CN110103912A - A kind of brake control method of automatic driving vehicle, device and mobile unit - Google Patents
A kind of brake control method of automatic driving vehicle, device and mobile unit Download PDFInfo
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- CN110103912A CN110103912A CN201910207443.0A CN201910207443A CN110103912A CN 110103912 A CN110103912 A CN 110103912A CN 201910207443 A CN201910207443 A CN 201910207443A CN 110103912 A CN110103912 A CN 110103912A
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- value
- oil pressure
- vehicle
- deceleration
- pressure value
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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
- 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
-
- 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
- B60T8/321—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 deceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present embodiments relate to a kind of brake control method of automatic driving vehicle, device and mobile unit, method includes: to determine the first deceleration value based on automatic Pilot decision information；Receive the vehicle speed value that entire car controller is sent；Based on first deceleration value and the vehicle speed value, braking oil pressure value is determined；It sends the braking oil pressure value to vehicle brake controller and carries out control for brake.In the embodiment of the present invention, since braking oil pressure value is determined based on the actual vehicle speed value of the determining expectation deceleration value of automatic Pilot decision information and entire car controller feedback, without demarcating the corresponding relationship of braking oil pressure value and deceleration, even if the vehicle condition of vehicle changes with external environment, without the new corresponding relationship of re-calibration, with stronger robustness, make vehicle smoothly braking deceleration.
Description
Technical field
The present embodiments relate to Vehicular automatic driving technical fields, and in particular to a kind of braking control of automatic driving vehicle
Method, apparatus processed and mobile unit.
Background technique
It when vehicle braking, needs to control braking oil pressure value, makes vehicle that desired deceleration value be kept to carry out braking deceleration.Mesh
Before, the prior art obtains the corresponding relationship matrix of braking oil pressure value and deceleration value by calibration, is controlled and is braked by look-up table
Oil pressure value.
But in vehicle operation, the vehicle condition of vehicle, such as tire pressure, driving engine friction and ridership
Amount etc. can dynamic change, in addition, external environment, such as pavement friction, road gradient and weather etc. also can dynamic change, because
This, under the vehicle condition of vehicle and the dynamic change of external environment, the prior art needs constantly to re-scale new corresponding relationship square
Battle array, robustness is weaker, and vehicle can not smoothly braking deceleration.
Therefore, it is urgent to provide a kind of brake control methods of automatic driving vehicle, for the vehicle condition and external environment of vehicle
Dynamic change have stronger robustness.
Summary of the invention
In order to solve the problems, such as it is of the existing technology at least one, at least one embodiment of the present invention provide it is a kind of from
Dynamic brake control method, mobile unit and the storage medium for driving vehicle.
In a first aspect, the embodiment of the present invention proposes a kind of brake control method of automatic driving vehicle, which comprises
The first deceleration value is determined based on automatic Pilot decision information；
Receive the vehicle speed value that entire car controller is sent；
Based on first deceleration value and the vehicle speed value, braking oil pressure value is determined；
It sends the braking oil pressure value to vehicle brake controller and carries out control for brake.
In some embodiments, described to be based on first deceleration value and the vehicle speed value, determine braking oil pressure value,
Include:
Based on the vehicle speed value, the second deceleration value is determined；
Based on first deceleration value and second deceleration value, braking oil pressure value is determined.
In some embodiments, described to be based on first deceleration value and second deceleration value, determine brake oil
Pressure value, comprising:
First deceleration value and second deceleration value are exported based on preset braking oil pressure value output model
For braking oil pressure value.
In some embodiments, the vehicle speed value for receiving entire car controller and sending, comprising: received by the first bus whole
The vehicle speed value that vehicle controller is sent；
The braking oil pressure value to the vehicle brake controller that sends carries out control for brake, comprising: passes through the second bus
It sends the braking oil pressure value to vehicle brake controller and carries out control for brake.
Second aspect, the embodiment of the present invention also propose a kind of brake control of automatic driving vehicle, described device packet
It includes:
First determination unit, for determining the first deceleration value based on automatic Pilot decision information；
Receiving unit, for receiving the vehicle speed value of entire car controller transmission；
Second determination unit determines braking oil pressure value for being based on first deceleration value and the vehicle speed value；
Transmission unit carries out control for brake for sending the braking oil pressure value to vehicle brake controller.
