimes can not be effective
Realize braking；3) when performing brake hard, mechanical parking system or wire drawing type electronic parking system are typically only capable of applying and continued
Constant brake force, when vehicle is travelled on the low road surface of attachment coefficient, easily there is rear lock, whipping phenomenon occur；4)
Because the length of left and right wire drawing, toughness etc. have differences, therefore easily cause left and right EPB brake force inconsistent,
Easy sideslip.
When electric automobile uses clamp integrated type electrical parking system, when service braking system fails, it can use and press
The mode of lower electronic parking switch, braking rear-wheel, realizes brake hard.During brake hard, parking controller can basis
The wheel speed of two trailing wheels judges whether to will appear from locking, and for will appear from the of short duration release of wheel of locking, realizes anti-lock
Function.But had as a drawback that using clamp integrated type electrical parking system：
1) dynamic brake trailing wheel anti-lock only braking rear-wheel, braking deceleration are only capable of reaching laws and regulations requirement；2) vehicle is braked
Energy consumed completely by brake, on the one hand waste the energy, on the one hand reduce brake life.
The content of the invention
The invention provides a kind of automatic emergency brake method and system, to improve the security of vehicle braking.
To achieve these goals, the invention provides following technical scheme：
A kind of automatic emergency brake method, applied to electric automobile, methods described includes：
Emergency brake signal is detected whether in real time；If it is, obtain vehicle wheel speed and current according to the wheel speed calculation
Speed；
Judge whether current vehicle speed is more than setting safe speed value；If it is, control vehicle enters emergency brake modes；It is no
Then, the parking actuator is controlled with level land power parking.
Preferably, the emergency brake modes include：
Brake hard instruction is sent to vehicle power control system, so that the vehicle power control system controls front-wheel system
Move and carry out energy regenerating；
Control parking actuator braking rear-wheel；
Judge whether current vehicle speed is less than or equal to setting safe speed value；If it is, stop to the vehicle power control
System processed sends brake hard instruction, and controls the parking actuator with level land parking power parking.
Preferably, the emergency brake modes also include：
If current vehicle speed is more than setting safe speed value；
By the wheel speed compared with current vehicle speed, with detect each wheel of vehicle whether locking；
If any one front-wheel is in locking state, stop referring to vehicle power control system transmission brake hard
Order；
And send antilock dead instructions to the vehicle power control system so that the vehicle power control system reduce or
Energy regenerating is released so as to reduce brake force output, until detecting that the front-wheel in locking state releases locking state,
Continue to send brake hard instruction to the vehicle power control system.
Preferably, the emergency brake modes also include：
If single or two trailing wheels are in locking state, control is in parking actuator corresponding to locking state trailing wheel
Reduce brake force output, it is described in locking state trailing wheel releasing locking state until detecting, continue to the vehicle power
Control system sends brake hard instruction.
Preferably, the emergency brake modes also include：
Before sending brake hard instruction to the vehicle power control system, vehicle deceleration is obtained in real time；
Judge whether the vehicle deceleration is equal to setting deceleration；
If not, brake hard instruction is sent to the vehicle power control system, so that the vehicle dynamic Control system
System is by setting deceleration-based controller front wheel brake and carries out energy regenerating；
The parking actuator is controlled according to the setting deceleration-based controller rear service brake.
A kind of automatic emergency brake system, applied to electric automobile, the system includes：Parking actuator, parking switch,
Parking controller and the braking control system being connected by CAN with the parking controller, it is the parking switch, described
Parking actuator electrically connects with the parking controller respectively；The braking control system includes：Service braking control and
The wheel speed sensors electrically connected with the service braking control, the wheel speed sensors are used to gather wheel wheel speed and by described in
Wheel speed sends the thermoacoustic prime engine device to, and the thermoacoustic prime engine device is connected by CAN with the parking controller；Work as reception
During the emergency brake signal sent to the parking switch, the parking controller is by CAN from the service brake control
Device processed obtains the vehicle wheel speed, and according to the wheel speed calculation current vehicle speed；Judge whether current vehicle speed is more than setting safety
Vehicle speed value；If it is, control vehicle enters emergency brake modes；Otherwise, the parking actuator is directly controlled to stay power with level land
Parking.
