CN109334652A - Braking system, method, apparatus and the storage medium of intelligent automobile - Google Patents
Braking system, method, apparatus and the storage medium of intelligent automobile Download PDFInfo
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- CN109334652A CN109334652A CN201811469529.2A CN201811469529A CN109334652A CN 109334652 A CN109334652 A CN 109334652A CN 201811469529 A CN201811469529 A CN 201811469529A CN 109334652 A CN109334652 A CN 109334652A
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- intelligent automobile
- braking
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- vehicle
- parking assist
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 12
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- 238000004590 computer program Methods 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 2
- 230000006870 function Effects 0.000 description 9
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- 238000005516 engineering process Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
Abstract
The invention discloses a kind of braking system of intelligent automobile, method, apparatus and storage mediums, belong to intelligent automobile technical field.The system comprises electronic brake EPB systems and parking assist braking system；The EPB system and the parking assist braking system are mutually indepedent, and are able to carry out and communicate between the EPB system and the parking assist braking system.In the present invention, since intelligent automobile braking system can include EPB system and parking assist braking system simultaneously, and EPB system and parking assist braking system are mutually indepedent, to when the EPB system of intelligent automobile breaks down, the parking assist braking system of intelligent automobile still is able to realize the braking to intelligent automobile, to improve intelligent automobile braking safety and drive safety.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of braking system of intelligent automobile, method, apparatus and
Storage medium.
Background technique
With the development of technology, automobile is as the extensive vehicles, be people's vehicles used in everyday it
One, and with vehicle intellectualized development, the security performance of intelligent automobile also slowly receives more and more attention.In intelligent vapour
Vehicle is in the process of moving, it will usually various the case where needing parking braking occurs, intelligent automobile realization is needed effectively to stay at this time
Vehicle.
Currently, the mode of braking of intelligent automobile includes deceleration of electrons mode and traditional parking brake pull rod mode, deceleration of electrons
Mode refers to that electronic control mode realizes the technology of stopping brake.Wherein, parking shift braking function is actually in intelligent automobile
It is executed by EPB (Electrical Park Brake, electronic brake) system, once EPB system breaks down, intelligence
Automobile will be unable to realize parking function, and may cause traffic accident, jeopardize the safety of driver and passenger.
Summary of the invention
The embodiment of the invention provides a kind of braking system of intelligent automobile, method, apparatus and storage mediums, for solving
Intelligent automobile braking safety is poor in the related technology, the low problem of drive safety.The technical solution is as follows:
In a first aspect, providing a kind of braking system of intelligent automobile, which is characterized in that the system comprises electronic parkings
Brake EPB system and parking assist braking system；
The EPB system and the parking assist braking system are mutually indepedent, and the EPB system and the parking assist
Communication is able to carry out between braking system.
Optionally, the parking assist braking system includes master cylinder or motor machine booster, the first parking braking
Valve and the second braking valve for vehicle；
The first outlet of the master cylinder or motor machine booster is connect with one end of first braking valve for vehicle,
The second outlet of the master cylinder or motor machine booster is connect with one end of second braking valve for vehicle；Described first
The normally opened valve inlet of the wheel cylinder of the other end and intelligent automobile of braking valve for vehicle connects, the other end of second braking valve for vehicle
It is connect with the normally opened valve inlet.
Optionally, the parking assist braking system further include the first normally closed delivery valve, the second normally closed delivery valve, motor,
First brake pump and the second brake pump；
The first outlet of the master cylinder or motor machine booster is connect with one end of the first normally closed delivery valve,
The second outlet of the master cylinder or motor machine booster is connect with one end of the second normally closed delivery valve；
The other end of the first normally closed delivery valve is connect with the first end of first brake pump, the second normally closed confession
The other end of oil valve is connect with the first end of second brake pump；The second end of first brake pump and second braking
The second end of pump is connect with the normally opened valve inlet respectively, and the of the third end of first brake pump and second brake pump
Three ends are connect with the motor respectively.
Second aspect provides a kind of braking method of intelligent automobile, applied to intelligent vapour described in above-mentioned first aspect
In the braking system of vehicle, which is characterized in that the described method includes:
When the EPB system failure in intelligent automobile, the electronics in the parking assist braking system in intelligent automobile is detected
The operating status of stability control ESC system；
When the ESC system is inactive, the operating status of the intelligent automobile is detected；
Based on the operating status of the intelligent automobile, the parking assist braking system in the intelligent automobile is controlled to intelligence
Automobile is braked.
