CN112706730A - Method and device for adjusting the braking state of a vehicle, control system and program carrier - Google Patents
Method and device for adjusting the braking state of a vehicle, control system and program carrier Download PDFInfo
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- CN112706730A CN112706730A CN201911016761.5A CN201911016761A CN112706730A CN 112706730 A CN112706730 A CN 112706730A CN 201911016761 A CN201911016761 A CN 201911016761A CN 112706730 A CN112706730 A CN 112706730A
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- braking
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
A method for adjusting a braking state of a vehicle is disclosed, wherein the method comprises at least the steps of: receiving a signal indicative of whether the vehicle is in a hill emergency braking speed misalignment state; determining whether the vehicle is in a slope emergency braking speed misalignment state based on the signal; and sending a control instruction to adjust the current braking state of the vehicle to prevent wheels from locking under the condition that the vehicle is judged to be in a slope emergency braking speed misalignment state. An electronic control device (3) for adjusting the braking state of a vehicle according to the method is also disclosed. Furthermore, a corresponding vehicle control system and a corresponding computer-readable program carrier are further disclosed. According to the invention, even if the vehicle is braked emergently when running on a smooth slope, the wheels can not be locked, thereby greatly improving the safety of the vehicle.
Description
Technical Field
The present invention relates to a method for adjusting a braking state of a vehicle, an electronic control device for adjusting a braking state of a vehicle, a corresponding vehicle control system and a corresponding computer-readable program carrier.
Background
The braking performance of the automobile is one of the main performances of the automobile, and the major traffic accidents are often related to situations such as overlong braking distance and sideslip during emergency braking, so the braking performance of the automobile is an important guarantee for the safe driving of the automobile. ABS anti-lock braking systems are widely used in automobiles.
The ABS controls the pressure of a brake pipeline acting on the wheel brake cylinder, so that the wheels of the automobile cannot be locked when the automobile is emergently braked, and the automobile can still keep better direction stability when emergently braked.
However, ABS is usually started only when certain conditions are met, otherwise frequent starts may also cause a series of problems, such as driver complaints. For example, it is common to allow the ABS to be activated depending on whether or not there is a wheel lock phenomenon when the running speed of the automobile is higher than a predetermined value. That is, it is considered that the wheel lock is dangerous only when the running speed of the vehicle is higher than a predetermined value, and the ABS activation is required.
When the vehicle is going downhill at low speed on a slope with a low friction coefficient, such as an icy slope and/or a snowy slope, the driver feels a danger that emergency braking may occur, however, the ABS may not be activated because the speed of the vehicle may be lower than a predetermined value, which may cause the wheels to lock, causing the wheels to lose steering ability, but the vehicle may slide downward at a greater speed in the event of the wheels locking due to a large gravity acting on a low friction slope, which is very dangerous.
Accordingly, there is a need for improvements to existing automotive control systems.
Disclosure of Invention
It is an object of the present invention to provide an improved method for adjusting a braking state of a vehicle, an improved electronic control device for adjusting a braking state of a vehicle, a corresponding vehicle control system and a corresponding computer-readable program carrier.
According to a first aspect of the invention, a method for adjusting a braking state of a vehicle is provided, the method comprising at least the steps of: receiving a signal indicative of whether the vehicle is in a hill emergency braking speed misalignment state; determining whether the vehicle is in a slope emergency braking speed misalignment state based on the signal; and sending a control instruction to adjust the current braking state of the vehicle to prevent wheels from locking under the condition that the vehicle is judged to be in a slope emergency braking speed misalignment state.
According to a second aspect of the present invention, there is provided an electronic control device for adjusting a braking state of a vehicle according to the method, wherein the electronic control device is configured to: receiving a signal from a detection module for detecting a hill emergency braking speed misalignment state of the vehicle; and sending a control command based on the signal to adjust the current braking state of the vehicle so as to prevent the wheels from locking.
According to a third aspect of the present invention, there is provided a vehicle control system comprising a detection module for detecting a hill emergency braking vehicle speed misalignment state of a vehicle and the electronic control device.
According to a fourth aspect of the invention, there is provided a computer readable program carrier having stored thereon computer program instructions configured to, when executed by a processor, implement the method.
According to the invention, even if the vehicle is braked emergently when running on a smooth slope, the wheels can not be locked, thereby greatly improving the safety of the vehicle.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
fig. 1 shows a flow chart of a method for adjusting the braking state of a vehicle to prevent wheel locking according to an exemplary embodiment of the invention.
Fig. 2 shows a schematic diagram of a vehicle braking state adjustment system for adjusting a braking state of a vehicle according to an exemplary embodiment of the present invention.
FIG. 3 illustrates a schematic diagram of a vehicle braking state adjustment system according to a more specific exemplary embodiment of the present invention.
FIG. 4 illustrates a schematic diagram of a vehicle braking state adjustment system in combination with an ABS control module, according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Vehicle speed is typically a parameter that must be considered when controlling the stability of a vehicle. However, in some driving states, such as driving on slippery slopes, the vehicle speed cannot be accurately determined due to the gravity of the vehicle itself in the case where the wheels are locked by emergency braking, and thus the braking state of the vehicle cannot be reliably controlled. For ease of description, this condition may be referred to herein as a hill emergency brake vehicle speed misalignment state.
Fig. 1 shows a flow chart of a method for adjusting the braking state of a vehicle to prevent wheel locking according to an exemplary embodiment of the invention.
As shown in fig. 1, in step S1, the method is started. In step S2, it is detected whether the vehicle is in a hill emergency brake vehicle speed misalignment state. If the vehicle is detected in the hill emergency braking vehicle speed misalignment state in step S2, step S3 is performed. In step S3, the current braking state of the vehicle is adjusted to prevent the wheels from locking out of steering capability. If the vehicle is not detected in the hill emergency braking speed misalignment state in step S2, the current braking state is not adjusted and the process ends in step S4.
The method may be implemented as a module of a body stability system (ESP) or ABS to retrofit an existing ESP or ABS, or as a supplement to the ESP or ABS.
The following describes in one exemplary embodiment how the vehicle is determined to be in a hill emergency braking vehicle speed misalignment state.
When the vehicle runs, under the braking condition, the brake pressure generated by the brake master cylinder generates acting force opposite to the running direction of the vehicle so as to decelerate the vehicle. Therefore, the acceleration (negative value) of the vehicle is mainly affected by the brake pressure so that the acceleration of the vehicle can be estimated with a certain accuracy by the brake pressure. However, when the vehicle is running on a slippery slope, for example, downhill, the locking of the wheels causes a large deviation of the actual acceleration of the vehicle from the estimated acceleration, because in the case of a locked wheel the vehicle is not easy to brake due to the gravity of the vehicle itself, and even in extreme cases the vehicle accelerates downhill with a positive acceleration. The actual acceleration of the vehicle may be measured by an acceleration sensor.
The estimated acceleration estimated by the operating parameters including at least the master cylinder pressure is denoted by a1, while the actual acceleration obtained by a measuring device, such as an acceleration sensor, is denoted by a2, and the difference between them is denoted by a2-a 1. If the difference exceeds a predetermined threshold a0, i.e. Δ a > a0, a significant deviation between them is considered. When a significant deviation is detected, the vehicle may be considered to be in a hill emergency braking speed misalignment state.
It is also possible for the person skilled in the art to define the deviation as a relative value, for example the deviation b is defined by the following equation (1):
if b is greater than a predetermined threshold, such as 10%, the vehicle may be deemed to be in a hill emergency braking vehicle speed misalignment state.
It will be apparent to those skilled in the art that the method described above is not limited to determining whether the vehicle is in a hill-hold vehicle speed misalignment state, for example if the vehicle is equipped with a GPS, the actual acceleration of the vehicle may be determined from the vehicle speed of travel. Accordingly, the present invention does not limit this to any extent as long as the vehicle can be determined to be in a hill emergency braking vehicle speed misalignment state.
Therefore, in the method, a signal which can represent whether the vehicle is in a slope emergency braking speed misalignment state is received from the detection module, whether the vehicle is in the slope emergency braking speed misalignment state is judged based on the signal, and when the vehicle is judged to be in the slope emergency braking speed misalignment state, a corresponding control instruction is sent out.
Fig. 2 shows a schematic diagram of a vehicle braking state adjustment system 1 for adjusting a braking state of a vehicle according to an exemplary embodiment of the invention, the vehicle braking state adjustment system 1 comprising a detection module 2 for detecting a hill emergency braking vehicle speed misalignment state and an electronic control device 3 for performing a braking state adjustment based on the detection result of the detection module 2, wherein a specific braking state adjustment can be performed by means of the braking state adjustment performing module.
As shown in fig. 2, the detection module 2 receives as input signals a plurality of operating parameters, in addition to the master cylinder pressure p and the actual acceleration a2 of the master cylinder, also an operating parameter m of the drive train of the vehicle, since the drive train of the vehicle also influences the acceleration of the vehicle to a certain extent. The detection module 2 may generate output signals, where the output signals may include a trigger notification signal s1 and an adjustment signal s 2. The trigger notification signal s1 may be output to the electronic control device 3 to inform the electronic control device 3 that the vehicle is in a slope emergency braking speed misalignment state and needs to be adjusted for the current braking state by the braking state adjustment implementing module, and the adjustment signal s2 may be one parameter considered by the electronic control device 3 how to specifically adjust the current braking state.
Fig. 3 shows a schematic diagram of a vehicle braking state adjustment system 1 according to a more specific exemplary embodiment of the present invention. As can be seen from fig. 3, the operating parameter m now comprises the engine torque T and the gear information G, because the engine tends to produce a braking action when the vehicle is downhill, i.e. the engine torque T and the gear information G will influence the acceleration of the vehicle to a certain extent.
When it is determined that the vehicle is in a hill emergency braking speed misalignment state, the current braking state of the vehicle is adjusted, as described above, to prevent the steering from being out of control due to wheel lock. In particular, the brake pressure is reduced to stabilize and steer the wheel.
Fig. 4 shows a schematic diagram of the vehicle braking state adjustment system 1 in combination with the ABS control module 4 according to an exemplary embodiment of the present invention.
As shown in fig. 4, the ABS control module 4 may output a brake pressure bp, a target pressure tp and a vehicle speed v to the electronic control device 3, wherein the brake pressure bp is also output to the detection module 2 at the same time in order to enable the detection module 2 to more reliably determine whether the vehicle is in a hill emergency braking vehicle speed misalignment state and/or to generate a more appropriate adjustment signal s 2.
The electronic control device 3, upon receiving the trigger notification signal s1, generates a pressure control signal ps based not only on the brake pressure bp, the target pressure tp, and the vehicle speed v output by the ABS control module 4, but also on the adjustment signal s2 output by the detection module 2, which pressure control signal ps is output to the hydraulic brake module 5 for actual brake control of the vehicle.
It is obvious to a person skilled in the art that the basic idea of the invention can be combined with or embedded in existing vehicle control systems in various ways, without the invention being restricted thereto. For example, the concepts of the present invention may be embedded in an ABS to achieve an improved ABS.
The method of the invention may be implemented as a computer program, and the invention therefore also relates to a computer program carrier for carrying out the method described above.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.
Claims (11)
1. A method for adjusting the braking state of a vehicle, wherein the method comprises at least the following steps:
receiving a signal indicative of whether the vehicle is in a hill emergency braking speed misalignment state;
determining whether the vehicle is in a slope emergency braking speed misalignment state based on the signal; and
and under the condition that the vehicle is judged to be in a slope emergency braking speed misalignment state, sending a control command to adjust the current braking state of the vehicle so as to prevent wheels from locking.
2. The method of claim 1, wherein,
determining whether the vehicle is in a hill emergency brake vehicle speed misalignment state based on whether a deviation between an actual acceleration of the vehicle and an estimated acceleration, which is estimated based on operating parameters of the vehicle including at least a master cylinder pressure of a brake master cylinder, is greater than a predetermined threshold.
3. The method of claim 2, wherein,
the actual acceleration is measured by an acceleration sensor; and/or
The operating parameters include operating parameters of a powertrain of the vehicle.
4. The method of claim 3, wherein,
the operating parameters include engine torque and/or gear information.
5. The method of any one of claims 1-4,
and reducing the current braking pressure under the condition that the vehicle is judged to be in a slope emergency braking speed misalignment state.
6. An electronic control device (3) for adjusting a braking state of a vehicle according to the method of any one of claims 1-5, wherein the electronic control device (3) is configured to:
receiving a signal from a detection module (2) for detecting a hill emergency braking vehicle speed misalignment state of the vehicle; and
and sending a control command based on the signal to adjust the current braking state of the vehicle so as to prevent the wheels from locking.
7. A vehicle control system, wherein the vehicle control system comprises a detection module (2) for detecting a hill emergency braking vehicle speed misalignment state of the vehicle and an electronic control arrangement (3) according to claim 6.
8. The vehicle control system according to claim 7,
the detection module (2) is configured to: receiving actual acceleration of the vehicle and working parameters of the vehicle at least comprising master cylinder pressure of a brake master cylinder, detecting a slope emergency brake speed misalignment state, and outputting a trigger notification signal and an adjustment signal to the electronic control device (3) when the vehicle is in the slope emergency brake speed misalignment state, wherein the trigger notification signal is used for informing the electronic control device (3) that the vehicle is in the slope emergency brake speed misalignment state and the current brake state needs to be adjusted, and the adjustment signal is a parameter on which the electronic control device (3) adjusts the current brake state; and/or
The electronic control device (3) is configured to: and outputting a pressure control signal to a hydraulic brake module (5) of the vehicle so as to perform actual brake control on the vehicle.
9. The vehicle control system according to claim 7 or 8,
the vehicle control system is ABS or ESP.
10. The vehicle control system according to claim 9,
the detection module (2) is configured to: receiving a brake pressure signal from an ABS control module (4); and/or
The electronic control device (3) is configured to: a brake pressure signal, a target pressure signal and a vehicle speed signal are received from an ABS control module (4).
11. A computer readable program carrier, wherein the computer readable program carrier stores computer program instructions configured to, when executed by a processor, implement the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911016761.5A CN112706730A (en) | 2019-10-24 | 2019-10-24 | Method and device for adjusting the braking state of a vehicle, control system and program carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911016761.5A CN112706730A (en) | 2019-10-24 | 2019-10-24 | Method and device for adjusting the braking state of a vehicle, control system and program carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112706730A true CN112706730A (en) | 2021-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911016761.5A Pending CN112706730A (en) | 2019-10-24 | 2019-10-24 | Method and device for adjusting the braking state of a vehicle, control system and program carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112706730A (en) |
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2019
- 2019-10-24 CN CN201911016761.5A patent/CN112706730A/en active Pending
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