Preferably, the system also includes：The vehicle dynamic Control system being connected with the parking controller by CAN
System；
The parking controller controls vehicle to enter emergency brake modes in such a way：
The parking controller sends brake hard instruction to the vehicle power control system, so that the vehicle power
Control system controls front wheel brake and carries out energy regenerating；
The parking controller controls the parking actuator braking rear-wheel；
The parking controller judges whether current vehicle speed is less than or equal to setting safe speed value；
If current vehicle speed is less than setting safe speed value, the parking controller stops to the vehicle dynamic Control system
System sends brake hard instruction, and controls the parking actuator with level land parking power parking；
If current vehicle speed is more than setting safe speed value；The parking controller carries out the wheel speed and current vehicle speed
Compare, with detect each wheel of vehicle whether locking；
If any one front-wheel is in locking state, the parking controller stops to the vehicle power control system
Brake hard instruction is sent, and antilock dead instructions are sent to the vehicle power control system, so that the vehicle dynamic Control
System reduces or released energy regenerating so as to reduce brake force output, until detecting that the front-wheel in locking state releases
Locking state, the parking controller continue to send brake hard instruction to the vehicle power control system；
If single or two trailing wheels are in locking state, the parking controller control is in locking state trailing wheel pair
The parking actuator answered reduces brake force output, described in locking state trailing wheel releasing locking state until detecting, described
Parking controller continues to send brake hard instruction to the vehicle power control system.
Preferably, the system also includes：The acceleration transducer electrically connected with the parking controller；
Before the parking controller sends brake hard instruction to vehicle power control system, passed by the acceleration
Sensor obtains vehicle deceleration in real time；
Judge whether the vehicle deceleration is equal to setting deceleration；If not, the parking controller is to the vehicle
Power control system sends brake hard instruction, so that the vehicle power control system is by setting deceleration-based controller front-wheel system
Dynamic, the parking controller controls the parking actuator according to the setting deceleration-based controller rear service brake.
Preferably, the vehicle power control system includes：Entire car controller, drive control device, motor, the drive
Dynamic motor connection between the drive control device and power cell of vehicle, the entire car controller by CAN respectively with
The drive control device, parking controller connection.
Preferably, the parking actuator has two, is arranged on left and right vehicle wheel trailing wheel；Each parking actuator is equal
Including：Parking transmission mechanism, stopping caliper and brake disc, the brake disc are connected with vehicle rear wheel, the parking driver
Structure mechanically connects with the stopping caliper, and the parking transmission mechanism electrically connects with the parking controller.
The beneficial effects of the present invention are：
Automatic emergency brake method and system provided by the invention, parking controller have detected whether brake hard letter in real time
Number；If it is, obtaining vehicle wheel speed and according to the wheel speed calculation current vehicle speed；Parking controller judges whether current vehicle speed is big
In setting safe speed value；If it is, control vehicle enters emergency brake modes.By the present invention, vehicle braking is improved
Security.
Brief description of the drawings
Fig. 1 is a kind of flow chart of automatic emergency brake method of the embodiment of the present invention.
Fig. 2 is a kind of flow chart of emergency brake modes in the embodiment of the present invention.
Fig. 3 is another flow chart of emergency brake modes in the embodiment of the present invention.
Embodiment
In order that those skilled in the art can be further understood that the feature and technology contents of the present invention, below in conjunction with the accompanying drawings
The embodiment of the present invention is elaborated with embodiment.
It is a kind of flow chart of automatic emergency brake method of the embodiment of the present invention as shown in Figure 1, comprises the following steps：
Step 100：Start.
Step 101：Emergency brake signal is detected whether in real time；If it is, perform step 102；Otherwise, return is performed to hold
Row step 101.
The embodiment of the present invention can be realized by parking controller.
Step 102：Obtain vehicle wheel speed and according to the wheel speed calculation current vehicle speed.
It should be noted that in the embodiment of the present invention, vehicle wheel speed is the wheel speed of all wheels of vehicle, has four when vehicle
During individual wheel, wheel of vehicle has front-wheel, trailing wheel, and front-wheel has two, and trailing wheel also has two.
Specifically, included according to wheel speed calculation current vehicle speed：The wheel speed of all wheels of vehicle is handled by average weighted
The speed of vehicle is obtained, it is necessary to illustrate, if having numerical difference away from bigger wheel in the wheel speed of all wheels got
Speed, then it can directly give up the numerical difference away from bigger wheel speed, so that the numerical difference is not involved in car away from bigger wheel speed
Speed calculates.
Step 103：Judge whether current vehicle speed is more than setting safe speed value；If it is, perform step 104；Otherwise, hold
Row step 105.
Specifically, safe speed value is set to be determined by demarcating according to vehicle performance, such as, set safe speed value
For 4km/h.
Step 104：Control vehicle enters emergency brake modes.
Step 105：The parking actuator is controlled with level land parking power parking.
It should be noted that in the embodiment of the present invention, parking actuator is that conventional level land is stayed with level land parking power parking
Driving skills art, therefore the application repeats no more.
Automatic emergency brake method provided in an embodiment of the present invention, has detected whether emergency brake signal in real time；If it is,
Obtain vehicle wheel speed and according to the wheel speed calculation current vehicle speed；Parking controller judges whether current vehicle speed is more than setting safety
Vehicle speed value；If it is, control vehicle enters emergency brake modes.By the present invention, the security that vehicle is braked is improved.
