CN109421678A - Braking method, device, braking system and the storage medium of automobile - Google Patents
Braking method, device, braking system and the storage medium of automobile Download PDFInfo
- Publication number
- CN109421678A CN109421678A CN201710747881.7A CN201710747881A CN109421678A CN 109421678 A CN109421678 A CN 109421678A CN 201710747881 A CN201710747881 A CN 201710747881A CN 109421678 A CN109421678 A CN 109421678A
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- Prior art keywords
- wheel
- speed
- brake force
- target velocity
- automobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention has supplied braking method, device, braking system and the storage medium of automobile.Braking method includes: to obtain the present speed of current vehicle speed and rear-wheel when meeting emergency braking condition；Current vehicle speed is calculated, the first object speed and the second target velocity of rear-wheel are obtained；The present speed of rear-wheel is compared with first object speed and the second target velocity respectively, obtains comparison result；Based on comparative result, the brake force exported to rear-wheel is controlled.The present invention can make the brake force applied to rear-wheel more accurate, improve braking efficiency.
Description
Technical field
The invention belongs to automotive fields more particularly to a kind of braking method of automobile, device, braking system and storage to be situated between
Matter.
Background technique
Currently, relying primarily on biography when implementing emergency braking to automobile back wheel in the case where vehicle brake system non-functional
The mechanical parking structure (i.e. parking brake) of system, since size of the mechanical parking structure to the brake force of rear-wheel is carried out by user
Control, it often will lead to the generation of the excessive or too small situation of brake force of application, so that braking efficiency is low.
Summary of the invention
In view of this, the embodiment of the invention provides the braking method of automobile, device, braking system and storage medium, with
Solve the problems, such as that braking efficiency is low when emergency braking in the prior art.
The first aspect of the embodiment of the present invention provides a kind of braking method of automobile, comprising:
When meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained；
Current vehicle speed is calculated, the first object speed and the second target velocity of rear-wheel, the first object are obtained
Speed is greater than second target velocity；
The present speed of rear-wheel is compared with the first object speed and the second target velocity respectively, is compared
As a result；
Based on the comparison as a result, the brake force that control exports the rear-wheel.
It is preferably, described based on the comparison as a result, the brake force that control exports the rear-wheel, comprising:
When the present speed that the comparison result is rear-wheel is greater than first object speed, what increase exported the rear-wheel
Brake force；
When the present speed that the comparison result is rear-wheel is less than the second target velocity, what reduction exported the rear-wheel
Brake force.
Preferably, described to increase the brake force exported to the rear-wheel, it specifically includes:
The brake force that the rear-wheel is exported according to the increase of the first pre-set value；
It is described to reduce the brake force exported to the rear-wheel, it specifically includes:
Reduce the brake force exported to the rear-wheel according to the second pre-set value.
Preferably, after described when meeting emergency braking condition, and the braking that the control exports the rear-wheel
Before power, further includes:
Initial brake power is exported to the rear-wheel, the initial brake power is to make friction plate and brake disc by not in contact with state
Into the brake force of contact condition.
Preferably, the emergency braking condition is to receive emergency braking instruction, and the speed signal of all wheels is
Useful signal.
It is preferably, described based on the comparison as a result, after the brake force that control exports the rear-wheel, further includes:
Judge whether to meet the emergency braking condition；
If meeting the emergency braking condition, the step for executing the present speed for obtaining current vehicle speed and rear-wheel is returned
Suddenly；
If being unsatisfactory for the emergency braking condition, terminate process.
The second aspect of the embodiment of the present invention provides a kind of braking method of automobile, comprising:
When meeting emergency braking condition, current vehicle speed, the present speed of left rear wheel and the present speed of off hind wheel are obtained；
Current vehicle speed is calculated, first object speed and the second target velocity are obtained, the first object speed is big
In second target velocity；
The present speed of left rear wheel is compared with the first object speed and the second target velocity respectively, obtains
One comparison result；
Based on first comparison result, the brake force exported to left rear wheel is controlled；
The present speed of off hind wheel is compared with the first object speed and the second target velocity respectively, obtains
Two comparison results；
Based on second comparison result, the brake force exported to off hind wheel is controlled.
The third aspect of the embodiment of the present invention provides a kind of braking method of automobile, comprising:
When meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained；
Current vehicle speed is calculated, the target velocity of rear-wheel is obtained；
The present speed of rear-wheel is compared with target velocity, obtains comparison result；
Based on the comparison as a result, the brake force that control exports the rear-wheel.
