CN111516658A - Brake control system and method - Google Patents
Brake control system and method Download PDFInfo
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- CN111516658A CN111516658A CN202010323973.4A CN202010323973A CN111516658A CN 111516658 A CN111516658 A CN 111516658A CN 202010323973 A CN202010323973 A CN 202010323973A CN 111516658 A CN111516658 A CN 111516658A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- 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
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present disclosure relates to a brake control system and method. The brake control system includes a distance sensor, an MEB module, an ESP module, and an EPB module. The MEB module is used for sending an emergency braking instruction to the ESP module if the vehicle is judged to have the collision risk according to the barrier distance; after the vehicle stops, sending a continuous braking instruction to an ESP module; judging whether braking needs to be stopped after the continuous braking instruction is sent; if the fact that braking does not need to be stopped is judged, and the preset time length is reached, the EPB module is controlled to execute electronic parking; and if the braking stopping is determined to be needed within the preset time period, sending a braking stopping command to the ESP. The ESP is used for controlling the application of braking force to the vehicle to stop the vehicle if receiving an emergency braking command; and if a continuous braking instruction is received, controlling to continuously apply the braking force to the vehicle until a preset time length is reached or a braking stopping instruction is received. Therefore, the vehicle can be prevented from being started automatically or slipping to cause collision immediately after the vehicle is backed and braked by the MEB module.
Description
Technical Field
The present disclosure relates to the field of assisted driving of vehicles, and in particular, to a brake control system and method.
Background
At present, with the rapid development of electronic and communication technologies and the rapid increase of vehicle holding capacity, more auxiliary systems appear in the vehicle, so that the vehicle is more and more intelligent. Common vehicle auxiliary systems include lane keeping auxiliary systems, automatic parking auxiliary systems, brake auxiliary systems, reverse auxiliary systems, driving auxiliary systems, and the like.
In order to ensure the safety of low-speed driving and low-speed parking, some vehicles are equipped with a low-speed Emergency Braking (MEB) function. With this function, it is possible to assist control of the vehicle when the vehicle is reversed. Specifically, in the process of backing a vehicle, if the MEB module determines that the vehicle has a collision risk, the vehicle brake is automatically controlled, so that vehicle collision caused by negligence of a driver when the vehicle backs is avoided, and the driving safety is ensured to a certain extent.
Disclosure of Invention
It is an object of the present disclosure to provide a reliable and practical brake control system and method.
In order to achieve the above object, the present disclosure provides a brake control system including: the system comprises a distance sensor, a low-speed emergency brake (MEB) module, an Electronic Stability Program (ESP) module and an Electronic Parking Brake (EPB) module, wherein the MEB module is respectively connected with the distance sensor, the ESP module and the EPB module.
The distance sensor is used for detecting the distance of an obstacle behind the vehicle;
the ESP module is used for detecting the vehicle speed of the vehicle;
the MEB module is used for sending an emergency braking instruction to the ESP module if the vehicle is judged to have the collision risk according to the obstacle distance; after the vehicle stops, sending a continuous braking instruction to the ESP module; judging whether braking needs to be stopped after the continuous braking instruction is sent; if the fact that braking does not need to be stopped is judged, and the preset time length is reached, the EPB module is controlled to execute electronic parking; if the braking is required to be stopped within the preset time, a braking stopping instruction is sent to the ESP module;
the ESP module is used for controlling to apply braking force to the vehicle to stop the vehicle if the emergency braking instruction is received; and if the continuous braking instruction is received, controlling to continuously apply the braking force to the vehicle until the preset time length is reached or the braking stopping instruction is received.
Through the technical scheme, when the MEB module is used for carrying out auxiliary control on the reversing working condition of the vehicle, after the vehicle is braked by judging that the vehicle has the collision risk, if other situations needing to stop braking do not occur, the ESP module can continuously apply braking force to the vehicle within a preset time length. During this predetermined period, the driver can take the necessary steps to take over the vehicle. Therefore, the vehicle can be prevented from colliding due to immediate self starting or sliding after backing and braking, and the safety of the vehicle during backing is enhanced.
