CN111497843A - Driving assistance system, and brake control unit and brake control method thereof - Google Patents
Driving assistance system, and brake control unit and brake control method thereof Download PDFInfo
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- CN111497843A CN111497843A CN201910086273.5A CN201910086273A CN111497843A CN 111497843 A CN111497843 A CN 111497843A CN 201910086273 A CN201910086273 A CN 201910086273A CN 111497843 A CN111497843 A CN 111497843A
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- 230000001133 acceleration Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 26
- 230000005484 gravity Effects 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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Abstract
The invention provides a driving assistance system, a brake control unit and a brake control method thereof. The brake control unit (130) according to the invention comprises: an acquisition module (131) configured to acquire a driving state of a preceding vehicle and a host vehicle during climbing, wherein at least the speed of the preceding vehicle and the host vehicle and the distance between the preceding vehicle and the host vehicle are included; a processing module (132) configured to determine whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, acquire a target deceleration of the host vehicle and calculate a first term of braking force according to the target deceleration when it is determined that the braking of the host vehicle is needed, and calculate a second term of braking force according to a gradient value of a road where the host vehicle is located; a braking force determination module (133) configured to determine a target braking force required by the driving assistance system (100) to apply braking to the host vehicle, based on the first and second braking forces.
Description
Technical Field
The present disclosure relates to a driving assistance system, and more particularly, to a driving assistance system, a brake control unit, and a brake control method.
Background
The driving auxiliary system senses the surrounding environment at any time in the driving process of the automobile by using various sensors arranged on the automobile, collects data and performs systematic operation and analysis, thereby effectively improving the comfort and safety of automobile driving.
An Adaptive Cruise Control (ACC) is an intelligent automatic control system in a driving assistance system. According to the ACC technique, a distance sensor (radar) installed in the front of the vehicle continuously scans the road ahead of the vehicle while the vehicle is traveling, a wheel speed sensor acquires a vehicle speed signal, and a control unit of the ACC system controls the braking process of the vehicle according to the signal detected by the radar. However, the conventional ACC generally has a problem of poor performance in terms of noise, vibration, and harshness (NVH) when controlling vehicle braking. Further, the conventional ACC does not always recognize whether the road on which the vehicle is located is a flat road or a road having a slope when controlling the braking of the vehicle, and thus cannot provide appropriate braking control for the vehicle when the vehicle is stopped following a hill climb.
It is therefore desirable to provide an improved braking control solution for vehicles that require a brake during a hill climb.
Disclosure of Invention
In view of the above problems in the prior art, the present application provides a driving assistance system and a technical solution for brake control thereof, which can provide appropriate brake control for a vehicle that needs to be braked and stopped during a hill climbing process, thereby improving safety and comfort of the braking process.
To this end, according to an aspect of the present application, there is provided a brake control unit for use in a driving assistance system, including: the acquisition module is configured to acquire the running states of a front vehicle and a host vehicle during climbing, wherein the running states at least comprise the speeds of the front vehicle and the host vehicle and the distance between the front vehicle and the host vehicle; a processing module configured to determine whether the driving assistance system of the host vehicle needs to brake the host vehicle based on the acquired running state, acquire a target deceleration of the host vehicle and calculate a first item of braking force according to the target deceleration when it is determined that the braking of the host vehicle needs to be performed, and calculate a second item of braking force according to a gradient value of a road on which the host vehicle is located; and a braking force determination module configured to determine a target braking force required by the driving assistance system to apply braking to the host vehicle, based on the first item of braking force and the second item of braking force.
Therefore, according to the technical scheme of the application, when the braking force is determined for the vehicle needing braking in the climbing process, the influence of the road gradient on braking is considered, and therefore the appropriate target braking force can be provided for the braking process.
The present application may further include any one or more of the following alternatives in accordance with the above technical concept.
According to one possible embodiment of the present application, the acquisition module further acquires a driving force provided to the host vehicle by a powertrain of the host vehicle during braking of the host vehicle by the driving assistance system; the processing module is further configured to calculate a third term of braking force from the driving force; the braking force determination module determines the target braking force based on the first, second, and third terms of braking force.
When the braking force is determined for the vehicle braked and stopped in the uphill process, the influence of the road gradient on the braking is considered, and the influence of the driving force is also considered, so that a more suitable target braking force can be provided for the braking process, the braking process is softer, and the user experience is improved.