Specifically, in the embodiment of the present invention, the emergency brake modes in the embodiment of the present invention as shown in Fig. 2 promptly make
Dynamic model formula comprises the following steps：
Step 1040：Brake hard instruction is sent to vehicle power control system, so that the vehicle power control system
Control front wheel brake and carry out energy regenerating.
Specifically, the vehicle power control system includes：Entire car controller, drive control device, motor, the drive
Dynamic motor is connected electrically between the drive control device and power cell of vehicle, and the motor also connects with wheel mechanical before vehicle
Connect, the entire car controller is connected with the parking controller, the parking controller respectively by CAN；The vehicle
After controller will receive the brake hard instruction that the parking controller is sent, promptly made described by CAN
Dynamic instruction is sent to the drive control device, so that the drive control device controls the motor to generate electricity, it is the vehicle
Electrokinetic cell is powered, so as to carry out energy regenerating；The entire car controller receives the described anti-of the parking controller transmission
After locking instruction, the antilock dead instructions are sent to by the drive control device by CAN, so that the drive control device
The motor is controlled to reduce or stop the delivery for power cell of vehicle power supply, so as to reduce brake force output.
Further, in the embodiment of the present invention, motor includes stator and rotor, and rotor passes through Machinery Ministry with vehicle front
Part is connected, and under drive control device control, motor can be used as motor output torque, driving vehicle traveling；Motor
Generator can also be used as, vehicle traveling kinetic energy is converted into electric energy, brake force is provided for vehicle front-wheel.
Step 1041：Control parking actuator braking rear-wheel.
Step 1042：Judge whether current vehicle speed is less than or equal to setting safe speed value；If it is, perform step
1043；Otherwise, step 1044 is performed.
Step 1043：Stop sending brake hard instruction to the vehicle power control system, and control the parking to hold
Row device is with level land parking power parking.
Step 1044：By the wheel speed compared with current vehicle speed, with detect each wheel of vehicle whether locking, specifically
Ground, there may be following several situations shown in step 1045, step 1046 and step 1047 for wheel lock up：
Step 1045：If any one front-wheel is in locking state, stop sending to the vehicle power control system
Brake hard instructs；And antilock dead instructions are sent to the vehicle power control system, so that the vehicle power control system
Energy regenerating is reduced or released so as to reduce brake force output, until detecting that the front-wheel in locking state releases locking
State, return and perform step 1040.
Step 1046:If single or two trailing wheels are in locking state, control is in corresponding to locking state trailing wheel
Parking actuator reduces brake force output, described in locking state trailing wheel releasing locking state until detecting, returns and performs
Step 1040.
Step 1047：If front-wheel is in locking state with trailing wheel, control is in corresponding to locking state trailing wheel and stayed
Car actuator reduces brake force output, and control vehicle power control system reduces or releasing energy regenerating is defeated so as to reduce brake force
Go out, until detecting that the front-wheel in locking state and trailing wheel release locking state, return and perform step 1040.
Automatic emergency brake method provided in an embodiment of the present invention, in emergency brake modes, control vehicle dynamic Control system
System and parking actuator control front-wheel and rear service brake respectively, and vehicle power control system is entered in braking procedure is performed
Row energy regenerating.During front-wheel and rear service brake, current vehicle speed is detected in real time and detects whether to carry out according to current vehicle speed
Wheel lock up detects, if wheel is in locking state, carries out anti-lock processing, so that the wheel of locking releases locking, after
The continuous braking returned to vehicle front-wheel and trailing wheel.By the present invention, motor braking and electronic brake participate in jointly
Work, vehicular four wheels braking is realized, lift brake force and improve the security of vehicle braking.
Further, more accurately realize that vehicle is braked, emergency brake modes in the embodiment of the present invention as shown in Figure 3
Another flow, comprises the following steps：
Step 2040：Vehicle deceleration is obtained in real time.
Step 2041：Judge whether the vehicle deceleration is equal to setting deceleration；If it is, perform step 2042；It is no
Then, step 2042 is performed.
Specifically, it is described setting deceleration demarcation determination can be carried out according to the characteristic of vehicle, such as, set deceleration as
7km/h2。
Step 2042：Brake hard instruction is sent to the vehicle power control system, so that the vehicle dynamic Control
System is by setting deceleration-based controller front wheel brake and carries out energy regenerating.
Step 2043：Parking actuator is controlled according to the setting deceleration braking rear-wheel.
Step 2044：Judge whether current vehicle speed is less than or equal to setting safe speed value；If it is, perform step
2051；Otherwise, step 2045 is performed.
