CN108189709A - The control method and electric vehicle of a kind of braking system of electric car - Google Patents
The control method and electric vehicle of a kind of braking system of electric car Download PDFInfo
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- CN108189709A CN108189709A CN201810123336.5A CN201810123336A CN108189709A CN 108189709 A CN108189709 A CN 108189709A CN 201810123336 A CN201810123336 A CN 201810123336A CN 108189709 A CN108189709 A CN 108189709A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/30—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with means to change over to human control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to electric vehicle intelligent driving field, more particularly to a kind of control method of braking system of electric car, including：Under vehicle automatic brake control pattern, judge whether to receive the signal for closing automatic brake control or the signal for stepping on brake pedal；If it is not, vehicle is then kept in automatic brake control pattern downward driving；If so, it is artificial control for brake pattern by the automatic brake control pattern switching of vehicle；Under artificial control for brake pattern, the duration for not receiving and starting the signal of automatic brake control or stepping on the signal of brake pedal is calculated；Duration and preset time threshold are compared, judge whether duration is more than time threshold；If so, it is automatic brake control pattern by the artificial control for brake pattern switching of vehicle.In vehicle travel process, also it can be reminded according to the distance between Ben Che and front truck barrier or vehicle is controlled to avoid, realize automatic braking and artificial braking free switching, it is ensured that traffic safety.
Description
Technical field
The present invention relates to electric vehicle intelligent driving field, more particularly to a kind of control method of braking system of electric car
And electric vehicle.
Background technology
In recent years, it due to environmental degradation, traffic congestion, Frequent Accidents, has expedited the emergence of new-energy automobile field and intelligence is driven
The fast development of field of auxiliary is sailed, unmanned even more like a raging fire, self-adaption cruise system is as intelligent driving ancillary technique
One kind, be to be developed in the technical foundation of cruise, the purpose is to improve active safety performance, many roads in China at present
Road traffic is complicated, and many drivers are not in place for road signs cognition, especially for new hand, are usually unable to control
Speed, it is sometimes fast and sometimes slow speed occur, cannot regulate the speed in time in times of crisis, emergency brake and cause the accident, especially
It is the emergency case for needing to make emergency braking in driving process, driver is in the case of flurried easily by gas pedal
It is stepped down as brake pedal and causes traffic accident, died of traffic accident number every year according to incompletely statistics and surpassed
100,000 are crossed, traffic accident compromises the safety of life and property of traffic participant, can also cause a series of social concerns, therefore by
The extensive attention of insurance association, automaker, scientific research institution is arrived.
The importance that national governments and consumer have a profound understanding of and reduce accident frequency, mitigate accident injury, and it is advanced
Active safety technologies of the driving assistance system (ADAS) as forward position can effectively reduce the occurrence frequency of most accident patterns,
But current many auxiliary systems can only remind driver's speed too fast by vehicle mounted guidance, but when driver do not do slow down or
It is that when can not actively make emergency braking measure, frequently can lead to the generation of accident, therefore, in terms of intelligent driving, compels to be essential
Want a kind of brake assist system that can be manually and automatically combined.
Invention content
For the above problem of the prior art, the purpose of the present invention is to provide a kind of controls of braking system of electric car
Method and electric vehicle can realize vehicle automatic retarding and the switching manually slowed down, and can reduce the wind that driver steps on wrong brake pedal
Danger, substantially increases the safety of driving procedure, can effectively avoid traffic accident.
The present invention provides a kind of control method of braking system of electric car, the method includes：
Under vehicle automatic brake control pattern, judge whether to receive the signal for closing automatic brake control or step on braking
The signal of pedal；
If not receiving the signal for closing automatic brake control or the signal for stepping on brake pedal, vehicle is kept automatic
Control for brake pattern downward driving；
If the signal for closing automatic brake control or the signal for stepping on brake pedal are received, by the automatic braking of vehicle
Control mode switch is artificial control for brake pattern；
Under artificial control for brake pattern, calculate and do not receive the signal for starting automatic brake control or step on brake pedal
The duration of signal；
The duration and preset time threshold are compared, judge whether the duration is more than the time threshold；
It is automatic braking by the artificial control for brake pattern switching of vehicle if the duration is more than the time threshold
Control model.
Preferably, the method further includes：
Under vehicle automatic brake control pattern, in real time obtain vehicle front barrier and the vehicle between away from
From；
Judge whether the distance is less than preset first safe distance；
If the distance is less than first safe distance, is travelled by performing automatic brake control vehicle, make vehicle
Stop or the distance between vehicle and front obstacle is made to be not less than the first safe distance；
If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling.
Preferably, it is described to be included by performing automatic brake control vehicle traveling：
Judge whether the barrier moves；
If the barrier does not move, brake signal is sent to brake monitor, is sent and instructed by brake monitor
To entire car controller, vehicle is automatically controlled by entire car controller and is stopped；
If barrier movement, calculating make the distance between vehicle and barrier reach described first safely away from
From, the speed reduced needed for the vehicle, and the speed of the required reduction is sent to brake monitor, by brake monitor
Entire car controller is sent instructions to, vehicle deceleration is automatically controlled by entire car controller.
Further, the method further includes：
Under the artificial control for brake pattern of vehicle, in real time obtain vehicle front barrier and the vehicle between away from
From；
Judge whether the distance is less than preset first safe distance；
If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling；
If the distance is less than first safe distance, the first alarm signal, first alarm signal are sent out
For driver to be prompted to reduce speed.