The fourth aspect of the embodiment of the present invention provides a kind of device, comprising:
Speed acquiring module, for obtaining the present speed of current vehicle speed and rear-wheel when meeting emergency braking condition；
Target velocity obtains module and obtains the first object speed and second of rear-wheel for calculating current vehicle speed
Target velocity, the first object speed are greater than second target velocity；
Comparison module, for by the present speed of rear-wheel respectively with the first object speed and second target velocity
It is compared, obtains comparison result；
Control module, for based on the comparison as a result, the brake force that control exports the rear-wheel.
5th aspect of the embodiment of the present invention provides a kind of electronic brake system, memory, processor and deposits
The computer program that can be run in the memory and on the processor is stored up, the processor executes the computer journey
The braking method of the automobile is realized when sequence.
6th aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the braking method of the automobile is realized when the computer program is executed by processor.
The embodiment of the present invention adjusts the braking exported to rear-wheel by the present speed according to current vehicle speed and rear-wheel in real time
Power, to realize automatic control to rear-wheel, since the brake force of application is depended in real time to the current of current vehicle speed and rear-wheel
The calculating of speed is analyzed, and the brake force applied to rear-wheel can be made more accurate, improve braking efficiency.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the first embodiment of the braking method of automobile of the invention；
Fig. 2 is the flow diagram of the second embodiment of the braking method of automobile of the invention；
Fig. 3 is the flow diagram of the 3rd embodiment of the braking method of automobile of the invention；
Fig. 4 is the flow diagram of the fourth embodiment of the braking method of automobile of the invention；
Fig. 5 is the flow diagram of the 5th embodiment of the braking method of automobile of the invention；
Fig. 6 is the flow diagram of the sixth embodiment of the braking method of automobile of the invention；
Fig. 7 is the structural schematic diagram of the first embodiment of the brake apparatus of automobile of the invention；
Fig. 8 is the structural schematic diagram of the second embodiment of the brake apparatus of automobile of the invention；
Fig. 9 is the schematic diagram of electronic brake system provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is please referred to, is the flow diagram of the first embodiment of the braking method of automobile of the invention.The braking of automobile
Method includes:
Step 101, when meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained.Specifically, promptly
Braking condition is to receive emergency braking instruction, and the speed signal of all wheels is useful signal.Wherein, emergency braking refers to
Order is that the switch level by user's triggering that EPB (Electrical Park Brake, electronic brake system) is received is believed
Number.The current wheel speed and current vehicle speed of rear-wheel can pass through CAN (Controller Area Network, controller LAN
Network) bus acquisition.In the case where not braking to front-wheel when automobile enters emergency braking condition, current vehicle speed can be
The present speed of the near front wheel or off-front wheel is also possible to the average value of the present speed of the near front wheel and off-front wheel.
Step 102, current vehicle speed is calculated, obtains the first object speed and the second target velocity of rear-wheel.Wherein,
First object speed is greater than the second target velocity.It specifically, can be by current vehicle speed multiplied by the first predetermined coefficient, to obtain
One target velocity；And by current vehicle speed multiplied by the second predetermined coefficient, to obtain the second target velocity.First predetermined coefficient can be with
For the value greater than 1, such as 1.1, the second predetermined coefficient can be the value less than 1, such as 0.9.It is worth noting that, the first default system
The/the second predetermined coefficients of number and the absolute value of 1 difference are less than the first preset threshold (the first preset threshold can be 0.3),
This is in order to make the target velocity of rear-wheel level off to current vehicle speed, to be avoided causing because the gaps between their growth rates between front and back wheel are excessive
The unstable or even out of control situation of vehicle driving occur.
Step 103, the present speed of rear-wheel is compared with first object speed and the second target velocity respectively, is obtained
Comparison result.
Step 104, based on comparative result, the brake force exported to rear-wheel is controlled.This step specifically includes: working as comparison result
When being greater than first object speed for the present speed of rear-wheel, increase the brake force exported to rear-wheel；When comparison result is rear-wheel
When present speed is less than the second target velocity, reduce the brake force exported to rear-wheel；When the present speed of rear-wheel is greater than or equal to
Second target velocity, and when being less than or equal to first object speed, maintain the brake force exported to rear-wheel constant.When working as rear-wheel
When preceding speed is less than the second target velocity, by reducing to the brake force of rear-wheel, can to avoid because brake force it is excessive caused by vehicle
The case where taking turns locking.