According to a possible embodiment of the application, the processing module obtains the gradient value by: measured by a slope sensor of the host vehicle and provided to the processing module; or the processing module calculates the gradient value according to the measured value of the longitudinal acceleration sensor of the vehicle and the current deceleration of the vehicle.
According to a possible embodiment of the application, calculating the second term of the braking force comprises: the second term of the braking force is determined in a look-up table containing the correspondence between the gradient value and the braking force correction value.
According to one possible embodiment of the present application, acquiring the target deceleration of the host vehicle includes: the processing module calculates the target deceleration based on the speed of the front vehicle and the speed of the host vehicle and the distance between the front vehicle and the host vehicle; or the processing module performs data processing on the target deceleration provided by the radar device of the driving assistance system and takes the processed target deceleration as the target deceleration.
According to one possible embodiment of the present application, the determining, by the processing module, whether the driving assistance system of the host vehicle needs to apply braking to the host vehicle includes: when the fact that the vehicle needs to be braked and stopped is determined based on the speed of the front vehicle and the speed of the vehicle and the distance between the front vehicle and the vehicle, calculating the target braking time of the vehicle; comparing a target braking time with a braking time threshold value prescribed by the driving assistance system; when the target brake time meets the brake time threshold, a first command is generated indicating that a time threshold is met.
According to one possible embodiment of the present application, the acquisition module acquires a current braking force applied to the host vehicle by the driving assistance system in response to the first instruction; the processing module compares the current braking force with a target braking force and generates a second command instructing to increase the current braking force when it is determined that the current braking force is less than the target braking force.
According to one possible embodiment of the present application, the brake control unit further includes a brake force control module configured to control the current brake force to start increasing in response to the first and second instructions until a target brake force is reached.
According to a possible embodiment of the application, the braking force control module is further configured to: setting an execution time for increasing the braking force; determining a gradient of the increased braking force according to the execution time and the target braking force; the current braking force is controlled to increase to the target braking force at the gradient.
It follows that according to this embodiment, the gradient of increasing the braking force is adjusted by adjusting the execution time. That is to say, the vehicle braking process is faster or slower by adjusting the execution time, for example, the execution time is adjusted within an appropriate range according to the experience or the demand of the user, so that the whole braking process is more humanized, and the user experience is further improved.
The present application provides, in another aspect thereof, a brake control method for use in a driving assistance system, optionally implemented by means of a brake control unit according to the above, the brake control method comprising: acquiring the driving states of a front vehicle and a host vehicle during the climbing of the host vehicle, wherein the driving states at least comprise the speeds of the front vehicle and the host vehicle and the distance between the front vehicle and the host vehicle; determining whether the driving assistance system of the host vehicle needs to brake the host vehicle based on the acquired running state, and when determining that the braking needs to be applied to the host vehicle, acquiring a target deceleration of the host vehicle, calculating a first item of braking force according to the target deceleration, and calculating a second item of braking force according to a gradient value of a road where the host vehicle is located; and determining a target braking force required by the driving assistance system to brake the vehicle according to the first braking force term and the second braking force term.
The present application provides, in a further aspect thereof, a driving assistance system, in particular an adaptive cruise control system, comprising: a radar device that measures a distance between a preceding vehicle and a host vehicle; and a stability device coupled to the radar device and comprising a brake control unit as described above, optionally the stability device is configured to generate a trigger signal in response to a deceleration request signal from the radar device to activate the brake control unit.
According to the technical scheme of the application, when the proper braking force is determined for the vehicle needing to be braked and stopped in the climbing process, for example, in the process of determining the target braking force, the influence of the road gradient on the braking is considered, optionally, the influence of the driving force on the braking is also considered, further optionally, the gradient of the increased braking force can be adjusted in a proper range, and therefore a braking control scheme with better safety and comfort is provided.
Drawings
The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 illustrates a schematic block diagram of a driving assistance system according to one possible embodiment of the present application.
Fig. 2 illustrates a schematic block diagram of a brake control unit of the driving assistance system in fig. 1.
Fig. 3 illustrates a flowchart of a brake control method for a driving assistance system according to one possible embodiment of the present application.
Detailed Description
Hereinafter, various embodiments of the present application will be described in detail with reference to the accompanying drawings.
