CN108177639A - For the emergency braking system and method and electric vehicle of electric vehicle - Google Patents
For the emergency braking system and method and electric vehicle of electric vehicle Download PDFInfo
- Publication number
- CN108177639A CN108177639A CN201810026416.9A CN201810026416A CN108177639A CN 108177639 A CN108177639 A CN 108177639A CN 201810026416 A CN201810026416 A CN 201810026416A CN 108177639 A CN108177639 A CN 108177639A
- Authority
- CN
- China
- Prior art keywords
- emergency
- emergency braking
- epb
- module
- sent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
Abstract
The invention discloses a kind of emergency braking system for electric vehicle and method and electric vehicle, the emergency braking system includes full-vehicle control module, ESP emergency brakings module, feedback emergency braking module and EPB emergency braking modules；Full-vehicle control module is when occurring emergency braking condition, judge whether the brake actuator of electric vehicle performs normally, if, it triggers ESP emergency brakings module and carries out emergency braking, if it is not, full-vehicle control module also judges whether the battery status of electric vehicle meets default feedback emergency braking condition, if, it triggers feedback emergency braking module and carries out regenerative braking, if it is not, triggering EPB emergency brakings module carries out EPB brakings.The present invention provides the complete decision scheme to emergency braking, can preferably be applied on electric vehicle, so as to improve the safety of electric vehicle and insensitivity, improve user experience.
Description
Technical field
The present invention relates to emergency brake of vehicle field more particularly to a kind of emergency braking systems and side for electric vehicle
Method and electric vehicle.
Background technology
Emergency braking refers to automobile in the process of moving in case of emergency, and driver steps on rapidly brake pedal suddenly,
The mode of braking for stopping vehicle in the shortest distance.Emergency braking has automobile and tire larger damage or due to attachment coefficient
Variant to cause wigwag motion, turn around, lose orientation control or break away, especially wet-skid road surface may cause the accident, only
Have in danger, can just use emergency braking.Therefore, it is particularly important to the decision scheme of emergency braking, vehicle can be directly influenced
Safety and insensitivity.
But at present because being short of the safety for the decision scheme of emergency braking, leading to reduce vehicle and insensitivity,
And can not preferably it be applied on electric vehicle.
Invention content
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
The technical problem to be solved by the present invention is in order to overcome, the safety of vehicle and insensitivity are low in the prior art
The defects of, a kind of emergency braking system for electric vehicle and method and electric vehicle are provided.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of emergency braking system for electric vehicle, feature are, including full-vehicle control module, ESP (vehicle body electricity
Sub- systems stabilisation) emergency braking module, feedback emergency braking module and EPB (Electrical Park Brake, electronic parking)
Emergency braking module；
The full-vehicle control module is used for when emergency braking condition occurs, and judges that the braking of the electric vehicle performs machine
Whether structure performs normally, if so, triggering the ESP emergency brakings module carries out emergency braking, if it is not, the full-vehicle control module
It is additionally operable to judge whether the battery status of electric vehicle meets default feedback emergency braking condition, if so, it is tight to trigger the feedback
Anxious brake module carries out regenerative braking, if it is not, triggering the EPB emergency brakings module carries out EPB brakings.
Optionally, the full-vehicle control module includes emergency braking recognition unit, processing unit and control unit；
The emergency braking recognition unit is used to receive emergency brake signal, and for the emergency brake signal to be sent to
The processing unit, the emergency brake signal are used to trigger the emergency braking condition；
The processing unit is used for when receiving the emergency brake signal, judges whether brake actuator performs just
Often, it is additionally operable to judge whether the battery status of electric vehicle meets default regenerative braking condition, and will determine that result is sent to
Control unit；
Described control unit is used to generate ESP triggering letters respectively according to the judging result received from the processing unit
Number, feedback emergency braking trigger signal or EPB trigger signals, and the ESP trigger signals are sent to the ESP and are promptly made
Dynamic model block is tight to trigger the ESP emergency brakings module or the feedback emergency braking trigger signal is sent to the feedback
Anxious brake module is promptly made with triggering the feedback emergency braking module or the EPB trigger signals being sent to the EPB
Dynamic model block, to trigger the EPB emergency brakings module.
Optionally, the ESP emergency brakings module includes ESP controller, when described control unit generates ESP trigger signals
When, the ESP controller is used to receive the ESP trigger signals from described control unit, and controls the braking execution machine
Structure carries out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generation feedback is promptly made
During dynamic trigger signal, the electric machine controller is used to receive the feedback emergency braking trigger signal from described control unit, and
And the control motor carries out regenerative braking；
The EPB emergency brakings module includes EPB controllers and EPB executing agencies, when described control unit generation EPB is touched
During signalling, the EPB controllers are used to receive the EPB trigger signals from described control unit, and the EPB is controlled to hold
Row mechanism carries out EPB brakings.
Optionally, the brake actuator includes brake pedal, and the brake pedal is equipped with pressure sensor；
The pressure sensor triggers the triggering pressure value during brake pedal for detecting, and the triggering is pressed
Force value is sent to the full-vehicle control module；
The full-vehicle control module is additionally operable to whether the triggering pressure value for judging to receive is greater than or equal to preset pressure value,
If so, generating the emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, when the triggering pressure value is greater than or equal to the preset pressure value, the full-vehicle control module is also
It is greater than or equal to the duration of the preset pressure value, and judge the preset pressure for detecting the triggering pressure value
Whether the duration of value is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and sends
To the emergency braking recognition unit.