The embodiment of the present invention obtains rear-wheel based on current vehicle speed by obtaining the present speed of current vehicle speed and rear-wheel
First object speed and the second target velocity, and it is fast with first object speed and the second target respectively according to the present speed of rear-wheel
The comparison result of degree adjusts the brake force exported to rear-wheel in real time, so that the automatic control to rear-wheel is realized, due to the system of application
Power depends on the calculating to the present speed of current vehicle speed and rear-wheel to analyze in real time, can make the brake force applied to rear-wheel
It is more accurate, improve braking efficiency.
Referring to figure 2., be automobile of the invention braking method second embodiment flow diagram.The braking of automobile
Method includes:
Step 201, when meeting emergency braking condition, initial brake power is exported to rear-wheel.Wherein, initial brake power is to make
Friction plate and brake disc are by entering the brake force of contact condition not in contact with state.Automobile includes for exporting brake force to rear-wheel
Actuator.Actuator include set on rear-wheel wheel hub on brake disc and for providing the friction plate of resistance for the brake disc.
Step 202, the present speed of current vehicle speed and rear-wheel is obtained.This step hereinbefore describes in detail, therefore
This is not repeated.It is worth noting that, this step can export initial system to rear-wheel above-mentioned when meeting emergency braking condition
It executes before the step of power, or simultaneously executes, the present embodiment does not limit its and executes sequence.
Step 203, current vehicle speed is calculated, obtains the first object speed and the second target velocity of rear-wheel.Wherein,
First object speed is greater than the second target velocity.This step hereinbefore describes in detail, and and therefore not to repeat here.
Step 204, by the present speed of rear-wheel be compared respectively with first object speed and the second target velocity, obtain
To comparison result.
Step 205, when the present speed that comparison result is rear-wheel is greater than first object speed, according to the first pre-set value
Increase the brake force exported to rear-wheel.
Step 206, when the present speed that comparison result is rear-wheel is less than the second target velocity, according to the second pre-set value
Reduce the brake force exported to rear-wheel.
Preferably, the first pre-set value and the second pre-set value are respectively less than the second preset threshold.First pre-set value and
Two pre-set values should not be too large, and can make increased or reduction brake force in this way is a smaller value, so that brake force
Change more smooth.
The embodiment of the present invention exports lesser initial brake power, and definite value after meeting emergency braking condition, to rear-wheel
The brake force to rear-wheel output is increased or reduced, so that the variation of brake force is more smooth, avoids the occurrence of output system
The excessive or too small situation of power, further improves braking efficiency, while also avoiding because the disposable brake force that applies is excessive,
The case where leading to rear lock generation.
Referring to figure 3., be automobile of the invention braking method 3rd embodiment flow diagram.The braking of automobile
Method includes:
Step 301, judge whether to meet emergency braking condition, if the determination result is YES, execute step 302；If judgement knot
Fruit be it is no, then follow the steps 306.Wherein, emergency braking condition is to receive emergency braking instruction, and the speed of all wheels is believed
It number is useful signal.
Step 302, the present speed of current vehicle speed and rear-wheel is obtained.
Step 303, current vehicle speed is calculated, obtains the first object speed and the second target velocity of rear-wheel.Wherein,
First object speed is greater than the second target velocity.It specifically, can be by current vehicle speed multiplied by the first predetermined coefficient, to obtain
One target velocity；And by current vehicle speed multiplied by the second predetermined coefficient, to obtain the second target velocity).First predetermined coefficient can
Think the value greater than 1, such as 1.1, the second predetermined coefficient can be the value less than 1, such as 0.9.It is worth noting that, the first default system
The/the second predetermined coefficients of number and the absolute value of 1 difference are less than the first preset threshold (the first preset threshold can be 0.3).
Step 304, the present speed of rear-wheel is compared with first object speed and the second target velocity respectively, is obtained
Comparison result.
Step 305, based on comparative result, the brake force exported to rear-wheel is controlled.This step specifically includes: working as comparison result
When being greater than first object speed for the present speed of rear-wheel, increase the brake force exported to rear-wheel；When comparison result is rear-wheel
When present speed is less than the second target velocity, reduce the brake force exported to rear-wheel；When the present speed of rear-wheel is greater than or equal to
Second target velocity, and when being less than or equal to first object speed, maintain the brake force exported to rear-wheel constant.