Step 2045：By the wheel speed compared with current vehicle speed, with detect each wheel of vehicle whether locking, specifically
Ground, the situation of wheel lock up may have several situations below step 2046, step 2047 and step 2048：
Step 2046：If any one front-wheel is in locking state, stop sending to the vehicle power control system
Brake hard instructs；And antilock dead instructions are sent to the vehicle power control system, so that the vehicle power control system
Energy regenerating is reduced or released so as to reduce brake force output, until detecting that the front-wheel in locking state releases locking
State, return and perform step 2041.
Step 2047:If single or two trailing wheels are in locking state, control is in corresponding to locking state trailing wheel
Parking actuator reduces brake force output, described in locking state trailing wheel releasing locking state until detecting, returns and performs
Step 2041.
Step 2048：If front-wheel has locking state with trailing wheel, control is in parking corresponding to locking state trailing wheel
Actuator reduces brake force output, and control vehicle power control system reduces or releasing energy regenerating is defeated so as to reduce brake force
Go out, until detecting that the front-wheel in locking state and trailing wheel release locking state, return and perform step 2041.
Step 2049：Brake hard instruction is sent to the vehicle power control system, makes the vehicle dynamic Control system
System controls front wheel brake and carries out energy regenerating.
Step 2050：Control parking actuator braking rear-wheel.
Step 2051：Stop sending brake hard instruction to the vehicle power control system, and control the parking to hold
Row device is with level land parking power parking.
In emergency brake modes provided in an embodiment of the present invention, by detecting vehicle deceleration, and subtracting in vehicle in real time
When speed is not equal to setting deceleration, the vehicle power control system and parking actuator are controlled according to setting deceleration control
The braking of vehicle front-wheel and trailing wheel processed, during being braked in vehicle, the stationarity of the braking of vehicle is ensure that, more enters one
Step, the security of vehicle braking is ensured.
A kind of automatic emergency brake system also provided for the above method, the present invention, the system are applied to electronic vapour
Car, the system include：Parking actuator, parking switch, parking controller and pass through CAN and the parking controller
The braking control system of connection, the parking switch, the parking actuator electrically connect with the parking controller respectively；It is described
Braking control system includes：Service braking control and the wheel speed sensors electrically connected with the service braking control, institute
Wheel speed sensors are stated to be used to gather wheel wheel speed and the wheel speed sends the service braking control, the thermoacoustic prime engine device to
It is connected by CAN with the parking controller；It is described when receiving the emergency brake signal that the parking switch is sent
Parking controller obtains the vehicle wheel speed by CAN from the service braking control, and according to the wheel speed calculation
Current vehicle speed；Judge whether current vehicle speed is more than setting safe speed value；If it is, control vehicle enters emergency brake modes；
Otherwise, the parking actuator is directly controlled with level land parking in power.
Specifically, in the embodiment of the present invention, the wheel speed sensors can be four, and the wheel speed sensors are used to gather
The wheel speed of four wheels of vehicle, parking controller handle to obtain the car of vehicle according to the wheel speed of four wheels by average weighted
Speed is, it is necessary to explanation, if having numerical difference in the wheel speed for four wheels that parking controller is got away from bigger wheel speed,
Then parking controller directly gives up the numerical difference away from bigger wheel speed, so that the numerical difference is not involved in away from bigger wheel speed
Speed calculates.
In the present invention, it can find that service braking system breaks down in driver, can not be realized by stepping on brake pedal
During hydraulic braking, the emergency brake signal that is sent by parking switch realizes brake hard.
Automatic emergency brake system provided in an embodiment of the present invention, when the brake hard for receiving the parking switch and sending
During signal, the parking controller obtains the vehicle wheel speed by CAN from the service braking control, and according to institute
State wheel speed calculation current vehicle speed；Judge whether current vehicle speed is more than setting safe speed value；If it is, control vehicle enters promptly
Braking mode；Otherwise, the parking actuator is directly controlled with level land parking in power.By the present invention, vehicle braking is improved
Security.
Specifically, in the embodiment of the present invention, the system can also include：Pass through CAN with the parking controller
The vehicle power control system of connection；The parking controller controls vehicle to enter emergency brake modes in such a way, i.e.,
(1) shown in~(5)：
(1) parking controller sends brake hard instruction to the vehicle power control system, so that the vehicle
Power control system controls front wheel brake and carries out energy regenerating.
(2) parking controller controls the parking actuator braking rear-wheel.
(3) during front-wheel and rear service brake, the parking controller judges whether current vehicle speed is less than or equal to and set
The full vehicle speed value in Dingan County.
(4) if current vehicle speed is less than setting safe speed value, the parking controller stops to the vehicle power control
System processed sends brake hard instruction, and controls the parking actuator with level land parking power parking.
