CN109421678B - Braking method, device, braking system and storage medium for automobile - Google Patents
Braking method, device, braking system and storage medium for automobile Download PDFInfo
- Publication number
- CN109421678B CN109421678B CN201710747881.7A CN201710747881A CN109421678B CN 109421678 B CN109421678 B CN 109421678B CN 201710747881 A CN201710747881 A CN 201710747881A CN 109421678 B CN109421678 B CN 109421678B
- Authority
- CN
- China
- Prior art keywords
- rear wheel
- speed
- target speed
- braking
- braking force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- 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
Abstract
The invention provides a braking method, a braking device, a braking system and a storage medium for an automobile. The braking method comprises the following steps: when the emergency braking condition is met, acquiring the current speed and the current speed of a rear wheel; calculating the current vehicle speed to obtain a first target speed and a second target speed of the rear wheel; comparing the current speed of the rear wheel with a first target speed and a second target speed respectively to obtain a comparison result; based on the comparison result, the braking force output to the rear wheels is controlled. The invention can make the braking force applied to the rear wheel more accurate and improve the braking efficiency.
Description
Technical Field
The invention belongs to the field of automobiles, and particularly relates to an automobile braking method, an automobile braking device, an automobile braking system and a storage medium.
Background
At present, under the condition that a whole vehicle brake system fails, when emergency braking is carried out on rear wheels of an automobile, a traditional mechanical parking structure (namely a hand brake) is mainly used, and the braking force of the mechanical parking structure on the rear wheels is controlled by a user, so that the situation that the applied braking force is too large or too small is often caused, and the braking efficiency is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a braking method, a braking device, a braking system, and a storage medium for an automobile, so as to solve the problem in the prior art that braking efficiency is low during emergency braking.
A first aspect of an embodiment of the present invention provides a braking method for an automobile, including:
when the emergency braking condition is met, acquiring the current speed and the current speed of a rear wheel;
calculating the current vehicle speed to obtain a first target speed and a second target speed of a rear wheel, wherein the first target speed is greater than the second target speed;
comparing the current speed of the rear wheel with the first target speed and the second target speed respectively to obtain a comparison result;
controlling the braking force output to the rear wheel based on the comparison result.
Preferably, the controlling the braking force output to the rear wheel based on the comparison result includes:
when the comparison result is that the current speed of the rear wheel is greater than a first target speed, increasing the braking force output to the rear wheel;
and when the comparison result shows that the current speed of the rear wheel is less than a second target speed, reducing the braking force output to the rear wheel.
Preferably, the increasing the braking force output to the rear wheel specifically includes:
increasing the braking force output to the rear wheel according to a first preset value;
the reducing the braking force output to the rear wheel specifically includes:
the braking force output to the rear wheel is reduced according to a second preset value.
Preferably, after the time when the emergency braking condition is satisfied and before the controlling the braking force output to the rear wheels, the method further includes:
and outputting initial braking force to the rear wheel, wherein the initial braking force is the braking force for enabling the friction plate and the brake disc to be in a contact state from a non-contact state.
Preferably, the emergency braking condition is that an emergency braking command is received, and the speed signals of all wheels are effective signals.
Preferably, after the controlling the braking force output to the rear wheel based on the comparison result, the method further includes:
judging whether the emergency braking condition is met;
if the emergency braking condition is met, returning to execute the step of acquiring the current speed and the current speed of the rear wheel;
and if the emergency braking condition is not met, ending the process.
A second aspect of an embodiment of the present invention provides a braking method for an automobile, including:
when the emergency braking condition is met, acquiring the current speed, the current speed of the left rear wheel and the current speed of the right rear wheel;
calculating the current vehicle speed to obtain a first target speed and a second target speed, wherein the first target speed is greater than the second target speed;
comparing the current speed of the left rear wheel with the first target speed and the second target speed respectively to obtain a first comparison result;
controlling a braking force output to the left rear wheel based on the first comparison result;
comparing the current speed of the right rear wheel with the first target speed and the second target speed respectively to obtain a second comparison result;
and controlling the braking force output to the right rear wheel based on the second comparison result.
