CN112896163A - Method for stopping a vehicle comprising a drive unit and a braking device and vehicle for carrying out such a method - Google Patents

Method for stopping a vehicle comprising a drive unit and a braking device and vehicle for carrying out such a method Download PDF

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Publication number
CN112896163A
CN112896163A CN202011338410.9A CN202011338410A CN112896163A CN 112896163 A CN112896163 A CN 112896163A CN 202011338410 A CN202011338410 A CN 202011338410A CN 112896163 A CN112896163 A CN 112896163A
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CN
China
Prior art keywords
brake
vehicle
braking
speed
braking torque
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Pending
Application number
CN202011338410.9A
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Chinese (zh)
Inventor
马蒂亚斯·贝克
费迪南德·葛雷曼
卡尔-皮特·黑塞勒
埃里克·威克普
克里斯蒂安·席玛勒
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Ford Global Technologies LLC
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Ford Global Technologies LLC
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Publication of CN112896163A publication Critical patent/CN112896163A/en
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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • 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
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a method for autonomous braking of a vehicle, the vehicle comprising: a drive unit by means of which torque can be introduced into a drive train of the vehicle; and a braking device by means of which the generated braking torque T can be providedBrake(t) decelerating the vehicle, wherein means are provided for determining the instantaneous speed v (t) of the vehicle, wherein for braking the vehicle to a predefinable limit speed vthresholdHereinafter, the braking torque T is increased by the control unitBrake(t) of (d). The method improves autonomous braking of a vehicle traveling at low speeds. This is by a processThe following features are achieved: upon detection of an instantaneous speed v (t) of the vehicle falling below a predefined limit speed vthresholdIn a gradient (dT)Brake(t)/dt)1＝k1Linearly increasing braking torque TBrake(t) wherein k1Is a constant.