(5) if current vehicle speed is more than setting safe speed value；The parking controller is by the wheel speed and current vehicle speed
Be compared, with detect each wheel of vehicle whether locking, specifically wheel lock up can have A), B), C) three kinds of situations, specifically
It is as follows：
A) if, any one front-wheel be in locking state, the parking controller stops to the vehicle dynamic Control
System sends brake hard instruction, and sends antilock dead instructions to the vehicle power control system, so that the vehicle power
Control system reduces or released energy regenerating so as to reduce brake force output, until detecting the front-wheel for being in locking state
Locking state is released, the parking controller continues to send brake hard instruction to the vehicle power control system, that is, returned
(1)。
B) if, single or two trailing wheels be in locking state, after the parking controller control is in locking state
Parking actuator corresponding to wheel reduces brake force output, until detecting that the locking state trailing wheel that is in releases locking state,
The parking controller continues to send brake hard instruction to the vehicle power control system, that is, returns to (1).
C) if, front-wheel and trailing wheel be in locking state, the parking controller control is in locking state trailing wheel
Corresponding parking actuator reduces brake force output, and control vehicle power control system reduces or released energy regenerating so as to reduce
Brake force exports, until detecting that the front-wheel in locking state and trailing wheel release locking state, the parking control
Device continues to send brake hard instruction to the vehicle power control system, that is, returns to (1).
In the embodiment of the present invention, parking controller control vehicle enters emergency brake modes, can be real in brake hard
Existing four-wheel anti-lock, avoid the occurrence of because what front-wheel locking occurred loses turning function, also avoid what is occurred by rear lock from getting rid of
Tail；And in brake hard, recovery section braking energy, energy consumption is reduced, improve the distance travelled of electric automobile.
Specifically, in another embodiment of the present invention, the system can also include：Electrically connected with the parking controller
Acceleration transducer；In the embodiment of the present invention, the parking controller controls vehicle to enter brake hard in such a way
Pattern, i.e. (1) '~(7) ' shown in：
(1) ' parking controller obtains vehicle deceleration in real time by the acceleration transducer.
(2) ' parking controller judges whether the vehicle deceleration is equal to setting deceleration；If it is, described stay
Vehicle controller sends brake hard instruction to vehicle power control system, and controls the parking actuator braking rear-wheel.
(3) ' if not equal to setting deceleration, the parking controller sends urgent to the vehicle power control system
Braking instruction, so that the vehicle power control system is by setting deceleration-based controller front wheel brake.
(4) ' parking controller controls the parking actuator according to the setting deceleration braking rear-wheel.
(5) ' during front-wheel and rear service brake, the parking controller judges whether current vehicle speed is less than or equal to and set
The full vehicle speed value in Dingan County.
(6) ' if current vehicle speed is less than setting safe speed value, the parking controller stops to the vehicle power control
System processed sends brake hard instruction, and controls the parking actuator with level land parking power parking.
(7) ' if current vehicle speed is more than setting safe speed value, the parking controller is by the wheel speed and current vehicle speed
Be compared, with detect each wheel of vehicle whether locking, specifically wheel lock up can have A), B), C) three kinds of situations, specifically
It is as follows：
A) if, any one front-wheel be in locking state, the parking controller stops to the vehicle dynamic Control
System sends brake hard instruction, and sends antilock dead instructions to the vehicle power control system, so that the vehicle power
Control system reduces or released energy regenerating so as to reduce brake force output, until detecting the front-wheel for being in locking state
Locking state is released, the parking controller continues to judge whether the vehicle deceleration is equal to setting deceleration, that is, returned
(2)’。
B) if, single or two trailing wheels be in locking state, after the parking controller control is in locking state
Parking actuator corresponding to wheel reduces brake force output, until detecting that the locking state trailing wheel that is in releases locking state,
The parking controller continues to judge whether the vehicle deceleration is equal to setting deceleration and returns (2) '.
C) if, front-wheel and trailing wheel be in locking state, the parking controller control is in locking state trailing wheel
Corresponding parking actuator reduces brake force output, and control vehicle power control system reduces or released energy regenerating so as to reduce
Brake force exports, until detecting that the front-wheel in locking state and trailing wheel release locking state, the parking control
Device continues to judge whether the vehicle deceleration is equal to setting deceleration and returns (2) '.
Specifically, in the embodiment of the present invention, the vehicle power control system includes：Entire car controller, drive control device,
Motor, the motor are connected electrically between the drive control device and power cell of vehicle, and the motor is also
Mechanically connected with vehicle front-wheel, the entire car controller is controlled with the drive control device, the parking respectively by CAN
Device connects；It is total by CAN after the entire car controller will receive the brake hard instruction that the parking controller is sent
Brake hard instruction is sent to the drive control device by line, so that the drive control device controls the motor hair
Electricity, powered for the power cell of vehicle, so as to carry out energy regenerating；The entire car controller receives the parking controller
After the antilock dead instructions sent, the antilock dead instructions are sent to by the drive control device by CAN, so that institute
State drive control device to control the motor to reduce or stop the delivery for power cell of vehicle power supply, so as to reduce
Brake force exports.