Further, if the distance is less than first safe distance, the first alarm signal is sent out, it is described
After first alarm signal is for prompting driver's reduction speed, further include：
After the first alarm signal is sent out, judge whether to receive the signal for stepping on brake pedal；
If receiving the signal for stepping on brake pedal, the signal generation deceleration instruction of brake pedal is stepped on according to,
And pass through braking system and perform the deceleration instruction；
If not receiving the signal for stepping on brake pedal, the barrier of the vehicle front obtained in real time and the vehicle are judged
The distance between whether be less than preset second safe distance；
If the distance is less than second safe distance, the second alarm signal, second alarm signal are sent out
For prompting driver's emergency deceleration；
After the second alarm signal is sent out, if not receiving the signal for stepping on brake pedal within the preset time,
It is automatic to start arbitration plate control electric machine, dynamical system and braking system coordination is controlled to be performed to start entire car controller
Emergency deceleration.Preferably, the distance between the real-time barrier for obtaining vehicle front and the vehicle include：
Detect vehicle front whether there are obstacles；
If there are barriers for vehicle front, detect described in the distance between the barrier and the vehicle and acquisition
The image of barrier.
In addition, the present invention also provides a kind of electric vehicle, including the first signal pickup assembly, second signal acquisition dress
It puts, brake monitor, driving assistance system and entire car controller, first signal pickup assembly and second signal harvester
Connect with the driving assistance system signal, the brake monitor respectively with the driving assistance system and entire car controller
Connection；
First signal pickup assembly, for acquiring the signal for opening automatic brake control, closing automatic brake control
Signal and step on the signal of brake pedal, and the signal of acquisition is sent to driving assistance system；
The driving assistance system, under vehicle automatic brake control pattern, judging whether to receive first letter
The signal for the closing automatic brake control that number harvester is sent or the signal for stepping on brake pedal；If it is automatic not receive closing
The signal of control for brake or the signal for stepping on brake pedal then keep vehicle in automatic brake control pattern downward driving；If it receives
To closing the signal of automatic brake control or stepping on the signal of brake pedal, it is by the automatic brake control pattern switching of vehicle then
Artificial control for brake pattern；And under artificial control for brake pattern, calculating does not receive first signal pickup assembly and sends
Startup automatic brake control signal or step on brake pedal signal duration；By the duration and preset time threshold
It is compared, judges whether the duration is more than the time threshold；If the duration is more than the time threshold, by vehicle
Artificial control for brake pattern switching be automatic brake control pattern.
Preferably, the second signal harvester, for detect in real time the barrier of vehicle front and the vehicle it
Between distance, and the distance detected in real time is sent to driving assistance system；
The driving assistance system is additionally operable to judge whether the distance is less than preset first safe distance；If institute
It states distance and is less than first safe distance, then travelled by performing automatic brake control vehicle, stop vehicle or make vehicle
It is not less than the first safe distance with the distance between front obstacle；If the distance not less than described first safety away from
From, then control vehicle keep current state traveling.
Further, the driving assistance system is additionally operable to：Judge whether the barrier moves；If the barrier
It does not move, then sends brake signal to brake monitor, entire car controller is sent instructions to by brake monitor, passes through vehicle control
Device processed automatically controls vehicle stopping；If the barrier movement, calculating make the distance between vehicle and barrier reach institute
The first safe distance, the speed reduced needed for the vehicle are stated, and the speed of the required reduction is sent to brake monitor,
Entire car controller is sent instructions to by brake monitor, vehicle deceleration is automatically controlled by entire car controller.
Further, the electric vehicle further includes warning device, arbitration plate, electric machine, dynamical system and braking system
System, the warning device and it is described arbitration plate connect with the driving assistance system signal, it is described arbitrate plate respectively with it is described
Electric machine, control dynamical system are connected with Braking System signal；
The driving assistance system is additionally operable to：Under the artificial control for brake pattern of vehicle, the barrier of vehicle front is judged
Whether the distance between described vehicle is less than preset first safe distance；If the distance is not less than the described first safety
Distance then controls vehicle to keep current state traveling；If the distance is less than first safe distance, alarm is controlled to fill
It puts and sends out the first alarm signal, first alarm signal is used to that driver to be prompted to reduce speed；And sending out the first alarm
After signal, judge whether to receive the signal for stepping on brake pedal；If receiving the signal for stepping on brake pedal, according to
The signal generation deceleration instruction of brake pedal is stepped on, and passes through braking system and performs the deceleration instruction；It is stepped on if do not received
It is pre- then to judge whether the distance between the barrier of the vehicle front obtained in real time and described vehicle are less than for the signal of brake pedal
If the second safe distance；If the distance is less than second safe distance, warning device is controlled to send out the second alarm
Signal, second alarm signal are used to prompt driver's emergency deceleration；After the second alarm signal is sent out, if default
Time in do not receive the signal for stepping on brake pedal, then it is automatic to start arbitration plate control electric machine, dynamical system and braking
System coordination action performs emergency deceleration to start entire car controller.