Optionally, the operating status based on the intelligent automobile, controls the parking assist system in the intelligent automobile
Dynamic system brakes intelligent automobile, comprising:
When the intelligent automobile remains static, the first parking braking in the parking assist braking system is controlled
Valve and the second braking valve for vehicle are in close state, so that the braking medium in intelligent automobile is maintained at the system of the intelligent automobile
In driving wheel cylinder, the braking of the intelligent automobile is realized；
When detecting that the intelligent automobile is in starting state or motion state, control first braking valve for vehicle and
Second braking valve for vehicle is shown in a fully open operation, so that the brake pressure in the wheel cylinder of the intelligent automobile is released back into institute
It states in the master cylinder or motor machine booster of parking assist braking system, and after detecting brake pressure release,
It controls first braking valve for vehicle and second braking valve for vehicle is in close state.
Optionally, the operating status of the detection intelligent automobile, comprising:
It detects one or more in speed signal, brake pedal signal, gear signal and the throttle signal of intelligent automobile；
Based on one in the speed signal, the brake pedal signal, the gear signal and the throttle signal
Or it is multinomial, determine the current operating status of intelligent automobile.
Optionally, after the operating status of the ESC system in the detection intelligent automobile, further includes:
When ESC system starting, first braking valve for vehicle and second braking valve for vehicle are controlled according to opening
The ratio of opening is opened, and controls the first normally closed delivery valve in the parking assist braking system and the second normally closed delivery valve is opened
It opens, so that the master cylinder of the parking assist braking system or the braking medium in motor machine booster are in the parking assist system
It is pumped into the wheel cylinder of the intelligent automobile under the action of the first brake pump, the second brake pump and motor in dynamic system, it is real
The braking of the existing intelligent automobile.
The third aspect provides a kind of brake apparatus of intelligent automobile, applied to any intelligence of above-mentioned first aspect
It can be in the braking system of automobile, which is characterized in that described device includes:
First detection module, for detecting the parking assist in intelligent automobile when the EPB system failure in intelligent automobile
The operating status of electronic stability control ESC system in braking system；
Second detection module, for detecting the operating status of the intelligent automobile when the ESC system is inactive；
First control module controls the auxiliary in the intelligent automobile for the operating status based on the intelligent automobile
Parking braking system brakes intelligent automobile.
Optionally, first control module is used for:
When the intelligent automobile remains static, the first parking braking in the parking assist braking system is controlled
Valve and the second braking valve for vehicle are in close state, so that the braking medium in intelligent automobile is maintained at the system of the intelligent automobile
In driving wheel cylinder, the braking of the intelligent automobile is realized；
When detecting that the intelligent automobile is in starting state or motion state, control first braking valve for vehicle and
Second braking valve for vehicle is shown in a fully open operation, so that the brake pressure in the wheel cylinder of the intelligent automobile is released back into institute
It states in the master cylinder or motor machine booster of parking assist braking system, and after detecting brake pressure release,
It controls first braking valve for vehicle and second braking valve for vehicle is in close state.
Optionally, second detection module includes:
Detection sub-module, for detecting speed signal, brake pedal signal, gear signal and the throttle signal of intelligent automobile
In it is one or more；
Submodule is determined, for being based on the speed signal, the brake pedal signal, the gear signal and the oil
It is one or more in gate signal, determine the current operating status of intelligent automobile.
Optionally, described device further include:
Second control module, for controlling first braking valve for vehicle and described second when ESC system starting
Braking valve for vehicle is opened according to unlatching ratio, and control the first normally closed delivery valve in the parking assist braking system and
Second normally closed delivery valve is opened, so that the master cylinder or the braking medium in motor machine booster of the parking assist braking system
The intelligent automobile is pumped under the action of the first brake pump, the second brake pump and motor in the parking assist braking system
Wheel cylinder in, realize the braking of the intelligent automobile.
Fourth aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned second aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
In embodiments of the present invention, since intelligent automobile braking system can include EPB system and parking assist system simultaneously
Dynamic system, and EPB system and parking assist braking system are mutually indepedent, thus when the EPB system of intelligent automobile breaks down,
The parking assist braking system of intelligent automobile still is able to realize the braking to intelligent automobile, to improve intelligent automobile braking
Safety and drive safety.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of the braking system of intelligent automobile provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the braking system of another intelligent automobile provided in an embodiment of the present invention；
Fig. 3 is a kind of braking method flow chart of intelligent automobile provided in an embodiment of the present invention；
Fig. 4 is the braking method flow chart of another intelligent automobile provided in an embodiment of the present invention；
Fig. 5 is a kind of brake device structure schematic diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of second detection module provided in an embodiment of the present invention；
Fig. 7 is the brake device structure schematic diagram of another intelligent automobile provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of intelligent automobile provided in an embodiment of the present invention；
Appended drawing reference:
1:EPB system, 2: parking assist braking system, 3: the first power-supply systems, 4: second source system, 5: normally open valve enters
Mouthful；
21: master cylinder or motor machine booster, 22: the first braking valve for vehicle, 23: the second braking valve for vehicle, 24: the
One normally closed delivery valve, 25: the second normally closed delivery valves, 26: motor, 27: the first brake pumps, 28: the second brake pumps.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene is explained.