A third aspect of an embodiment of the present invention provides a braking method for an automobile, including:
when the emergency braking condition is met, acquiring the current speed and the current speed of a rear wheel;
calculating the current speed to obtain the target speed of the rear wheel;
comparing the current speed of the rear wheel with the target speed to obtain a comparison result;
controlling the braking force output to the rear wheel based on the comparison result.
A fourth aspect of an embodiment of the present invention provides an apparatus, including:
the speed acquisition module is used for acquiring the current speed and the current speed of the rear wheel when the emergency braking condition is met;
the target speed acquisition module is used for calculating the current vehicle speed to obtain a first target speed and a second target speed of the rear wheel, wherein the first target speed is greater than the second target speed;
the comparison module is used for comparing the current speed of the rear wheel with the first target speed and the second target speed respectively to obtain a comparison result;
and a control module for controlling the braking force output to the rear wheel based on the comparison result.
A fifth aspect of an embodiment of the present invention provides an electronic parking brake system, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the braking method of the automobile when executing the computer program.
A sixth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the braking method of an automobile.
According to the embodiment of the invention, the braking force output to the rear wheel is adjusted in real time according to the current speed and the current speed of the rear wheel, so that the automatic control of the rear wheel is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram of a first embodiment of a braking method of an automobile of the present invention;
FIG. 2 is a schematic flow chart diagram of a second embodiment of a braking method of the vehicle of the present invention;
FIG. 3 is a schematic flow chart diagram of a third embodiment of a braking method of the automobile of the present invention;
FIG. 4 is a schematic flow chart diagram of a fourth embodiment of a braking method of the automobile of the present invention;
FIG. 5 is a schematic flow chart diagram of a fifth embodiment of a braking method of an automobile of the present invention;
FIG. 6 is a schematic flow chart diagram of a sixth embodiment of a braking method of an automobile of the present invention;
fig. 7 is a schematic structural view of a first embodiment of a brake apparatus for an automobile of the present invention;
fig. 8 is a schematic structural view of a second embodiment of the braking apparatus of the automobile of the invention;
fig. 9 is a schematic diagram of an electronic parking brake system provided by an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of a braking method of an automobile according to a first embodiment of the present invention. The braking method of the automobile comprises the following steps:
and 101, acquiring the current speed and the current speed of the rear wheel when the emergency braking condition is met. Specifically, the emergency braking condition is that an emergency braking command is received, and the speed signals of all wheels are effective signals. The emergency Brake command is a switch level signal that is received by an EPB (Electrical Park Brake system) and is triggered by a user. The current wheel speed and the current vehicle speed of the rear wheel CAN be acquired through a CAN (Controller Area Network) bus. When the automobile enters an emergency braking state, the current speed may be the current speed of the left front wheel or the right front wheel or an average value of the current speeds of the left front wheel and the right front wheel under the condition that the front wheels are not braked.
And 102, calculating the current vehicle speed to obtain a first target speed and a second target speed of the rear wheel. Wherein the first target speed is greater than the second target speed. Specifically, the current vehicle speed may be multiplied by a first preset coefficient, thereby obtaining a first target speed; and multiplying the current vehicle speed by a second preset coefficient to obtain a second target speed. The first predetermined factor may be a value greater than 1, such as 1.1, and the second predetermined factor may be a value less than 1, such as 0.9. It should be noted that the absolute value of the difference between the first preset coefficient/the second preset coefficient and 1 is smaller than a first preset threshold (the first preset threshold may be 0.3), which is to make the target speed of the rear wheel approach the current vehicle speed, so as to avoid the situation that the vehicle runs unstably or even out of control due to the too large speed difference between the front wheel and the rear wheel.
And 103, comparing the current speed of the rear wheel with the first target speed and the second target speed respectively to obtain a comparison result.