Due to above-mentioned technical proposal, the present invention has the advantages that：
(1) present invention automatically switches the driving mode of vehicle according to manual operation situation in vehicle travel process, realizes
Automatic braking and artificial braking free switching.I.e.：Under automatic braking pattern, when detect user close automatic brake control or
Person steps on brake pedal, then judges that user wishes that vehicle enters manual control pattern, the automatic brake control pattern of vehicle is cut
It is changed to artificial control for brake pattern；Under artificial control for brake pattern, when detect the not actuated automatic brake control of user or
The duration for not stepping on brake pedal has been more than time threshold, then judges that user wishes that vehicle enters automatic control mode, by vehicle
Artificial control for brake pattern switching be automatic braking pattern.
(2) distance in vehicle travel process between examinations vehicle and front obstacle, in safe distance or non-
In the case of safe distance, different countermeasures is taken, it is ensured that vehicle driving safety.Between various signals in the method for the present invention
Any conflict is not had, does not have any injury to vehicle, and any influence there will not be to driver's active control braking system,
It is simple to operate.Under automatic brake control pattern, it can actively be avoided artificially controlling and directly controlling whole according to risk distance
Vehicle controller promotes vehicle deceleration or braking, then realizes the function of active brake hedging, improves the security performance of vehicle.This hair
Method in bright is not only suitable for turnpike driving, also can operate with the driving of urban road, can make driving more safe and convenient,
Effectively reduce that traffic accident is counter to give birth to.
Description of the drawings
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical scheme of the present invention
The attached drawing used is briefly described.It should be evident that the accompanying drawings in the following description is only some embodiments of the present invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of flow chart of the control method of braking system of electric car provided in an embodiment of the present invention；
Fig. 2 is the flow signal of the barrier-avoiding method provided in an embodiment of the present invention under vehicle automatic brake control pattern
Figure；
Fig. 3 is the flow diagram of the barrier-avoiding method under the artificial control for brake pattern of vehicle provided in an embodiment of the present invention；
Fig. 4 is the flow diagram provided in an embodiment of the present invention for performing automatic brake control；
Fig. 5 is a kind of structure diagram of electric vehicle provided in an embodiment of the present invention.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first ", " second " in description and claims of this specification and attached drawing etc.
It is the object for distinguishing similar, specific sequence or precedence is described without being used for.It should be appreciated that the number used in this way
According to can be interchanged in the appropriate case, so that the embodiment of the present invention described herein can be in addition to illustrating or describing herein
Those other than sequence implement.In addition, term " comprising " and " having " and their any deformation, it is intended that covering is not
Exclusive includes.
Embodiment
The present embodiment provides a kind of control method of braking system of electric car, Fig. 1 is provided in an embodiment of the present invention one
The flow chart of the control method of kind braking system of electric car.Fig. 1 is referred to, the method includes：
S101：Under vehicle automatic brake control pattern, judge whether to receive the signal for closing automatic brake control or step on
The signal of dynamic brake pedal；
S102：If not receiving the signal for closing automatic brake control or the signal for stepping on brake pedal, vehicle is kept
In automatic brake control pattern downward driving；
S103：If receiving the signal for closing automatic brake control or stepping on the signal of brake pedal, by vehicle from
Dynamic control for brake pattern switching is artificial control for brake pattern；
S104：Under artificial control for brake pattern, calculate and do not receive the signal for starting automatic brake control or step on braking
The duration of the signal of pedal；
S105：The duration and preset time threshold are compared, judge whether the duration is more than the time
Threshold value；
S106：It is certainly by the artificial control for brake pattern switching of vehicle if the duration is more than the time threshold
Dynamic control for brake pattern.
Further, in vehicle travel process, vehicle front there may be such as other vehicles, animal, article barrier
Hinder object, in driving process, need to avoid barrier or keep safe distance with barrier, to ensure the safety of vehicle itself.
In vehicle travel process the method for avoiding obstacles be mainly included in barrier-avoiding method under vehicle automatic brake control pattern and
Barrier-avoiding method under artificial control for brake pattern.
Fig. 2 is the flow signal of the barrier-avoiding method provided in an embodiment of the present invention under vehicle automatic brake control pattern
Figure.Fig. 2 is referred to, the barrier-avoiding method under vehicle automatic brake control pattern includes：
S201：Under vehicle automatic brake control pattern, between the barrier and the vehicle that obtain vehicle front in real time
Distance；
The distance between the barrier for obtaining vehicle front and the vehicle include：Detection vehicle front whether there is
Barrier；If there are barriers for vehicle front, detect described in the distance between the barrier and the vehicle and acquisition
The image of barrier.
S202：Judge whether the distance is less than preset first safe distance；
S203：If the distance is less than first safe distance, travelled by performing automatic brake control vehicle,
Stop vehicle or the distance between vehicle and front obstacle is made to be not less than the first safe distance；
S204：If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling.
Specifically, included described in above-mentioned S203 by performing automatic brake control vehicle traveling：
S2031：Judge whether the barrier moves；
S2032：If the barrier does not move, brake signal is sent to brake monitor, is sent out by brake monitor
Instruction is sent to automatically control vehicle to entire car controller by entire car controller and stop；
S2033：If the barrier movement, calculating makes the distance between vehicle and barrier reach first peace
The speed reduced needed for vehicle described in full distance, and the speed of the required reduction is sent to brake monitor, it is controlled by braking
Device processed sends instructions to entire car controller, and vehicle deceleration is automatically controlled by entire car controller.