As vehicle intellectualized development works as intelligent automobile to guarantee safety of the intelligent automobile under different road conditions
When needing to brake, it can be braked by the deceleration of electrons mode for including or traditional parking brake pull rod mode, still, intelligence at present
Parking shift braking function is actually and is executed by EPB in energy automobile, once EPB breaks down, intelligent automobile will be unable to realize
Parking function, and traffic accident may be caused, jeopardize the safety of driver and passenger.
Based on such scene, the embodiment of the invention provides a kind of braking effect and braking safeties of can be improved
The braking system of intelligent automobile.
It, next will be in conjunction with attached drawing to the embodiment of the present invention after the application scenarios to the embodiment of the present invention are introduced
The braking system and method for the intelligent automobile of offer describe in detail.
Fig. 1 is a kind of braking system of intelligent automobile provided in an embodiment of the present invention, and referring to Fig. 1, which includes EPB system
System 1 and parking assist braking system 2.
Wherein, EPB system 1 and parking assist braking system 2 are mutually indepedent, and EPB system 1 and parking assist braking system
Communication is able to carry out between 2.
In embodiments of the present invention, since intelligent automobile braking system can include EPB system and parking assist system simultaneously
Dynamic system, and EPB system and parking assist braking system are mutually indepedent, thus when the EPB system of intelligent automobile breaks down,
The parking assist braking system of intelligent automobile still is able to realize the braking to intelligent automobile, to improve intelligent automobile braking
Safety and drive safety.
It should be noted that the system can also include the first power-supply system 3 and second source system 4 referring to Fig. 1.EPB
System 1 can be connect with the first power-supply system 3, and parking assist braking system 2 can be connect with second source system 4, EPB system
It can be in communication with each other by CAN network with parking assist braking system 2.First power-supply system 3 can be used for for the confession of EPB system
Electricity, second source system 4 can be used for being powered for auxiliary parking braking system 2.
In addition, the first power-supply system 3 and second source system 4 can be respectively that (direct current straightens by two sets of batteries or DCDC
Stream) combination of two between converter or battery and DC-DC converter.
It should also be noted that, the parking assist braking system is the ESC (elctronic based on intelligent automobile
Stability control, electronic stability control) system improves to obtain.
Referring to fig. 2, which may include master cylinder 21 or motor machine booster 21, first
Braking valve for vehicle 22 and the second braking valve for vehicle 23.
Wherein, one end of the first outlet of master cylinder 21 or motor machine booster 21 and the first braking valve for vehicle 22 connects
It connects, the second outlet of master cylinder 21 or motor machine booster 21 is connect with one end of the second braking valve for vehicle 23；First stays
The normally opened valve inlet 5 of the wheel cylinder of the other end and intelligent automobile of vehicle brake valve 22 connects, the other end of the second braking valve for vehicle 23
It is connect with normally opened valve inlet 5.
It should be noted that the first braking valve for vehicle 22 and the second braking valve for vehicle 23 are a kind of unidirectional normally closed linear tune
Pressure valve.
Referring to fig. 2, which can also include the first normally closed delivery valve 24, the second normally closed delivery valve
25, motor 26, the first brake pump 27 and the second brake pump 28.
Wherein, one end of the first outlet of master cylinder 21 or motor machine booster 21 and the first normally closed delivery valve 24 connects
It connects, the second outlet of master cylinder 21 or motor machine booster 21 is connect with one end of the second normally closed delivery valve 25；First often
The other end for closing delivery valve 24 is connect with the first end of the first brake pump 27, the other end of the second normally closed delivery valve 25 and the second system
The first end connection of dynamic pump 28；The second end of first brake pump 27 and the second end of the second brake pump 28 respectively with normally opened valve inlet
The third end of 5 connections, the third end of the first brake pump 27 and the second brake pump 28 is connect with motor 26 respectively.