Step 306, terminate process.
Preferably, when the present speed that comparison result is rear-wheel is greater than first object speed, what increase exported rear-wheel
The step of brake force, specifically includes: when the present speed that comparison result is rear-wheel is greater than first object speed, obtaining to rear-wheel
The current braking effort of output；Judge the whether small pre-set peak value of current braking effort；If current braking effort is less than pre-set peak value, increase
To the brake force of rear-wheel output.In addition, maintaining the braking exported to rear-wheel if current braking effort is greater than or equal to pre-set peak value
Power is constant.The service life of the maximum deceleration and clamp (a part of friction plate) that can be provided in view of rear-wheel, when to automobile
Carry out emergency braking excessively in, should limit to rear-wheel output brake force upper limit value, to prevent because of the excessive shadow of current braking effort
Ring the service life for arriving rear-wheel and clamp.
Preferably, when the present speed that comparison result is rear-wheel is less than the second target velocity, what reduction exported rear-wheel
The step of brake force, specifically includes: when the present speed that comparison result is rear-wheel is less than the second target velocity, detecting actuator
Whether brake force is exported to rear-wheel；If detecting, actuator exports brake force to rear-wheel, reduces the brake force exported to rear-wheel.
In addition, if detecting, actuator does not export brake force to rear-wheel, maintains the brake force exported to rear-wheel constant.
Preferably, after executing step 305, after preset duration, 301 are returned to step.Wherein, preset duration is big
In or be equal to 1 millisecond, and less than 10 milliseconds.
The embodiment of the present invention exports the delay for having a Millisecond after brake force every time, and vehicle-state stabilization is made so may be used
To find whether rear-wheel has locking trend (i.e. the present speed of rear-wheel is less than the second target wheel speed) in time, then by returning to weight
The new step 301 that executes just can adjust the brake force of rear-wheel again in this way, realize the timely tune to the speed of rear-wheel to step 304
It is whole, so that rear-wheel is got rid of locking trend.
Referring to figure 4., be automobile of the invention braking method fourth embodiment flow diagram.The braking of automobile
Method includes:
Step 401, judge whether to meet emergency braking condition, if the determination result is YES, execute step 402；If judgement knot
Fruit be it is no, then follow the steps 408.Wherein, emergency braking condition is to receive emergency braking instruction, and the speed of all wheels is believed
It number is useful signal.
Step 402, the present speed of current vehicle speed and rear-wheel is obtained.This step is hereinbefore discussed in detail, therefore
Therefore not to repeat here.
Step 403, current vehicle speed is calculated, obtains first object wheel speed and the second target wheel speed.Wherein, the second mesh
It marks wheel speed and is less than first object wheel speed.It can be by current vehicle speed multiplied by the first predetermined coefficient, to obtain first object speed；And
By current vehicle speed multiplied by the second predetermined coefficient, to obtain the second target velocity.First predetermined coefficient can be the value greater than 1,
Such as 1.1, the second predetermined coefficient can be the value less than 1, such as 0.9.It is worth noting that, the default system of the first predetermined coefficient/the second
Number and the absolute value of 1 difference are less than the first preset threshold.
Step 404, judge whether the present speed of rear-wheel is greater than first object wheel speed, if the determination result is YES, then execute
Step 405, if judging result be it is no, then follow the steps 407.
Step 405, the current braking effort exported to rear-wheel is obtained, judges the whether small pre-set peak value of current braking effort；If sentencing
Disconnected result be it is yes, then follow the steps 406, if judging result be it is no, return to step 401.
Step 406, increase the brake force exported to rear-wheel, and return to step 401.
Step 407, judge whether the present speed of rear-wheel if the determination result is YES then executes less than the second target wheel speed
Step 408, if judging result be it is no, return to step 401.
Step 408, judge whether actuator if the determination result is YES thens follow the steps 407 to rear-wheel output brake force,
If judging result be it is no, return to step 401.
Step 409, reduce the brake force exported to rear-wheel, and return to step 401.
Step 410, terminate process.
The embodiment of the present invention does not need hydraulic system intervention during entire braking, by real-time regulating brake force,
It carries out needing controller drive hydraulic system principle to control brake force during ANTI LOCK different from traditional braking, prevents wheel from embracing
Extremely, it solves the problems, such as that ANTI LOCK can not be carried out in the case where automobile hydraulic system fails.