And 104, controlling the braking force output to the rear wheels based on the comparison result. The method specifically comprises the following steps: when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, the braking force output to the rear wheel is increased; when the comparison result shows that the current speed of the rear wheel is less than the second target speed, reducing the braking force output to the rear wheel; and when the current speed of the rear wheel is greater than or equal to the second target speed and less than or equal to the first target speed, maintaining the braking force output to the rear wheel unchanged. When the current speed of the rear wheel is less than the second target speed, the situation of wheel locking caused by overlarge braking force can be avoided by reducing the braking force on the rear wheel.
According to the embodiment of the invention, the current speed and the current speed of the rear wheel are obtained, the first target speed and the second target speed of the rear wheel are obtained based on the current speed, and the braking force output to the rear wheel is adjusted in real time according to the comparison result between the current speed of the rear wheel and the first target speed and the second target speed respectively, so that the automatic control of the rear wheel is realized.
Fig. 2 is a schematic flow chart of a braking method of an automobile according to a second embodiment of the present invention. The braking method of the automobile comprises the following steps:
and step 201, outputting initial braking force to the rear wheel when the emergency braking condition is met. The initial braking force is the braking force which enables the friction plate and the brake disc to be in a contact state from a non-contact state. The automobile includes an actuator for outputting a braking force to the rear wheel. The actuator comprises a brake disc arranged on a hub of the rear wheel and a friction plate used for providing resistance for the brake disc.
And 203, calculating the current vehicle speed to obtain a first target speed and a second target speed of the rear wheel. Wherein the first target speed is greater than the second target speed. This step is described in detail above, and therefore will not be described herein.
And step 204, comparing the current speed of the rear wheel with the first target speed and the second target speed respectively to obtain a comparison result.
And step 205, when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, increasing the braking force output to the rear wheel according to a first preset value.
And step 206, when the comparison result shows that the current speed of the rear wheel is less than the second target speed, reducing the braking force output to the rear wheel according to a second preset value.
Preferably, the first preset value and the second preset value are both smaller than a second preset threshold. The first preset value and the second preset value are not too large, so that the increased or decreased braking force is a small value, and the change of the braking force is smoother.
After the emergency braking condition is met, the embodiment of the invention outputs smaller initial braking force to the rear wheel, and the fixed value increases or decreases the braking force output to the rear wheel, so that the change of the braking force can be smoother, the condition that the output braking force is too large or too small is avoided, the braking efficiency is further improved, and the condition that the rear wheel is locked due to the fact that the braking force is applied once and too large is also avoided.
Fig. 3 is a schematic flow chart of a braking method for an automobile according to a third embodiment of the present invention. The braking method of the automobile comprises the following steps:
In step 305, the braking force output to the rear wheels is controlled based on the comparison result. The method specifically comprises the following steps: when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, the braking force output to the rear wheel is increased; when the comparison result shows that the current speed of the rear wheel is less than the second target speed, reducing the braking force output to the rear wheel; and when the current speed of the rear wheel is greater than or equal to the second target speed and less than or equal to the first target speed, maintaining the braking force output to the rear wheel unchanged.
Preferably, the step of increasing the braking force output to the rear wheel when the comparison result is that the current speed of the rear wheel is greater than the first target speed specifically includes: when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, acquiring the current braking force output to the rear wheel; judging whether the current braking force is smaller than a preset peak value; and if the current braking force is smaller than the preset peak value, increasing the braking force output to the rear wheel. In addition, if the current braking force is greater than or equal to the preset peak value, the braking force output to the rear wheel is kept unchanged. In consideration of the maximum deceleration that can be provided by the rear wheel and the life of the caliper (a part of the friction plate), when the automobile is braked suddenly, the upper limit value of the braking force output to the rear wheel should be limited to prevent the life of the rear wheel and the caliper from being affected by the current braking force being too large.
Preferably, when the comparison result shows that the current speed of the rear wheel is less than the second target speed, the step of reducing the braking force output to the rear wheel specifically includes: when the comparison result shows that the current speed of the rear wheel is smaller than the second target speed, whether the actuator outputs braking force to the rear wheel is detected; if it is detected that the actuator outputs the braking force to the rear wheel, the braking force output to the rear wheel is reduced. When it is detected that the actuator is not outputting the braking force to the rear wheel, the braking force to be output to the rear wheel is maintained.