It should be noted that there are three types of states for the first braking valve for vehicle 22 and the second braking valve for vehicle 23 tool.The first shape
State is in off state, and when the first braking valve for vehicle 22 and the second braking valve for vehicle 23 are in close state, intelligent automobile is in
Stationary state, the braking medium in the braking system of intelligent automobile will remain in wheel cylinder, to reach parking braking
Purpose.In addition, after the pressure release of the wheel cylinder of intelligent automobile, the first braking valve for vehicle 22 and the second parking braking
Valve 23 is in close state.Second of state is full-gear, at the first braking valve for vehicle 22 and the second braking valve for vehicle 23
When full-gear, intelligent automobile is kept in motion, and the wheel cylinder of intelligent automobile will generate brake pressure at this time, and discharge
Brake pressure.The third state is according to unlatching ratio open state, when the first braking valve for vehicle 22 and the second braking valve for vehicle
23 according to open ratio open state when, illustrate ESC system be activated or the Anti-slip regulation of intelligent automobile control swashed
It is living, at this point, the first normally closed delivery valve 24 and the second normally closed delivery valve 25 are opened because being powered, motor 26, the first brake pump 27 and the
Braking medium in master cylinder 21 or motor machine booster 21 can be pumped into intelligent automobile wheel cylinder by two brake pumps 28
In.
In embodiments of the present invention, since intelligent automobile braking system can include EPB system and parking assist system simultaneously
Dynamic system, and EPB system and parking assist braking system are mutually indepedent, thus when the EPB system of intelligent automobile breaks down,
The parking assist braking system of intelligent automobile still is able to realize the braking to intelligent automobile, to improve intelligent automobile braking
Safety and drive safety.In addition, since parking assist brake system structure is simple, it is easily controllable, and cost is extremely low, exploitation
Difficulty is small, improves the use scope of braking system.
Fig. 3 is a kind of braking method flow chart of intelligent automobile provided in an embodiment of the present invention, and referring to Fig. 3, this method is answered
For including the following steps in intelligent automobile.
Step 301: when the EPB system failure in intelligent automobile, detecting the parking assist braking system in intelligent automobile
In ESC system operating status.
Step 302: when the ESC system is inactive, detecting the operating status of the intelligent automobile.
Step 303: the operating status based on the intelligent automobile controls the parking assist braking system pair in the intelligent automobile
Intelligent automobile is braked.
In embodiments of the present invention, since intelligent automobile braking system can include EPB system and parking assist system simultaneously
Dynamic system, and when the EPB system of intelligent automobile breaks down, it can detecte the fortune of ESC system in parking assist braking system
Row state, and when ESC system is inactive, according to the operating status of intelligent automobile, pass through the realization pair of parking assist braking system
The braking of intelligent automobile, to improve intelligent automobile braking safety and drive safety.
Optionally, based on the operating status of the intelligent automobile, the parking assist braking system pair in the intelligent automobile is controlled
Intelligent automobile is braked, comprising:
When the intelligent automobile remains static, control the first braking valve for vehicle in the parking assist braking system and
Second braking valve for vehicle is in close state, so that the braking medium in intelligent automobile is maintained at the wheel cylinder of the intelligent automobile
In, realize the braking of the intelligent automobile；
When detecting that the intelligent automobile is in starting state or motion state, control first braking valve for vehicle and this
Two braking valve for vehicle are shown in a fully open operation, so that the brake pressure in the wheel cylinder of the intelligent automobile is released back into the parking assist
In the master cylinder or motor machine booster of braking system, and after detecting brake pressure release, controls this and first stay
Vehicle brake valve and second braking valve for vehicle are in close state.
Optionally, the operating status of the intelligent automobile is detected, comprising:
It detects one or more in speed signal, brake pedal signal, gear signal and the throttle signal of intelligent automobile；
Based on one or more in the speed signal, the brake pedal signal, the gear signal and the throttle signal, really
Determine the current operating status of intelligent automobile.
Optionally, after the operating status for detecting the ESC system in intelligent automobile, further includes:
When ESC system starting, first braking valve for vehicle and second braking valve for vehicle are controlled according to unlatching ratio
It is opened, and controls the first normally closed delivery valve in the parking assist braking system and the second normally closed delivery valve unlatching, so that
The master cylinder of the parking assist braking system or braking medium in motor machine booster are in the parking assist braking system
It is pumped into the wheel cylinder of the intelligent automobile under the action of first brake pump, the second brake pump and motor, realizes the intelligent automobile
Braking.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 4 is a kind of braking method flow chart of intelligent automobile provided in an embodiment of the present invention, referring to fig. 4, this method packet
Include following steps.
Step 401: when the EPB system failure in intelligent automobile, intelligent automobile is detected in parking assist braking system
The operating status of ESC system.