The present application relates generally to a driving assistance technique for providing brake control for a vehicle that requires braking during a hill climbing.
Fig. 1 schematically shows a driving assistance system 100 according to one possible embodiment of the present application. The driving assistance system 100 is provided on a vehicle, and includes a radar device 110 and a stability device 120. The driving assistance system 100 may be configured as an adaptive cruise control system.
In the present embodiment, the radar device 110 is used to detect a traveling state of the preceding vehicle and the host vehicle, for example, a distance between the preceding vehicle and the host vehicle. Radar device 110 may also detect information such as the relative orientation between the leading vehicle and the subject vehicle.
In the present embodiment, stability device 120 (e.g., ESP) interacts with radar device 110 via a bus system. For example, stability device 120 receives a range signal from radar device 110 that it detects. The stability device 120 includes a brake control unit 130 for determining whether braking needs to be applied to the host vehicle during the climbing of the host vehicle. The brake control unit 130 is also configured to calculate a target braking force when it is determined that braking needs to be performed. Optionally, the brake control unit 130 may also be used to determine a gradient to increase the braking force.
In the present exemplary embodiment, the stability device 120 communicates with the radar device 110 via an in-vehicle network and a bus system (e.g., a CAN bus), i.e., signals are transmitted between the stability device 120 and the radar device 110 in a cycle specified by the communication protocol. For example, a signal that the radar device 110 detects a distance or the like is transmitted to the stability device 120 at a communication cycle (for example, 20 ms).
According to a specific embodiment, radar device 110 may include a radar sensor (not shown) and an electronic control unit (not shown) coupled to the radar sensor. The radar sensor is used for detecting distance information between the front vehicle and the vehicle. The electronic control unit receives the speed signal of the vehicle from the stability device 120 and calculates the speed of the vehicle ahead based on the speed signal and the detected distance between the vehicle ahead and the vehicle. In some embodiments, the electronic control unit may determine that the host vehicle needs to be braked and generate a standstill request signal for requesting the host vehicle to be stationary based on the speed of the host vehicle and the distance between the host vehicle and the host vehicle, and send the standstill request signal to the stability device 120.
In some embodiments, the electronic control unit may determine a target deceleration at which the host vehicle decelerates from the current speed to zero speed based on the speed of the leading vehicle and the distance between the leading vehicle and the host vehicle, and provide the determined target deceleration to the stability device 120. The stabilization device 120 performs data processing (e.g., smoothing filtering, etc.) on the received target deceleration and calculates a target braking force using the processed target deceleration.
In some embodiments, the brake control unit 130 of the stability device 120 is in a standby state all the time after the stability device 120 is turned on, and may be selectively activated. For example, stability device 120 generates a trigger signal to activate brake control unit 130 in response to a deceleration demand signal from radar device 110.
Fig. 2 shows a schematic block diagram of the brake control unit 130 in fig. 1. The brake control unit 130 and its operation are described in detail below.
Referring to fig. 2, the brake control unit 130 mainly includes an acquisition module 131, a processing module 132, and a braking force determination module 133. The obtaining module 131 is configured to obtain the driving states of the preceding vehicle and the host vehicle during the climbing of the host vehicle, where the driving states include at least the speed of the preceding vehicle and the host vehicle and the distance between the preceding vehicle and the host vehicle. The processing module 132 determines whether the driving assistance system 100 of the host vehicle needs to brake the host vehicle based on the acquired traveling state, acquires a target deceleration of the host vehicle when it is determined that braking of the host vehicle is needed, and calculates a first term F1 of braking force from the target deceleration. The processing module 132 further calculates a second term F2 for braking force based on the grade value of the road on which the vehicle is located. The braking force determination module 133 is configured to determine a target braking force required by the driving assistance system 100 to brake the host vehicle according to the first item of braking force F1 and the second item of braking force F2. For example, the target braking force may be F1-F2, or a function related to F1 and F2. Note that F2 is opposite in sign to F1.
It follows that according to the embodiments of the present application, when determining the braking force for a vehicle that needs to be braked during a hill climb, the influence of the road gradient on the braking is taken into account, and the target braking force is corrected based on, for example, the gradient resistance and the rolling resistance, so that an appropriate target braking force can be provided for the braking process.