Preferably, after the preset time period elapses after step 305 is executed, the process returns to step 301. The preset time length is greater than or equal to 1 millisecond and less than 10 milliseconds.
In the embodiment of the invention, one millisecond-level delay exists after the braking force is output every time, so that the vehicle state is stable, whether the rear wheel has a locking trend or not can be found in time (namely the current speed of the rear wheel is less than the second target wheel speed) and then the step 301 to the step 304 are executed again, so that the braking force of the rear wheel can be adjusted again, the speed of the rear wheel can be adjusted in time, and the rear wheel can get rid of the locking trend.
Fig. 4 is a schematic flow chart of a braking method of an automobile according to a fourth embodiment of the invention. The braking method of the automobile comprises the following steps:
Step 402, obtaining a current vehicle speed and a current speed of a rear wheel. This step has been described in detail above, and therefore is not described herein.
And 403, calculating the current vehicle speed to obtain a first target wheel speed and a second target wheel speed. Wherein the second target wheel speed is less than the first target wheel speed. The current vehicle speed may be multiplied by a first preset coefficient to obtain a first target speed; and multiplying the current vehicle speed by a second preset coefficient to obtain a second target speed. The first predetermined factor may be a value greater than 1, such as 1.1, and the second predetermined factor may be a value less than 1, such as 0.9. It should be noted that the absolute value of the difference between the first predetermined coefficient/the second predetermined coefficient and 1 is smaller than the first predetermined threshold.
In step 406, the braking force output to the rear wheels is increased, and the process returns to step 401.
In step 409, the braking force output to the rear wheels is reduced, and the process returns to step 401.
According to the embodiment of the invention, the intervention of a hydraulic system is not needed in the whole braking process, the braking force is adjusted in real time, and the anti-lock braking process is different from the traditional anti-lock braking process in which a controller is needed to drive the hydraulic system to control the braking force, so that the locking of wheels is prevented, and the problem that the anti-lock braking cannot be carried out under the condition that a vehicle hydraulic system fails is solved.
Fig. 5 is a schematic flow chart of a fifth embodiment of the braking method of the present invention. The present embodiment performs the braking control for the left and right rear wheels to be separated, taking into account that in actual circumstances there are cases where the road surface friction coefficients do not coincide. Specifically, the braking method of the automobile comprises the following steps:
Step 503, comparing the current speed of the left rear wheel with the first target speed and the second target speed respectively to obtain a first comparison result.
In step 504, the braking force output to the left rear wheel is controlled based on the first comparison result.
And 505, comparing the current speed of the right rear wheel with the first target speed and the second target speed respectively to obtain a second comparison result. It should be noted that this step may also be executed before or simultaneously with step 503, and the execution order is not limited in this embodiment.
In step 506, the braking force output to the right rear wheel is controlled based on the second comparison result.
The braking methods of the left rear wheel or the right rear wheel in this embodiment are completely the same, and the steps of the braking control of the left rear wheel or the right rear wheel are described in detail in the first to fourth embodiments of the braking method of the automobile of the present invention, and therefore, are not described herein again.
When the friction coefficients of the left and right road surfaces are different, if the same braking force is applied to the left and right rear wheels, the acceleration of the left and right rear wheels is different, and further the speed difference is overlarge, so that the situation that the rear wheels are locked or deflected easily occurs.
Preferably, when the preset condition is satisfied, step 501 includes: when the emergency braking condition is met, the current speeds of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are respectively acquired. Step 502 includes: obtaining a first target speed and a second target speed of the left rear wheel according to the current speed of the left front wheel, wherein the first target speed is greater than the second target speed; and obtaining a third target speed and a fourth target speed of the right rear wheel according to the current speed of the right rear wheel, wherein the third target speed is greater than the fourth target speed. Step 503 comprises: and comparing the current speed of the left rear wheel with the first target speed and the second target speed respectively to obtain a first comparison result. Step 505 comprises: and comparing the current speed of the right rear wheel with the third target speed and the fourth target speed respectively to obtain a second comparison result. Wherein the preset condition is that a difference between the current speed of the left front wheel and the current speed of the right front wheel is greater than a third preset threshold. Therefore, the situation that the vehicle deviates from a turning path and is out of control due to the fact that the speed difference between the right rear wheel and the left rear wheel is too small when the vehicle turns is avoided.