Optionally, the brake control system further comprises a body control module BCM and an automatic transmission control unit TCU, the MEB module is respectively connected with the BCM and the TCU,
the BCM is used for detecting whether a door of the vehicle is opened;
and the MEB module is used for judging that braking needs to be stopped if the vehicle door of the vehicle is opened within a preset time length after the continuous braking instruction is sent, controlling the TCU to switch to a P gear and controlling the EPB module to execute electronic parking.
In the embodiment, the condition that the braking is required to be stopped is that the door of the vehicle is opened, and when the door is opened, the control is switched to the P gear and the electronic parking is controlled to be executed, so that the vehicle can be automatically and safely parked under the condition that a driver opens the door to get off the vehicle, and the safety of the vehicle is ensured.
Optionally, the brake control system further comprises an automatic gearbox control unit (TCU), the MEB module is connected with the TCU,
the TCU is used for detecting the current gear of the vehicle;
and the MEB module is used for judging that braking needs to be stopped if the current gear of the vehicle is changed from the R gear to other gears within a preset time after the continuous braking instruction is sent.
In this embodiment, the gear of the vehicle is changed from the R gear to another gear as a condition requiring stopping braking, so that after the driver shifts gears, the requirement for normal running of the vehicle is satisfied.
Optionally, the brake control system further comprises an engine control module ECM, the MEB module being connected to the ECM,
the ECM to detect a depth of an accelerator pedal of the vehicle;
the MEB module is further used for determining that braking needs to be stopped if the vehicle is determined not to have a collision risk according to the obstacle distance and the depth of the accelerator pedal detected by the ECM indicates that the accelerator pedal is pressed within a preset time period after the continuous braking instruction is sent.
In the embodiment, the condition that the vehicle has no collision risk and the accelerator pedal is pressed down is taken as the condition that braking needs to be stopped, so that the requirement of continuing backing the vehicle is met when the collision risk is eliminated and the driver has the intention of backing the vehicle.
Optionally, the brake control system further comprises an engine control module ECM, the MEB module being connected to the ECM,
the ECM to detect a depth of an accelerator pedal of the vehicle;
the MEB module is further used for judging that braking needs to be stopped if the depth of the accelerator pedal detected by the ECM is larger than a preset depth threshold value within a preset time length after the continuous braking instruction is sent.
In the embodiment, the condition that the depth of the accelerator pedal is greater than the preset depth threshold value is taken as the condition that braking needs to be stopped, so that the requirement for continuing reversing the vehicle is met when a driver has a strong reversing intention.
The disclosure also provides a brake control method applied to the brake control system. The brake control system includes: the system comprises a distance sensor, a low-speed emergency brake (MEB) module, an Electronic Stability Program (ESP) module and an Electronic Parking Brake (EPB) module, wherein the MEB module is respectively connected with the distance sensor, the ESP module and the EPB module. The method comprises the following steps:
the distance sensor detects the distance of an obstacle behind the vehicle;
the ESP module detects a vehicle speed of the vehicle;
if the vehicle is judged to have the collision risk according to the obstacle distance, the MEB module sends an emergency braking instruction to the ESP module;
if the emergency braking instruction is received, the ESP module controls the application of braking force to the vehicle so as to stop the vehicle;
after the vehicle stops, the MEB module sends a continuous braking command to the ESP module;
after the continuous braking instruction is sent, the MEB module judges whether braking needs to be stopped;
if the fact that braking does not need to be stopped is judged, and the preset time length is reached, the MEB module controls the EPB module to execute electronic parking;
if the MEB module judges that the braking needs to be stopped within the preset time, the MEB module sends a braking stopping instruction to the ESP module;
and if the continuous braking instruction is received, the ESP module controls to continuously apply the braking force to the vehicle until the preset time length is reached or the stop braking instruction is received.