Optionally, the EPB emergency brakings module further includes the EPB for being arranged on the instrument board of the electric vehicle
Emergency switch, the EPB emergency switches are communicated to connect with the full-vehicle control module；
The EPB emergency switches are used for when receiving EPB pull-up signals, EPB pull-up signals are sent to described
Full-vehicle control module, the full-vehicle control module be used to judging the lasting receiving time of EPB pull-up signal whether be more than or
Continue receiving time equal to default EPB, if so, generation emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, the emergency braking system further includes to be arranged on the urgent system on the instrument board of the electric vehicle
Dynamic switch, the emergency stop switch are communicated to connect with the emergency braking recognition unit；
The emergency stop switch is used for when receiving emergency brake signal, and the emergency brake signal is sent to institute
State emergency braking recognition unit.
Optionally, the emergency braking system further includes brake actuator detection module, the brake actuator inspection
Module is surveyed to communicate to connect with the processing unit；
When the processing unit judges whether the brake actuator performs normal, the processing unit is used to send
Signal is detected to the brake actuator detection module, the brake actuator detection module is used to receive the detection
After signal, the execution state of the brake actuator is detected, and the processing unit, institute are sent to by state outcome is performed
Processing unit is stated to be additionally operable to judge whether the brake actuator performs normally according to the execution state outcome received.
Optionally, when the brake pedal performs failure, remaining brake actuator is performed both by normal, the control is single
Member is used to generate ESP trigger signals.
Optionally, the emergency braking system further includes battery status detection module, the battery status detection module with
The processing unit communication connection；
When the processing unit judges whether the battery status of the electric vehicle meets default regenerative braking condition, institute
Battery status detection module is stated for detecting current SOC (State of Charge, the charged shape of the battery of the electric vehicle
State) value and current charge power, and it is respectively sent to the processing unit；
The battery status of the electric vehicle includes the current SOC value of the battery of the electric vehicle and the work(that currently charges
Rate, the current SOC value that the default regenerative braking condition includes battery are filled less than or equal to default SOC value or, the current of battery
Electrical power is greater than or equal to preset charged power.
Optionally, the full-vehicle control module is additionally operable to adjust carry out regenerative braking by monitoring the locking state of wheel
When motor speed.
A kind of electric vehicle, feature are that the electric vehicle includes emergency braking system as described above.
A kind of emergency braking method for electric vehicle, feature is, includes the following steps：
S1, when emergency braking condition occurs, full-vehicle control module judges that the brake actuator of the electric vehicle is
It is no to perform normally, if so, performing step S21, if it is not, full-vehicle control module also judges whether the battery status of electric vehicle meets
Default feedback emergency braking condition, if so, performing step S22, if it is not, performing step S23；
S21, triggering ESP emergency brakings module carry out emergency braking；
S22, triggering feedback emergency braking module carry out regenerative braking；
S23, triggering EPB emergency brakings module carry out EPB brakings.
Optionally, the full-vehicle control module includes emergency braking recognition unit, processing unit and control unit；
Step S1Include the following steps：
S11, the emergency braking recognition unit receives emergency brake signal, and the emergency brake signal is sent to
Processing unit, the emergency brake signal are used to trigger the emergency braking condition；
S12, the processing unit is when receiving the emergency brake signal, judge whether brake actuator performs normally,
Also judge whether the battery status of electric vehicle meets default regenerative braking condition, and it is single to will determine that result is sent to control
Member；
S13, described control unit according to the judging result received from the processing unit generate respectively ESP trigger signals,
The ESP trigger signals are sent to the ESP emergency brakings module by feedback emergency braking trigger signal or EPB trigger signals
When, perform step S21, when the feedback emergency braking trigger signal is sent to the feedback emergency braking module, perform step
S22, when the EPB trigger signals are sent to the EPB emergency brakings module, perform step S23。
Optionally, the ESP emergency brakings module includes ESP controller, when described control unit generates ESP trigger signals
When, in step S21In, the ESP controller receives the ESP trigger signals from described control unit, and controls the braking
Executing agency carries out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generation feedback is promptly made
During dynamic trigger signal, in step S22In, the electric machine controller receives the feedback emergency braking triggering from described control unit
Signal, and the motor is controlled to carry out regenerative braking；
The EPB emergency brakings module includes EPB controllers and EPB executing agencies, when described control unit generation EPB is touched
During signalling, in step S23In, the EPB controllers receive the EPB trigger signals from described control unit, and control institute
It states EPB executing agencies and carries out EPB brakings.
Optionally, the brake actuator includes brake pedal, is performing step S1Before, the emergency braking method
It further includes：
S0, pressure sensor is set on the brake pedal, the pressure sensor detection triggers the brake pedal
When triggering pressure value, and by it is described triggering pressure value be sent to the full-vehicle control module；
Full-vehicle control module also judges whether the triggering pressure value received is greater than or equal to preset pressure value, if so, raw
Into the emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, in step S0In, when the triggering pressure value is greater than or equal to the preset pressure value, full-vehicle control
Module also detects the triggering pressure value and is greater than or equal to the duration of the preset pressure value, and judge the default pressure
Whether the duration of force value is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and sends out
It send to the emergency braking recognition unit.
Optionally, the EPB emergency brakings module further includes the EPB for being arranged on the instrument board of the electric vehicle
Emergency switch is performing step S1Before, the emergency braking method further includes：
S0, the EPB emergency switches are when receiving EPB pull-up signals, EPB pull-up signals are sent to the vehicle
Control module, it is default that the full-vehicle control module judges whether the lasting receiving time of the EPB pull-up signal is greater than or equal to
EPB continues receiving time, if so, generation emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, step S is being performed1Before, the emergency braking method further includes：
S0, emergency stop switch is set on the instrument board of the electric vehicle, emergency stop switch receives urgent system
During dynamic signal, the emergency brake signal is sent to the emergency braking recognition unit.