Since when the intelligent automobile EPB system failure, intelligent automobile can not carry out brake operating by EPB system, thus
It may result in traffic accident.Therefore, in order to avoid traffic accident occurs, intelligent automobile is needed through parking assist system
Dynamic system is braked.And ESC system belongs to the safety assisting system of intelligent automobile, and the parking assist braking system of intelligent automobile
System is improved on intelligent automobile ESC system, and therefore, intelligent automobile needs parking assist braking system system
When dynamic, need to detect the operating status of ESC system.
Wherein, when ESC system is in inactive state, it that is to say, when ESC system is not activated, can execute down
State the operation of step 402 and 403.
Step 402: when ESC system is inactive, intelligent automobile detects the current operating status of intelligent automobile.
When being in different operating statuses due to intelligent automobile, the parking assist braking system of intelligent automobile will have difference
Operation, therefore, in order to accurately control the braking system of intelligent automobile, intelligent automobile needs to detect the current fortune of intelligent automobile
Row state.
It should be noted that the operating status of intelligent automobile includes illegal state, starting state and motion state.
Wherein, the operation of the operating status of intelligent automobile detection intelligent automobile can be with are as follows: detects the speed letter of intelligent automobile
Number, it is one or more in brake pedal signal, gear signal and throttle signal；Based on speed signal, brake pedal signal, shelves
It is one or more in position signal and throttle signal, determine the current operating status of intelligent automobile.
Since the speed signal of intelligent automobile, brake pedal signal, gear signal and throttle signal usually can reflect intelligence
Energy automobile is currently at stationary state or motion state, therefore, can pass through speed signal, brake pedal signal, gear and believe
Number and throttle signal in the current operating status of one or more detection intelligent automobiles.
Wherein, when speed signal indicating intelligent automobile current vehicle speed is greater than 0, determine that intelligent automobile is in moving condition；
When brake pedal signal indicating intelligent automobile brake pedal, which is in, tramples state, determine that intelligent automobile remains static, when
When the current gear of gear signal indicating intelligent automobile is forward gear, determines that intelligent automobile is kept in motion, work as indicating intelligent
When the gear of automobile is parking shift or neutral gear, determine that intelligent automobile remains static.When throttle signal indicating intelligent automobile is worked as
Preceding throttle is greater than starting threshold value, determines that intelligent automobile is in starting state or motion state.
Further, after due to the operating status of intelligent automobile detection ESC system, ESC system may also be in starting
State that is to say that ESC system is activated.When ESC system starting, intelligent automobile can control the first braking valve for vehicle and the
Two braking valve for vehicle are opened according to unlatching ratio, and control the first normally closed delivery valve in parking assist braking system and
Two normally closed delivery valves are opened, so that the braking medium in the master cylinder of parking assist braking system or motor machine booster is assisting
It is pumped into the wheel cylinder of intelligent automobile under the action of the first brake pump, the second brake pump and motor in parking braking system,
Realize the braking of intelligent automobile.
It should be noted that the unlatching ratio can be arranged in advance, for example, the unlatching ratio can be 80%, 70% etc.
Deng.
Step 403: operating status of the intelligent automobile based on intelligent automobile controls the parking assist braking system in intelligent automobile
System brakes intelligent automobile.
It can be seen from the above, intelligent automobile is there may be a variety of operating statuses, according to the difference of the operating status of intelligent automobile,
The mode that intelligent automobile is braked is also different.
Wherein, operating status of the intelligent automobile based on intelligent automobile controls the parking assist braking system in intelligent automobile
The operation braked to intelligent automobile can be with are as follows: when intelligent automobile remains static, controls parking assist braking system
In the first braking valve for vehicle and the second braking valve for vehicle be in close state so that the braking medium in intelligent automobile is maintained at
In the wheel cylinder of intelligent automobile, the braking of intelligent automobile is realized；When detect intelligent automobile be in starting state or movement shape
When state, controls the first braking valve for vehicle and the second braking valve for vehicle is shown in a fully open operation, so that in the wheel cylinder of intelligent automobile
Brake pressure be released back into the master cylinder or motor machine booster of parking assist braking system, and detecting that brake pressure releases
After putting, controls the first braking valve for vehicle and the second braking valve for vehicle is in close state.
In embodiments of the present invention, since intelligent automobile braking system can include EPB system and parking assist system simultaneously
Dynamic system, and EPB system and parking assist braking system are mutually indepedent, thus when the EPB system of intelligent automobile breaks down,
It can detecte the operating status of ESC system in parking assist braking system, and when ESC system is inactive, according to intelligent automobile
Operating status, braking to intelligent automobile is realized by parking assist braking system, to improve intelligent automobile braking peace
Full property and drive safety.In addition, since parking assist brake system structure is simple, it is easily controllable, and cost is extremely low, exploitation is difficult
It spends small, improves the use scope of braking system.