Fig. 3 is the flow diagram of the barrier-avoiding method under the artificial control for brake pattern of vehicle provided in an embodiment of the present invention,
Fig. 3 is referred to, the barrier-avoiding method under the artificial control for brake pattern of vehicle includes：
S301：Under the artificial control for brake pattern of vehicle, between the barrier and the vehicle that obtain vehicle front in real time
Distance；
The distance between the barrier for obtaining vehicle front and the vehicle include：Detection vehicle front whether there is
Barrier；If there are barriers for vehicle front, detect described in the distance between the barrier and the vehicle and acquisition
The image of barrier.
S302：Judge whether the distance is less than preset first safe distance；
S303：If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling；
S304：If the distance is less than first safe distance, the first alarm signal, first alarm are sent out
Signal is used to that driver to be prompted to reduce speed.
Further, it is further included after the step S304：
S305：After the first alarm signal is sent out, judge whether to receive the signal for stepping on brake pedal；
S306：If receiving the signal for stepping on brake pedal, the signal generation that brake pedal is stepped on according to is slowed down
Instruction, and pass through braking system and perform the deceleration instruction；
S307：If not receiving the signal for stepping on brake pedal, judge the barrier of the vehicle front obtained in real time with
Whether the distance between described vehicle is less than preset second safe distance；
S308：If the distance is less than second safe distance, the second alarm signal, second alarm are sent out
Signal is used to prompt driver's emergency deceleration；
S309：After the second alarm signal is sent out, if not receiving the letter for stepping on brake pedal within the preset time
Number, then it is automatic to start arbitration plate control electric machine, control dynamical system and braking system coordination to start full-vehicle control
Device performs emergency deceleration.
The present invention automatically switches the driving mode of vehicle according to manual operation situation in vehicle travel process, realizes certainly
Dynamic braking and artificial braking free switching.I.e.：Under automatic braking pattern, when detect user close automatic brake control or
Brake pedal is stepped on, then judges that user wishes that vehicle enters manual control pattern, by the automatic brake control pattern switching of vehicle
For artificial control for brake pattern；Under artificial control for brake pattern, when detecting the not actuated automatic brake control of user or not
The duration for stepping on brake pedal has been more than time threshold, then judges that user wishes that vehicle enters automatic control mode, by vehicle
Artificial control for brake pattern switching is automatic braking pattern.
Distance in vehicle travel process between examinations vehicle and front obstacle, in safe distance or non-security
In the case of distance, different countermeasures is taken, it is ensured that vehicle driving safety.It will not between various signals in the method for the present invention
There is any conflict, there is no any injury to vehicle, any influence there will not be to driver's active control braking system, operate
It is simple and convenient.Under automatic brake control pattern, it can actively be avoided artificially controlling and directly controlling vehicle control according to risk distance
Device processed promotes vehicle deceleration or braking, then realizes the function of active brake hedging, improves the security performance of vehicle.In the present invention
Method be not only suitable for turnpike driving, also can operate with the driving of urban road, driving more safe and convenient can be made, effectively
Reduce that traffic accident is counter gives birth to.
Embodiment
The present embodiment provides a kind of electric vehicle, for performing the method in above-described embodiment.The electric vehicle includes the
One signal pickup assembly, second signal harvester, brake monitor, driving assistance system and entire car controller, described first
Signal pickup assembly and second signal harvester are connect with the driving assistance system signal, the brake monitor difference
It is connect with the driving assistance system and entire car controller.Wherein, the first signal pickup assembly includes be arranged in vehicle body the
One pressure sensor and second pressure sensor, the first pressure sensor are connect with brake pedal, are stepped on for detecting braking
The pressure signal that plate is stepped on, second pressure sensor are connect with driving mode switching push button, for detecting driving mode switching
The signal that button is pressed.Second signal harvester includes being arranged on the range sensor of front part of vehicle, preposition radar and preceding
Camera is put, wherein, preposition radar real time scan vehicle front whether there are obstacles, once front is found there are barrier,
Then start range sensor detection the distance between vehicle and front obstacle and barrier is shot by front camera
The information that preposition radar, range sensor and front camera acquire is sent to driving assistance system by image.
Specifically, first signal pickup assembly is used for：Acquisition opens the signal of automatic brake control, closes automatic system
It moves the signal of control and steps on the signal of brake pedal, and the signal of acquisition is sent to driving assistance system.
The driving assistance system is used for：Under vehicle automatic brake control pattern, judge whether to receive first letter
The signal for the closing automatic brake control that number harvester is sent or the signal for stepping on brake pedal；If it is automatic not receive closing
The signal of control for brake or the signal for stepping on brake pedal then keep vehicle in automatic brake control pattern downward driving；If it receives
To closing the signal of automatic brake control or stepping on the signal of brake pedal, it is by the automatic brake control pattern switching of vehicle then
Artificial control for brake pattern；And under artificial control for brake pattern, calculating does not receive first signal pickup assembly and sends
Startup automatic brake control signal or step on brake pedal signal duration；By the duration and preset time threshold
It is compared, judges whether the duration is more than the time threshold；If the duration is more than the time threshold, by vehicle
Artificial control for brake pattern switching be automatic brake control pattern.
The second signal harvester is used for：In real time detection vehicle front barrier and the vehicle between away from
From, and the distance detected in real time is sent to driving assistance system.