Optionally, in step S12In, when the processing unit judges whether the brake actuator performs normal, institute
It states processing unit and sends detection signal to brake actuator detection module, the brake actuator detection module receives institute
After stating detection signal, the execution state of the brake actuator is detected, and the processing is sent to by state outcome is performed
Unit, the processing unit judge whether the brake actuator performs just also according to the execution state outcome received
Often.
Optionally, in step S13In, when the brake pedal performs failure, remaining brake actuator is performed both by normally
When, described control unit generation ESP trigger signals.
Optionally, in step S12In, when the processing unit, to judge whether the battery status of the electric vehicle meets pre-
If during regenerative braking condition, battery status detection module detects the current SOC value of the battery of the electric vehicle and current charging
Power, and it is respectively sent to the processing unit；
The battery status of the electric vehicle includes the current SOC value of the battery of the electric vehicle and the work(that currently charges
Rate, the current SOC value that the default regenerative braking condition includes battery are filled less than or equal to default SOC value or, the current of battery
Electrical power is greater than or equal to preset charged power.
Optionally, in step S22In, the full-vehicle control module is adjusted back by detecting the locking state of wheel
Motor speed during feedback braking.
On the basis of common knowledge of the art, above-mentioned each optimum condition can be combined arbitrarily to get each preferable reality of the present invention
Apply example.
The positive effect of the present invention is：
The present invention provides the complete decision scheme to emergency brake of vehicle, can preferably be applied on electric vehicle, so as to
Safety and the insensitivity of electric vehicle are improved, improves user experience.
Description of the drawings
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, it better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and with similar correlation properties or feature
Component may have same or similar reference numeral.
Fig. 1 is the structure diagram of the emergency braking system for electric vehicle of present pre-ferred embodiments.
Fig. 2 is the flow chart of the emergency braking method for electric vehicle of present pre-ferred embodiments.
Reference sign：
Full-vehicle control module 1
Emergency braking recognition unit 11
Processing unit 12
Control unit 13
ESP emergency brakings module 2
ESP controller 21
Feedback emergency braking module 3
Electric machine controller 31
Motor 32
EPB emergency brakings module 4
EPB emergency switches 41
EPB controllers 42
EPB executing agencies 43
Emergency stop switch 5
Brake actuator detection module 6
Battery status detection module 7
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.It is note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is only exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of emergency braking system for electric vehicle, the emergency braking system
It is set on electric vehicle, the electric vehicle includes performing executing agency, and the brake actuator includes brake pedal, institute
Brake pedal is stated equipped with pressure sensor, the emergency braking system includes full-vehicle control module 1, ESP emergency braking modules
2nd, feedback emergency braking module 3, EPB emergency brakings module 4, emergency stop switch 5, brake actuator detection module 6 and electricity
Pond state detection module 7, full-vehicle control module 1 include emergency braking recognition unit 11, processing unit 12 and control unit 13,
ESP emergency brakings module 2 includes ESP controller 21, and feedback emergency braking module 3 includes electric machine controller 31 and motor 32, EPB
Emergency braking module 4 includes EPB emergency switches 41, EPB controllers 42 and EPB executing agencies 43, in the present embodiment, vehicle control
Molding block 1 is VCU (Vehicle control unit, control unit for vehicle).
Specifically, EPB emergency switches 41 and emergency stop switch 5 are respectively arranged on the instrument board of the electric vehicle,
But its installation position is not limited specifically, can be adjusted according to actual conditions.The pressure sensor and full-vehicle control
Module 1 communicates to connect, and emergency braking recognition unit 11 is communicated to connect with emergency stop switch 5, EPB emergency switches 41 and vehicle control
Molding block 1 communicates to connect, and processing unit 12 communicates respectively with brake actuator detection module 6 and battery status detection module 7
Connection, control unit 13 communicate to connect respectively with ESP controller 21, electric machine controller 31 and EPB controllers 42.
In the present embodiment, 4 kinds of modes can be shown in detail below there are many mode that identification emergency braking is intended to, but
Its mode is not limited specifically, the modes such as speech recognition also can be used, and can be adjusted according to actual conditions.
The mode that the first identification emergency braking is intended to：When the pressure sensor triggers the brake pedal for detecting
Triggering pressure value, i.e., triggering pressure value when vehicle user tramples the brake pedal, and by the triggering pressure value hair
It send to full-vehicle control module 1, full-vehicle control module 1 presets pressure for judging whether the triggering pressure value received is greater than or equal to
Force value, if so, generation emergency brake signal, and emergency braking recognition unit 11 is sent to, the emergency brake signal is used for
Trigger the emergency braking condition.
The mode that second of identification emergency braking is intended to：When the triggering pressure value is greater than or equal to the preset pressure value
When, full-vehicle control module 1 is additionally operable to detect the duration that the triggering pressure value is greater than or equal to the preset pressure value, i.e.,
Vehicle user continuously tramples the duration of the brake pedal with certain dynamics, and judges holding for the preset pressure value
Whether the continuous time is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and is sent to urgent
Brake recognition unit 11.
The mode that the third identification emergency braking is intended to：EPB emergency switches 41 are used for when receiving EPB pull-up signals,
When i.e. vehicle user pulls up EPB emergency switches 41, EPB pull-up signals are sent to full-vehicle control module 1, full-vehicle control mould
Block 1 is used to judging that the lasting receiving time (i.e. user pulls up duration of EPB emergency switches) of EPB pull-up signal to be
It is no to continue receiving time more than or equal to default EPB, if so, generation emergency brake signal, and it is sent to emergency braking identification
Unit 11.
The mode that 4th kind of identification emergency braking is intended to：Emergency stop switch 5 is used for when receiving emergency brake signal,
When i.e. vehicle user triggers emergency stop switch 5, the emergency brake signal is sent to emergency braking recognition unit 11.