Referring to figure 5., be automobile of the invention braking method the 5th embodiment flow diagram.In view of in reality
In the situation of border, there is a situation where that surface friction coefficient is inconsistent, the present embodiment separately carries out control for brake to left and right rear-wheel.Tool
Body, the braking method of automobile includes:
Step 501, when meeting emergency braking condition, current vehicle speed, the present speed of left rear wheel and off hind wheel are obtained
Present speed.
Step 502, current vehicle speed is calculated, obtains first object speed and the second target velocity.Wherein, the first mesh
It marks speed and is greater than the second target velocity.
Step 503, the present speed of left rear wheel is compared with first object speed and the second target velocity respectively, is obtained
To the first comparison result.
Step 504, it is based on the first comparison result, controls the brake force exported to left rear wheel.
Step 505, the present speed of off hind wheel is compared with first object speed and the second target velocity respectively, is obtained
To the second comparison result.It is worth noting that, this step can also execute before step 503, or simultaneously execute, this reality
It applies example and does not limit its and execute sequence.
Step 506, it is based on the second comparison result, controls the brake force exported to off hind wheel.
The braking method of left rear wheel or off hind wheel is identical in the present embodiment, and the braking control to left rear wheel or off hind wheel
Each step of system is discussed in detail in the first embodiment of the braking method of automobile of the present invention into fourth embodiment, therefore
This is not repeated them here.
When the right and left surface friction coefficient difference, identical brake force such as is applied to left rear wheel and off hind wheel,
Will lead to left rear wheel and off hind wheel acceleration be different, and then cause speed difference excessive, be easy to cause vehicle occur rear lock,
Or the case where sideslip, occurs, the embodiment of the present invention is by separately carrying out control for brake to left and right rear-wheel, according to left rear wheel (after right
Wheel) present speed, control the brake force to the output of left rear wheel (off hind wheel), the speed of left rear wheel (off hind wheel) can be made to become
It is bordering on the velocity interval that first object speed and the second target velocity are formed, since the target velocity range of left and right rear-wheel is identical,
The speed difference for allowing for left rear wheel and off hind wheel in this way is not too large, can prevent due to left and right vehicle wheel both sides pavement friction system
Count the generation of inconsistent the case where leading to locking, sideslip.
Preferably, when meeting preset condition, step 501 includes: to obtain respectively left front when meeting emergency braking condition
Wheel, off-front wheel, left rear wheel and off hind wheel present speed.Step 502 includes: and according to the present speed of the near front wheel, obtains a left side
The first object speed and the second target velocity of rear-wheel, wherein first object speed is greater than the second target velocity；And according to the right side
The present speed of rear-wheel obtains the third target velocity and the 4th target velocity of off hind wheel, and wherein third target velocity is greater than the
Four target velocities.Step 503 includes: to carry out the present speed of left rear wheel with first object speed and the second target velocity respectively
Compare, obtains the first comparison result.Step 505 include: by the present speed of off hind wheel respectively with third target velocity and the 4th
Target velocity is compared, and obtains the second comparison result.Wherein, preset condition is the present speed of the near front wheel and working as off-front wheel
Difference between preceding speed is greater than third predetermined threshold value.It is in order to avoid vehicle is when turning, because of off hind wheel and a left side in this way
Gaps between their growth rates between rear-wheel are too small, and caused vehicle deviates turning path, to lose control of one's vehicle the case where occur.
Fig. 6 is please referred to, is the flow diagram of the sixth embodiment of the braking method of automobile of the invention.The braking of automobile
Method includes:
Step 601, when meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained.Specifically, tightly
Anxious braking condition is to receive emergency braking instruction, and the speed signal of all wheels is useful signal.Wherein, emergency braking
Instruction is the switch level signal triggered by user that EPB is received.The current wheel speed and current vehicle speed of rear-wheel can pass through CAN
Bus obtains.In the case where not braking to front-wheel when automobile enters emergency braking condition, current vehicle speed can be left front
The present speed of wheel or off-front wheel, is also possible to the average value of the present speed of the near front wheel and off-front wheel.
Step 602, current vehicle speed is calculated, obtains the target velocity of rear-wheel.It can be by current vehicle speed multiplied by default
Coefficient, to obtain target velocity, predetermined coefficient can be the value greater than 1 or less than 1, but predetermined coefficient with 1 difference it is exhausted
It is less than the first preset threshold to value (the first preset threshold can be 0.3).