The processing module 132 may calculate a first term F1 for braking force according to the formula F ═ ma, where F is the first term F1 for braking force, m is the weight of the host vehicle and its contents, and a is the target deceleration. In some embodiments, the processing module 132 calculates a target deceleration from the data information received from the radar device 110 and the measurement value of the speed sensor of the driving assistance system 100, and uses the target deceleration to calculate the first term F1 for the braking force. In other embodiments, as described above, radar device 110 determines a target deceleration based on the travel states of the leading and the host vehicles and provides the target deceleration to processing module 132. The processing module 132 data processes (e.g., filters) the received target deceleration and uses the processed target deceleration to calculate a first term of braking force F1.
The processing module 132 may determine the second term F2 for the braking force from a lookup table containing a correspondence between ramp values and braking force correction values. For example, in the control surface, each range of gradient values corresponds to a different second term F2 of braking force, respectively. In the correspondence relationship of the map, two kinds of force factors relating to the gradient value, i.e., gravity and rolling resistance, are considered for the vehicle braking. The map is prepared in advance and stored in a memory (not shown) of the driving assistance system, for example.
In some embodiments, the host vehicle has a grade sensor for measuring a current road grade value and providing the measured grade value to the processing module 132. In other embodiments, the host vehicle may not have a grade sensor, instead the host vehicle has a longitudinal acceleration sensor and an acceleration sensor for measuring the current deceleration of the host vehicle. The processing module 132 calculates a grade value of the current road from the measured value of the longitudinal acceleration sensor and the current deceleration of the host vehicle.
In some cases, the powertrain of the vehicle may provide driving force to the vehicle during vehicle climbing. In the embodiment in this case, the acquisition module 131 also acquires the driving force provided to the host vehicle by the powertrain of the host vehicle during braking of the host vehicle by the driving assistance system 100. The processing module 132 calculates a third term F3 for the braking force based on the driving force. The braking force determination module 133 determines the target braking force based on the first term F1, the second term F2, and the third term F3. For example, the target braking force may be F1-F2+ F3, or a function related to F1, F2, F3. In this embodiment, in the case where the gradient is large, the influence of gravity is large, the driving force may not be sufficient to cancel out the gravity, and the braking force is mainly used to cancel out the component of the gravity in the direction parallel to the slope. In the case where the gradient is small, the influence of gravity is small, the component of gravity in the direction parallel to the slope is not sufficient to cancel out the driving force, and a braking force is required together with the driving force to cancel out the driving force.
Therefore, according to the embodiment of the application, when the braking force is determined for the vehicle braked and stopped in the uphill process, the influence of the road gradient on the braking is considered, and the influence of the driving force is also considered, so that a more appropriate target braking force can be provided for the braking process, the braking process is softer, and the user experience is improved.
The following describes a process in which the processing module 132 determines whether the driving assistance system 100 needs to apply braking to the host vehicle.
First, the processing module 132 determines whether the target brake time satisfies a brake time threshold. The braking time threshold value is a braking time threshold value that the driving support system 100 specifies for the host vehicle. In some embodiments, the driving assistance system 100 may set the braking time threshold for the host vehicle according to a gradient value of a road on which the host vehicle is located. For example, the braking time threshold is set to increase as the gradient value increases. That is, when the gradient value is large, braking needs to be performed earlier.
The processing module 132 calculates the target brake time includes both feedback and feed-forward calculations. When the vehicle speed is greater, such as greater than or equal to a predetermined speed threshold, the processing module 132 calculates the target braking time using a feedback calculation, i.e., a target braking time based on the current vehicle speed (e.g., measured by a vehicle speed sensor) and the current deceleration (e.g., measured by an acceleration sensor) of the host vehicle. That is, when the vehicle speed is equal to or greater than the predetermined threshold, the processing module 132 calculates the target braking time according to the equation t ═ v/a. When the vehicle speed decreases below the predetermined speed threshold, the calculation according to the formula is inaccurate, and the target braking time is calculated more accurately in a feed forward calculation manner, i.e., in a periodically decreasing manner, which is referred to as the above-mentioned communication period. That is, when the vehicle speed is less than the predetermined speed threshold, the target braking time is determined by decrementing by a time period at each communication cycle.