Fig. 6 is a schematic flow chart of a braking method for an automobile according to a sixth embodiment of the present invention. The braking method of the automobile comprises the following steps:
In step 604, the braking force output to the rear wheels is controlled based on the comparison result. As a first embodiment, the comparison result may be a difference between the current speed of the rear wheels and the target speed. The magnitude of the output braking force is in direct proportion to the difference value, and the larger the difference value is, the larger the braking force output to the rear wheel is; the smaller the difference, the smaller the braking force output to the rear wheel. As a second embodiment, the method specifically includes: when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, the braking force output to the rear wheel is increased; and when the comparison result shows that the current speed of the rear wheel is less than the second target speed, reducing the braking force output to the rear wheel.
According to the embodiment of the invention, the braking force output to the rear wheel is adjusted in real time according to the current speed and the current speed of the rear wheel, so that the automatic control of the rear wheel is realized.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In addition, the braking method of the automobile of the present invention further includes: detecting whether the current vehicle speed is less than a second preset threshold value; detecting whether an acceleration instruction is received; and if the current vehicle speed is less than a second preset threshold value, or an emergency braking stopping instruction or an acceleration instruction is received, ending the process. The second preset threshold is 3 km/h, and specifically, the process is ended if the vehicle speed falls to meet the static pull-up condition of the electronic parking brake system (the vehicle speed is less than 3 km/h), or if the driver releases the EPB switch or depresses the accelerator.
The braking method of the vehicle according to the present invention is described in detail above, and the device corresponding to the braking method will be further described below.
Fig. 7 is a schematic structural diagram of a braking device of an automobile according to a first embodiment of the present invention. As shown, the braking apparatus of the automobile includes a speed obtaining module 701, a target speed obtaining module 702, a comparing module 703 and a control module 704.
The speed obtaining module 701 is configured to obtain a current speed and a current speed of a rear wheel when an emergency braking condition is satisfied. The emergency braking condition is that an emergency braking instruction is received, and the speed signals of all wheels are effective signals.
The target speed obtaining module 702 is configured to calculate a current vehicle speed to obtain a first target speed and a second target speed of the rear wheel. Wherein the first target speed is greater than the second target speed. The target speed obtaining module 702 is specifically configured to multiply the current vehicle speed by a first preset coefficient, so as to obtain a first target speed; and multiplying the current vehicle speed by a second preset coefficient to obtain a second target speed.
The comparing module 703 is configured to compare the current speed of the rear wheel with the first target speed and the second target speed, respectively, to obtain a comparison result.
And a control module 704 for controlling the braking force output to the rear wheels based on the comparison result. Specifically, the control module 704 includes an increasing unit and a decreasing unit.
The increasing unit is used for increasing the braking force output to the rear wheel when the comparison result shows that the current speed of the rear wheel is greater than the first target speed, and the increasing unit is specifically used for increasing the braking force output to the rear wheel according to a first preset value when the comparison result shows that the current speed of the rear wheel is greater than the first target speed.
The reducing unit is used for reducing the braking force output to the rear wheel when the comparison result shows that the current speed of the rear wheel is smaller than the second target speed. The reducing unit is specifically configured to reduce the braking force output to the rear wheel according to a second preset value when the comparison result is that the current speed of the rear wheel is less than a second target speed.
Preferably, the brake device of the vehicle further includes a brake force output module. The braking force output module is used for outputting initial braking force to the rear wheel when an emergency braking condition is met, wherein the initial braking force is the braking force for enabling the friction plate and the brake disc to enter a contact state from a non-contact state.
Preferably, the braking device of the vehicle further comprises a processing module. The processing module is used for judging whether an emergency braking condition is met; if the emergency braking condition is met, returning to execute the step of obtaining the current speed and the current speed of the rear wheel; and if the emergency braking condition is not met, ending the process.