Step 603, the present speed of rear-wheel is compared with target velocity, obtains comparison result.
Step 604, based on comparative result, the brake force exported to rear-wheel is controlled.As the first embodiment, compare knot
Fruit can be the present speed of rear-wheel and the difference of target velocity.The size and difference direct proportionality of the brake force of output,
Difference is bigger, bigger to the brake force of rear-wheel output；Difference is smaller, smaller to the brake force of rear-wheel output.It is real as second
Mode is applied, this step specifically includes: increasing when the present speed that comparison result is rear-wheel is greater than first object speed to rear-wheel
The brake force of output；When the present speed that comparison result is rear-wheel is less than the second target velocity, reduce the system exported to rear-wheel
Power.
The embodiment of the present invention adjusts the braking exported to rear-wheel by the present speed according to current vehicle speed and rear-wheel in real time
Power, to realize automatic control to rear-wheel, since the brake force of application is depended in real time to the current of current vehicle speed and rear-wheel
The calculating of speed is analyzed, and the brake force applied to rear-wheel can be made more accurate, improve braking efficiency.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
In addition, the braking method of automobile of the invention further include: whether detection current vehicle speed is less than the second preset threshold；Inspection
Whether survey, which refers to, receives assisted instruction；If current vehicle speed is less than the second preset threshold, or receives and stop emergency braking instruction or add
Speed instruction, then terminate process.Second preset threshold be 3 kilometers per hour, specifically, if speed, which drops to, meets electronic parking
The static pull-up condition (speed less than 3 kilometers per hour) of braking system, if driver unclamp EPB switch or step on the throttle
When, then terminate process.
Carry out to introduce detailed to the braking method of automobile of the invention above, it below will be for corresponding to above-mentioned braking side
The device of method is described further.
Fig. 7 is please referred to, is the structural schematic diagram of the first embodiment of the brake apparatus of automobile of the invention.As shown,
The brake apparatus of automobile includes speed acquiring module 701, target velocity acquisition module 702, comparison module 703 and control module
704。
Speed acquiring module 701, for obtaining the current speed of current vehicle speed and rear-wheel when meeting emergency braking condition
Degree.Wherein, emergency braking condition is to receive emergency braking instruction, and the speed signal of all wheels is useful signal.
Target velocity obtains module 702, for calculating current vehicle speed, obtains the first object speed and the of rear-wheel
Two target velocities.Wherein, first object speed is greater than the second target velocity.Target velocity obtains module 702 and is specifically used for work as
Preceding speed is multiplied by the first predetermined coefficient, to obtain first object speed；And by current vehicle speed multiplied by the second predetermined coefficient, thus
Obtain the second target velocity.
Comparison module 703, for carrying out the present speed of rear-wheel with first object speed and the second target velocity respectively
Compare, obtains comparison result.
Control module 704, for based on the comparison as a result, the brake force that control exports rear-wheel.Specifically, mould is controlled
Block 704 includes increasing unit and reduction unit.
Increasing unit is used to increase defeated to rear-wheel when the present speed that comparison result is rear-wheel is greater than first object speed
Brake force out, increasing unit are specifically used for when the present speed that comparison result is rear-wheel is greater than first object speed, according to
The brake force that the increase of first pre-set value exports the rear-wheel.
Reduction unit is used to reduce defeated to rear-wheel when the present speed that comparison result is rear-wheel is less than the second target velocity
Brake force out.Reduction unit is specifically used for when the present speed that comparison result is rear-wheel is less than the second target velocity, according to
Second pre-set value reduces the brake force exported to the rear-wheel.
Preferably, the brake apparatus of automobile further includes brake force output module.Brake force output module is used for tight when meeting
When anxious braking condition, initial brake power is exported to rear-wheel, wherein initial brake power is to make friction plate and brake disc by not in contact with shape
State enters the brake force of contact condition.
Preferably, the brake apparatus of automobile further includes processing module.Processing module is for judging whether to meet emergency braking
Condition；If meeting emergency braking condition, the step of executing the present speed for obtaining current vehicle speed and rear-wheel is returned；If being unsatisfactory for institute
Emergency braking condition is stated, then terminates process.
The embodiment of the present invention obtains rear-wheel based on current vehicle speed by obtaining the present speed of current vehicle speed and rear-wheel
First object speed and the second target velocity, and according to the present speed of rear-wheel and first object speed and the second target velocity
Comparison result adjusts the brake force exported to rear-wheel in real time, so that the automatic control to rear-wheel is realized, due to the brake force of application
It is analyzed in real time dependent on the calculating of the present speed to current vehicle speed and rear-wheel, the brake force applied to rear-wheel can be made more
Precisely, braking efficiency is improved.
Fig. 8 is please referred to, is the structural schematic diagram of the second embodiment of the brake apparatus of automobile of the invention.As shown,
The brake apparatus of automobile includes speed acquiring module 801, target velocity obtains module 802, the first comparison module 803, first is controlled
Molding block 804, the second comparison module 805 and the first control module 806.
Speed acquiring module 801, for obtaining current vehicle speed, the current speed of left rear wheel when meeting emergency braking condition
The present speed of degree and off hind wheel.
Target velocity obtains module 802 and obtains first object speed and the second target for calculating current vehicle speed
Speed.Wherein, first object speed is greater than the second target velocity.
First comparison module 803, for the present speed of left rear wheel is fast with first object speed and the second target respectively
Degree is compared, and obtains the first comparison result.
First control module 804 controls the brake force exported to left rear wheel for being based on the first comparison result.
Second comparison module 805, for the present speed of off hind wheel is fast with first object speed and the second target respectively
Degree is compared, and obtains the second comparison result.
First control module 806 controls the brake force exported to off hind wheel for being based on the second comparison result.
The embodiment of the present invention controls the target vehicle speed of left and right rear-wheel by separately carrying out control for brake to left and right rear-wheel
Section is identical, can prevent the generation due to left and right vehicle wheel both sides surface friction coefficient inconsistent the case where leading to locking, sideslip.
The embodiment of the invention also provides a kind of electronic brake system, memory, processor and it is stored in described
In memory and the computer program that can run on the processor, the processor are realized when executing the computer program
The braking method of above-mentioned automobile.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is computer program, the computer program realizes the braking method of above-mentioned automobile when being executed by processor.
Fig. 9 is the schematic diagram for the electronic brake system that one embodiment of the invention provides.As shown in figure 9, the embodiment
Electronic brake system 9 include: processor 90, memory 91 and be stored in the memory 91 and can be at the place
The computer program 92 run on reason device 90, such as the retrosequence of automobile.The processor 90 executes the computer program
Realize the step in the preparation method embodiment of the method for above-mentioned each automobile when 92, such as step 101 shown in FIG. 1 is to 104.Alternatively,
The processor 90 realizes the function of each module/unit in above-mentioned each Installation practice when executing the computer program 92.
Illustratively, the computer program 92 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 91, and are executed by the processor 90, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 92 in the electronic brake system 9 is described.
The electronic brake system 9 can be desktop PC, notebook, palm PC and cloud server etc.
Calculate equipment.The electronic brake system may include, but be not limited only to, processor 90, memory 91.Those skilled in the art
Member is appreciated that Fig. 9 is only the example of electronic brake system 9, does not constitute the limit to electronic brake system 9
It is fixed, it may include perhaps combining certain components or different components, such as the electricity than illustrating more or fewer components
Sub- parking braking system can also include input-output equipment, network access equipment, bus etc..
Alleged processor 90 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 91 can be the internal storage unit of the electronic brake system 9, such as electronic parking system
The hard disk or memory of dynamic system 9.The memory 91 is also possible to the External memory equipment of the electronic brake system 9,
Such as the plug-in type hard disk being equipped on the electronic brake system 9, intelligent memory card (Smart Media Card, SMC),
Secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 91 may be used also
With the internal storage unit both including the electronic brake system 9 or including External memory equipment.The memory 91 is used
Other programs and data needed for storing the computer program and the electronic brake system.The memory 91
It can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/system and method can pass through
Other modes are realized.For example, device/system embodiment described above is only schematical, for example, the module or
The division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling or direct-coupling or communication connection discussed can be through some interfaces, device or unit
INDIRECT COUPLING or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (11)
1. a kind of braking method of automobile characterized by comprising
When meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained；
Current vehicle speed is calculated, the first object speed and the second target velocity of rear-wheel, the first object speed are obtained
Greater than second target velocity；
The present speed of rear-wheel is compared with first object speed and the second target velocity respectively, obtains comparison result；
Based on the comparison as a result, the brake force that control exports the rear-wheel.