Description

Method for stopping a vehicle comprising a drive unit and a braking device and vehicle for carrying out such a method
Technical Field
The invention relates to a method for autonomous braking of a vehicle, the vehicle comprising: a drive unit, by means of which torque can be introduced into a drive train of the vehicle; and a braking device by means of which the generated braking torque T is providedBrake(t) in which the vehicle can be decelerated, wherein means are provided for determining the instantaneous speed v (t) of the vehicle, wherein the vehicle is braked to a predefinable limit speed vthresholdHereinafter, the braking torque T is increased by means of the control unitBrake(t)。
Such a process is described, for example, in german laid-open patent application DE 102017204639 a 1.
The invention also relates to a vehicle for carrying out such a method.
Background
A drive unit of the type in question can in principle be any source of torque for driving a vehicle, in particular an internal combustion engine. In the context of the present invention, the term "internal combustion engine" includes both gasoline engines and diesel engines, but also hybrid internal combustion engines which utilize a hybrid combustion process, as well as hybrid drives which, in addition to the internal combustion engine, also include at least one further torque source for driving the motor vehicle, for example an electric machine which is connected or can be connected to the internal combustion engine as an alternative or supplement to the internal combustion engine for power output.
Modern vehicles have a braking system, i.e. an autonomously or partially autonomously operated braking device, to brake the vehicle and control the vehicle speed. Autonomously operated brake systems are used in autonomously driven vehicles, in which case the driver has no or only very limited possibility to influence the driving manoeuvre performed by the vehicle. Although the driver is seated at the control device, in some driving situations, the partially autonomous operating brake system may initiate a braking maneuver without active driver involvement. An example of this is an adaptive cruise control system in which a specific distance from the preceding vehicle is maintained by targeted braking interventions. In a collision avoidance system, braking is automatically initiated in the event that a collision with an object, particularly a vehicle, is expected. A further application of a partially autonomous operating brake system is a congestion assistance system, in which the driver neither needs to accelerate the vehicle nor brake the vehicle below a certain vehicle speed, in particular in traffic queues. Furthermore, the brake system is autonomously actuated in a parking assist system which automatically manoeuvres the vehicle into a parking space or garage. Another example of autonomous or partially autonomous parking of a vehicle is the precise positioning of the vehicle as a preparatory measure to parking in order to facilitate or allow a driver to perform a subsequent parking maneuver.
In this case, autonomous and partially autonomous parking and braking of the vehicle are collectively described as autonomous parking and braking of the vehicle in the context of the present invention.
For comfort reasons, the squeaking noises often felt by the driver are reduced or eliminated as much as possible. For this reason, it is in principle the aim to construct the braking process as short as possible, but for comfort reasons the driver tends to brake gently. A compromise is necessary.
Brake systems according to the prior art fitted on modern vehicles are usually hydraulically or pneumatically operated. Such brake systems have a relatively imperfect pressure control of the pressurized medium, with the result that they can only be operated with a minimum brake torque which deviates more or less significantly from 0 Nm. The minimum braking torque is between 30Nm and 50Nm, depending on the braking system. If a braking torque below this is required, the braking system will not react. This leads to the situation that even if a small braking torque is sufficient for braking, only vehicles traveling at low speeds can be braked relatively sharply, since at least a minimum braking torque has to be used. Furthermore, it can happen that the vehicle continues to roll for a certain time even if the braking process has been initiated, which is problematic for safety reasons.
In addition to the loss of comfort, there are other disadvantages associated with this. As mentioned above, the instantaneous speed of the vehicle plays a very important role in the braking and the braking torque provided. The speed of the vehicle may be determined, for example, using an incremental transmitter. These generate signals which are then transmitted to a control unit which in turn actuates the brake system in accordance with the determined vehicle speed. In many cases, the control unit of the vehicle in question uses a so-called PI (proportional integral) controller, which includes a proportional element and an integral element. The PI controller is part of a linear control concept, in which the above-mentioned characteristics of a hydraulically or pneumatically operated brake system, which are only active above a certain brake pressure, lead to uncertainties which are difficult to control by a PI controller despite an integral element. Since the PI controller is a constant controller, at low speed, the incremental transmitter does not generate a speed signal for a certain time even if the vehicle is running, and therefore the PI controller no longer has a reference variable and does not know whether the vehicle is running. For example, if an autonomously traveling vehicle is to be driven into a garage or parking space, the following may occur: even if the vehicle should be driven at a low speed in order to reach the specified position, the vehicle is stopped before reaching the specified position (nominal position). In this case, the control unit releases the brake and accelerates the vehicle before subsequently braking again with the minimum brake torque described above. This leads to an undesirable continuation of the acceleration and braking process. This continuity of the acceleration and braking process may be further amplified if the vehicle accelerates due to external influences (e.g. gusts) or due to the gradient of the parking space. Another point is that at the transition from high to low vehicle speeds (which will be referred to as creep speeds hereinafter), the friction forces, in particular between the wheels of the vehicle and the ground, are transformed from dynamic to static behaviour, so that the vehicle dynamics change and the control of the braking process becomes more difficult.
A solution to the above-mentioned problems is described in german laid-open publication DE 102017204639 a 1. In the case of a vehicle speed below a limit value, the drive torque transmitted to the drive train is first increased and then the braking torque acting on the wheels is increased by the control unit for braking the vehicle travelling at low speed.
Disclosure of Invention
Against the background of the above, the object of the invention is to provide a method according to the preamble of claim 1, by means of which the autonomous braking of a vehicle travelling at low speeds is improved.
It is a further object of the invention to provide a vehicle for carrying out such a method.