Further, in the embodiment of the present invention, motor includes stator and rotor, and rotor passes through Machinery Ministry with vehicle front
Part is connected, and under drive control device control, motor can be used as motor output torque, driving vehicle traveling；Motor
Generator can also be used as, vehicle traveling kinetic energy is converted into electric energy, brake force is provided for vehicle front-wheel.
Specifically, in the embodiment of the present invention, the parking actuator has two, is arranged on left and right vehicle wheel trailing wheel；
Each parking actuator includes：Parking transmission mechanism, stopping caliper and brake disc, the brake disc connect with vehicle rear wheel
Connect, the parking transmission mechanism mechanically connects with the stopping caliper, the parking transmission mechanism and parking controller electricity
Connection；In the embodiment of the present invention, when the parking controller controls the parking transmission mechanism braking rear-wheel, the parking passes
Friction plate in stopping caliper described in dynamic mechanism urges is rubbed so as to control the rear service brake with the brake disc；Work as institute
When stating parking controller and controlling the parking controller to reduce brake force output, the parking controller controls the parking transmission
Mechanism reduces the frictional force between friction plate and the brake disc in the stopping caliper, so as to reduce the braking to the trailing wheel
Power.
Automatic emergency brake system provided in an embodiment of the present invention, by increasing the acceleration electrically connected with parking controller
Sensor, braking deceleration of the electric automobile in brake hard is improved, shorten braking distance, improve security.
In summary, automatic emergency brake method and system provided in an embodiment of the present invention, have the characteristics that：
1) on electric automobile, in case of emergency, motor braking and electronic brake are braked jointly, reduce system
Dynamic distance, improves vehicle braking safety.
2) motor includes stator and rotor, and rotor is joined directly together by vehicle power train with vehicle front.
3) drive control device and motor combination, can both be used as motor output torque, drive vehicle wheel rotation, driving
Vehicle travels；Generator can also be used as, wheel drive motor rotates, electric power generation, and produces resistance to vehicle, and latter is
The Energy Recovery Technology generally used on electric car.
4) Energy Recovery Technology can not identify road conditions, when road surface is more wet and slippery, if made caused by energy regenerating
Power is excessive, it may occur that front-wheel skids, in stays.
5) existing electronic parking brake hard is only capable of braking rear-wheel, brake force deficiency, and Energy Recovery Technology is only capable of making
Dynamic front-wheel, brake force deficiency problem is equally existed, two kinds of technologies are combined by the present invention, realize four-wheel braking, lift brake force；
6) present invention judges four-wheel locking situation by electronic parking system, avoids front-wheel locking skidding from occurring in stays
Situation.
Further, automatic emergency brake method and system provided in an embodiment of the present invention, it can be also used for wheel hub motor drive
Dynamic electric automobile, whether parking controller is in detection vehicle each wheel after locking, according to what is obtained by braking control system
Front-wheel state is sent to vehicle power control system by wheel speed, and entire car controller is only controlled in i.e. in vehicle power control system
The front-wheel of locking state is reduced or released energy regenerating, so that vehicle braking is more safe and reliable.
Further, automatic emergency brake method and system provided in an embodiment of the present invention, can be also used for hybrid power vapour
Car, in hybrid vehicle, the entire car controller of vehicle power control system receives the urgent system that parking controller starts
After dynamic instruction, it can start to instruct to power drive system and internal combustion engine drive systems simultaneously, after power drive system receives instruction
Energy regenerating is performed, internal combustion engine drive systems can stop working, and brake internal combustion engine, dynamic so as to significantly heighten braking mixing
The retardation efficiency of power automobile.
The embodiment of the present invention is described in detail above, embodiment used herein is carried out to the present invention
Illustrate, the explanation of above example is only intended to help to understand system and method for the invention；Meanwhile for the one of this area
As technical staff, according to the thought of the present invention, there will be changes in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (10)
- A kind of 1. automatic emergency brake method, applied to electric automobile, it is characterised in that methods described includes：Emergency brake signal is detected whether in real time；If it is, obtaining vehicle wheel speed and according to the wheel speed calculation current vehicle speed；Judge whether current vehicle speed is more than setting safe speed value；If it is, control vehicle enters emergency brake modes；Otherwise, The parking actuator is controlled with level land power parking.
- 2. automatic emergency brake method according to claim 1, it is characterised in that the emergency brake modes include：Brake hard instruction is sent to vehicle power control system, so that vehicle power control system control front wheel brake is simultaneously And carry out energy regenerating；Control parking actuator braking rear-wheel；Judge whether current vehicle speed is less than or equal to setting safe speed value；If it is, stop to the vehicle dynamic Control system System sends brake hard instruction, and controls the parking actuator with level land parking power parking.