The processing module 132 calculates the target brake time in the manner described above until the calculated target brake time decreases to the brake time threshold, the processing module 132 determines that the target brake time satisfies the brake time threshold and generates a first command indicating compliance with the time threshold. The acquisition module 131 acquires the current braking force of the host vehicle in response to the first instruction. That is, when the calculated target braking force decreases to the braking time threshold, the acquisition module 131 acquires the current braking force at that time. The processing module 132 compares the current braking force with the calculated target braking force, and when it is determined that the current braking force is equal to or greater than the target braking force, the processing module 132 determines that the brake control unit 130 does not perform the brake control. When the processing module 132 determines that the current braking force is less than the target braking force, a second command is generated indicating to increase the current braking force.
To control the braking force increase process from the current braking force to the target braking force, the brake control unit 130 further includes a braking force control module 134. The braking force control module 134 controls the host vehicle braking system to begin increasing the current braking force in response to the first and second commands until the target braking force is reached.
In one embodiment, braking force control module 134 also sets an execution time, i.e., an execution time from the start of increasing the braking force to the target braking force. The braking force control module 134 determines a gradient of increasing the braking force according to the braking force that needs to be increased and the execution time, and controls the brake system to increase the braking force at the gradient.
It follows that according to this embodiment, the gradient of increasing the braking force can be adjusted by adjusting the execution time. That is to say, can make this car braking process faster or slower through adjusting the execution time, for example, according to user's experience or demand adjusting the execution time in appropriate range to make whole braking process more humanized, further promoted user experience.
It should be appreciated that in some embodiments, during the entire braking process, although there are dynamic changing factors, such as the real-time sensed values of the sensors (e.g., radar sensor, speed sensor, acceleration sensor, etc.) may change, and the road gradient may also change, the target braking force is based on the instant that the calculated target braking time satisfies the braking time threshold, and will not change any more during the braking process thereafter (i.e., the target braking force will not change any more after being "frozen"). In other embodiments, the target braking force is continuously calculated and updated according to the real-time measured values of the sensors during the whole braking process, that is, the braking force is detected and regulated in real time during the whole braking process.
It is to be understood that when the host vehicle is parked on a slope, the braking force is mainly used to stop the vehicle on the slope without slipping, that is, the braking force is used to cancel the component of gravity in the direction parallel to the slope. According to different strategies of various vehicle control systems, when the vehicle is completely stationary, the power system can immediately cancel the driving force, or cancel the driving force after the vehicle is stationary for a period of time, or keep a little driving force without canceling the driving force all the time.
Fig. 3 shows a brake control method 300 for the driving assistance system 100 according to one possible embodiment of the invention. Alternatively, the brake control method 300 is implemented by the brake control unit 130 described above. It should be noted, however, that the principles of the present application are not limited to a particular type and configuration of control unit. As shown in fig. 3, in step 310, the traveling states of the preceding vehicle and the host vehicle are acquired while the host vehicle is climbing a slope. In step 320, it is determined whether the driving assistance system 100 of the host vehicle needs to brake the host vehicle based on the acquired traveling state, and when it is determined that the braking of the host vehicle is needed, a target deceleration of the host vehicle is acquired, a first item F1 of braking force is calculated from the target deceleration, and a second item F2 of braking force is calculated from a gradient value of a road on which the host vehicle is located. In step 330, a target braking force required for the driving assistance system 100 to apply braking to the host vehicle is determined from the first item of braking force F1 and the second item of braking force F2.
It should be understood that the operation of the brake control unit 130 is equally applicable to the brake control method 300. Accordingly, various related features described above with respect to the brake control unit 130 are equally applicable to this brake control method 300.
There is also provided, in accordance with an embodiment of the present invention, a machine-readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed, cause the method 300 to be performed.
While the foregoing describes certain embodiments, these embodiments are presented by way of example only, and are not intended to limit the scope of the present invention. The appended claims and their equivalents are intended to cover all such modifications, substitutions and changes as may be made within the scope and spirit of the present invention.
Claims (11)
1. A brake control unit (130) for use in a driving assistance system (100), comprising:
an acquisition module (131) configured to acquire a driving state of a preceding vehicle and a host vehicle during climbing, wherein at least the speed of the preceding vehicle and the host vehicle and the distance between the preceding vehicle and the host vehicle are included;
a processing module (132) configured to determine whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, acquire a target deceleration of the host vehicle and calculate a first term of braking force according to the target deceleration when it is determined that the braking of the host vehicle is needed, and calculate a second term of braking force according to a gradient value of a road where the host vehicle is located; and
a braking force determination module (133) configured to determine a target braking force required by the driving assistance system (100) to apply braking to the host vehicle, based on the first and second braking forces.