Optionally, the brake control system further includes a body control module BCM and an automatic transmission control unit TCU, the MEB module is connected to the BCM and the TCU, respectively, and the method further includes: the BCM detects whether a door of the vehicle is opened;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: within a preset time period after the continuous braking instruction is sent, if the vehicle door is opened, the MEB module judges that braking needs to be stopped;
the method further comprises the following steps: and if the fact that braking needs to be stopped is judged within a preset time length after the continuous braking instruction is sent, the MEB module controls the TCU to be switched into a P gear, and controls the EPB module to execute electronic parking.
Optionally, the brake control system further comprises an automatic transmission control unit, TCU, the MEB module being connected to the TCU, the method further comprising:
the TCU detects the current gear of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: and within a preset time period after the continuous braking instruction is sent, if the current gear of the vehicle is changed from the R gear to other gears, the MEB module judges that braking needs to be stopped.
Optionally, the brake control system further comprises an engine control module, ECM, the MEB module being connected to the ECM, the method further comprising:
the ECM detects a depth of an accelerator pedal of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: the MEB module determines that braking needs to be stopped if it is determined that the vehicle is not at risk of collision based on the obstacle distance and a depth of an accelerator pedal detected by the ECM indicates that the accelerator pedal is depressed within a predetermined time period after the continuous braking command is sent.
Optionally, the brake control system further comprises an engine control module, ECM, the MEB module being connected to the ECM, the method further comprising:
the ECM detects a depth of an accelerator pedal of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: the MEB module determines that braking is to be stopped if a depth of an accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined time period after the continuous braking command is sent.
Through the technical scheme, when the MEB module is used for carrying out auxiliary control on the reversing working condition of the vehicle, after the vehicle is braked by judging that the vehicle has the collision risk, if other situations needing to stop braking do not occur, the ESP module can continuously apply braking force to the vehicle within a preset time length. During this predetermined period, the driver can take the necessary steps to take over the vehicle. Therefore, the vehicle can be prevented from colliding due to immediate self starting or sliding after backing and braking, and the safety of the vehicle during backing is enhanced. And the electronic parking is automatically implemented after the preset time, so that the service life loss of the brake system caused by overlong continuous braking time is avoided.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a block diagram of a brake control system provided in an exemplary embodiment;
FIG. 2 is a block diagram of a brake control system provided in accordance with another exemplary embodiment;
FIG. 3 is a flow chart of a braking control method provided by an exemplary embodiment;
FIG. 4 is a flow chart of a braking control method provided by another exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise specified, directional terms such as "front and rear" are used to generally refer to directions relative to a vehicle when normally traveling.
Fig. 1 is a block diagram of a brake control system according to an exemplary embodiment. As shown in fig. 1, the Brake control system 100 may include a distance sensor 10, a low-speed emergency Brake MEB module 20, an Electronic Stability Program (ESP) module 30, and an Electronic Parking Brake (EPB) module 40. The MEB module 20 is connected to the distance sensor 10, the ESP module 30, and the EPB module 40, respectively.
The distance sensor 10 is used to detect an obstacle distance behind the vehicle. The ESP module 30 is used to detect the speed of the vehicle.
The MEB module 20 is configured to send an emergency braking instruction to the ESP module 30 if it is determined that the vehicle is at risk of collision according to the obstacle distance; after the vehicle stops, a continuous braking command is sent to the ESP module 30; judging whether braking needs to be stopped after the continuous braking instruction is sent; if it is determined that the braking does not need to be stopped and the predetermined period of time is reached, controlling the EPB module 40 to perform electronic parking; if within the predetermined time period, it is determined that braking is to be stopped, a stop braking command is sent to the ESP module 30.
The ESP module 30 is configured to control application of a braking force to the vehicle to stop the vehicle if an emergency braking instruction is received; and if a continuous braking instruction is received, controlling to continuously apply the braking force to the vehicle until a preset time length is reached or a braking stopping instruction is received.
Among them, the distance sensor 10 may be an ultrasonic sensor installed at the rear of the vehicle. The distance sensor 10 may comprise a plurality of ultrasonic sensors so that the determined position and distance of the obstacle is more accurate. The ESP module 30 may detect the vehicle speed of the vehicle through various methods in the related art, for example, through a wheel speed sensor.