The driving assistance system is additionally operable to：Judge whether the distance is less than preset first safe distance；If institute
It states distance and is less than first safe distance, then travelled by performing automatic brake control vehicle, stop vehicle or make vehicle
It is not less than the first safe distance with the distance between front obstacle；If the distance not less than described first safety away from
From, then control vehicle keep current state traveling.
Further, the driving assistance system is additionally operable to：Judge whether the barrier moves；If the barrier
It does not move, then sends brake signal to brake monitor, entire car controller is sent instructions to by brake monitor, passes through vehicle control
Device processed automatically controls vehicle stopping；If the barrier movement, calculating make the distance between vehicle and barrier reach institute
The first safe distance, the speed reduced needed for the vehicle are stated, and the speed of the required reduction is sent to brake monitor,
Entire car controller is sent instructions to by brake monitor, vehicle deceleration is automatically controlled by entire car controller.
Mode is preferably carried out as one kind, the electric vehicle further includes warning device, arbitration plate, electric machine, moves
Force system and braking system, the warning device and the arbitration plate are connect with the driving assistance system signal, described secondary
Plate is cut out to connect with the electric machine, control dynamical system and Braking System signal respectively.Wherein, the warning device can wrap
Include vehicle mounted guidance display screen and alarm buzzer.
Further, the driving assistance system is additionally operable to：Under the artificial control for brake pattern of vehicle, vehicle front is judged
Barrier and the distance between the vehicle whether be less than preset first safe distance；If the distance is not less than described
First safe distance then controls vehicle to keep current state traveling；If the distance is less than first safe distance, control
Warning device processed sends out the first alarm signal, and first alarm signal is used to that driver to be prompted to reduce speed；And it is sending out
After first alarm signal, judge whether to receive the signal for stepping on brake pedal；If receiving the signal for stepping on brake pedal,
Deceleration instruction is generated, and pass through braking system and perform the deceleration instruction according to the signal for stepping on brake pedal；If not
The signal for stepping on brake pedal is received, then judges that the distance between the barrier of the vehicle front obtained in real time and the vehicle are
It is no to be less than preset second safe distance；If the distance is less than second safe distance, warning device is controlled to send out
Second alarm signal, second alarm signal are used to prompt driver's emergency deceleration；After the second alarm signal is sent out, such as
Fruit does not receive the signal for stepping on brake pedal within the preset time, then automatic to start arbitration plate control electric machine, dynamical system
System and braking system coordination perform emergency deceleration to start entire car controller.
The present embodiment has the advantages that：
(1) present invention automatically switches the driving mode of vehicle according to manual operation situation in vehicle travel process, realizes
Automatic braking and artificial braking free switching.I.e.：Under automatic braking pattern, when detect user close automatic brake control or
Person steps on brake pedal, then judges that user wishes that vehicle enters manual control pattern, the automatic brake control pattern of vehicle is cut
It is changed to artificial control for brake pattern；Under artificial control for brake pattern, when detect the not actuated automatic brake control of user or
The duration for not stepping on brake pedal has been more than time threshold, then judges that user wishes that vehicle enters automatic control mode, by vehicle
Artificial control for brake pattern switching be automatic braking pattern.
(2) distance in vehicle travel process between examinations vehicle and front obstacle, in safe distance or non-
In the case of safe distance, different countermeasures is taken, it is ensured that vehicle driving safety.Between various signals in the method for the present invention
Any conflict is not had, does not have any injury to vehicle, and any influence there will not be to driver's active control braking system,
It is simple to operate.Under automatic brake control pattern, it can actively be avoided artificially controlling and directly controlling whole according to risk distance
Vehicle controller promotes vehicle deceleration or braking, then realizes the function of active brake hedging, improves the security performance of vehicle.This hair
Method in bright is not only suitable for turnpike driving, also can operate with the driving of urban road, can make driving more safe and convenient,
Effectively reduce that traffic accident is counter to give birth to.
Embodiment
The present embodiment provides a kind of control method of braking system of electric car, as illustrated in figures 4-5, the method includes：
Step 0001：Vehicle is during automatic brake control pattern downward driving, before being arranged on front part of vehicle
It puts the sensing equipments such as radar, front camera, spacing sensor and measures the distance between vehicle and barrier, and by institute's measured data
It is input to ADAS systems.Wherein, the barrier can be front vehicles or pedestrian, animal or other it is removable or
The immovable obstruction of person.
Step 0002：ADAS systems connect data, and carry out processing analysis to the data, by the distance measured and ADAS systems
Preset safe distance is compared in system, judges whether measured distance is less than safe distance.
Step 0003：If the distance measured is less than safe distance, ADAS performs braking system automatically.
Step 0004：If the distance measured is not less than safe distance, current state is kept to travel.
Step 0005：ADAS systems, which judge whether to receive, closes automatic brake control signal or steps on brake pedal signal,
To switch manual control braking mode or automatically control braking mode.
Step 0006：It closes automatic brake control signal if ADAS systems receive or steps on brake pedal signal, tie
Beam automatically controls braking mode, switchs to manual control braking mode.
Further, it in described 0005, closes automatic brake control signal if ADAS systems do not receive or steps on
Brake pedal signal then returns and performs step 0004, that is, continues to automatically control braking mode.