- 3. automatic emergency brake method according to claim 2, it is characterised in that the emergency brake modes also include：If current vehicle speed is more than setting safe speed value；By the wheel speed compared with current vehicle speed, with detect each wheel of vehicle whether locking；If any one front-wheel is in locking state, stop sending brake hard instruction to the vehicle power control system；And antilock dead instructions are sent to the vehicle power control system, so that the vehicle power control system is reduced or released Energy regenerating, until detecting that the front-wheel in locking state releases locking state, continues so as to reduce brake force output Brake hard instruction is sent to the vehicle power control system.
- 4. automatic emergency brake method according to claim 3, it is characterised in that the emergency brake modes also include：If single or two trailing wheels are in locking state, control is in parking actuator corresponding to locking state trailing wheel and reduced Brake force exports, described in locking state trailing wheel releasing locking state until detecting, continues to the vehicle dynamic Control System sends brake hard instruction.
- 5. according to the automatic emergency brake method described in claim any one of 2-4, it is characterised in that the emergency brake modes Also include：Before sending brake hard instruction to the vehicle power control system, vehicle deceleration is obtained in real time；Judge whether the vehicle deceleration is equal to setting deceleration；If not, brake hard instruction is sent to the vehicle power control system, so that the vehicle power control system is pressed Set deceleration-based controller front wheel brake and carry out energy regenerating；The parking actuator is controlled according to the setting deceleration-based controller rear service brake.
- 6. a kind of automatic emergency brake system, applied to electric automobile, it is characterised in that the system includes：Parking actuator, Parking switch, parking controller and the braking control system being connected by CAN with the parking controller, the parking Switch, the parking actuator electrically connect with the parking controller respectively；The braking control system includes：Service brake control Device processed and the wheel speed sensors electrically connected with the service braking control, the wheel speed sensors are used to gather wheel wheel speed And sending the wheel speed to the thermoacoustic prime engine device, the thermoacoustic prime engine device is connected by CAN and the parking controller Connect；When receiving the emergency brake signal that the parking switch is sent, the parking controller is by CAN from the row Car brake monitor obtains the vehicle wheel speed, and according to the wheel speed calculation current vehicle speed；Judge whether current vehicle speed is more than Set safe speed value；If it is, control vehicle enters emergency brake modes；Otherwise, directly control the parking actuator with Level land parking in power.
- 7. automatic emergency brake system according to claim 6, it is characterised in that the system also includes：Stayed with described The vehicle power control system that vehicle controller is connected by CAN；The parking controller controls vehicle to enter emergency brake modes in such a way：The parking controller sends brake hard instruction to the vehicle power control system, so that the vehicle dynamic Control System controls front wheel brake and carries out energy regenerating；The parking controller controls the parking actuator braking rear-wheel；The parking controller judges whether current vehicle speed is less than or equal to setting safe speed value；If current vehicle speed is less than setting safe speed value, the parking controller stops sending out to the vehicle power control system Send brake hard to instruct, and control the parking actuator with level land parking power parking；If current vehicle speed is more than setting safe speed value；The parking controller is compared the wheel speed with current vehicle speed Compared with, with detect each wheel of vehicle whether locking；If any one front-wheel is in locking state, the parking controller stops sending to the vehicle power control system Brake hard instructs, and sends antilock dead instructions to the vehicle power control system, so that the vehicle power control system Energy regenerating is reduced or released so as to reduce brake force output, until detecting that the front-wheel in locking state releases locking State, the parking controller continue to send brake hard instruction to the vehicle power control system；If single or two trailing wheels are in locking state, the parking controller control is in corresponding to locking state trailing wheel Parking actuator reduces brake force output, described in locking state trailing wheel releasing locking state, the parking until detecting Controller continues to send brake hard instruction to the vehicle power control system.
- 8. automatic emergency brake system according to claim 7, it is characterised in that the system also includes：Stayed with described The acceleration transducer of vehicle controller electrical connection；Before the parking controller sends brake hard instruction to vehicle power control system, pass through the acceleration transducer Vehicle deceleration is obtained in real time；Judge whether the vehicle deceleration is equal to setting deceleration；If not, the parking controller is to the vehicle power Control system sends brake hard instruction, so that the vehicle power control system is by setting deceleration-based controller front wheel brake, institute State parking controller and control the parking actuator according to the setting deceleration-based controller rear service brake.
- 9. according to the automatic emergency brake system described in claim any one of 6-8, it is characterised in that the vehicle dynamic Control System includes：Entire car controller, drive control device, motor, the motor are connected to the drive control device and car Between electrokinetic cell, the entire car controller is connected with the drive control device, the parking controller respectively by CAN Connect.