The MEB module 20 may employ a collision risk identification algorithm of the related art to determine whether the vehicle is at risk of collision. Collision risk identification algorithms in the related art are well known to those skilled in the art and will not be described in detail herein.
In the related art, if it is determined that the vehicle is at risk of collision, the MEB module 20 sends an emergency braking command to the ESP module 30 to stop the vehicle, and at this time, if the driver does not immediately depress the brake pedal to take over, the vehicle will start by itself, and there is a high possibility that the vehicle will continue to move backward after a short stop, and if an obstacle is not eliminated, the vehicle will still collide. That is, in the related art, the MEB module 20 controls the vehicle to stop only for a brief time. The inventor is just considering this point, and in the scheme of the disclosure, it is proposed to continue to keep braking after the vehicle is stopped until a predetermined period of time is reached or a condition of stopping braking occurs, so as to ensure that the vehicle does not automatically start or roll.
The ESP module 30 controls the pressure increase of the wheel cylinders by controlling the motor when braking the vehicle. When the ESP module 30 receives the continuous braking command, continuous braking may be achieved by controlling the motor to maintain the pressure of the wheel cylinders.
Through the technical scheme, when the MEB module is used for carrying out auxiliary control on the reversing working condition of the vehicle, after the vehicle is braked by judging that the vehicle has the collision risk, if other situations needing to stop braking do not occur, the ESP module can continuously apply braking force to the vehicle within a preset time length. During this predetermined period, the driver can take the necessary steps to take over the vehicle. Therefore, the vehicle can be prevented from colliding due to immediate self starting or sliding after backing and braking, and the safety of the vehicle during backing is enhanced. And the electronic parking is automatically implemented after the preset time, so that the service life loss of the brake system caused by overlong continuous braking time is avoided.
Fig. 2 is a block diagram of a brake control system according to another exemplary embodiment. As shown in fig. 2, based on fig. 1, the brake Control system 100 may further include a Body Control Module (BCM) 50 and an automatic Transmission Control Unit (TCU) 60, and the MEB Module 20 is connected to the BCM 50 and the TCU 60, respectively.
The BCM 50 is used to detect whether the doors of the vehicle have been opened. The MEB module 20 is configured to determine that braking needs to be stopped if a door of the vehicle is opened within a predetermined time period after the continuous braking instruction is sent, control the TCU 60 to shift to the P range, and control the EPB module 40 to perform electronic parking.
The BCM 50 may send the detected vehicle door state to the vehicle network, and the MEB module 20 acquires the state of whether the vehicle door is opened from the vehicle network. If the door of the vehicle is opened, it is considered that someone wants to get on or off the vehicle, and at this time, it is not suitable to use the ESP module 30 to maintain the brake, so the control stops using the ESP module 30 to brake, and the vehicle is also not suitable to be in a reverse state, so the vehicle can be controlled to shift to the P range and pull up the electronic hand brake, and the vehicle shifts to the parking state.
In addition, it is also possible to consider only whether the driver's door is open, and not whether the other doors are open. Thus, the sources of the reference signals are reduced, and the control strategy is simplified.
In the embodiment, the condition that the braking is required to be stopped is that the door of the vehicle is opened, and when the door is opened, the control is switched to the P gear and the electronic parking is controlled to be executed, so that the vehicle can be automatically and safely parked under the condition that a driver opens the door to get off the vehicle, and the safety of the vehicle is ensured.
In yet another embodiment, as shown in FIG. 2, the brake control system 100 may further include an automatic transmission control unit TCU 60. The MEB module 20 is connected to the TCU 60.
The TCU 60 is used to detect the current gear of the vehicle. The MEB module 20 is configured to determine that braking needs to be stopped if the current gear of the vehicle is changed from the R gear to another gear within a predetermined time period after the continuous braking instruction is sent.
If the current gear of the vehicle is changed from the R gear to another gear, the vehicle is not in the reverse state, and it can be considered that the driver has taken over measures, and at this time, the ESP module 30 is not needed to be used for braking, so that it is determined that braking needs to be stopped, and the ESP module 30 is controlled to stop braking.