According to the embodiment of the invention, the current speed and the current speed of the rear wheel are obtained, the first target speed and the second target speed of the rear wheel are obtained based on the current speed, and the braking force output to the rear wheel is adjusted in real time according to the comparison result of the current speed of the rear wheel and the first target speed and the second target speed, so that the automatic control of the rear wheel is realized.
Fig. 8 is a schematic structural diagram of a braking device of an automobile according to a second embodiment of the present invention. As shown, the braking apparatus of the automobile includes a speed acquisition module 801, a target speed acquisition module 802, a first comparison module 803, a first control module 804, a second comparison module 805, and a first control module 806.
A speed obtaining module 801, configured to obtain a current vehicle speed, a current speed of the left rear wheel, and a current speed of the right rear wheel when the emergency braking condition is satisfied.
The target speed obtaining module 802 is configured to calculate a current vehicle speed to obtain a first target speed and a second target speed. Wherein the first target speed is greater than the second target speed.
A first comparing module 803, configured to compare the current speed of the left rear wheel with the first target speed and the second target speed, respectively, to obtain a first comparison result.
A first control module 804 for controlling the braking force output to the left rear wheel based on the first comparison result.
The second comparing module 805 is configured to compare the current speed of the right rear wheel with the first target speed and the second target speed, respectively, to obtain a second comparison result.
And a first control module 806 for controlling the braking force output to the right rear wheel based on the second comparison result.
According to the embodiment of the invention, the left and right rear wheels are separately subjected to brake control, and the target speed intervals for controlling the left and right rear wheels are the same, so that the conditions of locking and deviation caused by inconsistent friction coefficients of the left and right road surfaces of the vehicle can be prevented.
The embodiment of the invention also provides an electronic parking brake system, a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the braking method of the automobile when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the computer readable storage medium realizes the braking method of the automobile.
Fig. 9 is a schematic diagram of an electronic parking brake system according to an embodiment of the present invention. As shown in fig. 9, the electronic parking brake system 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92 stored in said memory 91 and operable on said processor 90, such as a brake program of a car. The processor 90, when executing the computer program 92, implements the steps of the various vehicle recipe method embodiments described above, such as steps 101-104 shown in fig. 1. Alternatively, the processor 90 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 92.
Illustratively, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 92 in the electronic parking brake system 9.
The electronic parking brake system 9 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The electronic parking brake system may include, but is not limited to, a processor 90, a memory 91. It will be understood by those skilled in the art that fig. 9 is merely an example of the electronic parking brake system 9, and does not constitute a limitation of the electronic parking brake system 9, and may include more or less components than those shown, or combine some components, or different components, for example, the electronic parking brake system may further include an input-output device, a network access device, a bus, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the electronic parking brake system 9, such as a hard disk or a memory of the electronic parking brake system 9. The memory 91 may also be an external storage device of the electronic parking brake system 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic parking brake system 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the electronic parking brake system 9. The memory 91 is used for storing the computer program and other programs and data required by the electronic parking brake system. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/system and method may be implemented in other ways. For example, the above-described apparatus/system embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of braking a vehicle, comprising:
when the emergency braking condition is met, acquiring the current speed and the current speed of a rear wheel;
calculating the current vehicle speed to obtain a first target speed and a second target speed of a rear wheel, wherein the first target speed is greater than the second target speed;
comparing the current speed of the rear wheel with a first target speed and a second target speed respectively to obtain a comparison result;
controlling a braking force output to the rear wheel based on the comparison result;
when the comparison result is that the current speed of the rear wheel is greater than the first target speed, increasing the braking force output to the rear wheel;
and when the comparison result shows that the current speed of the rear wheel is less than the second target speed, reducing the braking force output to the rear wheel.
2. The method for braking an automobile according to claim 1, wherein the increasing of the braking force output to the rear wheel specifically includes:
increasing the braking force output to the rear wheel according to a first preset value;
the reducing the braking force output to the rear wheel specifically includes:
the braking force output to the rear wheel is reduced according to a second preset value.