In some embodiments, second determination unit, comprising:
First subelement determines the second deceleration value for being based on the vehicle speed value；
Second subelement determines braking oil pressure value for being based on first deceleration value and second deceleration value.
In some embodiments, second subelement, will be described for being based on preset braking oil pressure value output model
First deceleration value and second deceleration value output are braking oil pressure value.
In some embodiments, the receiving unit, for receiving the speed that entire car controller is sent by the first bus
Value；
The transmission unit, for sending the braking oil pressure value to vehicle brake controller system by the second bus
Dynamic control.
The third aspect, the embodiment of the present invention also propose a kind of mobile unit, comprising:
Processor and memory；
The processor and memory are coupled by bus system；
The processor is used to execute side as described in relation to the first aspect by the program or instruction of calling the memory to store
The step of method.
Fourth aspect, the embodiment of the present invention also propose a kind of non-transient computer readable storage medium, the non-transient meter
Calculation machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute side as described in relation to the first aspect
The step of method.
As it can be seen that at least one embodiment of the embodiment of the present invention, since braking oil pressure value is believed based on automatic Pilot decision
The actual vehicle speed value of determining expectation deceleration value and entire car controller feedback is ceased to determine, without demarcating braking oil pressure value and subtracting
The corresponding relationship of speed, without new corresponding relationship is re-scaled, has even if the vehicle condition of vehicle changes with external environment
There is stronger robustness, makes vehicle smoothly braking deceleration.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of braking control system architecture diagram of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention；
Fig. 3 is a kind of brake control method flow chart of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of brake control block diagram of automatic driving vehicle provided in an embodiment of the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention is described in further detail.It is understood that described embodiment is a part of the embodiments of the present invention,
Instead of all the embodiments.Specific embodiment described herein is used only for explaining the present invention, rather than to limit of the invention
It is fixed.Based on described the embodiment of the present invention, those of ordinary skill in the art's every other embodiment obtained is belonged to
The scope of protection of the invention.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
Fig. 1 is a kind of braking control system frame block diagram of automatic driving vehicle provided in an embodiment of the present invention.
As shown in Figure 1, the braking control system of automatic driving vehicle include: automatic Pilot control unit (ADU,
Automatic Driving control Unit), entire car controller (VCU, Vehicle Control Unit) and vehicle system
Movement controller (EHB, Electro Hydraulic Braking).
Automatic Pilot control unit ADU includes automated driving system software systems and the hardware for supporting software systems operation
System.
Automatic Pilot control unit ADU is connect with first sensor group, first sensor group include but is not limited to camera,
Laser radar, millimetre-wave radar, ultrasonic radar, GPS (Global Positioning System, global positioning system) and
At least one of IMU (Inertial Measurement Unit, Inertial Measurement Unit).
Automatic Pilot control unit ADU can obtain the data of first sensor group, carry out vehicle-periphery perception and vehicle
Positioning, and programmed decision-making is carried out to Vehicular automatic driving based on environment sensing information and vehicle location information, generation is driven automatically
Decision information is sailed, and vehicle control instruction is generated based on automatic Pilot decision information, and is handed down to entire car controller VCU control vehicle
Traveling.Wherein, automatic Pilot decision information includes but is not limited to: vehicle course, expected path, car speed, expectation are slowed down
Degree etc..
After entire car controller VCU receives vehicle control instruction, controls each execution unit and carry out corresponding operating.Execution unit
It include: vehicle brake controller EHB, accelerator pedal system APS, brake pedal system BPS, gear system GP, power-assisted steering system
Unite EPS and driving motor Motor.
Entire car controller VCU is connect with second sensor group, and the data of second sensor group acquisition include but is not limited to vehicle
Dynamics data, second sensor group for example including but be not limited to wheel speed sensor, velocity sensor, acceleration pass
At least one of sensor and steering angle sensor.
Entire car controller VCU can obtain the data of second sensor group, and be sent to automatic Pilot by vehicle CAN bus
Control unit ADU.
Automatic Pilot control unit ADU can realize the step of each embodiment of the brake control method of automatic driving vehicle, example
Such as include the following steps one to step 4:
Step 1: determining the first deceleration value based on automatic Pilot decision information；First deceleration value it is expected deceleration
Value.
Step 2: receiving the vehicle speed value that entire car controller is sent.
Step 3: being based on first deceleration value and the vehicle speed value, braking oil pressure value is determined.
Step 4: sending the braking oil pressure value to vehicle brake controller carries out control for brake.
In the embodiment of the present invention, due to braking oil pressure value based on automatic Pilot decision information determine expectation deceleration value and
The actual vehicle speed value of entire car controller feedback determines, without demarcating the corresponding relationship of braking oil pressure value and deceleration, even if vehicle
Vehicle condition change with external environment, without new corresponding relationship re-scaled, there is stronger robustness, make vehicle
Smoothly braking deceleration.
Fig. 2 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.
Mobile unit shown in Fig. 2 includes: at least one processor 201 and at least one processor 202.In mobile unit
Various components be coupled by bus system 203.It is understood that bus system 203 is for realizing between these components
Connection communication.Bus system 203 further includes power bus, control bus and status signal bus in addition in addition to including data/address bus.
But for the sake of clear explanation, various buses are all designated as bus system 203 in Fig. 2.
It is appreciated that the memory 202 in the present embodiment can be volatile memory or nonvolatile memory, or can
Including both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-
OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), Erasable Programmable Read Only Memory EPROM
(ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge
It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed
It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory
(SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory
(DirectRambusRAM, DRRAM).Memory 202 described herein is intended to include but is not limited to these to be suitble to any other
The memory of type.
In some embodiments, memory 202 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system 2021 and application program 2022.
Wherein, operating system 2021 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for
Realize various basic businesses and the hardware based task of processing.Application program 2022 includes various application programs, such as media
Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize embodiment of the present invention side
The program of method may be embodied in application program 2022.
In embodiments of the present invention, program or instruction that processor 201 is stored by calling memory 202, specifically, can
To be the program or instruction stored in application program 2022, processor 201 is for executing the control for brake side of automatic driving vehicle
The step of each embodiment of method, such as may include following steps one to step 4:
Step 1: determining the first deceleration value based on automatic Pilot decision information；First deceleration value it is expected deceleration
Value.
Step 2: receiving the vehicle speed value that entire car controller is sent.
Step 3: being based on first deceleration value and the vehicle speed value, braking oil pressure value is determined.
Step 4: sending the braking oil pressure value to vehicle brake controller carries out control for brake.
In the embodiment of the present invention, due to braking oil pressure value based on automatic Pilot decision information determine expectation deceleration value and
The actual vehicle speed value of entire car controller feedback determines, without demarcating the corresponding relationship of braking oil pressure value and deceleration, even if vehicle
Vehicle condition change with external environment, without new corresponding relationship re-scaled, there is stronger robustness, make vehicle
Smoothly braking deceleration.
The method that the embodiments of the present invention disclose can be applied in processor 201, or be realized by processor 201.
Processor 201 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 201 or the instruction of software form.Above-mentioned processing
Device 201 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), specific integrated circuit
(ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array
(FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic
Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention
Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the present invention
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor
In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can
In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage
Medium is located at memory 202, and processor 201 reads the information in memory 202, and the step of the above method is completed in conjunction with its hardware
Suddenly.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor (DSP), digital signal processing appts (DSPDevice, DSPD), programmable logic device (PLD), field-programmable
Gate array (FPGA), general processor, controller, microcontroller, microprocessor, for executing the other of herein described function
In electronic unit or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
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.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method
Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways.
For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function division, there may be another division manner in actual implementation, such as multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
It closes or direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit can be with
It is electrically 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.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
Fig. 3 is a kind of brake control method flow chart of automatic driving vehicle provided in an embodiment of the present invention.This method
Executing subject is mobile unit.
As shown in figure 3, the brake control method of automatic driving vehicle disclosed in the present embodiment may include following steps 301 to
304:
301, the first deceleration value is determined based on automatic Pilot decision information.
302, the vehicle speed value that entire car controller is sent is received.
303, it is based on first deceleration value and the vehicle speed value, determines braking oil pressure value；
304, it sends the braking oil pressure value to vehicle brake controller and carries out control for brake.
In the present embodiment, automatic Pilot decision information is generated by automatic Pilot control unit ADU, automatic Pilot decision information
Including but not limited to: vehicle course, expected path, car speed, expectation deceleration etc..First deceleration value is in step 301
It is expected that deceleration value.
Automatic Pilot control unit ADU and mobile unit can be two equipment, also can integrate together, such as vehicle
Carry the automated driving system software systems that automatic Pilot control unit ADU is stored in the memory of equipment, the processing of mobile unit
Device executes the function of automated driving system by the automated driving system software systems for calling memory 202 to store.
Entire car controller VCU is connect with velocity sensor, can acquisition speed sensor acquisition vehicle speed value.Entire car controller
Vehicle speed value is sent to mobile unit by VCU.
In the present embodiment, braking oil pressure value is based on the determining expectation deceleration value of automatic Pilot decision information and full-vehicle control
The actual vehicle speed value of device feedback determines, without demarcating the corresponding relationship of braking oil pressure value and deceleration, even if the vehicle condition of vehicle
It changes with external environment, without new corresponding relationship is re-scaled, there is stronger robustness, make vehicle smoothly
It is dynamic to slow down.
In some embodiments, it is based on first deceleration value and the vehicle speed value, braking oil pressure value is determined, can wrap
Include following steps one and step 2:
Step 1: being based on the vehicle speed value, the second deceleration value is determined；
Step 2: being based on first deceleration value and second deceleration value, braking oil pressure value is determined.
In the present embodiment, the actual deceleration angle value of the second deceleration value namely vehicle.Based on the vehicle speed value, second is determined
Deceleration value, can be with are as follows: based on differential tracker by vehicle speed value output is the second deceleration value.Differential tracker, which can also be used, to be changed
Into differential tracker.
By differential tracker can from the signal comprising noise reasonable drawing differential signal, compare conventional differential device, it is micro-
Divide the second deceleration value of tracker output more accurate.
In some embodiments, it is based on first deceleration value and second deceleration value, determines braking oil pressure value,
It can be with are as follows: be by first deceleration value and second deceleration value output based on preset braking oil pressure value output model
Braking oil pressure value.
In the present embodiment, braking oil pressure value output model can include but is not limited to Model Predictive Control (Model
Predictive Control, MPC) algorithm model, proportional integral differential control (PID) algorithm model and Active Disturbance Rejection Control
(ADRC) any one model in algorithm model.
Braking oil pressure value output model is the obtained model of training in advance, and individualized training sample is by the first deceleration value, the
Two deceleration values and braking oil pressure value are constituted.By the way that the first deceleration value and the second deceleration value to be input in model and instruct
Practice, until mode input is braking oil pressure value, the model after being trained.
In some embodiments, the vehicle speed value that entire car controller is sent is received, it can be with are as follows: pass through the first bus and receive vehicle
The vehicle speed value that controller is sent.It sends the braking oil pressure value to vehicle brake controller and carries out control for brake, it can be with are as follows: pass through
Second bus sends the braking oil pressure value to vehicle brake controller and carries out control for brake.
In the present embodiment, the first bus and the second bus can be same bus, or different bus.
Based on above description, it is seen then that the expectation deceleration determined due to braking oil pressure value based on automatic Pilot decision information
Without demarcating the corresponding relationship of braking oil pressure value and deceleration, i.e., the actual vehicle speed value of value and entire car controller feedback determines,
So that the vehicle condition of vehicle is changed with external environment, without new corresponding relationship is re-scaled, there is stronger robustness, make
Vehicle smoothly braking deceleration.
As shown in figure 4, the present embodiment discloses a kind of brake control of automatic driving vehicle, it may include with lower unit:
First determination unit 41, receiving unit 42, the second determination unit 43 and transmission unit 44, are described as follows:
First determination unit 41, for determining the first deceleration value based on automatic Pilot decision information；
Receiving unit 42, for receiving the vehicle speed value of entire car controller transmission；
Second determination unit 43 determines braking oil pressure value for being based on first deceleration value and the vehicle speed value；
Transmission unit 44 carries out control for brake for sending the braking oil pressure value to vehicle brake controller.
In some embodiments, second determination unit 43, comprising:
First subelement determines the second deceleration value for being based on the vehicle speed value；
Second subelement determines braking oil pressure value for being based on first deceleration value and second deceleration value.
In some embodiments, second subelement, will be described for being based on preset braking oil pressure value output model
First deceleration value and second deceleration value output are braking oil pressure value.
In some embodiments, the receiving unit 42, for receiving the vehicle that entire car controller is sent by the first bus
Speed value；
The transmission unit 44 is carried out for sending the braking oil pressure value to vehicle brake controller by the second bus
Control for brake.
It is public that the brake control of automatic driving vehicle disclosed in above embodiments can be realized the above each method embodiment
The process of the brake control method for the automatic driving vehicle opened, to avoid repeating, details are not described herein.
The embodiment of the present invention also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit
Storage media stores computer instruction, and the computer instruction makes the brake control method of the computer execution automatic driving vehicle
The step of each embodiment, such as may include following steps one to step 4:
Step 1: determining the first deceleration value based on automatic Pilot decision information；First deceleration value it is expected deceleration
Value.
Step 2: receiving the vehicle speed value that entire car controller is sent.
Step 3: being based on first deceleration value and the vehicle speed value, braking oil pressure value is determined.
Step 4: sending the braking oil pressure value to vehicle brake controller carries out control for brake.
In the embodiment of the present invention, due to braking oil pressure value based on automatic Pilot decision information determine expectation deceleration value and
The actual vehicle speed value of entire car controller feedback determines, without demarcating the corresponding relationship of braking oil pressure value and deceleration, even if vehicle
Vehicle condition change with external environment, without new corresponding relationship re-scaled, there is stronger robustness, make vehicle
Smoothly braking deceleration.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped
Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it
It is interior and form different embodiments.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of brake control method of automatic driving vehicle, which is characterized in that the described method includes:
The first deceleration value is determined based on automatic Pilot decision information；
Receive the vehicle speed value that entire car controller is sent；
Based on first deceleration value and the vehicle speed value, braking oil pressure value is determined；
It sends the braking oil pressure value to vehicle brake controller and carries out control for brake.
2. the method according to claim 1, wherein described be based on first deceleration value and the speed
Value, determines braking oil pressure value, comprising:
Based on the vehicle speed value, the second deceleration value is determined；
Based on first deceleration value and second deceleration value, braking oil pressure value is determined.
3. according to the method described in claim 2, it is characterized in that, described subtracted based on first deceleration value and described second
Velocity amplitude determines braking oil pressure value, comprising:
First deceleration value and second deceleration value are exported as system based on preset braking oil pressure value output model
Dynamic oil pressure value.
4. the method according to claim 1, wherein the vehicle speed value for receiving entire car controller and sending, comprising:
The vehicle speed value that entire car controller is sent is received by the first bus；
The braking oil pressure value to the vehicle brake controller that sends carries out control for brake, comprising: is sent by the second bus
The braking oil pressure value to vehicle brake controller carries out control for brake.
5. a kind of brake control of automatic driving vehicle, which is characterized in that described device includes:
First determination unit, for determining the first deceleration value based on automatic Pilot decision information；
Receiving unit, for receiving the vehicle speed value of entire car controller transmission；
Second determination unit determines braking oil pressure value for being based on first deceleration value and the vehicle speed value；
Transmission unit carries out control for brake for sending the braking oil pressure value to vehicle brake controller.
6. device according to claim 5, which is characterized in that second determination unit, comprising:
First subelement determines the second deceleration value for being based on the vehicle speed value；
Second subelement determines braking oil pressure value for being based on first deceleration value and second deceleration value.
7. device according to claim 6, which is characterized in that second subelement, for being based on preset brake oil
Pressure value output model exports first deceleration value and second deceleration value for braking oil pressure value.
8. device according to claim 5, which is characterized in that the receiving unit, it is whole for being received by the first bus
The vehicle speed value that vehicle controller is sent；
The transmission unit carries out braking control for sending the braking oil pressure value to vehicle brake controller by the second bus
System.
9. a kind of mobile unit characterized by comprising
Processor and memory；
The processor and memory are coupled by bus system；
The processor is used to execute such as any one of Claims 1-4 by the program or instruction of calling the memory to store
The step of the method.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the step such as any one of Claims 1-4 the method
Suddenly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910207443.0A CN110103912B (en) | 2019-03-19 | 2019-03-19 | Brake control method and device for automatic driving vehicle and vehicle-mounted equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111308932A (en) * | 2020-02-25 | 2020-06-19 | 北京百度网讯科技有限公司 | Calibration method, device and equipment of brake system and storage medium |
| CN111547131A (en) * | 2020-04-24 | 2020-08-18 | 中国第一汽车股份有限公司 | Vehicle steering parameter determination method and device, vehicle and storage medium |
| CN114084111A (en) * | 2021-11-25 | 2022-02-25 | 北京轻舟智航科技有限公司 | Brake control method based on real-time feedback and historical deceleration |
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