In this embodiment, the gear of the vehicle is changed from the R gear to another gear as a condition requiring stopping braking, so that after the driver shifts gears, the requirement for normal running of the vehicle is satisfied.
In yet another embodiment, as shown in fig. 2, the brake Control system 100 may further include an Engine Control Module (ECM) 70, and the MEB Module 20 is connected to the ECM 70.
The ECM70 is used to detect a depth of an accelerator pedal of the vehicle. The MEB module 20 is further configured to determine that braking is to be discontinued if it is determined that the vehicle is not at risk of a collision based on the obstacle distance and the depth of the accelerator pedal detected by the ECM70 indicates that the accelerator pedal is depressed, within a predetermined time period after sending the continuous braking command.
Wherein the depth of the accelerator pedal reflects the degree to which the accelerator pedal is depressed. Whether the accelerator pedal is depressed may be determined according to the depth of the accelerator pedal. If the accelerator pedal is depressed, it can be assumed that the driver has taken over measures and the driver wants to continue backing up, while the vehicle is not at risk of collision, so the braking can be stopped at the driver's will, and the MEB module 20 controls the ESP module 30 to stop braking.
In the embodiment, the condition that the vehicle has no collision risk and the accelerator pedal is pressed down is taken as the condition that braking needs to be stopped, so that the requirement of continuing backing the vehicle is met when the collision risk is eliminated and the driver has the intention of backing the vehicle.
In yet another embodiment, as shown in FIG. 2, the brake control system 100 further includes an ECM70, and the MEB module 20 is coupled to the ECM 70.
The ECM70 is used to detect a depth of an accelerator pedal of the vehicle. The MEB module 20 is further configured to determine that braking is to be discontinued if the depth of the accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined time period after sending the continuous braking command.
When the depth of the accelerator pedal is greater than the predetermined depth threshold, it can be considered that the driver has made a take-over measure and has a strong backing-up intention, which indicates that the driver still has a strong backing-up intention after being prompted by the temporary brake controlled by the MEB module 20, and at this time, the intention of the driver should be respected, and the ESP module 30 is controlled to stop braking. The predetermined depth threshold may be obtained experimentally and empirically.
When the depth of the accelerator pedal is less than a predetermined depth threshold, the vehicle may be slowed with braking force if the tractive effort is greater than the braking force, and the vehicle may continue to remain stationary if the tractive effort is less than or equal to the braking force.
In the embodiment, the condition that the depth of the accelerator pedal is greater than the preset depth threshold value is taken as the condition that braking needs to be stopped, so that the requirement for continuing reversing the vehicle is met when a driver has a strong reversing intention.
The present disclosure also provides a brake control method applied to the brake control system 100. FIG. 3 is a flow chart of a braking control method provided by an exemplary embodiment. Brake control system 100 may include a distance sensor 10, an MEB module 20, an ESP module 30, and an EPB module 40. The MEB module 20 is connected to the distance sensor 10, the ESP module 30, and the EPB module 40, respectively. As shown in fig. 3, the method may include the steps of:
in step S31, the distance sensor detects the obstacle distance behind the vehicle.
In step S32, the ESP module detects the vehicle speed of the vehicle.
And step S33, if the vehicle is judged to have the collision risk according to the obstacle distance, the MEB module sends an emergency braking instruction to the ESP module.
In step S34, when the emergency braking command is received, the ESP module controls the application of braking force to the vehicle to stop the vehicle.
In step S35, after the vehicle stops, the MEB module sends a continuous braking command to the ESP module.
In step S36, after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped.
In step S37, the MEB module controls the EPB module to perform the electronic parking if it is determined that the braking does not need to be stopped and the predetermined period of time is reached.
In step S38, if it is determined that braking needs to be stopped within the predetermined time period, the MEB module sends a braking stop command to the ESP module.
In step S39, if a continuous braking command is received, the ESP module controls to continuously apply braking force to the vehicle until a predetermined time period is reached or a stop braking command is received.