3. The braking method of an automobile according to claim 2, further comprising, after the when the emergency braking condition is satisfied and before the controlling the braking force output to the rear wheels:
and outputting initial braking force to the rear wheel, wherein the initial braking force is the braking force for enabling the friction plate and the brake disc to be in a contact state from a non-contact state.
4. A method of braking a vehicle according to claim 1, wherein the emergency braking condition is that an emergency braking command is received and the speed signals of all wheels are valid signals.
5. The braking method of an automobile according to claim 1, wherein after controlling the braking force output to the rear wheels based on the comparison result, further comprising:
judging whether the emergency braking condition is met;
if the emergency braking condition is met, returning to execute the step of acquiring the current speed and the current speed of the rear wheel;
and if the emergency braking condition is not met, ending the process.
6. A method of braking a vehicle, comprising:
when the emergency braking condition is met, acquiring the current speed, the current speed of the left rear wheel and the current speed of the right rear wheel;
calculating the current vehicle speed to obtain a first target speed and a second target speed, wherein the first target speed is greater than the second target speed;
comparing the current speed of the left rear wheel with the first target speed and the second target speed respectively to obtain a first comparison result;
when the first comparison result is that the current speed of the left rear wheel is greater than the first target speed, increasing the braking force output to the left rear wheel;
when the first comparison result is that the current speed of the left rear wheel is lower than the second target speed, reducing the braking force output to the left rear wheel;
comparing the current speed of the right rear wheel with the first target speed and the second target speed respectively to obtain a second comparison result;
when the second comparison result is that the current speed of the right rear wheel is greater than the first target speed, increasing the braking force output to the right rear wheel;
and when the second comparison result shows that the current speed of the right rear wheel is less than the second target speed, reducing the braking force output to the right rear wheel.
7. A method of braking a vehicle, comprising:
when the emergency braking condition is met, acquiring the current speed and the current speed of a rear wheel;
calculating the current speed to obtain the target speed of the rear wheel;
comparing the current speed of the rear wheel with a target speed to obtain a comparison result of the difference value between the current speed of the rear wheel and the target speed;
controlling a braking force output to the rear wheel based on the comparison result;
when the comparison result is that the difference value between the current speed of the rear wheel and the target speed is large, the braking force output to the rear wheel is increased;
and when the comparison result is that the difference value between the current speed and the target speed of the rear wheel is small, reducing the braking force output to the rear wheel.
8. A brake apparatus for a vehicle, comprising:
the speed acquisition module is used for acquiring the current speed and the current speed of the rear wheel when the emergency braking condition is met;
the target speed acquisition module is used for calculating the current vehicle speed to obtain a first target speed and a second target speed of the rear wheel, wherein the first target speed is greater than the second target speed;
the comparison module is used for comparing the current speed of the rear wheel with a first target speed and a second target speed respectively to obtain a comparison result;
a control module that controls a braking force output to the rear wheel based on the comparison result;
the increasing module is used for increasing the braking force output to the rear wheel when the comparison result shows that the current speed of the rear wheel is greater than the first target speed;
and the reducing module is used for reducing the braking force output to the rear wheel when the comparison result shows that the current speed of the rear wheel is less than the second target speed.
