CN111845668A - Automatic emergency braking method for electric automobile - Google Patents
Automatic emergency braking method for electric automobile Download PDFInfo
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- CN111845668A CN111845668A CN202010543970.1A CN202010543970A CN111845668A CN 111845668 A CN111845668 A CN 111845668A CN 202010543970 A CN202010543970 A CN 202010543970A CN 111845668 A CN111845668 A CN 111845668A
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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
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic emergency braking method for an electric automobile.A vehicle control unit judges whether the braking torque T is less than or equal to a motor braking torque value calibrated when the vehicle is initialized; if yes, detecting that the residual electric quantity of the power battery is less than 80% of the calibrated electric quantity, no charging prohibition fault exists, and the opening degree of a brake pedal is zero, sending a braking torque request value T to the motor by the vehicle controller, and implementing motor braking; if not, the vehicle control unit sends a torque request signal to the electronic stabilization module to directly implement hydraulic braking. By adopting the technical scheme, the method is simple, convenient, practical, safe, reliable and low in cost; when the vehicle is automatically and emergently braked, the energy is recovered by adopting a motor braking mode to charge the power battery, so that the battery endurance mileage is increased to a certain extent, the abrasion of the ESC reversing valve is reduced, and the service life of the ESC reversing valve is prolonged.
Description
Technical Field
The invention belongs to the technical field of electric vehicle brake control, and particularly relates to an automatic emergency braking method for recovering energy of an electric vehicle and prolonging the service life of an ESC (electronic stability control) of the electric vehicle.
Background
With the increasing automobile holding capacity, people have higher and higher requirements on automobile operation convenience, driving comfort and driving safety.
In recent years, automatic emergency braking has been one of the advanced driving assistance systems. The attention of the driver can be greatly reduced, and the application of the method is more and more extensive. The automatic emergency braking system comprises an environment perception system, a central decision controller, a control algorithm and an actuator for executing decision actions.
At present, an actuator of an automatic emergency braking system has two modes of an electromechanical servo booster mechanism (iBooster) and a vehicle body electronic stability control system (ESC). The iBooster has a complex structure and high price, and is not suitable for medium and low end vehicles. The ESC has the advantages of simple structure, low cost, small installation space, convenient arrangement and wide application.
In the rapid development process of the electric automobile, the endurance mileage of the power battery is an important factor for the restriction of the power battery. When the vehicle is braked by hydraulic pressure, the high-pressure reversing valve of the ESC is actively opened, the reversing valve is closed, the oil return pump pumps brake fluid from the brake master cylinder through the high-pressure reversing valve, the brake fluid is pumped into the wheel brake through the inflow valve after being pressurized, and pressure is actively provided for the wheels, but frequent or long-term braking can cause serious abrasion of the ESC high-pressure reversing valve, the service life is influenced, and cost waste is caused.
Disclosure of Invention
The invention provides an automatic emergency braking method for an electric automobile, and aims to increase the battery endurance mileage and prolong the service life of an Electronic Stability Control (ESC) module.
In order to achieve the purpose, the invention adopts the technical scheme that:
the automatic emergency braking method of the electric automobile comprises two stages: a target identification stage and a braking stage, and braking is realized through an automatic braking controller;
in the target identification stage:
the automatic brake controller detects the distance of an obstacle in front of the vehicle, an included angle between the automatic brake controller and the right front of the vehicle and the moving speed of the obstacle through a radar sensor; meanwhile, the automatic brake controller performs target appearance recognition on an obstacle in front of the vehicle through the monocular camera sensor;
the automatic brake controller judges the threat of the obstacle in front of the vehicle; judging whether braking is needed or not according to the information of the relative position and the relative speed of the vehicle and the obstacle in front of the vehicle;
if the braking is not needed, the automatic braking controller continues to identify the target;
if braking is needed, calculating the needed braking torque T according to the obstacle information and sending the value to the vehicle control unit;
in the braking stage:
The vehicle control unit judges whether the braking torque T is less than or equal to a motor braking torque value T0 calibrated during vehicle initialization;
if yes, detecting that the residual electric quantity of the power battery is less than 80% of the calibrated electric quantity, no charging prohibition fault exists, and the opening degree of a brake pedal is zero, sending a braking torque request value T to the motor by the vehicle controller, implementing motor braking until the time that the vehicle and an obstacle in front of the vehicle are likely to collide is less than a preset safety threshold value, and ending the braking;
if not, the vehicle control unit sends a torque request signal to the electronic stabilization module, hydraulic braking is directly implemented until the time that the vehicle and an obstacle in front of the vehicle are possibly collided is less than a preset safety threshold value, and braking is finished.
The radar sensor is a forward 77G millimeter wave radar sensor.
The camera sensor is a monocular camera sensor.
The threat of the obstacle in front of the vehicle is judged by taking the camera sensor as a main body, converting the image characteristics of the output data of the radar sensor, accurately associating the obstacle in front of the vehicle according to the type, and performing target-level fusion with the image developed by secondary data of image flow, color and light brightness information of visual output.
By adopting the technical scheme, the method is simple, convenient, practical, safe, reliable and low in cost; when the vehicle is automatically and emergently braked, the energy is recovered by adopting a motor braking mode to charge the power battery, so that the battery endurance mileage is increased to a certain extent, the abrasion of the ESC reversing valve is reduced, and the service life of the ESC reversing valve is prolonged.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 shows a schematic flow chart of the present invention, which is an automatic emergency braking method for an electric vehicle, and the method is used for recovering energy of the electric vehicle and prolonging the service life of an ESC, and comprises two stages: target recognition stage, braking stage, and realizing braking by an automatic braking controller. The invention has the advantages of simple implementation mode, safety, reliability and low cost through the recovery of braking energy; the battery endurance mileage is increased to a certain extent, the abrasion of the ESC reversing valve is reduced, the service life of the ESC reversing valve is prolonged, and the method is simple, convenient and practical.
In order to overcome the defects of the prior art and realize the purposes of increasing the battery endurance mileage and prolonging the service life of the ESC, the invention adopts the technical scheme that:
as shown in fig. 1, in the target recognition stage, the automatic emergency braking method for the electric vehicle of the present invention:
the automatic brake controller detects the distance of an obstacle in front of the vehicle, an included angle between the automatic brake controller and the right front of the vehicle and the moving speed of the obstacle through a radar sensor; meanwhile, the automatic brake controller performs target appearance recognition on an obstacle in front of the vehicle through the monocular camera sensor;
the automatic brake controller judges the threat of the obstacle in front of the vehicle; judging whether braking is needed or not according to the information of the relative position and the relative speed of the vehicle and the obstacle in front of the vehicle;
the controller camera performs target level fusion on the output data of the radar and the image output by the camera to judge whether the vehicle needs to be braked,
if the braking is not needed, the automatic braking controller continues to identify the target and process the next frame of information;
if braking is needed, calculating the needed braking torque T according to the obstacle information and sending the value to a Vehicle Control Unit (VCU);
and then the Vehicle Control Unit (VCU) sends a braking torque request value to an electronic stability control module (ESC) or a motor by comparing the braking torque request value T with the calibrated motor braking torque value T0 to implement braking.
In the braking stage:
a Vehicle Control Unit (VCU) judges whether the braking torque T is less than or equal to a motor braking torque value T0 calibrated when a vehicle is initialized;
if yes, detecting that the residual electric quantity of the power battery is less than 80% of the calibrated electric quantity, no charging prohibition fault exists, and the opening degree of a brake pedal is zero, sending a braking torque request value T to the motor by the vehicle controller, implementing motor braking until The Time (TTC) when the vehicle and the obstacle in front of the vehicle possibly collide is less than a preset safety threshold, and ending the braking;
if not, the vehicle control unit sends a torque request signal to an electronic stability control module (ESC) to directly implement hydraulic braking until The Time (TTC) when the vehicle and the obstacle in front of the vehicle are possibly collided is less than a preset safety threshold value, and the braking is finished.
The obstacle in front of the vehicle comprises other vehicles in front.
The radar sensor is a forward 77G millimeter wave radar sensor. The forward 77G millimeter wave radar sensor detects data such as the distance d, the angle alpha and the speed v of an obstacle in front of the vehicle.
The camera sensor is a monocular camera sensor. And the monocular camera sensor performs target appearance recognition on the obstacle in front of the vehicle.
The threat of the obstacle in front of the vehicle is judged by taking the camera sensor as a main body, converting the image characteristics of the output data of the radar sensor, accurately associating the obstacle in front of the vehicle according to the type, and performing target-level fusion with the image developed by secondary data of image flow, color and light brightness information of visual output.
The implementation method is simple, hardware facilities do not need to be added on the basis of the existing equipment, and only the software strategy needs to be adjusted; meanwhile, when the vehicle is automatically braked emergently, the automatic emergency braking method provided by the invention adopts a motor braking mode to recover energy, charges a power battery and increases the battery endurance mileage; the abrasion of the ESC reversing valve is reduced, and the service life of the ESC is prolonged.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the precise form set forth herein, and that various insubstantial modifications of the inventive concepts and solutions, or their direct application to other applications without such modifications, are intended to be covered by the scope of the invention.
Claims (4)
1. An automatic emergency braking method for an electric automobile comprises two stages: a target identification stage and a braking stage, and braking is realized through an automatic braking controller; the method is characterized in that:
in the target identification stage:
the automatic brake controller detects the distance of an obstacle in front of the vehicle, an included angle between the automatic brake controller and the right front of the vehicle and the moving speed of the obstacle through a radar sensor; meanwhile, the automatic brake controller performs target appearance recognition on an obstacle in front of the vehicle through the monocular camera sensor;
the automatic brake controller judges the threat of the obstacle in front of the vehicle; judging whether braking is needed or not according to the information of the relative position and the relative speed of the vehicle and the obstacle in front of the vehicle;
if the braking is not needed, the automatic braking controller continues to identify the target;
if braking is needed, calculating the needed braking torque T according to the obstacle information and sending the value to the vehicle control unit;
in the braking stage:
the vehicle control unit judges whether the braking torque T is less than or equal to a motor braking torque value T0 calibrated during vehicle initialization;
if yes, detecting that the residual electric quantity of the power battery is less than 80% of the calibrated electric quantity, no charging prohibition fault exists, and the opening degree of a brake pedal is zero, sending a braking torque request value T to the motor by the vehicle controller, implementing motor braking until the time that the vehicle and an obstacle in front of the vehicle are likely to collide is less than a preset safety threshold value, and ending the braking;
If not, the vehicle control unit sends a torque request signal to the electronic stabilization module, hydraulic braking is directly implemented until the time that the vehicle and an obstacle in front of the vehicle are possibly collided is less than a preset safety threshold value, and braking is finished.
2. The automatic emergency braking method of an electric vehicle according to claim 1, characterized in that: the radar sensor is a forward 77G millimeter wave radar sensor.
3. The automatic emergency braking method of an electric vehicle according to claim 1, characterized in that: the camera sensor is a monocular camera sensor.
4. The automatic emergency braking method of an electric vehicle according to claim 1, characterized in that: the threat of the obstacle in front of the vehicle is judged by taking the camera sensor as a main body, converting the image characteristics of the output data of the radar sensor, accurately associating the obstacle in front of the vehicle according to the type, and performing target-level fusion with the image developed by secondary data of image flow, color and light brightness information of visual output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010543970.1A CN111845668A (en) | 2020-06-15 | 2020-06-15 | Automatic emergency braking method for electric automobile |
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| CN202010543970.1A CN111845668A (en) | 2020-06-15 | 2020-06-15 | Automatic emergency braking method for electric automobile |
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| CN202010543970.1A Pending CN111845668A (en) | 2020-06-15 | 2020-06-15 | Automatic emergency braking method for electric automobile |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147753A (en) * | 2021-03-24 | 2021-07-23 | 江铃汽车股份有限公司 | Vehicle brake control method, device, storage medium and automatic brake system |
| CN113715791A (en) * | 2021-08-30 | 2021-11-30 | 广西科技大学 | Active braking system and method of new energy automobile |
| CN113833776A (en) * | 2021-08-30 | 2021-12-24 | 安徽机电职业技术学院 | Emergency braking mechanism and method of electric automobile brake-by-wire system |
| CN115230670A (en) * | 2022-08-24 | 2022-10-25 | 奇瑞汽车股份有限公司 | Method and device for warning of insufficient braking force of vehicle, vehicle and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147753A (en) * | 2021-03-24 | 2021-07-23 | 江铃汽车股份有限公司 | Vehicle brake control method, device, storage medium and automatic brake system |
| CN113715791A (en) * | 2021-08-30 | 2021-11-30 | 广西科技大学 | Active braking system and method of new energy automobile |
| CN113833776A (en) * | 2021-08-30 | 2021-12-24 | 安徽机电职业技术学院 | Emergency braking mechanism and method of electric automobile brake-by-wire system |
| CN113833776B (en) * | 2021-08-30 | 2023-10-03 | 安徽机电职业技术学院 | Emergency braking mechanism of electric automobile brake-by-wire system and method thereof |
| CN115230670A (en) * | 2022-08-24 | 2022-10-25 | 奇瑞汽车股份有限公司 | Method and device for warning of insufficient braking force of vehicle, vehicle and storage medium |
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Application publication date: 20201030 |