Through the technical scheme, when the MEB module is used for carrying out auxiliary control on the reversing working condition of the vehicle, after the vehicle is braked by judging that the vehicle has the collision risk, if other situations needing to stop braking do not occur, the ESP module can continuously apply braking force to the vehicle within a preset time length. During this predetermined period, the driver can take the necessary steps to take over the vehicle. Therefore, the vehicle can be prevented from colliding due to immediate self starting or sliding after backing and braking, and the safety of the vehicle during backing is enhanced. And the electronic parking is automatically implemented after the preset time, so that the service life loss of the brake system caused by overlong continuous braking time is avoided.
Optionally, the brake control system further comprises a BCM and a TCU, and the MEB module is connected to the BCM and the TCU, respectively. The method further comprises the following steps: the BCM detects whether the doors of the vehicle have been opened.
After sending the continuous braking instruction, the step of the MEB module determining whether braking needs to be stopped (step S36) may include: the MEB module determines that braking needs to be stopped if the doors of the vehicle are open within a predetermined time period after sending the continuous braking command.
The method further comprises the following steps: and within a preset time length after the continuous braking instruction is sent, the MEB module determines that braking needs to be stopped, and controls the TCU to switch to the P gear and the EPB module to execute electronic parking.
In the embodiment, the condition that the braking is required to be stopped is that the door of the vehicle is opened, and when the door is opened, the control is switched to the P gear and the electronic parking is controlled to be executed, so that the vehicle can be automatically and safely parked under the condition that a driver opens the door to get off the vehicle, and the safety of the vehicle is ensured.
Optionally, the brake control system may further comprise a TCU, the MEB module being connected to the TCU. The method may further comprise: the TCU detects the current gear of the vehicle.
After sending the continuous braking instruction, the step of the MEB module determining whether braking needs to be stopped (step S36) may include: within a predetermined time period after the continuous braking instruction is sent, if the current gear of the vehicle is changed from the R gear to other gears, the MEB module determines that braking needs to be stopped.
In this embodiment, the gear of the vehicle is changed from the R gear to another gear as a condition requiring stopping braking, so that after the driver shifts gears, the requirement for normal running of the vehicle is satisfied.
Optionally, the brake control system further comprises an ECM, the MEB module being connected to the ECM. The method may further comprise: the ECM detects a depth of an accelerator pedal of the vehicle.
After sending the continuous braking instruction, the step of the MEB module determining whether braking needs to be stopped (step S36) may include: the MEB module determines that braking needs to be stopped if it is determined that the vehicle is not at risk of a collision based on the obstacle distance and the depth of the accelerator pedal detected by the ECM indicates that the accelerator pedal is depressed within a predetermined time period after the continuous braking command is sent.
In the embodiment, the condition that the vehicle has no collision risk and the accelerator pedal is pressed down is taken as the condition that braking needs to be stopped, so that the requirement of continuing backing the vehicle is met when the collision risk is eliminated and the driver has the intention of backing the vehicle.
Optionally, the brake control system further comprises an ECM, the MEB module being connected to the ECM. The method may further comprise: the ECM detects a depth of an accelerator pedal of the vehicle.
After sending the continuous braking instruction, the step of the MEB module determining whether braking needs to be stopped (step S36) may include: the MEB module determines that braking is to be stopped if the depth of the accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined period of time after sending the continuous braking command.
In the embodiment, the condition that the depth of the accelerator pedal is greater than the preset depth threshold value is taken as the condition that braking needs to be stopped, so that the requirement for continuing reversing the vehicle is met when a driver has a strong reversing intention.
The specific manner in which the operations are performed by the various steps in the embodiments of the method described above has been described in detail in relation to embodiments of the system and will not be set forth in detail herein.
FIG. 4 is a flow chart of a braking control method provided by another exemplary embodiment. As shown in fig. 4, when the vehicle ignition is powered on, the driver engages R gear and the brake control system 100 is activated. And if the MEB module judges that the vehicle has the collision risk, an emergency braking instruction is sent to the ESP module, and the ESP module controls the vehicle to be braked and stopped. The MEB module sends a continuous braking command again, and the ESP module controls continuous braking of the vehicle.