Step 0007 is during based on manual control braking mode is performed in step 0006, and ADAS systems, which can detect, is
No long-time does not receive the signal for stepping on brake pedal or detects the signal for starting automatic braking function, to determine whether to continue
Manual control brakes or switchs to automatically control braking.
Step 0008：If ADAS systems, which receive the signal for stepping on brake pedal or detect, starts automatic braking function
Signal, then continue manual control braking mode.
Further, in the step 0007, if ADAS systems do not receive the signal for stepping on brake pedal, do not have yet
There is the signal for detecting and starting automatic braking function, then perform step 0004, i.e., be switched to automatically by manual control braking mode
Control braking mode.
In the step 0002, the safe distance of front obstacle and this vehicle is judged, be the spacing by front part of vehicle
Sensor, preposition radar persistently scan road ahead, while are obtained using the status information in front of front camera collection vehicle
.The distance between barrier is obtained, by judging with the preset safe distance comparative analysis of institute in ADAS systems
It draws a conclusion.
In the step 0002, for vehicle in way is travelled, spacing sensor, preposition radar, front camera are real-time
ADAS systems are sent data to, judge that Data Concurrent goes out the operational order of next step by ADAS systems.
Further, when spacing sensor, preposition radar, front camera detect and send data to ADAS systems,
The ADAS systems data that can adjust the distance first are analyzed and processed, if analysis show that the range data detected is not less than ADAS systems
In system during preset safe distance, then into the control for brake under safe distance driving mode, then ADAS systems will be sent
Continue the instruction of traveling along present speed, while artificially can be controlled or automatically controlled and slowed down in due course or stop.When ADAS systems
When system detects that long-time does not receive the signal for stepping on brake pedal or detects the signal for starting automatic braking function, then manually
Control braking mode will switch to automatically control braking mode.
Such as：Assuming that the detection of ADAS systemic presuppositions, which does not receive, steps on the duration threshold value of brake pedal signal as 30S, when from
When dynamic braking function is opened, manual control braking mode is switched to and automatically controls braking mode by ADAS systems automatically.
In the step 0003, when the range data of sensing equipment detection is less than preset safe distance in ADAS systems
When, then into the control for brake under non-security distance travel pattern, the distance that then will be measured using ADAS data analysis modules
With alarm distance, safe distance be compared, less than alarm apart from when just carry out alarm sounds, while transfer signals to vehicle-mounted
Driver is prompted braking system to be controlled to slow down manually on navigator display or by alarm buzzer, if driver is controlled manually
Braking system processed is slowed down, then exits automatic braking pattern and enter MANUAL CONTROL mode, if driver ignores, in distance
When being gradually shortened and being less than safe distance, if driver, which is still not detected, steps on brake pedal, ADAS systems can be direct
Brake signal is sent out, and signal is arbitrated into plate by CAN, electric machine is controlled to be transmitted to dynamical system and braking system, control is dynamic
Force system, braking system coordination, while deceleration instruction is sent to entire car controller by braking system, it is held by entire car controller
Row braking instruction makes vehicle carry out emergency braking, safe distance is remained with front obstacle.
Such as：Assuming that when speed is not less than 100km/h, the safe distance with front truck is preset vehicle in ADAS systems
100m, alarm distance are 50m.When the distance between vehicle and front obstacle that ADAS system detectios obtain is more than 100m,
So ADAS systems will send the instruction for continuing traveling with present speed.When the ADAS vehicles detected and front obstacle
The distance between be less than 100m when, ADAS systems can by vehicle mounted guidance display screen or alarm buzz continuously prompt driver into
Row hand brake slows down to ensure safe distance, when receiving the signal for closing ADAS or stepping on the signal of brake pedal, automatically
Braking system is stopped；If driver is without any processing, the distance between vehicle and front truck is made to continue to shorten, this process
In, when the distance that ADAS system detectios obtain vehicle distances front truck is less than 50m, ADAS systems can start CAN arbitration plates automatically
Control electric machine control dynamical system, braking system coordination perform braking instruction to start entire car controller, to ensure
Safe distance.
Under safe distance driving mode or under non-security distance travel pattern, the automatic braking work(in ADAS systems is closed
Can or step on brake pedal makes ADAS systems receive control signal, then ADAS systems exit the pattern for automatically controlling braking.I.e.
When ADAS systems do not receive for a long time to be stepped on the signal of brake pedal or startup automatic braking function is not detected, then artificial control
Braking mode processed will switch to automatically control braking mode.
In above-mentioned steps, automatic driving mode is that (advanced driving assistance system or advanced driving are auxiliary based on ADAS systems
Auxiliary system), ADAS systems are as a kind of active safety auxiliary system, for being carried during complicated vehicle performance for driver
For assisting and supplementing, driving safety and comfort level is substantially improved, effective preventing car accident occurs.Plate is arbitrated with ADAS systems to connect
It connects, for receiving or issuing an instruction to control automatic running or manually traveling, arbitration plate is additionally operable to the input of CAN signal and defeated
Go out and the judgement and ruling of CAN signal.The CAN signal of arbitration plate has two groups, the vehicle body of one group of connecting electric automobile, one group
ADAS systems are connected, the CAN signal of input is the signal that vehicle body is come in or the signal of ADAS, and microcontroller believes the CAN of input
Number judged and ruling, be then output to vehicle body and go to perform.