After the braking method to intelligent automobile provided in an embodiment of the present invention is explained, next, to this
The brake apparatus for the intelligent automobile that inventive embodiments provide is introduced.
Fig. 5 is a kind of block diagram of the brake apparatus for intelligent automobile that the embodiment of the present disclosure provides, referring to Fig. 5, the device
It being implemented in combination with by software, hardware or both.The device includes: first detection module 501, the second detection module 502
With the first control module 503.
First detection module 501, for detecting the auxiliary in intelligent automobile when the EPB system failure in intelligent automobile
The operating status of electronic stability control ESC system in parking braking system；
Second detection module 502, for detecting the operating status of the intelligent automobile when the ESC system is inactive；
First control module 503 controls auxiliary in the intelligent automobile for the operating status based on the intelligent automobile
Parking braking system is helped to brake intelligent automobile.
Optionally, first control module 503 is used for:
When the intelligent automobile remains static, the first parking braking in the parking assist braking system is controlled
Valve and the second braking valve for vehicle are in close state, so that the braking medium in intelligent automobile is maintained at the system of the intelligent automobile
In driving wheel cylinder, the braking of the intelligent automobile is realized；
When detecting that the intelligent automobile is in starting state or motion state, control first braking valve for vehicle and
Second braking valve for vehicle is shown in a fully open operation, so that the brake pressure in the wheel cylinder of the intelligent automobile is released back into institute
It states in the master cylinder or motor machine booster of parking assist braking system, and after detecting brake pressure release,
It controls first braking valve for vehicle and second braking valve for vehicle is in close state.
Optionally, referring to Fig. 6, second detection module 502 includes:
Detection sub-module 5021, for detecting speed signal, brake pedal signal, gear signal and the throttle of intelligent automobile
It is one or more in signal；
Submodule 5022 is determined, for being based on the speed signal, the brake pedal signal, the gear signal and institute
It states one or more in throttle signal, determines the current operating status of intelligent automobile.
Optionally, referring to Fig. 7, described device further include:
Second control module 504, for when ESC system starting, controlling first braking valve for vehicle and described
Second braking valve for vehicle is opened according to unlatching ratio, and controls the first normally closed fuel feeding in the parking assist braking system
Valve and the second normally closed delivery valve are opened, so that the master cylinder of the parking assist braking system or the braking in motor machine booster
The intelligence is pumped under the action of first brake pump of the medium in the parking assist braking system, the second brake pump and motor
In the wheel cylinder of automobile, the braking of the intelligent automobile is realized.
In conclusion in embodiments of the present invention, due to intelligent automobile braking system can simultaneously include EPB system with it is auxiliary
Parking braking system is helped, and EPB system and parking assist braking system are mutually indepedent, so that the EPB system in intelligent automobile goes out
When existing failure, the operating status of ESC system in parking assist braking system can detecte, and when ESC system is inactive, according to
The operating status of intelligent automobile realizes the braking to intelligent automobile by parking assist braking system, to improve intelligent vapour
Vehicle braking safety and drive safety.In addition, since parking assist brake system structure is simple, it is easily controllable, and cost pole
Low, development difficulty is small, improves the use scope of braking system.
It should be understood that the brake apparatus of intelligent automobile provided by the above embodiment is braked to intelligent automobile
When, only the example of the division of the above functional modules, in practical application, it can according to need and divide above-mentioned function
With being completed by different functional modules, i.e., the internal structure of device is divided into different functional modules, to complete above description
All or part of function.In addition, the brake apparatus of intelligent automobile provided by the above embodiment and the braking side of intelligent automobile
Method embodiment belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.
Fig. 8 shows the structural block diagram of the intelligent automobile 800 of an illustrative embodiment of the invention offer.
In general, intelligent automobile 800 includes: processor 801 and memory 802.
Processor 801 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 801 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 801 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 801 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 801 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 802 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 802 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 802 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 801 for realizing this Shen
Please in embodiment of the method provide intelligent automobile 800 braking method.
In some embodiments, intelligent automobile 800 is also optional includes: peripheral device interface 803 and at least one periphery
Equipment.It can be connected by bus or signal wire between processor 801, memory 802 and peripheral device interface 803.It is each outer
Peripheral equipment can be connected by bus, signal wire or circuit board with peripheral device interface 803.Specifically, peripheral equipment includes: to penetrate
At least one in frequency circuit 804, touch display screen 805, camera 806, voicefrequency circuit 807, positioning component 808 and power supply 809
Kind.
Peripheral device interface 803 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 801 and memory 802.In some embodiments, processor 801, memory 802 and peripheral equipment
Interface 803 is integrated on same chip or circuit board；In some other embodiments, processor 801, memory 802 and outer
Any one or two in peripheral equipment interface 803 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 804 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 804 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 804 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 804 wraps
It includes: antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 804 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but is not limited to: Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 804 may be used also
To include the related circuit of NFC (Near Field Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 805 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 805 is touch display screen, display screen 805 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 805.The touch signal can be used as control signal and be input to processor
801 are handled.At this point, display screen 805 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 805 can be one, and the front panel of intelligent automobile 800 is arranged；In other realities
It applies in example, display screen 805 can be at least two, be separately positioned on the different surfaces of intelligent automobile 800 or in foldover design；?
In still other embodiments, display screen 805 can be flexible display screen, is arranged on the curved surface of intelligent automobile 800 or folds
On face.Even, display screen 805 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 805 can be adopted
With LCD (Liquid Crystal Display, liquid crystal display), (Organic Light-Emitting Diode, has OLED
Machine light emitting diode) etc. materials preparation.
CCD camera assembly 806 is for acquiring image or video.Optionally, CCD camera assembly 806 include front camera and
Rear camera.In general, the front panel of terminal is arranged in front camera, the back side of terminal is arranged in rear camera.One
In a little embodiments, rear camera at least two is main camera, depth of field camera, wide-angle camera, focal length camera shooting respectively
Any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide-angle
Camera fusion realizes that pan-shot and VR (Virtual Reality, virtual reality) shooting function or other fusions are clapped
Camera shooting function.
Voicefrequency circuit 807 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 801, to be handled, or is input to radio circuit 804 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of intelligent automobile 800 to be multiple.
Microphone can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 801 or radio frequency will to be come from
The electric signal of circuit 804 is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramics loudspeaking
Device.When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, can also be incited somebody to action
Electric signal is converted to the sound wave that the mankind do not hear to carry out the purposes such as ranging.In some embodiments, voicefrequency circuit 807 can be with
Including earphone jack.
Positioning component 808 is used for the current geographic position of positioning intelligent automobile 800, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 808 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 809 is used to be powered for the various components in intelligent automobile 800.Power supply 809 can be alternating current, direct current
Electricity, disposable battery or rechargeable battery.When power supply 809 includes rechargeable battery, which can support wired
Charging or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, intelligent automobile 800 further includes having one or more sensors 810.The one or more passes
Sensor 810 includes but is not limited to: acceleration transducer 811.
Acceleration transducer 811 can detecte the acceleration in three reference axis of the coordinate system established with intelligent automobile 800
Spend size.For example, acceleration transducer 811 can be used for detecting component of the acceleration of gravity in three reference axis.Processor
The 801 acceleration of gravity signals that can be acquired according to acceleration transducer 811, control touch display screen 805 with transverse views or
Longitudinal view carries out the display of user interface.Acceleration transducer 811 can be also used for game or the exercise data of user
Acquisition.
It that is to say, the embodiment of the present invention provides not only a kind of intelligent automobile, including processor and is used for storage processor
The memory of executable instruction, wherein processor is configured as executing the method in Fig. 3 and embodiment shown in Fig. 4, moreover,
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored with computer program in the storage medium, the meter
The braking method of Fig. 3 and the intelligent automobile in embodiment shown in Fig. 4 may be implemented in calculation machine program when being executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 8 does not constitute the restriction to intelligent automobile, can wrap
It includes than illustrating more or fewer components, perhaps combine certain components or is arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of braking system of intelligent automobile, which is characterized in that the system comprises electronic brake EPB system and auxiliary
Parking braking system；
The EPB system and the parking assist braking system are mutually indepedent, and the EPB system and the parking assist are braked
Communication is able to carry out between system.
2. the system as claimed in claim 1, which is characterized in that the parking assist braking system includes master cylinder or electronic
Mechanical strengthener, the first braking valve for vehicle and the second braking valve for vehicle；
The first outlet of the master cylinder or motor machine booster is connect with one end of first braking valve for vehicle, described
The second outlet of master cylinder or motor machine booster is connect with one end of second braking valve for vehicle；First parking
The normally opened valve inlet of the wheel cylinder of the other end and intelligent automobile of brake valve connects, the other end of second braking valve for vehicle and institute
State normally opened valve inlet connection.