In the present embodiment, above-mentioned all preset values can be adjusted and set according to actual conditions, in the present embodiment
Its numerical value is not limited specifically.
When emergency braking recognition unit 11 is used to receive the emergency brake signal, that is, the emergency braking condition occurs
When, the emergency brake signal is sent to processing unit 12.
Processing unit 12 is used for when receiving the emergency brake signal, judges whether brake actuator performs just
Often, if so, the first judging result is sent to control unit 13, if it is not, being additionally operable to judge the battery status of the electric vehicle
Whether satisfaction presets regenerative braking condition, and the second judging result is sent to control unit 13.
In the present embodiment, when processing unit 12 judges whether brake actuator performs normal, processing unit 12 is used
In sending detection signal to brake actuator detection module 6, brake actuator detection module 6 is used to receive the detection
After signal, the execution state of the brake actuator of the electric vehicle is detected, and processing is sent to by state outcome is performed
Unit 12, the brake actuator include a variety of arrestment mechanisms such as hydraulic brake mechanism, electronic air brake mechanism, and processing is single
Member 12 is additionally operable to judge whether the brake actuator performs normally according to the execution state outcome received.
In the present embodiment, when processing unit 12 judges whether the battery status of the electric vehicle meets default feedback system
During dynamic condition, battery status detection module 7 is used to detect the current SOC value of the battery of the electric vehicle and the work(that currently charges
Rate, and processing unit 12 is respectively sent to, the battery status of the electric vehicle includes working as the battery of the electric vehicle
Preceding SOC value and current charge power, the default regenerative braking condition include the current SOC value of battery less than or equal to default
The current charge power of SOC value or, battery is greater than or equal to preset charged power.
Control unit 13 is used to generate ESP trigger signals respectively according to the judging result received from processing unit 12, return
Present emergency braking trigger signal or EPB trigger signals.
Specifically, when control unit 13 receives first judging result, the ESP trigger signals are generated, and will
The ESP trigger signals are sent to ESP controller 21, and ESP controller 21 is used to receive the ESP trigger signals, and control
The brake actuator carries out emergency braking.
In the present embodiment, when the brake pedal performs failure, but remaining brake actuator is performed both by normal,
First judging result is sent to control unit 13 by processing unit 12, and control unit 13 generates ESP trigger signals.It considers
If the execution failure of brake actuator is only caused, and remaining braking is held by the signal transmission sensor failure of brake pedal
Row mechanism can still work normally, then carry out emergency braking by ESP controller, excellent in principle since brake safe rank is higher
Most safe and reliable mode is first selected to carry out emergency braking.
When control unit 13 receives second judging result, if second judging result is when being, described in generation
Feedback emergency braking trigger signal, and the feedback emergency braking trigger signal is sent to electric machine controller 31, motor control
Device 31 processed controls motor 32 to carry out regenerative braking for receiving the feedback emergency braking trigger signal.
In the present embodiment, feedback emergency braking also known as regenerates emergency braking, refers to electric vehicle and is released in damped condition
The excess energy of releasing is translated into electric energy by generator and is stored in accumulator, is travelled for vehicle later, without
It is to become heat-energy losses to fall.
Full-vehicle control module 1 is additionally operable to the motor 3 by monitoring the locking state of wheel to adjust during progress regenerative braking
Rotating speed.
In the present embodiment, regenerative braking can simulate ABS (Antilock Brake System, anti-blocking brake system)
Strategy, ABS strategies are the brake pressure for tending to locking wheel to be made circularly to undergo under emergency braking operating mode to keep-subtract
Small-increase process, and the sliding ratio for tending to locking wheel is controlled in the range of near peak adhesion coefficient sliding ratio, make
Wheel keeps the frictional force with ground, can improve insensitivity.
When control unit 13 receives second judging result, if second judging result is no, described in generation
EPB trigger signals, and the EPB trigger signals are sent to EPB controllers 42, EPB controllers 42 are used for from described in reception
EPB trigger signals, and EPB executing agencies 43 is controlled to carry out EPB brakings.
The present embodiment also provides a kind of electric vehicle, and the electric vehicle includes as described above for the urgent of electric vehicle
Braking system.
As shown in Fig. 2, the present embodiment also provides a kind of emergency braking method for electric vehicle, the emergency braking side
Method realizes that the emergency braking method includes the following steps using emergency braking system as described above：
Step 101, emergency braking intention assessment.
In this step, 4 kinds of modes can be shown, but simultaneously in detail below there are many mode that identification emergency braking is intended to
Its mode is not limited specifically, the modes such as speech recognition also can be used, and can be adjusted according to actual conditions.
The mode that the first identification emergency braking is intended to：Triggering pressure during pressure sensor detection triggering brake pedal
Value, i.e. vehicle user trample the triggering pressure value during brake pedal, and the triggering pressure value is sent to vehicle control
Molding block, whether the triggering pressure value that the judgement of full-vehicle control module receives is greater than or equal to preset pressure value, if so, generation is tight
Anxious brake signal, and emergency braking recognition unit is sent to, the emergency brake signal is used to trigger the emergency braking shape
State.
The mode that second of identification emergency braking is intended to：When the triggering pressure value is greater than or equal to the preset pressure value
When, full-vehicle control module also detects the duration that the triggering pressure value is greater than or equal to the preset pressure value, i.e. vehicle
User continuously tramples the duration of the brake pedal with certain dynamics, and judge the preset pressure value it is lasting when
Between whether be greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and be sent to emergency braking
Recognition unit.