Automatic braking pattern is exited, the corresponding energy button of automatic braking pattern can be closed, you can exit what is automatically controlled
State；Brake pedal is artificially stepped on, the state for automatically controlling braking system can be released after brake pedal is rotated.It exits
After the function, artificial control for brake is switched to, changes at this time and pedal is manipulated by driver.
The advantageous effect of specific embodiments of the present invention is embodied in：During intelligent driving, safe distance traveling
Under pattern or under non-security distance travel pattern, the free switching between automatic braking and artificial braking can be achieved, signal is not
Any conflict is had, does not have any injury to vehicle, any influence is not had to driver's active control braking system, is grasped
Make simple and convenient.Simultaneously under non-security distance travel pattern, ADAS will actively avoid artificially controlling according to risk distance straight
Control entire car controller is connect, promotes vehicle deceleration or braking, then realizes the function of active brake hedging.Method in the present invention
Turnpike driving is not only suitable for, also can operate with the driving of urban road, driving more safe and convenient can be made, effectively reduce friendship
Interpreter's event is anti-raw.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
Above example only expresses the several embodiments of the present invention, and description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, these belong to protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method of braking system of electric car, which is characterized in that the method includes：
Under vehicle automatic brake control pattern, judge whether to receive the signal for closing automatic brake control or step on brake pedal
Signal；
If not receiving the signal for closing automatic brake control or the signal for stepping on brake pedal, vehicle is kept in automatic braking
Control model downward driving；
If the signal for closing automatic brake control or the signal for stepping on brake pedal are received, by the automatic brake control of vehicle
Pattern switching is artificial control for brake pattern；
Under artificial control for brake pattern, calculate and do not receive the signal for starting automatic brake control or the signal for stepping on brake pedal
Duration；
The duration and preset time threshold are compared, judge whether the duration is more than the time threshold；
It is automatic brake control by the artificial control for brake pattern switching of vehicle if the duration is more than the time threshold
Pattern.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
Under vehicle automatic brake control pattern, the distance between the barrier of vehicle front and described vehicle are obtained in real time；
Judge whether the distance is less than preset first safe distance；
If the distance is less than first safe distance, is travelled by performing automatic brake control vehicle, stop vehicle
Only or the distance between vehicle and front obstacle is made to be not less than the first safe distance；
If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling.
It is 3. according to the method described in claim 2, it is characterized in that, described by performing automatic brake control vehicle traveling packet
It includes：
Judge whether the barrier moves；
If the barrier does not move, brake signal is sent to brake monitor, is sent instructions to by brake monitor whole
Vehicle controller automatically controls vehicle by entire car controller and stops；
If the barrier movement, calculating make the distance between vehicle and barrier reach first safe distance, institute
The speed reduced needed for vehicle is stated, and the speed of the required reduction is sent to brake monitor, is sent by brake monitor
It instructs to entire car controller, vehicle deceleration is automatically controlled by entire car controller.
4. according to the method described in claim 1, it is characterized in that, the method further includes：
Under the artificial control for brake pattern of vehicle, the distance between the barrier of vehicle front and described vehicle are obtained in real time；
Judge whether the distance is less than preset first safe distance；
If the distance is not less than first safe distance, vehicle is controlled to keep current state traveling；
If the distance is less than first safe distance, the first alarm signal is sent out, first alarm signal is used for
Driver is prompted to reduce speed.
If 5. according to the method described in claim 3, it is characterized in that, the distance be less than described first safety away from
From then sending out the first alarm signal, first alarm signal is for prompting after driver reduces speed, to further include：
After the first alarm signal is sent out, judge whether to receive the signal for stepping on brake pedal；
If receiving the signal for stepping on brake pedal, the signal generation deceleration instruction of brake pedal is stepped on according to, and is led to
It crosses braking system and performs the deceleration instruction；
If not receiving the signal for stepping on brake pedal, judge the barrier of the vehicle front obtained in real time and the vehicle it
Between distance whether be less than preset second safe distance；
If the distance is less than second safe distance, the second alarm signal is sent out, second alarm signal is used for
Prompt driver's emergency deceleration；
After the second alarm signal is sent out, if not receiving the signal for stepping on brake pedal within the preset time, automatically
It is urgent to start entire car controller execution to start arbitration plate control electric machine, control dynamical system and braking system coordination
Slow down.
6. according to the method described in claim 2, it is characterized in that, the real-time barrier for obtaining vehicle front and the vehicle
The distance between include：
Detect vehicle front whether there are obstacles；
If there are barriers for vehicle front, detect the distance between the barrier and the vehicle and obtain the obstacle
The image of object.
7. a kind of electric vehicle, which is characterized in that including the first signal pickup assembly, second signal harvester, control for brake
Device, driving assistance system and entire car controller, first signal pickup assembly and second signal harvester are driven with described
The connection of auxiliary system signal is sailed, the brake monitor is connect respectively with the driving assistance system and entire car controller；
First signal pickup assembly, for acquiring the signal for opening automatic brake control, the letter for closing automatic brake control
Number and step on the signal of brake pedal, and the signal of acquisition is sent to driving assistance system；
The driving assistance system is adopted under vehicle automatic brake control pattern, judging whether to receive first signal
The signal for the closing automatic brake control that acquisition means are sent or the signal for stepping on brake pedal；If closing automatic braking is not received
The signal of control or the signal for stepping on brake pedal then keep vehicle in automatic brake control pattern downward driving；If receive pass
It closes the signal of automatic brake control or steps on the signal of brake pedal, be then artificial by the automatic brake control pattern switching of vehicle
Control for brake pattern；And under artificial control for brake pattern, calculate and do not receive opening for the first signal pickup assembly transmission
The signal of dynamic automatic brake control or the duration for the signal for stepping on brake pedal；The duration and preset time threshold are carried out
Compare, judge whether the duration is more than the time threshold；If the duration is more than the time threshold, by vehicle
Artificial control for brake pattern switching is automatic brake control pattern.