The first object is achieved by a method for autonomous braking of a vehicle, the vehicle comprising: a drive unit, by means of which torque can be introduced into a drive train of the vehicle; and a braking device by which the generated braking torque T can be providedBrake(t) decelerating the vehicle, wherein means are provided for determining the instantaneous speed v (t) of the vehicle, wherein for braking the vehicle to a predefinable limit speed vthresholdThe braking torque T is increased by the control unitBrake(t), characterised in that, upon detection that the instantaneous speed v (t) of the vehicle is lower than a predefined limit speed vthresholdWill brake torque TBrake(t) with a gradient dTBrake(t)/dt＝k1Linear increase of where k1Is a constant.
When the vehicle speed v (t) is below a predefined limit speed vthresholdAccording to the braking method of the invention, the vehicle is decelerated. With a constant gradient dT by the control unitBrake(t)/dt＝k1Continuously increasing braking torque TBrake(t)。
According to the invention, the braking process ensures gentle and rapid braking. The control system is relatively uncomplicated, i.e. simple, because instantaneous operating parameters of the vehicle, such as speed, acceleration or, in the case of an internal combustion engine as drive unit, the currently engaged gear, are not taken into account.
The method according to the invention improves the autonomous braking of a vehicle travelling at low speed. The method according to the invention thus achieves the first object of the invention.
Further advantageous embodiments of the method according to the invention are described in conjunction with the dependent claims.
The embodiment of the method for parking a vehicle by braking is advantageous.
This method variant is used, for example, as a preparatory measure for parking, in particular for precisely positioning the vehicle before parking. Thus, it is easy for the driver to perform a subsequent parking maneuver, or to prepare or initiate a self-exiting parking of the vehicle.
Another application is stop-and-go traffic, such as occurs in traffic queues on highways and arterial roads. In urban traffic, stop-and-go traffic is no longer an exception, but becomes a rule because of traffic signal light incoordination and the increase in traffic volume. Further applications are gated intersections etc.
The following embodiments of the method are advantageous: in this embodiment, a force balance is achieved between the braking force, the driving force and the inertia force initially acting on the vehicle at the start of the braking process.
If this condition is met, the method according to the invention functions particularly precisely, i.e. with minimal deviations or errors.
However, in the case where the speed v (t) of the vehicle at the time of starting the braking process is higher than the initially assumed speed, or in the case where the vehicle accelerates with a (t) >0 during braking, in order to take account of these special cases, it is advantageous to increase the braking torque by an additional amount in addition to the linear increase.
The following embodiments of the method are therefore advantageous: in this embodiment, the braking torque TBrake(t) initial increment (dT)Brake(t)/dt)2Wherein (dT)Brake(t)/dt)2＝k2V (t), let dTBrake(t)/dt＝k1+k2V (t), wherein k2Is a constant.
In this case, the following embodiments of the method are advantageous: in this exemplary embodiment, only the braking torque T is applied if the speed v (T) of the vehicle at the beginning of the braking process is higher than the initially detected speedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2。
In this case, the following embodiments of the method are also advantageous: in this exemplary embodiment, the speed v (t) of the vehicle at the beginning of the braking process is higher than a predefined limit speed vthresholdIn the case of (2), only the braking torque T is appliedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2。
In addition, the following embodiments of the method are advantageous: in this embodiment, the braking torque TBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t), hence dTBrake(t)/dt＝k1+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
The following embodiments of the method are also advantageous: in this embodiment, the braking torque TBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
In this case, the following embodiments of the method are advantageous: in this embodiment, the vehicle is braked with a (t)>At 0 acceleration, only the braking torque T is appliedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3。
The following embodiments of the method are advantageous: in this embodiment, the speed v (t) of the vehicle is controlled by means of a closed-loop control system to be above a predefined limit speed vthreshold。
The second oneThe object (i.e. providing a vehicle for carrying out a method of the above-mentioned type) is achieved by a vehicle comprising: a drive unit, by means of which torque can be introduced into a drive train of the vehicle; and a braking device by means of which the generated braking torque T can be providedBrake(t) decelerating the vehicle with means for determining the instantaneous speed v (t) of the vehicle and for autonomously braking the vehicle to a predefinable limit speed vthresholdA control unit of the following, and characterised in that the control unit is configured such that upon detection that the instantaneous speed v (t) of the vehicle is below a predefined limit speed vthresholdIn the gradient (dT)Brake(t)/dt)1＝k1Linearly increasing braking torque TBrake(t) wherein k1Is a constant.
The statements made above with respect to the method according to the invention also apply to the vehicle according to the invention, so that reference is made here in general to the statements made with respect to the method variants.
The following embodiments of the vehicle are advantageous: in this embodiment, the control unit is configured such that the braking torque T isBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2Wherein (dT)Brake(t)/dt)2＝k2V (t), let dTBrake(t)/dt＝k1+k2V (t), wherein k2Is a constant.
In this case, the following embodiments of the vehicle are advantageous: in this embodiment, the control unit is configured such that the braking torque T isBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k2*v(t)+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
The following embodiments of the vehicle are also advantageous: in this embodiment, the control unit is configured such that the braking torque T isBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Which isMiddle (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
The following embodiments of the vehicle are advantageous: in this embodiment, the control unit is part of an engine control system.
Drawings
The invention is explained below with reference to the two figures in fig. 1. Wherein:
FIG. 1-1 shows vehicle speed v (t) as a function of time t; and
FIGS. 1-2 show the braking torque T as a function of time TBrake(t)。
Detailed Description
Fig. 1-1 shows the vehicle speed v (t) as a function of time t, wherein time t is shown on the abscissa and the vehicle speed v (t) is shown on the ordinate.
The actual speed profile (profile a) and the nominal speed profile (profile B) are shown simultaneously.
FIGS. 1-2 show the braking torque T as a function of time TBrake(T) wherein time T is shown on the abscissa and braking torque TBrake(t) is shown on the ordinate.
If the instantaneous vehicle speed v (t) reaches a predefined limit speed vthresholdThen, in order to brake the vehicle, the braking torque T is increased by the control unitBrake(t)。
In the present case, the braking torque TBrake(t) not only increases linearly, but additionally by another amount.
List of reference numerals
a (t) vehicle acceleration
k1Constant, first constant
k2Constant, second constant
k3Constant, third constant
TBrake(t) braking torque, time-varying systemMoment of force
(dTBrake(t)/dt)1First gradient
(dTBrake(t)/dt)2Second gradient, additional amount
(dTBrake(t)/dt)3Third gradient, additional amount
time t
v (t) vehicle speed
vthresholdPredefinable limit speed

Claims (15)

1. A method for autonomous braking of a vehicle, the vehicle comprising: a drive unit by means of which torque can be introduced into a drive train of the vehicle; and a braking device by means of which the generated braking torque T can be providedBrake(t) decelerating the vehicle, wherein means are provided for determining the instantaneous speed v (t) of the vehicle, wherein for braking the vehicle to a predefinable limit speed vthresholdThe braking torque T is then increased by the control unitBrake(t), characterized in that upon detection that the instantaneous speed v (t) of the vehicle is lower than the predefined limit speed vthresholdIn the gradient (dT)Brake(t)/dt)1＝k1Linearly increasing the braking torque TBrake(t) wherein k1Is a constant.
2. The method of claim 1, wherein the vehicle is stopped by braking.
3. A method according to claim 1 or 2, characterized in that a force balance is achieved between the braking, driving and inertia forces initially acting on the vehicle when starting the braking process.
4. Method according to any of the preceding claims, characterized in that the braking force is appliedMoment TBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2Wherein (dT)Brake(t)/dt)2＝k2V (t), let dTBrake(t)/dt＝k1+k2V (t), wherein k2Is a first constant.
5. A method according to claim 4, characterized in that the braking torque T is only applied in the event that the speed v (T) of the vehicle at the beginning of a braking process is higher than the initially detected speedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2。
6. A method according to claim 4, in which the speed v (t) of the vehicle at the start of a braking process is above the predefined limit speed vthresholdIn the case of (3), the braking torque T is only appliedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2。
7. Method according to any one of claims 4 to 6, characterized in that the braking torque T is adjustedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k2*v(t)+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
8. Method according to any one of claims 1 to 3, characterized in that the braking torque T is adjustedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
9. Method according to claim 7 or 8, characterized in that the vehicle is braked according to a (t)>In the case of 0 acceleration, only the braking torque T is appliedBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3。
10. Method according to any of the preceding claims, characterized in that the speed v (t) of the vehicle is controlled by means of a closed-loop control system to be above the predefined limit speed v (t)threshold。
11. A vehicle for carrying out the method according to any one of the preceding claims, comprising: a drive unit by means of which torque can be introduced into a drive train of the vehicle; and a braking device, by which the generated braking torque T is providedBrake(t) the vehicle can be decelerated, said vehicle having means for determining the instantaneous speed v (t) of the vehicle and for autonomously braking the vehicle to a predefinable limit speed vthresholdA control unit characterized in that it is configured such that it causes the instantaneous speed v (t) of the vehicle to be lower than the predefined limit speed v upon detectionthresholdIn a gradient (dT)Brake(t)/dt)1＝k1Linearly increasing the braking torque TBrake(t) wherein k1Is a constant.
12. The vehicle according to claim 10, characterized in that the control unit is configured such that the braking torque T isBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)2Wherein (dT)Brake(t)/dt)2＝k2V (t), let dTBrake(t)/dt＝k1+k2V (t), wherein k2Is a constant.
13. The vehicle of claim 11, characterized in that the controlThe unit is configured such that the braking torque TBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k2*v(t)+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
14. The vehicle according to claim 10, characterized in that the control unit is configured such that the braking torque T isBrake(t) additionally increasing by an amount (dT)Brake(t)/dt)3Wherein (dT)Brake(t)/dt)3＝k3A (t) so that dTBrake(t)/dt＝k1+k3A (t), wherein k3Is constant and a (t) is the instantaneous acceleration of the vehicle a (t).
15. The vehicle of any of claims 10-13, characterized in that the control unit is part of an engine control system.
CN202011338410.9A 2019-12-02 2020-11-25 Method for stopping a vehicle comprising a drive unit and a braking device and vehicle for carrying out such a method Pending CN112896163A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019008354.7 2019-12-02
DE102019008354.7A DE102019008354A1 (en) 2019-12-02 2019-12-02 A method for stopping a vehicle comprising a drive unit and a braking device and a vehicle for carrying out such a method

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CN112896163A true CN112896163A (en) 2021-06-04

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DE (1) DE102019008354A1 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10047048A1 (en) * 2000-09-22 2002-04-11 Daimler Chrysler Ag Automatic acceleration, deceleration of vehicle, involves using deceleration formed by adding constant component, component increasing as distance decreases and a speed component
US8366210B2 (en) * 2006-04-03 2013-02-05 Advics Co., Ltd. Braking apparatus for vehicle
DE102015119773A1 (en) * 2015-11-16 2017-05-18 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Brake system for a motor vehicle and method for brake actuation of a brake system
DE102017204639B4 (en) * 2017-03-21 2020-03-12 Ford Global Technologies, Llc Method for braking a vehicle moving at low speed
US10829099B2 (en) * 2018-05-14 2020-11-10 Ford Global Technologies, Llc Auto-calibrated brake control for vehicles at low speeds

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