The mode that the third identification emergency braking is intended to：When EPB emergency switches receive EPB pull-up signals, i.e., vehicle is used
When family pulls up EPB emergency switches, EPB pull-up signals are sent to full-vehicle control module, described in full-vehicle control module judges
Whether the lasting receiving time (i.e. user pulls up duration of EPB emergency switches) of EPB pull-up signals is greater than or equal in advance
If EPB continues receiving time, if so, generation emergency brake signal, and it is sent to emergency braking recognition unit.
The mode that 4th kind of identification emergency braking is intended to：When emergency stop switch receives emergency brake signal, i.e. vehicle
When user triggers emergency stop switch, the emergency brake signal is sent to emergency braking recognition unit.
In the present embodiment, above-mentioned all preset values can be adjusted and set according to actual conditions, in the present embodiment
Its numerical value is not limited specifically.
In this step, when emergency braking recognition unit receives the emergency brake signal, that is, the urgent system occurs
During dynamic state, the emergency brake signal is sent to processing unit.
Step 102 judges whether brake actuator performs normally, if so, step 103 is performed, if it is not, performing step
104。
In this step, when processing unit receives the emergency brake signal, judge whether brake actuator performs
Normally, if so, the first judging result is sent to control unit, and perform step 103, if it is not, performing step 104.
In this step, when processing unit judges whether brake actuator performs normal, processing unit sends detection
Signal is to brake actuator detection module, after brake actuator detection module receives the detection signal, described in detection
The execution state of the brake actuator of electric vehicle, and processing unit is sent to by state outcome is performed, processing unit is also
Judge whether the brake actuator performs normally according to the execution state outcome received.
Step 103, triggering ESP emergency braking modules.
In this step, when control unit receives first judging result, the ESP trigger signals are generated, and
The ESP trigger signals are sent to ESP controller, ESP controller receives the ESP trigger signals, and controls the system
Dynamic executing agency carries out emergency braking.
In the present embodiment, when the brake pedal performs failure, but remaining brake actuator is performed both by normal,
First judging result is sent to control unit, control unit generation ESP trigger signals by processing unit.If in view of system
The execution failure of dynamic executing agency is only caused, and remaining brake actuator by the signal transmission sensor failure of brake pedal
It can still work normally, then emergency braking be carried out by ESP controller, since brake safe rank is higher, preferential selection in principle
Most safe and reliable mode carries out emergency braking.
Step 104 judges whether battery status meets default feedback emergency braking condition, if so, step 105 is performed, if
It is no, perform step 106.
In this step, when processing unit judges whether the battery status of the electric vehicle meets default regenerative braking item
During part, battery status detection module detects the current SOC value of the battery of the electric vehicle and current charge power, and respectively
It is sent to processing unit, the battery status of the electric vehicle includes the current SOC value of the battery of the electric vehicle and current
Charge power, the current SOC value of the default regenerative braking condition including battery are less than or equal to default SOC value or, battery
Current charge power is greater than or equal to preset charged power.
Step 105, triggering feedback emergency braking module.
In this step, control unit generation feedback emergency braking trigger signal, and the feedback emergency braking is touched
Signalling is sent to electric machine controller, and electric machine controller receives the feedback emergency braking trigger signal, and control motor into
Row regenerative braking.
In the present embodiment, feedback emergency braking also known as regenerates emergency braking, refers to electric vehicle and is released in damped condition
The excess energy of releasing is translated into electric energy by generator and is stored in accumulator, is travelled for vehicle later, without
It is to become heat-energy losses to fall.
In this step, full-vehicle control module also by monitor the locking state of wheel adjust carry out regenerative braking when
The rotating speed of motor.
In the present embodiment, regenerative braking can simulate ABS strategies, and ABS strategies are to make to tend to locking under emergency braking operating mode
The brake pressure of wheel circularly undergoes holding-reduction-increase process, and the sliding ratio for tending to locking wheel is controlled
In the range of near the peak adhesion coefficient sliding ratio, wheel is made to keep the frictional force with ground, insensitivity can be improved.
Step 106, triggering EPB emergency braking modules.
In this step, control unit generation EPB trigger signals, and the EPB trigger signals are sent to EPB controls
Device, EPB controllers control EPB executing agencies to carry out EPB brakings from the reception EPB trigger signals.
The present embodiment provides the complete decision schemes to emergency brake of vehicle, can preferably be applied on electric vehicle, from
And safety and the insensitivity of electric vehicle are improved, improve user experience.
Although for explanation is simplified to illustrate the above method and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
Offer is for so that any person skilled in the art all can make or use this public affairs to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent, and as defined herein general for a person skilled in the art
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (23)
1. a kind of emergency braking system for electric vehicle, which is characterized in that including full-vehicle control module, ESP emergency brakings
Module, feedback emergency braking module and EPB emergency braking modules；
The full-vehicle control module is used for when emergency braking condition occurs, and judging the brake actuator of the electric vehicle is
It is no to perform normally, if so, triggering the ESP emergency brakings module carries out emergency braking, if it is not, the full-vehicle control module is also used
Whether meet default feedback emergency braking condition in the battery status for judging electric vehicle, promptly made if so, triggering the feedback
Dynamic model block carries out regenerative braking, if it is not, triggering the EPB emergency brakings module carries out EPB brakings.
2. emergency braking system as described in claim 1, which is characterized in that the full-vehicle control module is known including emergency braking
Other unit, processing unit and control unit；
The emergency brake signal is sent to described by the emergency braking recognition unit for receiving emergency brake signal
Processing unit, the emergency brake signal are used to trigger the emergency braking condition；
The processing unit is used for when receiving the emergency brake signal, judges whether brake actuator performs normally,
It is additionally operable to judge whether the battery status of electric vehicle meets default regenerative braking condition, and will determine that result is sent to control
Unit；
Described control unit is used to generate ESP trigger signals respectively according to the judging result received from the processing unit, return
Emergency braking trigger signal or EPB trigger signals are presented, and the ESP trigger signals are sent to the ESP emergency brakings mould
Block is promptly made with triggering the ESP emergency brakings module or the feedback emergency braking trigger signal being sent to the feedback
Dynamic model block, to trigger the feedback emergency braking module or the EPB trigger signals are sent to the EPB emergency brakings mould
Block, to trigger the EPB emergency brakings module.