9. An electronic parking brake system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a braking method of a vehicle according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for braking a vehicle according to any one of claims 1 to 7.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109421678A CN109421678A (en) | 2019-03-05 |
| CN109421678B true CN109421678B (en) | 2020-08-25 |
Family
ID=65502249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710747881.7A Active CN109421678B (en) | 2017-08-28 | 2017-08-28 | Braking method, device, braking system and storage medium for automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109421678B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155009B (en) * | 2019-06-20 | 2020-10-23 | 爱驰汽车有限公司 | Brake control method, system, equipment and storage medium based on intelligent assistance |
| CN110155008B (en) * | 2019-06-20 | 2021-02-09 | 爱驰汽车有限公司 | Brake control method, system, device and storage medium based on electric power assistance |
| CN113401100B (en) * | 2021-07-28 | 2022-09-16 | 奇瑞汽车股份有限公司 | Vehicle braking method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7349788B2 (en) * | 2004-02-17 | 2008-03-25 | Ford Global Technologies Llc | System for reducing powertrain reaction torque |
| CN101795920A (en) * | 2007-09-06 | 2010-08-04 | 丰田自动车株式会社 | Vehicle control device and method of controlling vehicle |
| CN103523000A (en) * | 2012-07-04 | 2014-01-22 | 现代摩比斯株式会社 | Pressure control method in case of brake using smart booster brake device |
| JP2014201081A (en) * | 2013-04-01 | 2014-10-27 | 本田技研工業株式会社 | Vehicle control device |
| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| CN106143287A (en) * | 2016-08-01 | 2016-11-23 | 广州汽车集团股份有限公司 | Automobile brake reminding method, automobile brake prompt system and automobile |
-
2017
- 2017-08-28 CN CN201710747881.7A patent/CN109421678B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7349788B2 (en) * | 2004-02-17 | 2008-03-25 | Ford Global Technologies Llc | System for reducing powertrain reaction torque |
| CN101795920A (en) * | 2007-09-06 | 2010-08-04 | 丰田自动车株式会社 | Vehicle control device and method of controlling vehicle |
| CN103523000A (en) * | 2012-07-04 | 2014-01-22 | 现代摩比斯株式会社 | Pressure control method in case of brake using smart booster brake device |
| JP2014201081A (en) * | 2013-04-01 | 2014-10-27 | 本田技研工業株式会社 | Vehicle control device |
| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| CN106143287A (en) * | 2016-08-01 | 2016-11-23 | 广州汽车集团股份有限公司 | Automobile brake reminding method, automobile brake prompt system and automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109421678A (en) | 2019-03-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109421678B (en) | Braking method, device, braking system and storage medium for automobile | |
| CN111196269B (en) | Vehicle operation control method and device and computer readable storage medium | |
| US10647311B2 (en) | System and method for motor brake boost function failure | |
| CN112918447B (en) | Control method and system for optimizing brake pedal stroke and storage medium | |
| CN107891866B (en) | Method for determining a road surface on the basis of vehicle data | |
| EP4159522A1 (en) | Torque control method and apparatus for slippery road surface, and terminal device | |
| US20160114772A1 (en) | Methods and systems for boosting trailer brake output | |
| CN114734999A (en) | Vehicle control method, device, terminal device and medium | |
| CN117022211B (en) | Anti-lock parking method, device, equipment and storage medium | |
| KR20210070014A (en) | Apparatus for estimating friction coefficient of road surface and method thereof | |
| CN114475276B (en) | Control method and system for torque of driving motor | |
| CN115503494A (en) | Control method of single-pedal vehicle, vehicle control terminal and single-pedal vehicle | |
| CN115817480A (en) | Adaptive cruise anti-slope-sliding control method and device, electronic equipment and storage medium | |
| CN109204292B (en) | Automobile tail flick control method, system, equipment and storage medium | |
| CN114228680B (en) | EHB automatic parking control method and device, ECU and storage medium | |
| CN114734975B (en) | Method and device for identifying wiring of coaxial wheel speed sensor | |
| US20120253554A1 (en) | RC Car Anti-Flip System and Methods | |
| CN113879208B (en) | Vehicle braking prompt method, system, terminal equipment and readable storage medium | |
| CN115035745B (en) | Car following control method and device for avoiding cluster collision, electronic equipment and storage medium | |
| CN117002454A (en) | Vehicle steering control method and device | |
| CN114802246A (en) | Vehicle longitudinal control method, device and equipment and readable storage medium | |
| CN114954385A (en) | Auxiliary braking control method and device | |
| CN117261848A (en) | Method for controlling curve braking side-tipping stability in whole vehicle ramp and related equipment | |
| CN115416667A (en) | Vehicle control method and device, intelligent driving control system and storage medium | |
| CN116443034A (en) | Driving device control method, electronic device, driving device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |