CN108189709B - Control method of electric automobile brake system and electric automobile - Google Patents
Control method of electric automobile brake system and electric automobile Download PDFInfo
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- CN108189709B CN108189709B CN201810123336.5A CN201810123336A CN108189709B CN 108189709 B CN108189709 B CN 108189709B CN 201810123336 A CN201810123336 A CN 201810123336A CN 108189709 B CN108189709 B CN 108189709B
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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
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- 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
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- 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
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- 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 invention relates to the field of intelligent driving of electric automobiles, in particular to a control method of a brake system of an electric automobile, which comprises the following steps: judging whether a signal for closing automatic brake control or a signal for stepping a brake pedal is received or not in a vehicle automatic brake control mode; if not, keeping the vehicle running in the automatic braking control mode; if so, switching the automatic braking control mode of the vehicle into a manual braking control mode; under the manual braking control mode, calculating the time length of a signal for starting automatic braking control or a signal for stepping a brake pedal which is not received; comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value; and if so, switching the manual brake control mode of the vehicle to the automatic brake control mode. In the running process of the vehicle, the vehicle can be reminded or controlled to avoid according to the distance between the vehicle and the obstacle of the front vehicle, the free switching between automatic braking and manual braking is realized, and the running safety is ensured.
Description
Technical Field
The invention relates to the field of intelligent driving of electric automobiles, in particular to a control method of a brake system of an electric automobile and the electric automobile.
Background
In recent years, rapid development of the field of new energy automobiles and the field of intelligent driving assistance is promoted due to environmental deterioration, traffic jam and frequent accidents, unmanned driving is more fierce, an adaptive cruise system is used as one of intelligent driving assistance technologies and is developed on the technical basis of constant-speed cruising, the purpose is to improve the active safety performance, at present, many road traffic conditions in China are complex, many drivers are not in good position for recognizing road traffic signs, particularly for novice, the speed cannot be controlled frequently, the speed is fast and slow when the speed occurs, the speed cannot be adjusted timely at crisis, emergency braking is required to be performed in the driving process, the drivers are easy to step on an accelerator pedal as a brake pedal under the condition of confusion, the occurrence of traffic accidents is caused, and the number of people dying of the traffic accidents every year is over 10 ten thousand according to incomplete statistics, traffic accidents endanger the life and property safety of traffic participants and also cause a series of social problems, so that the traffic accidents are widely regarded by the insurance association, automobile manufacturers and scientific research institutions.
The governments and consumers in various countries deeply recognize the importance of reducing accident frequency and accident injury, and an Advanced Driving Assistance System (ADAS) is taken as a leading-edge active safety technology, so that the occurrence frequency of most accident types can be effectively reduced, but at present, many assistance systems can only remind drivers of too fast vehicle speed through vehicle-mounted navigation, but accidents often occur when the drivers do not decelerate or can not actively make emergency braking measures, so that a braking assistance system capable of combining manual operation and automatic operation is urgently needed in the aspect of intelligent driving.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a control method of a brake system of an electric automobile and the electric automobile, which can realize the switching between automatic deceleration and manual deceleration of the automobile, reduce the risk of a driver stepping on a wrong brake pedal, greatly improve the safety of the driving process and effectively avoid traffic accidents.
The invention provides a control method of an electric automobile brake system, which comprises the following steps:
judging whether a signal for closing automatic brake control or a signal for stepping a brake pedal is received or not in a vehicle automatic brake control mode;
if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode;
if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode;
under the manual braking control mode, calculating the time length of a signal for starting automatic braking control or a signal for stepping a brake pedal which is not received;
comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value;
and if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into the automatic brake control mode.
Preferably, the method further comprises:
acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in an automatic braking control mode of the vehicle;
judging whether the distance is smaller than a preset first safety distance or not;
if the distance is less than the first safety distance, controlling the vehicle to run by executing automatic braking to stop the vehicle or to enable the distance between the vehicle and the front obstacle to be not less than the first safety distance;
and if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state.
Preferably, the controlling the vehicle to travel by performing the automatic braking includes:
judging whether the barrier moves or not;
if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit;
and if the obstacle moves, calculating the speed required to be reduced by the vehicle to enable the distance between the vehicle and the obstacle to reach the first safe distance, sending the speed required to be reduced to the brake controller, sending an instruction to the vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
Further, the method further comprises:
acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in a vehicle manual braking control mode;
judging whether the distance is smaller than a preset first safety distance or not;
if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state;
and if the distance is less than the first safety distance, sending a first warning signal, wherein the first warning signal is used for prompting a driver to reduce the speed of the vehicle.
Further, if the distance is less than the first safe distance, a first warning signal is sent out, and after the first warning signal is used for prompting the driver to reduce the vehicle speed, the method further comprises the following steps:
after sending out the first warning signal, judging whether a signal for stepping on a brake pedal is received;
if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system;
if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not;
if the distance is smaller than the second safety distance, sending a second warning signal, wherein the second warning signal is used for prompting a driver to decelerate emergently;
after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, control the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration. Preferably, the acquiring, in real time, a distance between an obstacle in front of the vehicle and the vehicle includes:
detecting whether an obstacle exists in front of the vehicle;
if an obstacle exists in front of the vehicle, the distance between the obstacle and the vehicle is detected and an image of the obstacle is acquired.
In addition, the invention also provides an electric automobile which comprises a first signal acquisition device, a second signal acquisition device, a brake controller, a driving auxiliary system and a whole automobile controller, wherein the first signal acquisition device and the second signal acquisition device are in signal connection with the driving auxiliary system, and the brake controller is respectively connected with the driving auxiliary system and the whole automobile controller;
the first signal acquisition device is used for acquiring a signal for starting automatic braking control, a signal for closing automatic braking control and a signal for stepping on a brake pedal and sending the acquired signals to the driving auxiliary system;
the driving auxiliary system is used for judging whether a signal for closing automatic braking control or a signal for treading a brake pedal sent by the first signal acquisition device is received or not in a vehicle automatic braking control mode; if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode; if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode; under the manual braking control mode, calculating the time length of the signal which is sent by the first signal acquisition device and used for starting the automatic braking control or the signal for stepping on the brake pedal; comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value; and if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into the automatic brake control mode.
Preferably, the second signal acquisition device is configured to detect a distance between an obstacle in front of the vehicle and the vehicle in real time, and send the distance detected in real time to the driving assistance system;
the driving assistance system is also used for judging whether the distance is smaller than a preset first safety distance; if the distance is less than the first safety distance, controlling the vehicle to run by executing automatic braking to stop the vehicle or to enable the distance between the vehicle and the front obstacle to be not less than the first safety distance; and if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state.
Further, the driving assistance system is also configured to: judging whether the barrier moves or not; if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit; and if the obstacle moves, calculating the speed required to be reduced by the vehicle to enable the distance between the vehicle and the obstacle to reach the first safe distance, sending the speed required to be reduced to the brake controller, sending an instruction to the vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
Furthermore, the electric automobile also comprises an alarm device, an arbitration plate, a motor device, a power system and a brake system, wherein the alarm device and the arbitration plate are in signal connection with the driving auxiliary system, and the arbitration plate is in signal connection with the motor device, the control power system and the brake system respectively;
the driving assistance system is further configured to: judging whether the distance between an obstacle in front of a vehicle and the vehicle is smaller than a preset first safety distance or not in a vehicle manual braking control mode; if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state; if the distance is smaller than the first safety distance, controlling an alarm device to send out a first alarm signal, wherein the first alarm signal is used for prompting a driver to reduce the speed of the vehicle; after the first warning signal is sent out, whether a signal for stepping on a brake pedal is received or not is judged; if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system; if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not; if the distance is smaller than the second safety distance, controlling an alarm device to send out a second alarm signal, wherein the second alarm signal is used for prompting a driver to decelerate emergently; after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration.
Due to the technical scheme, the invention has the following beneficial effects:
(1) in the running process of the vehicle, the running mode of the vehicle is automatically switched according to the manual operation condition, so that the free switching between automatic braking and manual braking is realized. Namely: under the automatic braking mode, when detecting that a user closes the automatic braking control or steps on a brake pedal, judging that the user hopes that the vehicle enters a manual control mode, and switching the automatic braking control mode of the vehicle into the manual braking control mode; in the manual braking control mode, when the fact that the time length that a user does not start automatic braking control or does not step on a brake pedal exceeds a time threshold value is detected, the fact that the user hopes that the vehicle enters the automatic control mode is judged, and the manual braking control mode of the vehicle is switched into the automatic braking mode.
(2) The method comprises the steps of detecting the distance between a vehicle and a front obstacle during the running process of the vehicle, and adopting different coping strategies to ensure the running safety of the vehicle under the condition of safe distance or unsafe distance. The method has the advantages that various signals in the method do not conflict with each other, the vehicle is not damaged, the active control of a brake system by a driver is not influenced, and the operation is simple and convenient. Under the automatic braking control mode, the vehicle controller can be controlled directly to reduce the speed or brake the vehicle according to the danger distance by actively avoiding the artificial control, so that the function of actively braking and avoiding danger is realized, and the safety performance of the vehicle is improved. The method is suitable for highway driving and urban road driving, and can ensure that the driving is safer and more convenient and effectively reduce the traffic accident.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flowchart of a control method for a braking system of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an obstacle avoidance method in an automatic braking control mode of a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of an obstacle avoidance method in a vehicle manual braking control mode according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating the implementation of automatic braking control provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Examples
The present embodiment provides a control method for a brake system of an electric vehicle, and fig. 1 is a flowchart of the control method for the brake system of the electric vehicle according to the embodiment of the present invention. Referring to fig. 1, the method includes:
s101: judging whether a signal for closing automatic brake control or a signal for stepping a brake pedal is received or not in a vehicle automatic brake control mode;
s102: if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode;
s103: if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode;
s104: under the manual braking control mode, calculating the time length of a signal for starting automatic braking control or a signal for stepping a brake pedal which is not received;
s105: comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value;
s106: and if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into the automatic brake control mode.
Further, there may be obstacles such as other vehicles, animals, and articles in front of the vehicle during the driving process of the vehicle, and it is necessary to avoid the obstacles or keep a safe distance from the obstacles during the driving process to ensure the safety of the vehicle itself. The method for avoiding the obstacle in the vehicle running process mainly comprises an obstacle avoiding method in an automatic braking control mode of the vehicle and an obstacle avoiding method in a manual braking control mode.
Fig. 2 is a schematic flow chart of an obstacle avoidance method in an automatic braking control mode of a vehicle according to an embodiment of the present invention. Referring to fig. 2, the obstacle avoidance method in the automatic braking control mode of the vehicle includes:
s201: acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in an automatic braking control mode of the vehicle;
the acquiring a distance between an obstacle in front of a vehicle and the vehicle includes: detecting whether an obstacle exists in front of the vehicle; if an obstacle exists in front of the vehicle, the distance between the obstacle and the vehicle is detected and an image of the obstacle is acquired.
S202: judging whether the distance is smaller than a preset first safety distance or not;
s203: if the distance is less than the first safety distance, controlling the vehicle to run by executing automatic braking to stop the vehicle or to enable the distance between the vehicle and the front obstacle to be not less than the first safety distance;
s204: and if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state.
Specifically, the control of the vehicle running by executing the automatic braking in S203 includes:
s2031: judging whether the barrier moves or not;
s2032: if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit;
s2033: and if the obstacle moves, calculating the speed required to be reduced by the vehicle when the distance between the vehicle and the obstacle reaches the first safety distance, sending the speed required to be reduced to a brake controller, sending an instruction to a vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
Fig. 3 is a schematic flow chart of an obstacle avoidance method in a vehicle manual braking control mode according to an embodiment of the present invention, please refer to fig. 3, where the obstacle avoidance method in the vehicle manual braking control mode includes:
s301: acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in a vehicle manual braking control mode;
the acquiring a distance between an obstacle in front of a vehicle and the vehicle includes: detecting whether an obstacle exists in front of the vehicle; if an obstacle exists in front of the vehicle, the distance between the obstacle and the vehicle is detected and an image of the obstacle is acquired.
S302: judging whether the distance is smaller than a preset first safety distance or not;
s303: if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state;
s304: and if the distance is less than the first safety distance, sending a first warning signal, wherein the first warning signal is used for prompting a driver to reduce the speed of the vehicle.
Further, after the step S304, the method further includes:
s305: after sending out the first warning signal, judging whether a signal for stepping on a brake pedal is received;
s306: if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system;
s307: if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not;
s308: if the distance is smaller than the second safety distance, sending a second warning signal, wherein the second warning signal is used for prompting a driver to decelerate emergently;
s309: after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, control the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration.
In the running process of the vehicle, the running mode of the vehicle is automatically switched according to the manual operation condition, so that the free switching between automatic braking and manual braking is realized. Namely: under the automatic braking mode, when detecting that a user closes the automatic braking control or steps on a brake pedal, judging that the user hopes that the vehicle enters a manual control mode, and switching the automatic braking control mode of the vehicle into the manual braking control mode; in the manual braking control mode, when the fact that the time length that a user does not start automatic braking control or does not step on a brake pedal exceeds a time threshold value is detected, the fact that the user hopes that the vehicle enters the automatic control mode is judged, and the manual braking control mode of the vehicle is switched into the automatic braking mode.
The method comprises the steps of detecting the distance between a vehicle and a front obstacle during the running process of the vehicle, and adopting different coping strategies to ensure the running safety of the vehicle under the condition of safe distance or unsafe distance. The method has the advantages that various signals in the method do not conflict with each other, the vehicle is not damaged, the active control of a brake system by a driver is not influenced, and the operation is simple and convenient. Under the automatic braking control mode, the vehicle controller can be controlled directly to reduce the speed or brake the vehicle according to the danger distance by actively avoiding the artificial control, so that the function of actively braking and avoiding danger is realized, and the safety performance of the vehicle is improved. The method is suitable for highway driving and urban road driving, and can ensure that the driving is safer and more convenient and effectively reduce the traffic accident.
Examples
The present embodiment provides an electric vehicle for performing the method in the above embodiments. The electric automobile comprises a first signal acquisition device, a second signal acquisition device, a brake controller, a driving auxiliary system and a vehicle control unit, wherein the first signal acquisition device and the second signal acquisition device are in signal connection with the driving auxiliary system, and the brake controller is respectively connected with the driving auxiliary system and the vehicle control unit. The first signal acquisition device comprises a first pressure sensor and a second pressure sensor which are arranged in a vehicle body, the first pressure sensor is connected with a brake pedal and used for detecting a pressure signal of the brake pedal which is stepped on, and the second pressure sensor is connected with the driving mode switching button and used for detecting a signal of the driving mode switching button which is pressed. The second signal acquisition device comprises a distance sensor, a front radar and a front camera which are arranged at the front part of the vehicle, wherein the front radar scans whether an obstacle exists in the front of the vehicle in real time, and once the obstacle exists in the front of the vehicle, the distance sensor is started to detect the distance between the vehicle and the obstacle in the front, the image of the obstacle is shot through the front camera, and the information acquired by the front radar, the distance sensor and the front camera is sent to the driving auxiliary system.
Specifically, the first signal acquisition device is configured to: and collecting a signal for starting the automatic braking control, a signal for closing the automatic braking control and a signal for stepping on a brake pedal, and sending the collected signals to a driving auxiliary system.
The driving assistance system is configured to: under the automatic braking control mode of the vehicle, judging whether a signal for closing the automatic braking control or a signal for stepping on a brake pedal sent by the first signal acquisition device is received or not; if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode; if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode; under the manual braking control mode, calculating the time length of the signal which is sent by the first signal acquisition device and used for starting the automatic braking control or the signal for stepping on the brake pedal; comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value; and if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into the automatic brake control mode.
The second signal acquisition device is used for: the method comprises the steps of detecting the distance between an obstacle in front of a vehicle and the vehicle in real time, and sending the distance detected in real time to a driving assistance system.
The driving assistance system is further configured to: judging whether the distance is smaller than a preset first safety distance or not; if the distance is less than the first safety distance, controlling the vehicle to run by executing automatic braking to stop the vehicle or to enable the distance between the vehicle and the front obstacle to be not less than the first safety distance; and if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state.
Further, the driving assistance system is also configured to: judging whether the barrier moves or not; if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit; and if the obstacle moves, calculating the speed required to be reduced by the vehicle to enable the distance between the vehicle and the obstacle to reach the first safe distance, sending the speed required to be reduced to the brake controller, sending an instruction to the vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
As a preferred embodiment, the electric vehicle further includes an alarm device, an arbitration board, a motor device, a power system, and a brake system, wherein the alarm device and the arbitration board are both in signal connection with the driving assistance system, and the arbitration board is in signal connection with the motor device, the control power system, and the brake system, respectively. The alarm device can comprise a vehicle-mounted navigation display screen and an alarm buzzer.
Further, the driving assistance system is also configured to: judging whether the distance between an obstacle in front of a vehicle and the vehicle is smaller than a preset first safety distance or not in a vehicle manual braking control mode; if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state; if the distance is smaller than the first safety distance, controlling an alarm device to send out a first alarm signal, wherein the first alarm signal is used for prompting a driver to reduce the speed of the vehicle; after the first warning signal is sent out, whether a signal for stepping on a brake pedal is received or not is judged; if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system; if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not; if the distance is smaller than the second safety distance, controlling an alarm device to send out a second alarm signal, wherein the second alarm signal is used for prompting a driver to decelerate emergently; after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration.
The embodiment has the following beneficial effects:
(1) in the running process of the vehicle, the running mode of the vehicle is automatically switched according to the manual operation condition, so that the free switching between automatic braking and manual braking is realized. Namely: under the automatic braking mode, when detecting that a user closes the automatic braking control or steps on a brake pedal, judging that the user hopes that the vehicle enters a manual control mode, and switching the automatic braking control mode of the vehicle into the manual braking control mode; in the manual braking control mode, when the fact that the time length that a user does not start automatic braking control or does not step on a brake pedal exceeds a time threshold value is detected, the fact that the user hopes that the vehicle enters the automatic control mode is judged, and the manual braking control mode of the vehicle is switched into the automatic braking mode.
(2) The method comprises the steps of detecting the distance between a vehicle and a front obstacle during the running process of the vehicle, and adopting different coping strategies to ensure the running safety of the vehicle under the condition of safe distance or unsafe distance. The method has the advantages that various signals in the method do not conflict with each other, the vehicle is not damaged, the active control of a brake system by a driver is not influenced, and the operation is simple and convenient. Under the automatic braking control mode, the vehicle controller can be controlled directly to reduce the speed or brake the vehicle according to the danger distance by actively avoiding the artificial control, so that the function of actively braking and avoiding danger is realized, and the safety performance of the vehicle is improved. The method is suitable for highway driving and urban road driving, and can ensure that the driving is safer and more convenient and effectively reduce the traffic accident.
Examples
The embodiment provides a control method of an electric automobile brake system, as shown in fig. 4-5, the method includes:
step 0001: during the running process of the vehicle in the automatic braking control mode, the distance between the vehicle and an obstacle is measured through sensing equipment such as a front radar, a front camera and a vehicle distance sensor which are arranged on the front portion of the vehicle, and the measured data is input to an ADAS system. The obstacle may be a vehicle ahead, or may be a pedestrian, animal, or other movable or immovable obstacle.
Step 0002: the ADAS system receives the data, processes and analyzes the data, compares the measured distance with a safety distance preset in the ADAS system, and judges whether the measured distance is smaller than the safety distance.
Step 0003: the ADAS automatically executes the braking system if the measured distance is less than the safe distance.
Step 0004: and if the measured distance is not less than the safe distance, keeping the current driving state.
Step 0005: the ADAS system judges whether the automatic brake control closing signal or the brake pedal stepping signal is received or not to switch the manual control brake mode or the automatic control brake mode.
Step 0006: if the ADAS system receives the signal of closing the automatic brake control or stepping on the brake pedal, the automatic control brake mode is ended, and the automatic control brake mode is converted into the manual control brake mode.
Further, in the step 0005, if the ADAS system does not receive the signal of turning off the automatic brake control or the signal of pressing the brake pedal, the method returns to step 0004, i.e., the automatic control brake mode continues.
Step 0008: and if the ADAS system receives a signal of stepping on the brake pedal or detects a signal of starting the automatic braking function, the manual control braking mode is continued.
Further, in step 0007, if the ADAS system does not receive a signal for stepping on the brake pedal, and does not detect a signal for starting the automatic braking function, step 0004 is executed, that is, the manual control braking mode is switched to the automatic control braking mode.
In step 0002, the safety distance between the front obstacle and the vehicle is determined by continuously scanning the front road with the vehicle distance sensor and the front radar in front of the vehicle and acquiring the state information in front of the vehicle with the front camera. And obtaining the distance between the obstacle and the obstacle, and comparing, analyzing and judging the distance with the preset safety distance in the ADAS system to obtain a conclusion.
In step 0002, the distance sensor, the front radar and the front camera transmit data to the ADAS system in real time during the running of the vehicle, and the ADAS system judges the data and sends out a next operation instruction.
Further, when the vehicle distance sensor, the front radar and the front camera detect and send data to the ADAS system, the ADAS system firstly analyzes and processes the distance data, if the detected distance data is not smaller than the preset safe distance in the ADAS system, the braking control in the safe distance driving mode is started, the ADAS system sends an instruction of continuing driving along the current speed, and meanwhile, the vehicle distance sensor, the front radar and the front camera can be controlled manually or automatically to decelerate or stop at the right time. When the ADAS system detects that the signal of stepping on the brake pedal is not received for a long time or detects that the signal of starting the automatic braking function is detected, the manual control braking mode is converted into the automatic control braking mode.
For example: assuming that the preset duration threshold value of the ADAS system when the ADAS system does not receive the signal of stepping on the brake pedal is 30S, when the automatic braking function is started, the ADAS system automatically switches the manual control braking mode into the automatic control braking mode.
In step 0003, when the distance data detected by the sensing device is less than the preset safe distance in the ADAS system, the braking control is performed in the unsafe distance driving mode, then the ADAS data analysis module is used to compare the detected distance with the alarm distance and the safe distance, when the distance is less than the alarm distance, the alarm prompt is performed, and simultaneously the signal is transmitted to the vehicle navigation display screen or the alarm buzzer prompts the driver to manually control the braking system to decelerate, if the driver manually controls the braking system to decelerate, the automatic braking mode is exited to enter the manual control mode, if the driver does not count up, when the distance is gradually shortened and is less than the safe distance, if the driver still does not detect to step on the brake pedal, the ADAS system directly sends out the braking signal, and the signal is transmitted to the power system and the braking system through the CAN arbitration board to control the motor device, the braking system is controlled to coordinate with the braking system, meanwhile, the braking system sends a deceleration command to the vehicle control unit, and the vehicle control unit executes the braking command to enable the vehicle to brake emergently and keep a safe distance with the front obstacle all the time.
For example: when the speed of a preset vehicle in the ADAS system is not less than 100km/h, the safety distance to the front vehicle is 100m, and the alarm distance is 50 m. When the ADAS system detects that the distance between the vehicle and the obstacle in front is greater than 100m, the ADAS system sends a command to continue traveling at the current speed. When the distance between the vehicle and the front obstacle detected by the ADAS is smaller than 100m, the ADAS system can continuously prompt a driver to perform manual braking deceleration through a vehicle-mounted navigation display screen or an alarm buzzer to ensure the safety distance, and when a signal of closing the ADAS or a signal of stepping on a brake pedal is received, the automatic brake system stops working; if the driver does not do any treatment, the distance between the vehicle and the front vehicle is continuously shortened, and in the process, when the ADAS system detects that the distance between the vehicle and the front vehicle is less than 50m, the ADAS system CAN automatically start the CAN arbitration board to control the motor device to control the power system and the braking system to coordinate to start the whole vehicle controller to execute a braking instruction so as to ensure the safe distance.
And in the safe distance running mode or the non-safe distance running mode, closing the automatic braking function in the ADAS system or stepping on a brake pedal to enable the ADAS system to receive a control signal, and then the ADAS system exits the automatic control braking mode. That is, when the ADAS system does not receive a signal for stepping on the brake pedal for a long time or does not detect the start of the automatic braking function, the manual control braking mode is changed to the automatic control braking mode.
In the steps, the automatic driving mode is based on an ADAS system (advanced driving assistance system or advanced driving assistance system), and the ADAS system is used as an active safety assistance system for providing assistance and supplement for a driver in a complex vehicle control process, so that the driving safety and the comfort are greatly improved, and the occurrence of automobile accidents is effectively prevented. The arbitration board is connected with the ADAS system and used for receiving or sending instructions to control automatic driving or manual driving, and the arbitration board is also used for inputting and outputting CAN signals and judging and arbitrating the CAN signals. The CAN signals of the arbitration plate are divided into two groups, one group is connected with the automobile body of the electric automobile, the other group is connected with the ADAS system, the input CAN signals are signals coming from the automobile body or signals of the ADAS, and the single chip microcomputer judges and arbitrates the input CAN signals and outputs the signals to the automobile body to be executed.
When the automatic braking mode is quitted, the corresponding button of the automatic braking mode can be closed, and the automatic control state can be quitted; the state of the automatic control brake system can be released when the brake pedal is rotated by manually stepping on the brake pedal. After exiting this function, the control is switched to manual brake control, in which case the pedal is operated by the driver instead.
The beneficial effects of the specific embodiment of the invention are specifically embodied in that: in the intelligent driving process, free switching between automatic braking and manual braking can be realized in a safe distance driving mode or a non-safe distance driving mode, signals cannot conflict with each other, the vehicle is not damaged at all, the driver can not be influenced by actively controlling a braking system, and the operation is simple and convenient. Meanwhile, in the non-safe distance driving mode, the ADAS actively avoids the artificial control according to the dangerous distance to directly control the whole vehicle controller, so that the vehicle is decelerated or braked, and the function of actively braking and avoiding danger is realized. The method is suitable for highway driving and urban road driving, and can ensure that the driving is safer and more convenient and effectively reduce the traffic accident.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A method of controlling a brake system of an electric vehicle, the method comprising:
judging whether a signal for closing automatic brake control or a signal for stepping a brake pedal is received or not in a vehicle automatic brake control mode;
if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode;
if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode;
under the manual braking control mode, calculating the time length of a signal for starting automatic braking control or a signal for stepping a brake pedal which is not received;
comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value;
if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into an automatic brake control mode;
acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in an automatic braking control mode of the vehicle; judging whether the distance is smaller than a preset first safety distance or not;
if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state;
if the distance is smaller than the first safety distance, judging whether the barrier moves;
if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit;
and if the obstacle moves, calculating the speed required to be reduced by the vehicle to enable the distance between the vehicle and the obstacle to reach the first safe distance, sending the speed required to be reduced to the brake controller, sending an instruction to the vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
2. The method of claim 1, further comprising:
acquiring the distance between an obstacle in front of a vehicle and the vehicle in real time in a vehicle manual braking control mode;
judging whether the distance is smaller than a preset first safety distance or not;
if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state;
and if the distance is less than the first safety distance, sending a first warning signal, wherein the first warning signal is used for prompting a driver to reduce the speed of the vehicle.
3. The method of claim 1, wherein said issuing a first warning signal if said distance is less than said first safe distance, said first warning signal being used after prompting the driver to reduce the vehicle speed, further comprises:
after sending out the first warning signal, judging whether a signal for stepping on a brake pedal is received;
if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system;
if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not;
if the distance is smaller than the second safety distance, sending a second warning signal, wherein the second warning signal is used for prompting a driver to decelerate emergently;
after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, control the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration.
4. The method of claim 1, wherein the obtaining in real time a distance between an obstacle in front of a vehicle and the vehicle comprises:
detecting whether an obstacle exists in front of the vehicle;
if an obstacle exists in front of the vehicle, the distance between the obstacle and the vehicle is detected and an image of the obstacle is acquired.
5. An electric automobile is characterized by comprising a first signal acquisition device, a second signal acquisition device, a brake controller, a driving auxiliary system and a vehicle control unit, wherein the first signal acquisition device and the second signal acquisition device are in signal connection with the driving auxiliary system, and the brake controller is respectively connected with the driving auxiliary system and the vehicle control unit;
the first signal acquisition device is used for acquiring a signal for starting automatic braking control, a signal for closing automatic braking control and a signal for stepping on a brake pedal and sending the acquired signals to the driving auxiliary system;
the driving auxiliary system is used for judging whether a signal for closing automatic braking control or a signal for treading a brake pedal sent by the first signal acquisition device is received or not in a vehicle automatic braking control mode; if the signal for closing the automatic braking control or the signal for stepping on the brake pedal is not received, keeping the vehicle running in the automatic braking control mode; if a signal for closing the automatic braking control or a signal for stepping on a brake pedal is received, switching the automatic braking control mode of the vehicle into a manual braking control mode; under the manual braking control mode, calculating the time length of the signal which is sent by the first signal acquisition device and used for starting the automatic braking control or the signal for stepping on the brake pedal; comparing the duration with a preset time threshold value, and judging whether the duration is greater than the time threshold value; if the duration is greater than the time threshold, switching the manual brake control mode of the vehicle into an automatic brake control mode;
the second signal acquisition device is used for detecting the distance between an obstacle in front of the vehicle and the vehicle in real time and sending the distance detected in real time to the driving assistance system;
the driving assistance system is used for judging whether the distance is smaller than a preset first safety distance or not; if the distance is less than the first safety distance, controlling the vehicle to run by executing automatic braking to stop the vehicle or to enable the distance between the vehicle and the front obstacle to be not less than the first safety distance; if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state;
the driving assistance system is used for judging whether the barrier moves or not; if the obstacle does not move, sending a braking signal to a braking controller, sending an instruction to the vehicle control unit by the braking controller, and automatically controlling the vehicle to stop through the vehicle control unit; and if the obstacle moves, calculating the speed required to be reduced by the vehicle to enable the distance between the vehicle and the obstacle to reach the first safe distance, sending the speed required to be reduced to the brake controller, sending an instruction to the vehicle control unit by the brake controller, and automatically controlling the vehicle to decelerate through the vehicle control unit.
6. The electric vehicle of claim 5, further comprising an alarm device, an arbitration board, a motor device, a power system, and a braking system, wherein the alarm device and the arbitration board are each in signal communication with the drive assist system, and wherein the arbitration board is in signal communication with the motor device, the control power system, and the braking system, respectively;
the driving assistance system is further configured to: judging whether the distance between an obstacle in front of a vehicle and the vehicle is smaller than a preset first safety distance or not in a vehicle manual braking control mode; if the distance is not less than the first safe distance, controlling the vehicle to keep running in the current state; if the distance is smaller than the first safety distance, controlling an alarm device to send out a first alarm signal, wherein the first alarm signal is used for prompting a driver to reduce the speed of the vehicle; after the first warning signal is sent out, whether a signal for stepping on a brake pedal is received or not is judged; if a signal for stepping a brake pedal is received, generating a deceleration instruction according to the signal for stepping the brake pedal, and executing the deceleration instruction through a braking system; if the signal of stepping on the brake pedal is not received, judging whether the distance between an obstacle in front of the vehicle and the vehicle acquired in real time is smaller than a preset second safety distance or not; if the distance is smaller than the second safety distance, controlling an alarm device to send out a second alarm signal, wherein the second alarm signal is used for prompting a driver to decelerate emergently; after the second warning signal is sent out, if the signal of stepping on the brake pedal is not received within the preset time, the arbitration plate is automatically started to control the motor device, the power system and the brake system to coordinate to start the vehicle controller to execute emergency deceleration.
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| CN109131277A (en) * | 2018-07-13 | 2019-01-04 | 金龙联合汽车工业（苏州）有限公司 | A kind of man-machine harmony control system of automatic emergency brake system |
| 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 |
| CN110562220B (en) * | 2019-08-26 | 2020-12-04 | 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 |
| CN115214565B (en) * | 2021-04-21 | 2024-03-15 | 上海汽车集团股份有限公司 | Method and device for switching brake pedal feel |
| 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 |
| CN113401128B (en) * | 2021-08-06 | 2022-09-13 | 清华大学 | Vehicle driving mode switching method based on vehicle cloud communication |
| 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 |
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| JP3532053B2 (en) * | 1996-12-18 | 2004-05-31 | 株式会社ボッシュオートモーティブシステム | Automatic control brake system |
| JP3595249B2 (en) * | 2000-08-25 | 2004-12-02 | トヨタ自動車株式会社 | Vehicle parking brake device |
| CN2552769Y (en) * | 2002-06-28 | 2003-05-28 | 李锦成 | Laser anticollision alarm brake for vehicle |
| CN101823435B (en) * | 2009-03-03 | 2012-12-12 | 珠海市智汽电子科技有限公司 | Vehicular automatic driving system convenient for external installation and manual/automatic switching |
| CN102627100B (en) * | 2012-04-16 | 2014-11-05 | 湖南大学 | Vehicle double-brake system based on electro-hydraulic control technology and brake method thereof |
| CN103661191A (en) * | 2012-09-18 | 2014-03-26 | 比亚迪股份有限公司 | Automotive safety control system |
| CN105083266B (en) * | 2015-08-19 | 2018-07-27 | 郑州宇通客车股份有限公司 | A kind of automobile autocontrol method and automobile is man-machine double drives system |
| JP6589668B2 (en) * | 2016-02-03 | 2019-10-16 | トヨタ自動車株式会社 | Vehicle control device |
| CN106926835A (en) * | 2017-03-28 | 2017-07-07 | 奇瑞汽车股份有限公司 | A kind of intelligent vehicle line traffic control integrated brake system and control method |
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