8. electric vehicle according to claim 7, which is characterized in that
The second signal harvester, for detecting the distance between the barrier of vehicle front and the vehicle in real time, and
The distance detected in real time is sent to driving assistance system；
The driving assistance system is additionally operable to judge whether the distance is less than preset first safe distance；If it is described away from
From less than first safe distance, then travelled by performing automatic brake control vehicle, make vehicle stop or make vehicle with
The distance between front obstacle is not less than the first safe distance；If the distance is not less than first safe distance,
Vehicle is controlled to keep current state traveling.
9. electric vehicle according to claim 8, which is characterized in that
The driving assistance system is additionally operable to：Judge whether the barrier moves；If the barrier does not move, to system
Movement controller sends brake signal, sends instructions to entire car controller by brake monitor, is automatically controlled by entire car controller
Vehicle stops；If barrier movement, calculating make the distance between vehicle and barrier reach described first safely away from
From, the speed reduced needed for the vehicle, and the speed of the required reduction is sent to brake monitor, by brake monitor
Entire car controller is sent instructions to, vehicle deceleration is automatically controlled by entire car controller.
10. electric vehicle according to claim 7, which is characterized in that further include warning device, arbitration plate, electric machine,
Dynamical system and braking system, the warning device and the arbitration plate are connect with the driving assistance system signal, described
Arbitration plate is connect respectively with the electric machine, control dynamical system and Braking System signal；
The driving assistance system is additionally operable to：Under the artificial control for brake pattern of vehicle, barrier and the institute of vehicle front are judged
State whether the distance between vehicle is less than preset first safe distance；If the distance not less than described first safety away from
From, then control vehicle keep current state traveling；If the distance is less than first safe distance, warning device is controlled
The first alarm signal is sent out, first alarm signal is used to that driver to be prompted to reduce speed；And sending out the first alarm letter
After number, judge whether to receive the signal for stepping on brake pedal；If receiving the signal for stepping on brake pedal, stepped on according to
The signal generation deceleration instruction of dynamic brake pedal, and pass through braking system and perform the deceleration instruction；If the system stepped on is not received
It is default then to judge whether the distance between the barrier of the vehicle front obtained in real time and described vehicle are less than for the signal of dynamic pedal
The second safe distance；If the distance is less than second safe distance, warning device is controlled to send out the second alarm letter
Number, second alarm signal is used to prompt driver's emergency deceleration；After the second alarm signal is sent out, if preset
The signal for stepping on brake pedal is not received in time, then it is automatic to start arbitration plate control electric machine, dynamical system and braking system
System coordination performs emergency deceleration to start entire car controller.
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|---|---|---|---|
| CN201810123336.5A CN108189709B (en) | 2018-02-07 | 2018-02-07 | Control method of electric automobile brake system and electric automobile |
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| CN109318877A (en) * | 2018-09-11 | 2019-02-12 | 南京金龙新能源汽车研究院有限公司 | A kind of working method for the security system carrying out active brake using regenerative braking |
| CN110081898A (en) * | 2019-05-28 | 2019-08-02 | 江苏盛海智能科技有限公司 | A kind of the remote-control data processing method and system of automatic driving vehicle |
| CN110562220A (en) * | 2019-08-26 | 2019-12-13 | 中国第一汽车股份有限公司 | control method of automatic parking maintaining system |
| CN111768569A (en) * | 2020-07-08 | 2020-10-13 | 中国建设银行股份有限公司 | Business handling mode switching method and system |
| CN113147775A (en) * | 2021-05-11 | 2021-07-23 | 浙江合众新能源汽车有限公司 | Exhibition vehicle mode control system of electric vehicle |
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| CN114954385A (en) * | 2022-06-02 | 2022-08-30 | 清智汽车科技(苏州)有限公司 | Auxiliary braking control method and device |
| CN115214565A (en) * | 2021-04-21 | 2022-10-21 | 上海汽车集团股份有限公司 | Method and device for switching brake pedal feeling |
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| CN113401128B (en) * | 2021-08-06 | 2022-09-13 | 清华大学 | Vehicle driving mode switching method based on vehicle cloud communication |
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Effective date of registration: 20210924 Address after: 518052 floor 5, building 8, Zhiheng Industrial Park, Nantou Guankou Second Road, Nanshan District, Shenzhen, Guangdong Province (Guangdong, Shenzhen, Nanshan District) Patentee after: SHENZHEN COOKOO TECHNOLOGY Co.,Ltd. Patentee after: Cuckoo Tongchuang Technology (Tianjin) Co.,Ltd. Address before: 518052 5th floor, building 8, Zhiheng Industrial Park, nantouguankou 2nd Road, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN COOKOO TECHNOLOGY Co.,Ltd. |