CN111409610B - Automatic emergency braking method and system for electric automobile - Google Patents
Automatic emergency braking method and system for electric automobile Download PDFInfo
- Publication number
- CN111409610B CN111409610B CN202010305820.7A CN202010305820A CN111409610B CN 111409610 B CN111409610 B CN 111409610B CN 202010305820 A CN202010305820 A CN 202010305820A CN 111409610 B CN111409610 B CN 111409610B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- emergency braking
- control unit
- torque
- vehicle control
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000004044 response Effects 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 17
- 230000000295 complement effect Effects 0.000 claims description 6
- 239000002131 composite material Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for 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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic emergency braking method and system for an electric automobile, wherein the automatic emergency braking method for the electric automobile comprises the following steps: when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the vehicle control unit; after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0, and the main motor and the auxiliary motor are connected through a reduction/differential mechanism; the vehicle controller controls the electronic hydraulic brake to output braking torque, and the vehicle generates braking deceleration through the electronic hydraulic brake so as to complete automatic emergency braking. The invention can solve the problems of poor accuracy and easy sudden jitter in the prior art.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic emergency braking method and system for an electric automobile.
Background
With the rapid development of the automobile industry and the continuous improvement of living conditions of people, automobiles become one of indispensable transportation tools for people to go out. The automobile keeping amount is increased year by year, and more people own private cars. The electric automobile is the development direction of the automobile industry at present.
In order to improve driving safety, many electric automobiles are equipped with an automatic emergency braking function to prevent vehicle collision danger, however, the existing automatic emergency braking function also has the problems of poor accuracy and easy sudden shaking, and user experience is influenced.
Disclosure of Invention
Therefore, an object of the present invention is to provide an automatic emergency braking method for an electric vehicle, so as to solve the problems of poor accuracy and easy occurrence of sudden jitter.
An automatic emergency braking method for an electric automobile comprises the following steps:
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the vehicle control unit;
after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0, and the main motor and the auxiliary motor are connected through a reduction/differential mechanism;
the vehicle controller controls the electronic hydraulic brake to output braking torque, and the vehicle generates braking deceleration through the electronic hydraulic brake so as to complete automatic emergency braking.
According to the automatic emergency braking method of the electric automobile provided by the invention, a control mode combining two instructions of torque and deceleration is adopted, a corresponding MAP of the torque and the acceleration can be established, the quick response of an execution mechanism under different road conditions is facilitated, the accuracy is improved, the output torque of a main motor and an auxiliary motor is controlled to be reduced to 0 by a vehicle MCU, then a braking deceleration is generated by an Electronic Hydraulic Brake (EHB), a buffer distance is firstly set in the EHB voltage building process, the motor is prevented from outputting driving force while the braking force is output by the EHB, in addition, in the process that the driving force output of the motor is reduced to 0, the torque is intelligently distributed to double motors, so that the descending curves of the main motor and the auxiliary motor are complementary, the stable reduction of the composite torque to 0 along a certain slope is ensured, and the shaking caused by the sudden deceleration can.
In addition, according to the automatic emergency braking method for the electric vehicle, the following additional technical features can be provided:
further, the step of the vehicle control unit controlling the electronic hydraulic brake to output the braking torque specifically comprises:
the vehicle control unit judges whether the current vehicle speed of the vehicle is less than a speed threshold value;
if the current vehicle speed is less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to brake at the maximum deceleration;
and if the current vehicle speed is not less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
Further, the method further comprises:
in the process that the vehicle control unit controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit receives the braking or steering operation of a driver, the automatic emergency braking is quitted.
Further, the method specifically comprises:
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the vehicle control unit;
after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, controls the output torque of the main motor and the auxiliary motor to be reduced to 0 through the vehicle MCU, and simultaneously reduces the acceleration of the vehicle to be 0.
Further, the speed threshold was 45 km/h.
The invention also aims to provide an automatic emergency braking system of an electric vehicle, which is used for solving the problems of poor accuracy and easy sudden jitter.
An automatic emergency braking system of an electric automobile comprises a radar sensor, a camera sensor, a vehicle control unit, a vehicle MCU, a main motor, an auxiliary motor and an electronic hydraulic brake;
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor are used for sending an emergency braking response signal to the vehicle control unit;
the vehicle control unit is used for distributing torque to the vehicle MCU after receiving the emergency braking response signal, controlling the output torque of the main motor and the auxiliary motor to be reduced to 0 through the vehicle MCU, and connecting the main motor and the auxiliary motor through a reduction/differential mechanism;
the vehicle control unit is used for controlling the electronic hydraulic brake to output braking torque, and the vehicle generates braking deceleration through the electronic hydraulic brake so as to complete automatic emergency braking.
According to the automatic emergency braking system of the electric automobile, which is provided by the invention, a control mode combining two instructions of torque and deceleration is adopted, corresponding MAP of the torque and the acceleration can be established, quick response of an execution mechanism under different road conditions is facilitated, the accuracy is improved, the output torque of a main motor and an auxiliary motor is controlled to be reduced to 0 by a vehicle MCU, then a braking deceleration is generated by an Electronic Hydraulic Brake (EHB), a buffer distance is firstly set in the EHB pressure building process, the motor is prevented from outputting driving force while the braking force is output by the EHB, in addition, in the process that the driving force output of the motor is reduced to 0, the torque is intelligently distributed to double motors, so that the descending curves of the main motor and the auxiliary motor are complementary, the stable reduction of the composite torque to 0 along a certain slope is ensured, and the shaking caused by sudden deceleration can.
In addition, the automatic emergency braking system for the electric vehicle according to the present invention may further have the following additional technical features:
further, the vehicle control unit is used for judging whether the current vehicle speed of the vehicle is less than a speed threshold value;
if the current vehicle speed is less than the speed threshold value, the vehicle control unit is used for controlling the electronic hydraulic brake to brake at the maximum deceleration;
and if the current vehicle speed is not less than the speed threshold value, the vehicle control unit is used for controlling the electronic hydraulic brake to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
Further, in the process that the vehicle control unit controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit receives the braking or steering operation of the driver, the automatic emergency braking is quitted.
Further, the vehicle controller is specifically configured to allocate a torque to the vehicle MCU after receiving the emergency braking response signal, and control the output torque of the main motor and the auxiliary motor to be reduced to 0 by the vehicle MCU, and simultaneously, reduce the acceleration of the vehicle to 0.
Further, the speed threshold was 45 km/h.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an automatic emergency braking method for an electric vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic illustration of emergency braking trip division;
FIG. 3 is a graph of variation of driving and braking forces in the S2 and S3 courses;
FIG. 4 is a graph of deceleration change for the S2 and S3 trips;
FIG. 5 is a graph of deceleration change over the S4 trip;
fig. 6 is a block diagram illustrating an automatic emergency braking system of an electric vehicle according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic emergency braking method for an electric vehicle according to a first embodiment of the present invention includes steps S101 to S103.
S101, when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the whole vehicle controller.
The Radar Sensor and the Camera Sensor jointly detect the safe distance of an object in front of the vehicle, and when an obstacle in front of the vehicle reaches an early warning range, the Radar Sensor and the Camera Sensor send an emergency braking response signal to a Vehicle Control Unit (VCU).
And S102, after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0, and the main motor and the auxiliary motor are connected through a reduction/differential mechanism.
The output torque of the main motor and the output torque of the auxiliary motor are controlled to be reduced to 0 through the vehicle MCU, meanwhile, the acceleration of the main motor and the acceleration of the auxiliary motor are also reduced to 0, and the acceleration of the vehicle is reduced to 0.
S103, the vehicle controller controls the electronic hydraulic brake to output brake torque, and the vehicle generates brake deceleration through the electronic hydraulic brake to complete automatic emergency braking.
In step S103, the step of controlling the Electronic Hydraulic Brake (EHB) to output the braking torque by the vehicle control unit specifically includes:
the vehicle control unit judges whether the current vehicle speed of the vehicle is less than a speed threshold value;
if the current vehicle speed is less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to brake at the maximum deceleration;
and if the current vehicle speed is not less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
In this embodiment, the speed threshold is specifically 45 km/h.
And if the current vehicle speed is less than 45km/h, the VCU controls the EHB to brake at the maximum deceleration.
And if the current vehicle speed is not less than 45km/h, the VCU controls the EHB to perform staged braking according to the calibrated deceleration corresponding to different vehicle speeds. The deceleration corresponding to different vehicle speeds is calibrated in advance according to vehicle types, and the corresponding deceleration is different when the vehicle speeds are different, so that the aim of more effectively reducing brake shaking is fulfilled. Specifically, in consideration of safe vehicle speed, in practical application, specifically when the vehicle speed is in the range of 45-130km/h, the VCU controls the EHB to perform staged braking according to the corresponding deceleration rates of different calibrated vehicle speeds.
As shown in fig. 2, S1 is the emergency braking safe distance, S2 and S3 together constitute the emergency braking preparation distance, S4 is the emergency braking execution distance, and S5 is the reserved safe distance. In the S2 journey, the VCU distributes torque to the MCU to control the output torque of the main motor and the auxiliary motor to fall to 0 at the point a and the acceleration of the vehicle to fall to 0, so as to prevent the shake caused by sudden deceleration. During the S3 trip, the VCU sends a maximum braking torque to the EHB, which requires the host vehicle to reach a maximum braking deceleration at point b. In the S4 journey, the VCU controls the braking torque output of the EHB in stages, slows down the braking shake, and ensures that the front-back error of the stopping position of the vehicle from the position of the c point is not more than 2%.
As shown in fig. 3, the driving and braking force variation curves in the S2 and S3 courses. After receiving the emergency braking command, the VCU distributes different torques to the MCU control double motors, and the driving force Fa after passing through Tran/Diff (reduction/differential) is reduced to 0 along a certain slope. The VCU then sends the maximum braking torque Fb to the EHB, which completes the build-up of voltage from 0 to Fb.
As shown in fig. 4, the variation curves of the vehicle acceleration during the routes S2 and S3. a1 is the acceleration drop curve of the main motor, a2 is the acceleration drop curve of the auxiliary motor, and at the point of S2, the accelerations of the two motors are both reduced to 0, and the acceleration of the vehicle is also reduced to 0. a3 is a deceleration curve of the vehicle under the action of the EHB braking force, and the EHB completes the pressure build-up process capable of outputting the maximum braking force at the point S3.
As shown in fig. 5, the deceleration of the vehicle in the emergency braking state is plotted against the braking start vehicle speed. When the starting vehicle speed is in the range of 0-45Km/h, the VCU controls the EHB to brake at the maximum deceleration. When the initial vehicle speed is in the range of 45-130Km/h, the VCU controls the EHB to brake according to the deceleration in different stages.
Further, as a specific example, the method further includes:
in the process that the vehicle control unit controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit receives the braking or steering operation of a driver, the automatic emergency braking is quitted. The purpose is to establish an exit mechanism and guarantee the operation priority of a driver.
According to the automatic emergency braking method of the electric automobile provided by the embodiment, a control mode combining two instructions of torque and deceleration is adopted, a corresponding MAP of the torque and the acceleration can be established, quick response of an execution mechanism under different road conditions is facilitated, accuracy is improved, the output torque of a main motor and an auxiliary motor is controlled to be reduced to 0 through a vehicle MCU, then a braking deceleration is generated by an Electronic Hydraulic Brake (EHB), a buffer distance is set in the EHB pressure building process firstly, the motor is prevented from outputting driving force while the braking force is output by the EHB, in addition, in the process that the driving force output of the motor is reduced to 0, the torque is intelligently distributed to double motors, so that the acceleration descending curves of the main motor and the auxiliary motor are complementary, the composite torque is ensured to be stably reduced to 0 along a certain slope, and shaking caused by sudden deceleration can be prevented.
Referring to fig. 6, based on the same inventive concept, a second embodiment of the present invention provides an automatic emergency braking system for an electric vehicle, including:
the system comprises a radar sensor 10, a camera sensor 20, a vehicle control unit 30, a vehicle MCU 40, a main motor 50, an auxiliary motor 60 and an electronic hydraulic brake 70.
When the radar sensor 10 and the camera sensor 20 detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor 10 and the camera sensor 20 are used for sending an emergency braking response signal to the vehicle control unit 30;
the vehicle control unit 30 is configured to distribute a torque to the vehicle MCU 40 after receiving the emergency braking response signal, control the output torques of the main motor 50 and the auxiliary motor 60 to be reduced to 0 by the vehicle MCU 40, simultaneously reduce the accelerations of the main motor 50 and the auxiliary motor 60 to 0, and connect the main motor 50 and the auxiliary motor 60 through the reduction/differential mechanism 80;
the vehicle control unit 30 is configured to control the electronic hydraulic brake 70 to output a braking torque, and to generate a braking deceleration for the vehicle through the electronic hydraulic brake 70, so as to complete automatic emergency braking.
In this embodiment, the vehicle control unit 30 is configured to determine whether a current vehicle speed of the vehicle is less than a speed threshold;
if the current vehicle speed is less than the speed threshold, the vehicle control unit 30 is configured to control the electronic hydraulic brake 70 to brake at the maximum deceleration;
if the current vehicle speed is not less than the speed threshold, the vehicle control unit 30 is configured to control the electronic hydraulic brake 70 to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
In this embodiment, in the process that the vehicle control unit 30 controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit 30 receives the braking or steering operation of the driver, the automatic emergency braking is exited.
In this embodiment, the vehicle control unit 30 is specifically configured to allocate a torque to the vehicle MCU after receiving the emergency braking response signal, and control the output torques of the main motor 50 and the auxiliary motor 60 to be reduced to 0 through the vehicle MCU 40, and simultaneously reduce the acceleration of the vehicle to 0.
In this embodiment, the speed threshold is 45 km/h.
According to the automatic emergency braking system of the electric automobile provided by the embodiment, a control mode combining two instructions of torque and deceleration is adopted, a corresponding MAP of the torque and the acceleration can be established, quick response of an executing mechanism under different road conditions is facilitated, accuracy is improved, the output torque of a main motor and an auxiliary motor is controlled to be reduced to 0 through a vehicle MCU, then a braking deceleration is generated by an Electronic Hydraulic Brake (EHB), a buffer distance is set in the EHB pressure building process firstly, the motor is prevented from outputting driving force while the braking force is output by the EHB, in addition, in the process that the driving force output of the motor is reduced to 0, the torque is intelligently distributed to double motors, the acceleration descending curves of the main motor and the auxiliary motor are complementary, the composite torque is ensured to be stably reduced to 0 along a certain slope, and shaking caused by sudden deceleration can be prevented.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit of a logic gate circuit specifically used for realizing a logic function for a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. An automatic emergency braking method for an electric vehicle is characterized by comprising the following steps:
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the vehicle control unit;
after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0, and the main motor and the auxiliary motor are connected through a reduction/differential mechanism;
the vehicle control unit controls the electronic hydraulic brake to output brake torque, and the vehicle generates brake deceleration through the electronic hydraulic brake to complete automatic emergency braking, wherein the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0 and then the electronic hydraulic brake generates brake deceleration, and in the process that the output of the driving force of the motor is reduced to 0, torque is intelligently distributed to the double motors, so that the acceleration reduction curves of the main motor and the auxiliary motor are complementary, and the synthetic torque is stably reduced to 0 along a certain slope;
the steps of the vehicle control unit controlling the electronic hydraulic brake to output the braking torque specifically comprise:
the vehicle control unit judges whether the current vehicle speed of the vehicle is less than a speed threshold value;
if the current vehicle speed is less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to brake at the maximum deceleration;
and if the current vehicle speed is not less than the speed threshold value, the vehicle control unit controls the electronic hydraulic brake to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
2. The automatic emergency braking method for electric vehicles according to claim 1, further comprising:
in the process that the vehicle control unit controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit receives the braking or steering operation of a driver, the automatic emergency braking is quitted.
3. The automatic emergency braking method for the electric vehicle according to claim 1, wherein the method specifically comprises:
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor send emergency braking response signals to the vehicle control unit;
after receiving the emergency braking response signal, the vehicle control unit distributes torque to the vehicle MCU, controls the output torque of the main motor and the auxiliary motor to be reduced to 0 through the vehicle MCU, and simultaneously reduces the acceleration of the vehicle to be 0.
4. The automatic emergency braking method of an electric vehicle according to claim 1, wherein the speed threshold is 45 km/h.
5. An automatic emergency braking system of an electric automobile is characterized by comprising a radar sensor, a camera sensor, a vehicle control unit, a vehicle MCU, a main motor, an auxiliary motor and an electronic hydraulic brake;
when the radar sensor and the camera sensor detect that an obstacle in front of the vehicle reaches an early warning range, the radar sensor and the camera sensor are used for sending an emergency braking response signal to the vehicle control unit;
the vehicle control unit is used for distributing torque to the vehicle MCU after receiving the emergency braking response signal, controlling the output torque of the main motor and the auxiliary motor to be reduced to 0 through the vehicle MCU, and connecting the main motor and the auxiliary motor through a reduction/differential mechanism;
the vehicle control unit is used for controlling the electronic hydraulic brake to output brake torque, and the vehicle generates brake deceleration through the electronic hydraulic brake to complete automatic emergency braking, wherein the vehicle MCU controls the output torque of the main motor and the auxiliary motor to be reduced to 0 and then the electronic hydraulic brake generates brake deceleration, and in the process that the output of the driving force of the motor is reduced to 0, the torque is intelligently distributed to the double motors, so that the acceleration descending curves of the main motor and the auxiliary motor are complementary, and the synthetic torque is stably reduced to 0 along a certain slope;
the vehicle control unit is used for judging whether the current vehicle speed of the vehicle is less than a speed threshold value;
if the current vehicle speed is less than the speed threshold value, the vehicle control unit is used for controlling the electronic hydraulic brake to brake at the maximum deceleration;
and if the current vehicle speed is not less than the speed threshold value, the vehicle control unit is used for controlling the electronic hydraulic brake to perform staged braking according to the calibrated decelerations corresponding to different vehicle speeds.
6. The automatic emergency braking system of an electric vehicle of claim 5, wherein:
in the process that the vehicle control unit controls the electronic hydraulic brake to output the braking torque, if the vehicle control unit receives the braking or steering operation of a driver, the automatic emergency braking is quitted.
7. The automatic emergency braking system of an electric vehicle of claim 5, wherein:
the vehicle controller is specifically used for distributing torque to the vehicle MCU after receiving the emergency braking response signal, controlling the output torque of the main motor and the auxiliary motor to be reduced to 0 through the vehicle MCU, and simultaneously reducing the acceleration of the vehicle to be 0.
8. The automatic emergency braking system of claim 5, wherein the speed threshold is 45 km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010305820.7A CN111409610B (en) | 2020-04-17 | 2020-04-17 | Automatic emergency braking method and system for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010305820.7A CN111409610B (en) | 2020-04-17 | 2020-04-17 | Automatic emergency braking method and system for electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111409610A CN111409610A (en) | 2020-07-14 |
| CN111409610B true CN111409610B (en) | 2021-06-22 |
Family
ID=71488452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010305820.7A Expired - Fee Related CN111409610B (en) | 2020-04-17 | 2020-04-17 | Automatic emergency braking method and system for electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111409610B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455443B (en) * | 2020-11-12 | 2022-01-28 | 复旦大学 | Vehicle active braking system based on multi-sensor fusion |
| CN112896154A (en) * | 2021-02-03 | 2021-06-04 | 神龙汽车有限公司 | Active collision avoidance system for training vehicle in driving school and control method thereof |
| CN112977091A (en) * | 2021-03-18 | 2021-06-18 | 奇瑞新能源汽车股份有限公司 | Whole-vehicle-area control module and control method of electric vehicle and vehicle |
| CN113085568B (en) * | 2021-03-19 | 2022-10-14 | 浙江亚太智能网联汽车创新中心有限公司 | Control system of two-way ferry vehicle and two-way ferry vehicle |
| CN113147753B (en) * | 2021-03-24 | 2022-09-13 | 江铃汽车股份有限公司 | Vehicle brake control method, device, storage medium and automatic brake system |
| CN113110425A (en) * | 2021-03-29 | 2021-07-13 | 重庆智行者信息科技有限公司 | Target car system based on automatic driving |
| CN113997911A (en) * | 2021-11-09 | 2022-02-01 | 岚图汽车科技有限公司 | Automatic emergency braking control method and device |
| CN114537342B (en) * | 2022-03-18 | 2024-03-19 | 奇瑞新能源汽车股份有限公司 | Vehicle braking method and device, vehicle and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925042A (en) * | 2015-05-18 | 2015-09-23 | 北京新能源汽车股份有限公司 | Active pre-braking method for pure electric vehicle |
| CN109017784A (en) * | 2018-07-27 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of self-adapting cruise control method based on pure electric automobile |
| WO2018233265A1 (en) * | 2017-06-23 | 2018-12-27 | 北京新能源汽车股份有限公司 | Vehicle control method and system |
| CN109941107A (en) * | 2018-12-25 | 2019-06-28 | 南京越博电驱动系统有限公司 | A kind of novel pure acceleration pedal of electric automobile Anti-mis-stepping guard method |
| CN110435623A (en) * | 2019-08-28 | 2019-11-12 | 吉林大学 | A kind of grading automatical emergency braking control system of the electric vehicle of adjust automatically |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102336192B (en) * | 2011-07-05 | 2013-09-11 | 苏州力久新能源科技有限公司 | Control method for stabilizing torque fluctuation of automobile by using phase regulator |
| CN104057839A (en) * | 2014-06-18 | 2014-09-24 | 安徽江淮汽车股份有限公司 | Torque compensation method and device |
| CN107023668A (en) * | 2017-04-24 | 2017-08-08 | 北京新能源汽车股份有限公司 | Gear shifting control method, gearbox controller and automobile |
| CN107444194A (en) * | 2017-08-21 | 2017-12-08 | 合肥力正新能源科技有限公司 | Secondary rapid acceleration shaking control system for electric automobile |
| CN107499183B (en) * | 2017-08-21 | 2018-08-03 | 上海从瑞投资管理有限公司 | A kind of electric vehicle crawling control method |
-
2020
- 2020-04-17 CN CN202010305820.7A patent/CN111409610B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925042A (en) * | 2015-05-18 | 2015-09-23 | 北京新能源汽车股份有限公司 | Active pre-braking method for pure electric vehicle |
| WO2018233265A1 (en) * | 2017-06-23 | 2018-12-27 | 北京新能源汽车股份有限公司 | Vehicle control method and system |
| CN109017784A (en) * | 2018-07-27 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of self-adapting cruise control method based on pure electric automobile |
| CN109941107A (en) * | 2018-12-25 | 2019-06-28 | 南京越博电驱动系统有限公司 | A kind of novel pure acceleration pedal of electric automobile Anti-mis-stepping guard method |
| CN110435623A (en) * | 2019-08-28 | 2019-11-12 | 吉林大学 | A kind of grading automatical emergency braking control system of the electric vehicle of adjust automatically |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111409610A (en) | 2020-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111409610B (en) | Automatic emergency braking method and system for electric automobile | |
| JP6670901B2 (en) | Method and apparatus for assisting driving of a vehicle | |
| US11623622B2 (en) | System and method for emergency braking | |
| US10293817B2 (en) | Control unit for a vehicle | |
| US9669840B2 (en) | Control system and method | |
| US20100280726A1 (en) | Prevention of a rear crash during an automatic braking intervention by a vehicle safety system | |
| CN111186311A (en) | Method and system for controlling steep-slope slow descent of electric automobile | |
| JP2007129827A (en) | Intelligent brake assist system of hybrid vehicle | |
| JP7494739B2 (en) | Vehicle control device | |
| CN111452788A (en) | Backward rear-end collision prevention control method and device | |
| US11945425B2 (en) | Method for braking a vehicle for carrying passengers, control unit, and vehicle for carrying passengers | |
| JPH0937415A (en) | Drive controller for electric vehicle | |
| KR101935055B1 (en) | Smart Electric Vehicle and Smart Operation Method thereof | |
| CN112677952B (en) | Intelligent driving control method and system | |
| JP6498633B2 (en) | Vehicle operation support device | |
| JP2007145315A (en) | Automatic brake control device | |
| CN113696863A (en) | System and method for improving braking delay of intelligent driving vehicle | |
| CN111806249A (en) | Ramp auxiliary control method and system for electric vehicle | |
| CN111002836A (en) | Operating method for a brake system, brake system and motor vehicle | |
| KR101977415B1 (en) | Smart Electric Vehicle and Smart Operation Method thereof | |
| CN114148324B (en) | Cruise control method and device for vehicle, vehicle and storage medium | |
| US11958478B2 (en) | Method for automatically avoiding or mitigating collision, and control system, storage medium and motor vehicle | |
| CN114312349A (en) | Pure electric vehicle slow speed driving method | |
| JP4023340B2 (en) | Vehicle collision prevention device | |
| WO2022196205A1 (en) | Vehicle control device and vehicle control method |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210622 |