2. The brake control unit (130) of claim 1,
the acquisition module (131) further acquires a driving force provided to the host vehicle by a powertrain of the host vehicle during braking of the host vehicle by the driving assistance system (100);
the processing module (132) is further configured to calculate a third term of braking force from the driving force;
the braking force determination module (133) determines the target braking force based on the first, second, and third terms of braking force.
3. The brake control unit (130) according to claim 1 or 2, wherein the processing module (132) obtains the gradient value by:
measured by a host vehicle's grade sensor and provided to the processing module (132); or
The processing module (132) calculates the grade value from a measurement from a longitudinal acceleration sensor of the host vehicle and a current deceleration of the host vehicle.
4. The brake control device (130) according to any one of claims 1-3, wherein calculating the second term of braking force includes:
the second term of the braking force is determined in a look-up table containing the correspondence between the gradient value and the braking force correction value.
5. The brake control unit (130) according to any one of claims 1-4, wherein obtaining the target deceleration of the host vehicle includes:
a processing module (132) calculates the target deceleration based on the speed of the preceding vehicle and the own vehicle and the distance between the preceding vehicle and the own vehicle; or
A processing module (132) performs data processing on a target deceleration provided by a radar device of the driving assistance system (100), and takes the processed target deceleration as the target deceleration.
6. The brake control unit (130) of any of claims 1-5, wherein the processing module (132) determining whether the driving assistance system (100) of the host vehicle requires braking of the host vehicle comprises:
when the fact that the vehicle needs to be braked and stopped is determined based on the speed of the front vehicle and the speed of the vehicle and the distance between the front vehicle and the vehicle, calculating the target braking time of the vehicle;
comparing a target braking time with a braking time threshold value prescribed by the driving assistance system (100);
when the target brake time meets the brake time threshold, a first command is generated indicating that a time threshold is met.
7. The brake control unit (130) of claim 6,
the acquisition module (131) acquires a current braking force applied to the host vehicle by the driving assistance system (100) in response to the first instruction;
the processing module (132) compares the current braking force to a target braking force and generates a second command instructing to increase the current braking force when it is determined that the current braking force is less than the target braking force.
8. The brake control unit (130) of claim 7,
the brake control unit (130) further includes a braking force control module (134) configured to control a current braking force to start increasing in response to the first and second instructions until a target braking force is reached.
9. The brake control apparatus (130) of claim 8, wherein the braking force control module (134) is further configured to:
setting an execution time for increasing the braking force;
determining a gradient of the increased braking force according to the execution time and the target braking force;
the current braking force is controlled to increase to the target braking force at the gradient.
10. A brake control method for use in a driving assistance system, optionally implemented by means of a brake control unit according to any one of claims 1-9, the brake control method comprising:
acquiring the driving states of a front vehicle and a host vehicle during the climbing of the host vehicle, wherein the driving states at least comprise the speeds of the front vehicle and the host vehicle and the distance between the front vehicle and the host vehicle;
determining whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, and when determining that the braking of the host vehicle is needed, acquiring a target deceleration of the host vehicle, calculating a first item of braking force according to the target deceleration, and calculating a second item of braking force according to a gradient value of a road where the host vehicle is located; and
determining a target braking force required by the driving assistance system (100) to brake the host vehicle according to the first braking force term and the second braking force term.
11. A driving assistance system (100), in particular an adaptive cruise control system, comprising:
a radar device (110) that measures the distance between the preceding vehicle and the own vehicle; and
a stability device (120) coupled to the radar device (110) and comprising a brake control unit (130) according to any of claims 1-9, optionally the stability device (120) is configured to generate a trigger signal to activate the brake control unit (130) in response to a deceleration request signal from the radar device (110).
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| CN201910086273.5A CN111497843A (en) | 2019-01-29 | 2019-01-29 | Driving assistance system, and brake control unit and brake control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776809A (en) * | 2021-01-07 | 2021-05-11 | 东风柳州汽车有限公司 | Driver hill start assisting method, device, equipment and storage medium |
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