If the continuous braking reaches three minutes (preset time), the EPB module can be controlled to pull up the electronic hand brake, execute the electronic parking and quit the braking control system;
if the continuous braking does not reach three minutes and the vehicle door is opened, the TCU is switched to the P gear, the EPB module executes the electronic parking and quits the braking control system;
if the continuous braking does not reach three minutes, the vehicle door is not opened, and the driver is in a non-R gear (other gears except the R gear), the ESP module controls to stop braking the vehicle and quit the braking control system;
if the continuous braking does not reach three minutes, the vehicle door is not opened, the driver does not shift gears, the collision risk is eliminated, the ESP module continuously brakes, and if the accelerator pedal is stepped on, the ESP module controls to stop braking the vehicle and quit the braking control system;
if the continuous braking does not reach three minutes, the vehicle door is not opened, the driver does not shift gears, the collision risk still exists, but the depth of the treading of the accelerator pedal is more than or equal to 70 percent (depth threshold value), the ESP module controls the vehicle to be stopped and braked, and the braking control system is quitted.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A brake control system comprising: a distance sensor, a low-speed emergency brake MEB module, an electronic stability program ESP module and an electronic parking brake EPB module, the MEB module being connected to the distance sensor, the ESP module and the EPB module, respectively,
the distance sensor is used for detecting the distance of an obstacle behind the vehicle;
the ESP module is used for detecting the vehicle speed of the vehicle;
the MEB module is used for sending an emergency braking instruction to the ESP module if the vehicle is judged to have the collision risk according to the obstacle distance; after the vehicle stops, sending a continuous braking instruction to the ESP module; judging whether braking needs to be stopped after the continuous braking instruction is sent; if the fact that braking does not need to be stopped is judged, and the preset time length is reached, the EPB module is controlled to execute electronic parking; if the braking is required to be stopped within the preset time, a braking stopping instruction is sent to the ESP module;
the ESP module is used for controlling to apply braking force to the vehicle to stop the vehicle if the emergency braking instruction is received; and if the continuous braking instruction is received, controlling to continuously apply the braking force to the vehicle until the preset time length is reached or the braking stopping instruction is received.
2. The brake control system of claim 1, further comprising a Body Control Module (BCM) and an automatic Transmission Control Unit (TCU), the MEB module being connected to the BCM, the TCU, respectively,
the BCM is used for detecting whether a door of the vehicle is opened;
and the MEB module is used for judging that braking needs to be stopped if the vehicle door of the vehicle is opened within a preset time length after the continuous braking instruction is sent, controlling the TCU to switch to a P gear and controlling the EPB module to execute electronic parking.
3. The brake control system of claim 1, further comprising an automatic Transmission Control Unit (TCU), the MEB module being connected to the TCU,
the TCU is used for detecting the current gear of the vehicle;
and the MEB module is used for judging that braking needs to be stopped if the current gear of the vehicle is changed from the R gear to other gears within a preset time after the continuous braking instruction is sent.
4. The brake control system of claim 1, further comprising an Engine Control Module (ECM), the MEB module being connected to the ECM,
the ECM to detect a depth of an accelerator pedal of the vehicle;
the MEB module is further used for determining that braking needs to be stopped if the vehicle is determined not to have a collision risk according to the obstacle distance and the depth of the accelerator pedal detected by the ECM indicates that the accelerator pedal is pressed within a preset time period after the continuous braking instruction is sent.
5. The brake control system of claim 1, further comprising an Engine Control Module (ECM), the MEB module being connected to the ECM,
the ECM to detect a depth of an accelerator pedal of the vehicle;
the MEB module is further used for judging that braking needs to be stopped if the depth of the accelerator pedal detected by the ECM is larger than a preset depth threshold value within a preset time length after the continuous braking instruction is sent.