3. emergency braking system as claimed in claim 2, which is characterized in that the ESP emergency brakings module is controlled including ESP
Device, when described control unit generates ESP trigger signals, the ESP controller is used to receive the ESP from described control unit
Trigger signal, and the brake actuator is controlled to carry out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generation feedback emergency braking is touched
During signalling, the electric machine controller is used to receive the feedback emergency braking trigger signal from described control unit, and control
It makes the motor and carries out regenerative braking；
The EPB emergency brakings module includes EPB controllers and EPB executing agencies, when described control unit generation EPB triggering letters
Number when, the EPB controllers are used to receive the EPB trigger signals from described control unit, and the EPB is controlled to perform machine
Structure carries out EPB brakings.
4. emergency braking system as claimed in claim 3, which is characterized in that the brake actuator includes brake pedal,
The brake pedal is equipped with pressure sensor；
The pressure sensor triggers the triggering pressure value during brake pedal for detecting, and by the triggering pressure value
It is sent to the full-vehicle control module；
The full-vehicle control module is additionally operable to whether the triggering pressure value for judging to receive is greater than or equal to preset pressure value, if
It is to generate the emergency brake signal, and is sent to the emergency braking recognition unit.
5. emergency braking system as claimed in claim 4, which is characterized in that described in being greater than or equal to when the triggering pressure value
During preset pressure value, the full-vehicle control module is additionally operable to detect the triggering pressure value more than or equal to the preset pressure value
Duration, and judge the preset pressure value duration whether be greater than or equal to the preset pressure duration, if
It is to generate the emergency brake signal, and is sent to the emergency braking recognition unit.
6. emergency braking system as claimed in claim 3, which is characterized in that the EPB emergency brakings module, which further includes, to be used for
The EPB emergency switches being arranged on the instrument board of the electric vehicle, the EPB emergency switches lead to the full-vehicle control module
Letter connection；
The EPB emergency switches are used for when receiving EPB pull-up signals, and EPB pull-up signals are sent to the vehicle
Control module, the full-vehicle control module are used to judge whether the lasting receiving time of the EPB pull-up signal is greater than or equal to
Default EPB continues receiving time, if so, generation emergency brake signal, and it is sent to the emergency braking recognition unit.
7. emergency braking system as claimed in claim 3, which is characterized in that the emergency braking system further includes to set
Emergency stop switch on the instrument board of the electric vehicle, the emergency stop switch and the emergency braking recognition unit
Communication connection；
The emergency stop switch is used for when receiving emergency brake signal, the emergency brake signal is sent to described tight
Anxious braking recognition unit.
8. emergency braking system as claimed in claim 4, which is characterized in that the emergency braking system further includes braking and performs
Mechanism detection module, the brake actuator detection module are communicated to connect with the processing unit；
When the processing unit judges whether the brake actuator performs normal, the processing unit detects for sending
To the brake actuator detection module, the brake actuator detection module is used to receive the detection signal signal
Afterwards, the execution state of the brake actuator is detected, and the processing unit, the place are sent to by state outcome is performed
Reason unit is additionally operable to judge whether the brake actuator performs normally according to the execution state outcome received.
9. emergency braking system as claimed in claim 8, which is characterized in that when the brake pedal performs failure, remaining is made
When dynamic executing agency is performed both by normal, described control unit is used to generate ESP trigger signals.
10. emergency braking system as claimed in claim 3, which is characterized in that the emergency braking system further includes battery shape
State detection module, the battery status detection module are communicated to connect with the processing unit；
When the processing unit judges whether the battery status of the electric vehicle meets default regenerative braking condition, the electricity
Pond state detection module is used to detect the current SOC value of the battery of the electric vehicle and current charge power, and send out respectively
It send to the processing unit；
The battery status of the electric vehicle includes the current SOC value of the battery of the electric vehicle and current charge power, institute
It states default regenerative braking condition and includes the current SOC value of battery less than or equal to default SOC value or, the current charging work(of battery
Rate is greater than or equal to preset charged power.
11. emergency braking system as claimed in claim 3, which is characterized in that the full-vehicle control module is additionally operable to pass through prison
The locking state of measuring car wheel carries out motor speed during regenerative braking to adjust.
12. a kind of electric vehicle, which is characterized in that the electric vehicle is included as described in any one in claim 1~11
Emergency braking system.
A kind of 13. emergency braking method for electric vehicle, which is characterized in that include the following steps：
S1, when emergency braking condition occurs, full-vehicle control module judges whether the brake actuator of the electric vehicle performs
Normally, if so, performing step S21, preset back if it is not, full-vehicle control module also judges whether the battery status of electric vehicle meets
Emergency braking condition is presented, if so, performing step S22, if it is not, performing step S23；
S21, triggering ESP emergency brakings module carry out emergency braking；
S22, triggering feedback emergency braking module carry out regenerative braking；
S23, triggering EPB emergency brakings module carry out EPB brakings.