3. system as claimed in claim 2, which is characterized in that the parking assist braking system further includes the first normally closed fuel feeding
Valve, the second normally closed delivery valve, motor, the first brake pump and the second brake pump；
The first outlet of the master cylinder or motor machine booster is connect with one end of the first normally closed delivery valve, described
The second outlet of master cylinder or motor machine booster is connect with one end of the second normally closed delivery valve；
The other end of the first normally closed delivery valve is connect with the first end of first brake pump, the second normally closed delivery valve
The other end connect with the first end of second brake pump；The second end of first brake pump and second brake pump
Second end is connect with the normally opened valve inlet respectively, the third end at the third end of first brake pump and second brake pump
It is connect respectively with the motor.
4. a kind of braking method of intelligent automobile, the braking system applied to any intelligent automobile of the claims 1-3
In system, which is characterized in that the described method includes:
When the EPB system failure in intelligent automobile, the electronic stability in the parking assist braking system in intelligent automobile is detected
Property control ESC system operating status；
When the ESC system is inactive, the operating status of the intelligent automobile is detected；
Based on the operating status of the intelligent automobile, the parking assist braking system in the intelligent automobile is controlled to intelligent automobile
It is braked.
5. method as claimed in claim 4, which is characterized in that the operating status based on the intelligent automobile controls institute
The parking assist braking system stated in intelligent automobile brakes intelligent automobile, comprising:
When the intelligent automobile remains static, control the first braking valve for vehicle in the parking assist braking system and
Second braking valve for vehicle is in close state, so that the braking medium in intelligent automobile is maintained at the braked wheel of the intelligent automobile
In cylinder, the braking of the intelligent automobile is realized；
When detecting that the intelligent automobile is in starting state or motion state, first braking valve for vehicle and described is controlled
Second braking valve for vehicle is shown in a fully open operation so that the brake pressure in the wheel cylinder of the intelligent automobile be released back into it is described auxiliary
It helps in the master cylinder or motor machine booster of parking braking system, and after detecting brake pressure release, control
First braking valve for vehicle and second braking valve for vehicle are in close state.
6. method as described in claim 4 or 5, which is characterized in that the operating status of the detection intelligent automobile, packet
It includes:
It detects one or more in speed signal, brake pedal signal, gear signal and the throttle signal of intelligent automobile；
Based on one or more in the speed signal, the brake pedal signal, the gear signal and the throttle signal
, determine the current operating status of intelligent automobile.
7. method as claimed in claim 4, which is characterized in that the operating status of the ESC system in the detection intelligent automobile
Later, further includes:
When ESC system starting, first braking valve for vehicle and second braking valve for vehicle are controlled according to unlatching ratio
Example is opened, and controls the first normally closed delivery valve in the parking assist braking system and the second normally closed delivery valve unlatching,
So that the master cylinder of the parking assist braking system or the braking medium in motor machine booster are braked in the parking assist
It is pumped into the wheel cylinder of the intelligent automobile, realizes under the action of the first brake pump, the second brake pump and motor in system
The braking of the intelligent automobile.
8. a kind of brake apparatus of intelligent automobile, the braking system applied to any intelligent automobile of the claims 1-3
In system, which is characterized in that described device includes:
First detection module, for when the EPB system failure in intelligent automobile, detecting the parking assist braking in intelligent automobile
The operating status of electronic stability control ESC system in system；
Second detection module, for detecting the operating status of the intelligent automobile when the ESC system is inactive；
First control module controls the parking assist in the intelligent automobile for the operating status based on the intelligent automobile
Braking system brakes intelligent automobile.
9. device as claimed in claim 8, which is characterized in that first control module is used for:
When the intelligent automobile remains static, control the first braking valve for vehicle in the parking assist braking system and
Second braking valve for vehicle is in close state, so that the braking medium in intelligent automobile is maintained at the braked wheel of the intelligent automobile
In cylinder, the braking of the intelligent automobile is realized；
When detecting that the intelligent automobile is in starting state or motion state, first braking valve for vehicle and described is controlled
Second braking valve for vehicle is shown in a fully open operation so that the brake pressure in the wheel cylinder of the intelligent automobile be released back into it is described auxiliary
It helps in the master cylinder or motor machine booster of parking braking system, and after detecting brake pressure release, control
First braking valve for vehicle and second braking valve for vehicle are in close state.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Any method in claim 4-7 is realized when computer program is executed by processor.
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| CN201811469529.2A CN109334652B (en) | 2018-11-28 | 2018-11-28 | Braking system, method and device of intelligent automobile and storage medium |
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|---|---|---|---|
| CN201811469529.2A CN109334652B (en) | 2018-11-28 | 2018-11-28 | Braking system, method and device of intelligent automobile and storage medium |
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| CN109334652B (en) | 2020-11-10 |
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