2. the braking method of automobile as described in claim 1, which is characterized in that described based on the comparison as a result, control pair
The brake force of the rear-wheel output, comprising:
When the present speed that the comparison result is rear-wheel is greater than the first object speed, what increase exported the rear-wheel
Brake force；
When the present speed that the comparison result is rear-wheel is less than second target velocity, what reduction exported the rear-wheel
Brake force first object speed and the second target velocity.
3. the braking method of automobile as claimed in claim 2, which is characterized in that described to increase the braking exported to the rear-wheel
Power specifically includes:
The brake force that the rear-wheel is exported according to the increase of the first pre-set value；
It is described to reduce the brake force exported to the rear-wheel, it specifically includes:
Reduce the brake force exported to the rear-wheel according to the second pre-set value.
4. the braking method of automobile as described in claim 1, which is characterized in that it is described when meeting emergency braking condition it
Afterwards, and it is described control the brake force that exports to the rear-wheel before, further includes:
Initial brake power is exported to the rear-wheel, the initial brake power is to make friction plate and brake disc by entering not in contact with state
The brake force of contact condition.
5. the braking method of automobile as described in claim 1, which is characterized in that the emergency braking condition is to receive promptly
Braking instruction, and the speed signal of all wheels is useful signal.
6. the braking method of automobile as described in claim 1, which is characterized in that described based on the comparison as a result, control pair
After the brake force of the rear-wheel output, further includes:
Judge whether to meet the emergency braking condition；
If meeting the emergency braking condition, the step of executing the present speed for obtaining current vehicle speed and rear-wheel is returned；
If being unsatisfactory for the emergency braking condition, terminate process.
7. a kind of braking method of automobile characterized by comprising
When meeting emergency braking condition, current vehicle speed, the present speed of left rear wheel and the present speed of off hind wheel are obtained；
Current vehicle speed is calculated, first object speed and the second target velocity obtain first object speed and the second target speed
Degree, the first object speed are greater than second target velocity；
The present speed of left rear wheel is compared with the first object speed and second target velocity respectively, obtains
One comparison result；
Based on first comparison result, the brake force exported to left rear wheel is controlled；
The present speed of off hind wheel is compared with the first object speed and second target velocity respectively, obtains
Two comparison results；
Based on second comparison result, the brake force exported to off hind wheel is controlled.
8. a kind of braking method of automobile characterized by comprising
When meeting emergency braking condition, the present speed of current vehicle speed and rear-wheel is obtained；
Current vehicle speed is calculated, the target velocity of rear-wheel is obtained；
The present speed of rear-wheel is compared with target velocity, obtains comparison result；
Based on the comparison as a result, the brake force that control exports the rear-wheel.
9. a kind of brake apparatus of automobile characterized by comprising
Speed acquiring module, for obtaining the present speed of current vehicle speed and rear-wheel when meeting emergency braking condition；
Target velocity obtains module and obtains the first object speed and the second target of rear-wheel for calculating current vehicle speed
Speed, the first object speed are greater than second target velocity；
Comparison module, for carrying out the present speed of rear-wheel with the first object speed and second target velocity respectively
Compare, obtains comparison result；
Control module, for based on the comparison as a result, the brake force that control exports the rear-wheel.
10. a kind of electronic brake system, including memory, processor and storage are in the memory and can be described
The computer program run on processor, which is characterized in that the processor realizes such as right when executing the computer program
It is required that the braking method of 1 to 8 described in any item automobiles.
11. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the computer program realizes the braking method of automobile as claimed in any one of claims 1 to 8 when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747881.7A CN109421678B (en) | 2017-08-28 | 2017-08-28 | Braking method, device, braking system and storage medium for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747881.7A CN109421678B (en) | 2017-08-28 | 2017-08-28 | Braking method, device, braking system and storage medium for automobile |
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| Publication Number | Publication Date |
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| CN109421678A true CN109421678A (en) | 2019-03-05 |
| CN109421678B CN109421678B (en) | 2020-08-25 |
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| CN201710747881.7A Active CN109421678B (en) | 2017-08-28 | 2017-08-28 | Braking method, device, braking system and storage medium for automobile |
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| CN110155008A (en) * | 2019-06-20 | 2019-08-23 | 爱驰汽车有限公司 | Based on electric boosted brake control method, system, equipment and storage medium |
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| Publication number | Publication date |
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| CN109421678B (en) | 2020-08-25 |
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