- 10. automatic emergency brake system according to claim 9, it is characterised in that the parking actuator has two, point It is not arranged on left and right vehicle wheel trailing wheel；Each parking actuator includes：Parking transmission mechanism, stopping caliper and brake disc, The brake disc is connected with vehicle rear wheel, and the parking transmission mechanism mechanically connects with the stopping caliper, the stopping caliper The parking transmission mechanism electrically connects with the parking controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710882405.6A CN107697046A (en) | 2017-09-26 | 2017-09-26 | Automatic emergency brake method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710882405.6A CN107697046A (en) | 2017-09-26 | 2017-09-26 | Automatic emergency brake method and system |
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| CN107697046A true CN107697046A (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710882405.6A Pending CN107697046A (en) | 2017-09-26 | 2017-09-26 | Automatic emergency brake method and system |
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| CN108501914A (en) * | 2018-05-30 | 2018-09-07 | 广州汽车集团股份有限公司 | Vehicle braking method, equipment, system and computer storage media |
| CN109229081A (en) * | 2018-10-24 | 2019-01-18 | 苏州齐思智行汽车系统有限公司 | Electronic parking system and electronic parking redundancy brake control method |
| CN109398334A (en) * | 2018-12-29 | 2019-03-01 | 芜湖伯特利汽车安全系统股份有限公司 | A kind of control method and system promoting motor vehicle service brake safety based on parking braking |
| CN110884474A (en) * | 2019-11-28 | 2020-03-17 | 安徽江淮汽车集团股份有限公司 | Anti-parking emergency braking system, control method, storage medium and automobile |
| CN112744195A (en) * | 2019-10-31 | 2021-05-04 | 罗伯特·博世有限公司 | Vehicle brake control method and system, vehicle, and computer-readable storage medium |
| CN112776787A (en) * | 2021-03-02 | 2021-05-11 | 上海拿森汽车电子有限公司 | Vehicle emergency braking control method and device and computer storage medium |
| CN113511182A (en) * | 2021-05-31 | 2021-10-19 | 重庆长安汽车股份有限公司 | EPBi emergency braking control method and device and automobile |
| CN114537345A (en) * | 2020-11-24 | 2022-05-27 | 比亚迪股份有限公司 | Braking method, braking system and vehicle |
| CN114954379A (en) * | 2021-02-23 | 2022-08-30 | 曹显亮 | Method and device for operating a brake device into an automatically applied braking state |
| CN115246379A (en) * | 2021-04-26 | 2022-10-28 | 上海汽车集团股份有限公司 | Vehicle brake redundancy method and device |
| CN116853204A (en) * | 2023-07-07 | 2023-10-10 | 格陆博科技有限公司 | Electronic mechanical brake EMB control system and control method thereof |
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| CN108501914B (en) * | 2018-05-30 | 2020-02-07 | 广州汽车集团股份有限公司 | Vehicle braking method, device, system and computer storage medium |
| CN108501914A (en) * | 2018-05-30 | 2018-09-07 | 广州汽车集团股份有限公司 | Vehicle braking method, equipment, system and computer storage media |
| CN109229081A (en) * | 2018-10-24 | 2019-01-18 | 苏州齐思智行汽车系统有限公司 | Electronic parking system and electronic parking redundancy brake control method |
| CN109398334A (en) * | 2018-12-29 | 2019-03-01 | 芜湖伯特利汽车安全系统股份有限公司 | A kind of control method and system promoting motor vehicle service brake safety based on parking braking |
| CN112744195A (en) * | 2019-10-31 | 2021-05-04 | 罗伯特·博世有限公司 | Vehicle brake control method and system, vehicle, and computer-readable storage medium |
| CN110884474A (en) * | 2019-11-28 | 2020-03-17 | 安徽江淮汽车集团股份有限公司 | Anti-parking emergency braking system, control method, storage medium and automobile |
| CN114537345A (en) * | 2020-11-24 | 2022-05-27 | 比亚迪股份有限公司 | Braking method, braking system and vehicle |
| CN114954379A (en) * | 2021-02-23 | 2022-08-30 | 曹显亮 | Method and device for operating a brake device into an automatically applied braking state |
| CN112776787A (en) * | 2021-03-02 | 2021-05-11 | 上海拿森汽车电子有限公司 | Vehicle emergency braking control method and device and computer storage medium |
| CN115246379A (en) * | 2021-04-26 | 2022-10-28 | 上海汽车集团股份有限公司 | Vehicle brake redundancy method and device |
| CN115246379B (en) * | 2021-04-26 | 2024-03-08 | 上海汽车集团股份有限公司 | Vehicle brake redundancy method and device |
| CN113511182A (en) * | 2021-05-31 | 2021-10-19 | 重庆长安汽车股份有限公司 | EPBi emergency braking control method and device and automobile |
| CN116853204A (en) * | 2023-07-07 | 2023-10-10 | 格陆博科技有限公司 | Electronic mechanical brake EMB control system and control method thereof |
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Application publication date: 20180216 |