14. emergency braking method as claimed in claim 13, which is characterized in that the full-vehicle control module includes emergency braking
Recognition unit, processing unit and control unit；
Step S1Include the following steps：
S11, the emergency braking recognition unit receives emergency brake signal, and the emergency brake signal is sent to processing
Unit, the emergency brake signal are used to trigger the emergency braking condition；
S12, the processing unit is when receiving the emergency brake signal, judge whether brake actuator performs normally, also sentence
Whether the battery status of power-off electrical automobile meets default regenerative braking condition, and will determine that result is sent to control unit；
S13, described control unit ESP trigger signals, feedback are generated according to the judging result received from the processing unit respectively
Emergency braking trigger signal or EPB trigger signals when the ESP trigger signals are sent to the ESP emergency brakings module, are held
Row step S21, when the feedback emergency braking trigger signal is sent to the feedback emergency braking module, perform step S22,
When the EPB trigger signals are sent to the EPB emergency brakings module, step S is performed23。
15. emergency braking method as claimed in claim 14, which is characterized in that the ESP emergency brakings module is controlled including ESP
Device processed, when described control unit generates ESP trigger signals, in step S21In, the ESP controller connects from described control unit
The ESP trigger signals are received, and the brake actuator is controlled to carry out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generation feedback emergency braking is touched
During signalling, in step S22In, the electric machine controller receives the feedback emergency braking trigger signal from described control unit,
And the motor is controlled to carry out regenerative braking；
The EPB emergency brakings module includes EPB controllers and EPB executing agencies, when described control unit generation EPB triggering letters
Number when, in step S23In, the EPB controllers receive the EPB trigger signals from described control unit, and described in control
EPB executing agencies carry out EPB brakings.
16. emergency braking method as claimed in claim 15, which is characterized in that the brake actuator includes braking and steps on
Plate is performing step S1Before, the emergency braking method further includes：
S0, pressure sensor is set on the brake pedal, touching when the pressure sensor detection triggers the brake pedal
Pressure value is sent out, and the triggering pressure value is sent to the full-vehicle control module；
Full-vehicle control module also judges whether the triggering pressure value received is greater than or equal to preset pressure value, if so, generation institute
Emergency brake signal is stated, and is sent to the emergency braking recognition unit.
17. emergency braking method as claimed in claim 16, which is characterized in that in step S0In, when the triggering pressure value is big
When the preset pressure value, full-vehicle control module also detects the triggering pressure value and is greater than or equal to the default pressure
The duration of force value, and judge the preset pressure value duration whether more than or equal to preset pressure continue when
Between, if so, generating the emergency brake signal, and it is sent to the emergency braking recognition unit.
18. emergency braking method as claimed in claim 15, which is characterized in that the EPB emergency brakings module further includes use
In the EPB emergency switches being arranged on the instrument board of the electric vehicle, step S is being performed1Before, the emergency braking method
It further includes：
S0, the EPB emergency switches are when receiving EPB pull-up signals, EPB pull-up signals are sent to the full-vehicle control
Module, the full-vehicle control module judge whether the lasting receiving time of the EPB pull-up signal is greater than or equal to default EPB and holds
Continuous receiving time, if so, generation emergency brake signal, and it is sent to the emergency braking recognition unit.
19. emergency braking method as claimed in claim 15, which is characterized in that performing step S1Before, the emergency braking
Method further includes：
S0, emergency stop switch is set on the instrument board of the electric vehicle, emergency stop switch receives emergency brake signal
When, the emergency brake signal is sent to the emergency braking recognition unit.
20. emergency braking method as claimed in claim 16, which is characterized in that in step S12In, when the processing unit is sentenced
When whether the brake actuator that breaks performs normal, the processing unit sends detection signal to brake actuator and detects mould
Block after the brake actuator detection module receives the detection signal, detects the execution shape of the brake actuator
State, and the processing unit is sent to by state outcome is performed, the processing unit is also according to the execution state knot received
Fruit judges whether the brake actuator performs normally.
21. emergency braking method as claimed in claim 20, which is characterized in that in step S13In, when the brake pedal is held
Row failure, when remaining brake actuator is performed both by normal, described control unit generation ESP trigger signals.
22. emergency braking method as claimed in claim 15, which is characterized in that in step S12In, when the processing unit is sentenced
When whether the battery status of the disconnected electric vehicle meets default regenerative braking condition, battery status detection module detects the electricity
The current SOC value of the battery of electrical automobile and current charge power, and it is respectively sent to the processing unit；
The battery status of the electric vehicle includes the current SOC value of the battery of the electric vehicle and current charge power, institute
It states default regenerative braking condition and includes the current SOC value of battery less than or equal to default SOC value or, the current charging work(of battery
Rate is greater than or equal to preset charged power.