6. A brake control method is applied to a brake control system, and the brake control system comprises the following steps: distance sensor, low-speed emergency brake MEB module, electronic stability program ESP module and electronic parking brake EPB module, the MEB module respectively with the distance sensor, the ESP module and the EPB module is connected, characterized in that, the method includes:
the distance sensor detects the distance of an obstacle behind the vehicle;
the ESP module detects a vehicle speed of the vehicle;
if the vehicle is judged to have the collision risk according to the obstacle distance, the MEB module sends an emergency braking instruction to the ESP module;
if the emergency braking instruction is received, the ESP module controls the application of braking force to the vehicle so as to stop the vehicle;
after the vehicle stops, the MEB module sends a continuous braking command to the ESP module;
after the continuous braking instruction is sent, the MEB module judges whether braking needs to be stopped;
if the fact that braking does not need to be stopped is judged, and the preset time length is reached, the MEB module controls the EPB module to execute electronic parking;
if the MEB module judges that the braking needs to be stopped within the preset time, the MEB module sends a braking stopping instruction to the ESP module;
and if the continuous braking instruction is received, the ESP module controls to continuously apply the braking force to the vehicle until the preset time length is reached or the stop braking instruction is received.
7. The brake control method according to claim 6, wherein the brake control system further comprises a Body Control Module (BCM) and an automatic Transmission Control Unit (TCU), the MEB module being connected to the BCM and the TCU, respectively, the method further comprising: the BCM detects whether a door of the vehicle is opened;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: within a preset time period after the continuous braking instruction is sent, if the vehicle door is opened, the MEB module judges that braking needs to be stopped;
the method further comprises the following steps: and if the fact that braking needs to be stopped is judged within a preset time length after the continuous braking instruction is sent, the MEB module controls the TCU to be switched into a P gear, and controls the EPB module to execute electronic parking.
8. The brake control method of claim 6, wherein the brake control system further comprises an automatic Transmission Control Unit (TCU), the MEB module being connected with the TCU, the method further comprising:
the TCU detects the current gear of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: and within a preset time period after the continuous braking instruction is sent, if the current gear of the vehicle is changed from the R gear to other gears, the MEB module judges that braking needs to be stopped.
9. The brake control method according to claim 6, wherein the brake control system further includes an Engine Control Module (ECM), the MEB module being connected to the ECM, the method further comprising:
the ECM detects a depth of an accelerator pedal of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: the MEB module determines that braking needs to be stopped if it is determined that the vehicle is not at risk of collision based on the obstacle distance and a depth of an accelerator pedal detected by the ECM indicates that the accelerator pedal is depressed within a predetermined time period after the continuous braking command is sent.
10. The brake control method according to claim 6, wherein the brake control system further includes an Engine Control Module (ECM), the MEB module being connected to the ECM, the method further comprising:
the ECM detects a depth of an accelerator pedal of the vehicle;
after sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped, including: the MEB module determines that braking is to be stopped if a depth of an accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined time period after the continuous braking command is sent.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323973.4A CN111516658A (en) | 2020-04-22 | 2020-04-22 | Brake control system and method |
| PCT/CN2021/088473 WO2021213397A1 (en) | 2020-04-22 | 2021-04-20 | Braking control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323973.4A CN111516658A (en) | 2020-04-22 | 2020-04-22 | Brake control system and method |
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| CN111516658A true CN111516658A (en) | 2020-08-11 |
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| CN202010323973.4A Pending CN111516658A (en) | 2020-04-22 | 2020-04-22 | Brake control system and method |
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| Country | Link |
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| CN (1) | CN111516658A (en) |
| WO (1) | WO2021213397A1 (en) |
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| WO2021213397A1 (en) * | 2020-04-22 | 2021-10-28 | 长城汽车股份有限公司 | Braking control system and method |
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| CN114475432A (en) * | 2022-02-24 | 2022-05-13 | 京东方科技集团股份有限公司 | Method and device for switching visual angles of electronic rearview mirrors and vehicle |
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| WO2021213397A1 (en) | 2021-10-28 |
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Application publication date: 20200811 |