23. emergency braking method as claimed in claim 15, which is characterized in that in step S22In, the full-vehicle control module
Pass through the motor speed for detecting the locking state of wheel to adjust during progress regenerative braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810026416.9A CN108177639B (en) | 2018-01-11 | 2018-01-11 | Emergency braking system and method and electric car for electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810026416.9A CN108177639B (en) | 2018-01-11 | 2018-01-11 | Emergency braking system and method and electric car for electric car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108177639A true CN108177639A (en) | 2018-06-19 |
| CN108177639B CN108177639B (en) | 2019-10-15 |
Family
ID=62550330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810026416.9A Active CN108177639B (en) | 2018-01-11 | 2018-01-11 | Emergency braking system and method and electric car for electric car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108177639B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271523A (en) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车（安徽）有限公司 | A kind of more redundant emergency brake methods of automobile |
| CN110733488A (en) * | 2019-10-29 | 2020-01-31 | 宝能(广州)汽车研究院有限公司 | Vehicle and emergency braking control method and device thereof |
| CN111137267A (en) * | 2020-01-06 | 2020-05-12 | 恒大新能源汽车科技(广东)有限公司 | Vehicle braking system and method |
| CN111959470A (en) * | 2020-08-11 | 2020-11-20 | 安徽江淮汽车集团股份有限公司 | Electric vehicle braking method, electric vehicle and readable storage medium |
| CN113291302A (en) * | 2021-05-20 | 2021-08-24 | 东风柳州汽车有限公司 | Vehicle longitudinal safety control method, device, equipment and storage medium |
| CN114174132A (en) * | 2019-07-22 | 2022-03-11 | 法伊韦利传送器意大利有限公司 | Electropneumatic emergency and service brake control system for at least one rail vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1310400A1 (en) * | 2001-11-08 | 2003-05-14 | Ford Global Technologies, Inc. | An Autonomous Emergency Braking Apparatus |
| CN203332092U (en) * | 2013-06-09 | 2013-12-11 | 北京汽车股份有限公司 | Dynamic braking control device and vehicle |
| CN105196993A (en) * | 2015-10-12 | 2015-12-30 | 中国第一汽车股份有限公司 | Emergency braking method achieved through electrical park brake |
| CN106347332A (en) * | 2016-08-30 | 2017-01-25 | 北汽福田汽车股份有限公司 | Controller, method and system for vehicle collision protection and vehicle |
| CN106864447A (en) * | 2017-03-07 | 2017-06-20 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN106904079A (en) * | 2017-02-27 | 2017-06-30 | 中国第汽车股份有限公司 | A kind of regenerating brake control method of pure electric automobile |
| CN107487309A (en) * | 2016-07-11 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Braking method and brake apparatus |
-
2018
- 2018-01-11 CN CN201810026416.9A patent/CN108177639B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1310400A1 (en) * | 2001-11-08 | 2003-05-14 | Ford Global Technologies, Inc. | An Autonomous Emergency Braking Apparatus |
| CN203332092U (en) * | 2013-06-09 | 2013-12-11 | 北京汽车股份有限公司 | Dynamic braking control device and vehicle |
| CN105196993A (en) * | 2015-10-12 | 2015-12-30 | 中国第一汽车股份有限公司 | Emergency braking method achieved through electrical park brake |
| CN107487309A (en) * | 2016-07-11 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Braking method and brake apparatus |
| CN106347332A (en) * | 2016-08-30 | 2017-01-25 | 北汽福田汽车股份有限公司 | Controller, method and system for vehicle collision protection and vehicle |
| CN106904079A (en) * | 2017-02-27 | 2017-06-30 | 中国第汽车股份有限公司 | A kind of regenerating brake control method of pure electric automobile |
| CN106864447A (en) * | 2017-03-07 | 2017-06-20 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271523A (en) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车（安徽）有限公司 | A kind of more redundant emergency brake methods of automobile |
| CN114174132A (en) * | 2019-07-22 | 2022-03-11 | 法伊韦利传送器意大利有限公司 | Electropneumatic emergency and service brake control system for at least one rail vehicle |
| CN114174132B (en) * | 2019-07-22 | 2023-06-30 | 法伊韦利传送器意大利有限公司 | Electro-pneumatic emergency and service brake control system for at least one rail vehicle |
| CN110733488A (en) * | 2019-10-29 | 2020-01-31 | 宝能(广州)汽车研究院有限公司 | Vehicle and emergency braking control method and device thereof |
| CN110733488B (en) * | 2019-10-29 | 2021-11-23 | 宝能(广州)汽车研究院有限公司 | Vehicle and emergency braking control method and device thereof |
| CN111137267A (en) * | 2020-01-06 | 2020-05-12 | 恒大新能源汽车科技(广东)有限公司 | Vehicle braking system and method |
| CN111959470A (en) * | 2020-08-11 | 2020-11-20 | 安徽江淮汽车集团股份有限公司 | Electric vehicle braking method, electric vehicle and readable storage medium |
| CN113291302A (en) * | 2021-05-20 | 2021-08-24 | 东风柳州汽车有限公司 | Vehicle longitudinal safety control method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108177639B (en) | 2019-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108177639B (en) | Emergency braking system and method and electric car for electric car | |
| CN102745181B (en) | Motor vehicle braking system and control method thereof | |
| CN101327746B (en) | Electric automobile braking system | |
| CN104118329B (en) | A kind of Recovering Waste Energy of Braking in Automobiles control system and control method thereof | |
| CN104039584B (en) | Method and apparatus for being adjusted to the voltage limit in onboard power system | |
| CN102700419B (en) | Parallel-type braking energy recovery system and control method thereof | |
| CN109795339A (en) | A kind of pure electric automobile Anti-slip regulation system and control method | |
| CN107009914B (en) | Auxiliary braking system and control method of electric automobile and electric automobile | |
| CN107010028A (en) | Collision avoidance system, control method and the electric automobile of electric automobile | |
| CN110578765B (en) | Method for detecting abrasion degree of brake pad of electric automobile | |
| CN101559769A (en) | Safe control method for electric automobile torque | |
| CN113022519B (en) | Redundancy control emergency braking method and system | |
| CN207875607U (en) | Electric controlled brake system for automobile | |
| CN108859866A (en) | A kind of emergency braking pre-warning and control method, device and automobile | |
| CN112141068A (en) | Brake signal fault detection system and method for vehicle | |
| CN106184193B (en) | The control method and control system and vehicle of vehicle driving | |
| CN103459186B (en) | For braking the system and method for a kind of hybrid power or electric traction vehicle | |
| CN108860111A (en) | A kind of hydraulic braking decline compensating control method, device and automobile | |
| CN108944466A (en) | Regenerating brake control method and system | |
| CN208376535U (en) | Regenerative brake control system | |
| KR20150071568A (en) | System and method for autonomous emergency braking | |
| CN110588503B (en) | Automobile brake lamp control method and system | |
| CN107487306B (en) | Method and device for braking vehicle | |
| CN108973965A (en) | A kind of intelligentized automobile emergency brake control system | |
| CN106379178A (en) | Coordination control method simulating automobile braking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |