CN113147712B - Adaptive braking method, device, equipment and storage medium - Google Patents
Adaptive braking method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113147712B CN113147712B CN202110418351.4A CN202110418351A CN113147712B CN 113147712 B CN113147712 B CN 113147712B CN 202110418351 A CN202110418351 A CN 202110418351A CN 113147712 B CN113147712 B CN 113147712B
- Authority
- CN
- China
- Prior art keywords
- braking
- vehicle
- information
- result
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 106
- 230000003044 adaptive effect Effects 0.000 title claims description 37
- 230000008569 process Effects 0.000 claims abstract description 66
- 238000012544 monitoring process Methods 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims description 42
- 238000004590 computer program Methods 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the application discloses a self-adaptive braking method, device, equipment and storage medium, which are used for solving the problems of high driving difficulty and lower driving safety caused by unstable braking performance of a vehicle in the prior art. The method comprises the following steps: responding to first braking information generated by a user on braking operation of the vehicle, performing first braking treatment on the vehicle, and monitoring a first braking result of the first braking treatment in real time; if the first braking result does not accord with the preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle; and performing a second braking process on the vehicle based on the second braking information. According to the technical scheme, the self-adaptive braking of the vehicle can be realized by monitoring the braking result of the vehicle in real time, so that the stability of the braking performance of the vehicle is ensured, consistent driving experience is provided for a user, the driving difficulty of the user is reduced, and the driving safety is improved.
Description
Technical Field
The present application relates to the field of vehicle security technologies, and in particular, to a method, an apparatus, a device, and a storage medium for adaptive braking.
Background
At present, a brake system of a vehicle is used for calibrating a fixed conversion ratio in advance, and when a driver applies force to a brake pedal, the brake system provides braking force for the vehicle according to the conversion ratio so as to slow down or stop the vehicle.
However, in the actual driving process, factors such as no load and full load of the vehicle, weather and road conditions, whether there is a problem with braking force, etc. affect the braking performance. However, the present braking system cannot sufficiently consider the factors affecting the braking performance, so that there still exists a case where braking is failed (e.g., the vehicle is not decelerated to a predetermined speed or stopped due to insufficient braking force), thereby causing a driving safety problem.
Disclosure of Invention
The embodiment of the application aims to provide a self-adaptive braking method, device, equipment and storage medium, which are used for solving the problems of high driving difficulty and lower driving safety caused by unstable braking performance of a vehicle in the prior art.
In order to solve the technical problems, the embodiment of the application is realized as follows:
in one aspect, an embodiment of the present application provides an adaptive braking method, including:
responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
If the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and performing a second braking process on the vehicle based on the second braking information.
In another aspect, an embodiment of the present application provides an adaptive braking apparatus, including:
the processing and monitoring module is used for responding to first braking information generated by a user on braking operation of the vehicle, performing first braking processing on the vehicle and monitoring a first braking result of the first braking processing in real time;
the first determining module is used for determining second braking information corresponding to the vehicle according to the first braking result and current running environment information of the vehicle if the first braking result does not accord with a preset target braking result;
and the processing module is used for carrying out second braking processing on the vehicle based on the second braking information.
In yet another aspect, an embodiment of the present application provides an adaptive braking apparatus, including a processor and a memory electrically connected to the processor, the memory storing a computer program, the processor being configured to invoke and execute the computer program from the memory to implement the adaptive braking method described above.
In yet another aspect, an embodiment of the present application provides a storage medium storing a computer program executable by a processor to implement the adaptive braking method described above.
By adopting the technical scheme of the embodiment of the application, the first braking processing is carried out on the vehicle by responding to the first braking information generated by the braking operation of the user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with the preset target braking result, the second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the second braking processing is carried out on the vehicle based on the second braking information. Therefore, the technical scheme can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensures the stability of the braking performance of the vehicle, and provides consistent driving experience for users, so that the users do not need to consider the influence of factors such as weather, roads and the like on the braking result when braking, the driving difficulty of the users is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an adaptive braking method according to an embodiment of the application;
FIG. 2 is a schematic flow chart of an adaptive braking method according to another embodiment of the application;
FIG. 3 is a schematic block diagram of an adaptive braking apparatus according to an embodiment of the present application;
FIG. 4 is a schematic structural view of an adaptive braking apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural view of an adaptive braking apparatus according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides a self-adaptive braking method, device, equipment and storage medium, which are used for solving the problems of high driving difficulty and lower driving safety caused by unstable braking performance of a vehicle in the prior art.
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, shall fall within the scope of the application.
Fig. 1 is a schematic flow chart of an adaptive braking method according to an embodiment of the application, as shown in fig. 1, the method comprising:
s102, performing first braking processing on the vehicle in response to first braking information generated by braking operation of the vehicle by a user, and monitoring a first braking result of the first braking processing in real time.
Wherein the first braking result may include a current speed of the vehicle after the first braking process.
And S104, if the first braking result does not accord with the preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle.
Wherein the target braking result may comprise a speed that the vehicle should reach after the first braking process. The current running environment information of the vehicle may include current passenger weight information of the vehicle, running road information, running weather information, and the like.
And S106, performing second braking processing on the vehicle based on the second braking information.
The second braking process is performed based on the first braking process, and when the current braking result matches the preset target braking result, the first braking process is stopped, and then the second braking process is also stopped.
In the embodiment of the application, the first braking processing is performed on the vehicle by responding to the first braking information generated by the braking operation of the user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with the preset target braking result, the second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the second braking processing is performed on the vehicle based on the second braking information. Therefore, the technical scheme can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensures the stability of the braking performance of the vehicle, and provides consistent driving experience for users, so that the users do not need to consider the influence of factors such as weather, roads and the like on the braking result when braking, the driving difficulty of the users is reduced, and the driving safety is improved.
In one embodiment, the first braking information generated by the braking operation of the vehicle by the user may be determined according to the following steps A1-A3:
and A1, determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of a brake pedal of the vehicle by a user.
The first corresponding relation between the braking force coefficient and the braking force is stored in the vehicle in advance, and the first braking force corresponding to the first braking force coefficient can be determined according to the first corresponding relation.
And A2, calculating the corresponding target deceleration of the vehicle according to the first braking force coefficient and the first weight of the vehicle.
In this embodiment, the first weight of the vehicle may include a weight of the vehicle. And (C) according to the first braking force corresponding to the first braking force coefficient and the weight of the vehicle determined in the step A1, utilizing a mechanical formula: f (F) 1 ＝m 1 * a, the target deceleration corresponding to the vehicle can be calculated. Wherein F is 1 For the first braking force, m 1 A is the target deceleration for the first weight.
And step A3, determining the first braking force coefficient and the target deceleration as first braking information.
Wherein the first braking force corresponding to the target deceleration and the first braking force coefficient may be determined as the first braking information.
In this embodiment, the first braking information is determined according to the braking operation of the user on the vehicle, so that a data base is provided for the subsequent first braking process on the vehicle, thereby facilitating the accurate execution of the subsequent steps.
In one embodiment, the first braking result may include a first speed of the vehicle, i.e., a current speed of the vehicle after the first braking process. The target braking result may include a target terminal speed of the vehicle corresponding to the first brake force coefficient, i.e., a speed that the vehicle should reach after the first braking process.
After performing a first braking process on the vehicle in response to first braking information generated by a user's braking operation on the vehicle, a target final speed of the vehicle corresponding to the first braking force coefficient may be calculated according to the target deceleration, the initial speed of the vehicle, and an execution time of the first braking process, and the first speed of the vehicle may be acquired in real time.
Wherein, can calculate the formula according to the vehicle end speed: v (V) t ＝V 0 +a×t, calculating a target terminal speed of the vehicle. V (V) t For the target end velocity, V 0 A is a target deceleration, and t is an execution time of the first braking process, which is an initial speed of the vehicle. The initial speed of the vehicle can be calculated according to the wheel pulse signals acquired by the wheel speed sensor on the vehicle.
In this embodiment, the target terminal speed of the vehicle may be calculated for each time in the execution time t of the first braking process, and the first speeds of the vehicle corresponding to each time may be obtained in real time, so as to determine, based on the target terminal speeds and the first speeds of each time, whether the braking results of the vehicle corresponding to each time of the first braking process respectively conform to the preset target braking results.
In this embodiment, by calculating the target final speed of the vehicle corresponding to the first braking force coefficient, and acquiring the first speed of the vehicle in real time, a data basis is provided for subsequently determining whether the braking result of the first braking process meets the preset target braking result, so that accurate execution of subsequent steps is facilitated.
In one embodiment, after monitoring the first braking result of the first braking process in real time, it may be determined whether a first difference between the first speed of the vehicle and a target terminal speed of the vehicle corresponding to the first braking force coefficient is less than or equal to a first preset threshold.
If the first difference value is larger than a first preset threshold value, executing a step of determining second braking information corresponding to the vehicle according to a first braking result and current running environment information of the vehicle, and accordingly performing second braking processing on the vehicle according to the second braking information in the subsequent steps so as to realize self-adaptive braking of the vehicle and reduce driving difficulty of a user. The first difference is calculated according to a first speed and a target final speed of the vehicle obtained at each moment of the first braking process.
If the first difference value is smaller than or equal to the first preset threshold value and the first difference value is calculated according to the first speed and the target final speed of the vehicle obtained at each moment of the first braking process, the first braking process is continuously carried out on the vehicle according to the first braking information until the execution time of the first braking process is reached.
If the first difference is smaller than or equal to the first preset threshold and the first difference is calculated by the first speed and the target final speed obtained when the execution time of the first braking process is reached, stopping executing the first braking process, and considering that the vehicle has reached the target braking result of the vehicle corresponding to the first braking force coefficient.
In this embodiment, after the vehicle is braked, by determining the relationship between the difference between the braking result and the target braking result and the preset threshold, a corresponding subsequent operation is performed, so that stability of braking performance of the vehicle is ensured, excessive consideration of a user in the process of braking the vehicle is not required, consistent driving experience is provided for the user, driving difficulty of the user is reduced, and driving safety is improved.
In one embodiment, the travel environment information includes passenger weight information of the vehicle at present, travel road information, travel weather information, and the like.
Wherein, the current passenger weight information of the vehicle can be detected by a seat sensor on a seat in the vehicle. The driving road information can be obtained by collecting road images in real time through cameras arranged on the vehicle and analyzing the road images. The driving road information may include road types such as asphalt road, cement road, mud road, and the like. The travel weather information can be obtained by communicating with an application for forecasting weather. The travel weather information may include weather conditions, such as sunny days, rainy days, snowy days, and the like.
In this embodiment, determining the second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle may be specifically performed as the following steps B1-B2:
Step B1, calculating the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; and determining the current friction coefficient of the vehicle according to the driving road information and the driving weather information.
The friction coefficient of the same road is different under different driving weather information. For example, asphalt has a coefficient of friction of 0.8 on sunny days and 0.2 on rainy days. Therefore, the current friction coefficient of the vehicle can be determined according to the real-time driving road information and the driving weather information so as to ensure the accuracy of the subsequent calculation result.
And B2, determining second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
In this embodiment, by calculating the total weight of the vehicle and the passenger, determining the current friction coefficient of the vehicle according to the driving road information and the driving weather information, and determining the second braking information corresponding to the vehicle by combining the first braking result, the accuracy of the determined second braking information is improved.
In one embodiment, the second braking information includes a second braking force to be applied. The above step B2 may be specifically performed as the following steps C1 to C5:
And step C1, determining the size to be adjusted corresponding to the first speed of the vehicle according to a first difference value between the first speed of the vehicle and the target final speed of the vehicle corresponding to the first braking force coefficient.
And step C2, determining the first deceleration corresponding to the vehicle based on the to-be-adjusted size corresponding to the first speed of the vehicle.
Wherein, can calculate the formula according to the vehicle end speed: v (V) t ＝V 1 +a 1 * And t, calculating the corresponding first deceleration of the vehicle. V (V) t To adjust the first speed, V 1 At a first speed, a 1 For the first deceleration, t is the execution time of the first braking process. After determining the size to be adjusted corresponding to the first speed of the vehicle according to the step C1, determining V t Is of a size of (a) and (b). V (V) 1 The pulse signal can be calculated according to the wheel pulse signal acquired by a wheel speed sensor on the vehicle.
And step C3, calculating the current friction deceleration of the vehicle according to the current friction coefficient of the vehicle.
Wherein, can be according to the friction deceleration formula: a, a 2 =ug, the current friction deceleration of the vehicle is calculated. a, a 2 The friction deceleration, u is the friction coefficient, g is the gravitational acceleration, g is typically 9.8m/s 2 (meters per square second). The friction coefficient is reduced, so that the friction force of the road to the vehicle is reduced, and the braking force for stopping the vehicle needs to be larger.
And step C4, determining a second deceleration corresponding to the second braking force according to the first deceleration and the friction force deceleration.
Wherein, can calculate the formula according to deceleration: a, a 3 ＝a 1 -a 2 And determining a second deceleration corresponding to the second braking force. a, a 3 At a second deceleration, a 1 For a first deceleration, a 2 Is the friction deceleration.
And step C5, calculating a second braking force corresponding to the vehicle according to the second deceleration and the current second weight of the vehicle, and taking the second braking force as second braking information.
Wherein, the mechanical formula is utilized: f (F) 2 ＝m 2 *a 2 The second braking force corresponding to the vehicle may be calculated. F (F) 2 For the second braking force, m 2 A is of a second weight, a 2 Is the second deceleration.
In the embodiment, the current specific weight of the vehicle is determined through the perception of the vehicle to the actual passenger weight, and then the specific road friction coefficient is determined according to the current weather condition and the road condition, so that the braking force is adaptively adjusted, when the user applies the same force to the brake pedal under different road conditions and different weather conditions, the braking effect is consistent, the braking distance is consistent, consistent driving experience is provided for the user, the driving difficulty is reduced, and the driving safety is improved.
In one embodiment, after the second braking process is performed on the vehicle based on the second braking information, the following steps D1-D2 may be performed:
And D1, monitoring a second braking result of the second braking process in real time.
Wherein the second braking result may comprise a second speed of the vehicle, i.e. the current speed of the vehicle after the second braking process.
And D2, judging whether a second difference value between the second speed of the vehicle and the target final speed of the vehicle corresponding to the first braking force coefficient is smaller than or equal to a second preset threshold value.
The second preset threshold may be the same as or different from the first preset threshold in the above embodiment, which is not limited in the present application. If the second difference is smaller than or equal to the second preset threshold, it can be determined that the speed of the vehicle has reached the target final speed of the vehicle corresponding to the first braking force coefficient after the second braking process. If the second difference is greater than a second preset threshold, the vehicle braking is considered abnormal, prompt information can be sent to a user, and/or third braking processing is carried out on the vehicle according to a preset braking mode.
The prompt information can be sent out through a human-computer interaction interface on the vehicle, and the content of the prompt information can comprise key information such as vehicle braking faults, braking measures taken as soon as possible and the like so as to warn a user to decelerate as soon as possible. The preset braking mode can comprise motor reversal, energy feedback and other measures for braking the vehicle.
In this embodiment, by monitoring the braking result of the braking process in real time, when the braking is abnormal, a prompt message can be sent to the user to prompt the user to perform additional braking process, or to perform braking process on the vehicle according to a preset braking mode, so that driving safety is further improved.
Fig. 2 is a schematic flow chart of an adaptive braking method according to another embodiment of the present application, and the method of fig. 2 is applicable to the adaptive braking apparatus shown in fig. 3, referring to fig. 3, the adaptive braking apparatus may include: an input system 310, a brake calculation unit 320, a brake actuator 330, and a central control interface 340. The input system 310 includes, among other things, a vehicle information input device, an entertainment system input device, and a brake pedal.
The input system 310 is used for determining parameters such as current passenger weight information of the vehicle, initial speed of the vehicle and the like through the vehicle information input device. The current driving weather information and driving road information of the vehicle are determined through the entertainment system input device. And receiving the stepping of the user through the brake pedal, and determining a first braking force coefficient corresponding to the stepping depth. And transmitting the above-determined information to the brake calculation unit 320.
The brake calculating unit 320 is configured to obtain information sent by the input system 310, calculate a braking force to be applied (i.e., a second braking force) corresponding to the vehicle, and send the second braking force to the brake actuator 330. When the brake actuator 330 performs a second braking process on the vehicle according to the second braking force, a second braking result of the second braking process is monitored in real time, and when the braking is abnormal, abnormal braking information is sent to the central control interface 340.
The brake actuator 330 is configured to acquire the second braking force sent from the brake calculation unit 320, and perform a second braking process on the vehicle according to the second braking force.
The central control interface 340 is configured to obtain abnormal braking information sent by the braking executing mechanism 330, and send prompt information to a user according to the abnormal braking information, so as to remind the user to slow down as soon as possible and ensure driving safety.
The method of fig. 2 may include the steps of:
s201, the input system determines a first braking force coefficient corresponding to the depression depth according to the depression depth of the brake pedal of the vehicle by the user, the brake calculating unit calculates a target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle, and determines the first braking force coefficient and the target deceleration as first brake information.
S202, the brake actuating mechanism responds to first brake information generated by a user on braking operation of the vehicle to conduct first brake processing on the vehicle.
And S203, the brake calculation unit calculates the target final speed of the vehicle corresponding to the first braking force coefficient according to the target deceleration, the initial speed of the vehicle and the execution time of the first braking process, and acquires the first speed of the vehicle in real time.
S204, the braking calculation unit judges whether a first difference value between a first speed and a target final speed of the vehicle is smaller than or equal to a first preset threshold value; if not, executing S205; if yes, S211 is executed.
S205, a brake calculating unit calculates the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; and determining the current friction coefficient of the vehicle according to the driving road information and the driving weather information.
S206, the brake calculation unit determines second brake information corresponding to the vehicle according to the first speed, the second weight and the friction coefficient of the vehicle.
The first deceleration corresponding to the vehicle is determined based on the to-be-adjusted size corresponding to the first speed of the vehicle, the current friction deceleration of the vehicle is calculated according to the current friction coefficient of the vehicle, the second deceleration corresponding to the second braking force is determined according to the first deceleration and the friction deceleration, the second braking force corresponding to the vehicle is calculated according to the second deceleration and the second weight, and the second braking force is used as second braking information.
S207, the brake actuating mechanism carries out second braking processing on the vehicle based on the second braking information.
The brake calculation unit monitors a second braking result of the second braking process in real time, the second braking result including a second speed of the vehicle S208.
S209, the brake calculation unit judges whether a second difference value between a second speed of the vehicle and a target final speed is smaller than or equal to a second preset threshold value; if not, executing S210; if yes, S211 is executed.
And S210, the central control interface sends out prompt information, and/or the brake executing mechanism carries out third braking treatment on the vehicle according to a preset braking mode.
S211, stopping executing the first braking process by the braking executing mechanism.
The specific processes of S201 to S211 are described in detail in the above embodiments, and are not described herein.
In the embodiment of the application, the first braking processing is performed on the vehicle by responding to the first braking information generated by the braking operation of the user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with the preset target braking result, the second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the second braking processing is performed on the vehicle based on the second braking information. Therefore, the technical scheme can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensures the stability of the braking performance of the vehicle, and provides consistent driving experience for users, so that the users do not need to consider the influence of factors such as weather, roads and the like on the braking result when braking, the driving difficulty of the users is reduced, and the driving safety is improved.
In summary, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
The self-adaptive braking method provided by the embodiment of the application is based on the same thought, and the embodiment of the application also provides a self-adaptive braking device.
Fig. 4 is a schematic structural view of an adaptive braking apparatus according to an embodiment of the present application, and as shown in fig. 4, the adaptive braking apparatus includes:
the processing and monitoring module 410 is configured to perform a first braking process on the vehicle in response to first braking information generated by a braking operation of the vehicle by a user, and monitor a first braking result of the first braking process in real time;
the first determining module 420 is configured to determine, if the first braking result does not conform to the preset target braking result, second braking information corresponding to the vehicle according to the first braking result and current running environment information of the vehicle;
The processing module 430 is configured to perform a second braking process on the vehicle based on the second braking information.
In one embodiment, the adaptive braking apparatus further comprises:
the second determining module is used for determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of the brake pedal of the vehicle by a user;
the calculation module is used for calculating the target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle;
and a third determination module for determining the first braking force coefficient and the target deceleration as first braking information.
In one embodiment, the first braking result includes a first speed of the vehicle; the target braking result comprises a target final speed of the vehicle corresponding to the first braking force coefficient; the processing and monitoring module 410 includes:
a calculation unit for calculating a target final speed of the vehicle corresponding to the first braking force coefficient according to the target deceleration, the initial speed of the vehicle, and the execution time of the first braking process;
and the acquisition unit is used for acquiring the first speed of the vehicle in real time.
In one embodiment, the adaptive braking apparatus further comprises:
the first judging module is used for judging whether a first difference value between the first speed and the target final speed of the vehicle is smaller than or equal to a first preset threshold value;
The first execution module is used for executing the step of determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle if not;
and the second execution module is used for stopping executing the first braking process if yes.
In one embodiment, the driving environment information includes at least one of passenger weight information, driving road information, and driving weather information of the vehicle; the first determination module 420 includes:
the calculating and determining unit is used for calculating the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; determining the current friction coefficient of the vehicle according to the driving road information and the driving weather information;
and the determining unit is used for determining second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
In one embodiment, the second braking information includes a second braking force to be applied; the determining unit is specifically configured to:
determining the size to be adjusted corresponding to the first speed of the vehicle according to a first difference value between the first speed of the vehicle and the target final speed;
determining a first deceleration corresponding to the vehicle based on the to-be-adjusted magnitude corresponding to the first speed of the vehicle;
According to the current friction coefficient of the vehicle, calculating the current friction deceleration of the vehicle;
determining a second deceleration corresponding to the second braking force according to the first deceleration and the friction deceleration;
calculating a second braking force corresponding to the vehicle according to the second deceleration and the second weight; the second braking force is taken as second braking information.
In one embodiment, the adaptive braking apparatus further comprises:
the monitoring module is used for monitoring a second braking result of the second braking process in real time; the second braking result includes a second speed of the vehicle;
the second judging module is used for judging whether a second difference value between a second speed of the vehicle and a target final speed is smaller than or equal to a second preset threshold value;
and the third execution module is used for sending out prompt information if not, and/or carrying out third braking treatment on the vehicle according to a preset braking mode.
In the embodiment of the application, the first braking processing is performed on the vehicle by responding to the first braking information generated by the braking operation of the user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with the preset target braking result, the second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the second braking processing is performed on the vehicle based on the second braking information. Therefore, the device can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensures the stability of the braking performance of the vehicle, and provides consistent driving experience for users, so that the users do not need to consider the influence of factors such as weather, roads and the like on the braking result when braking, the driving difficulty of the users is reduced, and the driving safety is improved.
It should be understood by those skilled in the art that the adaptive braking apparatus of fig. 4 can be used to implement the adaptive braking method described above, and the detailed description thereof should be similar to that of the method described above, so as to avoid complexity, and is not repeated herein.
Based on the same thought, the embodiment of the application also provides self-adaptive braking equipment, as shown in fig. 5. The adaptive braking apparatus may vary considerably in configuration or performance and may include one or more processors 501 and memory 502, where the memory 502 may store one or more stored applications or data. Wherein the memory 502 may be transient storage or persistent storage. The application programs stored in memory 502 may include one or more modules (not shown in the figures), each of which may include a series of computer executable instructions for use in an adaptive braking apparatus. Still further, the processor 501 may be configured to communicate with the memory 502 and execute a series of computer executable instructions in the memory 502 on the adaptive braking apparatus. The adaptive braking device may also include one or more power supplies 503, one or more wired or wireless network interfaces 504, one or more input/output interfaces 505, and one or more keyboards 506.
In particular, in this embodiment, the adaptive braking apparatus includes a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions for the adaptive braking apparatus, and configured to be executed by the one or more processors, the one or more programs comprising computer-executable instructions for:
responding to first braking information generated by a user on braking operation of the vehicle, performing first braking treatment on the vehicle, and monitoring a first braking result of the first braking treatment in real time;
if the first braking result does not accord with the preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and performing a second braking process on the vehicle based on the second braking information.
In the embodiment of the application, the first braking processing is performed on the vehicle by responding to the first braking information generated by the braking operation of the user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with the preset target braking result, the second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the second braking processing is performed on the vehicle based on the second braking information. Therefore, the device can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensures the stability of the braking performance of the vehicle, and provides consistent driving experience for users, so that the users do not need to consider the influence of factors such as weather, roads and the like on the braking result when braking, the driving difficulty of the users is reduced, and the driving safety is improved.
The embodiment of the present application further provides a storage medium, where the storage medium stores one or more computer programs, where the one or more computer programs include instructions, where the instructions, when executed by an adaptive braking device including a plurality of application programs, enable the adaptive braking device to execute each process of the adaptive braking method embodiment described above, and achieve the same technical effects, and are not repeated herein.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (7)
1. An adaptive braking method, comprising:
responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
if the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
performing a second braking process on the vehicle based on the second braking information;
the method further comprises the steps of, before the first braking processing is carried out on the vehicle in response to the first braking information generated by the braking operation of the user on the vehicle and the first braking result of the first braking processing is monitored in real time:
determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of the user on a brake pedal of the vehicle;
calculating a target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle;
determining the first braking force coefficient and the target deceleration as the first braking information;
The first braking result includes a first speed of the vehicle; the target braking result comprises a target final speed of the vehicle corresponding to the first braking force coefficient; the first braking process is performed on the vehicle in response to first braking information generated by a braking operation of the vehicle by a user, and the method further comprises:
calculating the target final speed of the vehicle corresponding to the first braking force coefficient according to the target deceleration, the initial speed of the vehicle and the execution time of the first braking process;
the monitoring in real time the first braking result of the first braking process includes:
acquiring the first speed of the vehicle in real time;
determining a first difference value according to the first speed and the target final speed;
if the first difference value is smaller than or equal to a first preset threshold value and the first difference value is calculated according to a first speed and a target final speed of the vehicle obtained at each moment of the first braking process, continuing to perform the first braking process on the vehicle according to the first braking information until the execution time of the first braking process is reached;
and if the first difference value is smaller than or equal to a first preset threshold value and the first difference value is calculated from the first speed and the target final speed obtained when the execution time of the first braking process is reached, stopping executing the first braking process.
2. The method of claim 1, wherein after the monitoring of the first braking result of the first braking process in real time, the method further comprises:
judging whether a first difference value between the first speed and the target final speed of the vehicle is smaller than or equal to a first preset threshold value;
and if not, executing the step of determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle.
3. The method according to claim 2, wherein the running environment information includes at least one of passenger weight information, running road information, and running weather information of the vehicle at present; the determining, according to the first braking result and the current running environment information of the vehicle, second braking information corresponding to the vehicle includes:
calculating a current second weight of the vehicle based on the current passenger weight information of the vehicle and the first weight of the vehicle; determining the current friction coefficient of the vehicle according to the driving road information and the driving weather information;
and determining the second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
4. A method according to claim 3, wherein the second braking information comprises a second braking force to be applied; the determining the second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient comprises the following steps:
determining a size to be adjusted corresponding to the first speed of the vehicle according to the first difference between the first speed of the vehicle and the target final speed;
determining a first deceleration corresponding to the vehicle based on a size to be adjusted corresponding to the first speed of the vehicle;
calculating the current friction deceleration of the vehicle according to the current friction coefficient of the vehicle;
determining a second deceleration corresponding to the second braking force according to the first deceleration and the friction deceleration;
calculating the second braking force corresponding to the vehicle according to the second deceleration and the second weight; and taking the second braking force as the second braking information.
5. The method according to claim 1, wherein after the second braking process is performed on the vehicle based on the second braking information, the method further comprises:
Monitoring a second braking result of the second braking process in real time; the second braking result includes a second speed of the vehicle;
judging whether a second difference value between the second speed and the target final speed of the vehicle is smaller than or equal to a second preset threshold value;
if not, sending out prompt information, and/or carrying out third braking treatment on the vehicle according to a preset braking mode.
6. An adaptive braking apparatus comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, the processor operable to invoke and execute the computer program from the memory to implement the adaptive braking method of any of claims 1-5.
7. A storage medium storing a computer program for execution by a processor to implement the adaptive braking method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110418351.4A CN113147712B (en) | 2021-04-19 | 2021-04-19 | Adaptive braking method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110418351.4A CN113147712B (en) | 2021-04-19 | 2021-04-19 | Adaptive braking method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113147712A CN113147712A (en) | 2021-07-23 |
| CN113147712B true CN113147712B (en) | 2023-10-24 |
Family
ID=76868622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110418351.4A Active CN113147712B (en) | 2021-04-19 | 2021-04-19 | Adaptive braking method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113147712B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007008334A (en) * | 2005-06-30 | 2007-01-18 | Toyota Motor Corp | Braking control unit of vehicle |
| CN101037109A (en) * | 2006-03-15 | 2007-09-19 | 丰田自动车株式会社 | Brake controller and method for controlling brakes |
| CN103481877A (en) * | 2012-06-12 | 2014-01-01 | 福特全球技术公司 | Method for adapting braking process |
| JP2014118065A (en) * | 2012-12-18 | 2014-06-30 | Volvo Lastvagnar Aktiebolag | Electronic control brake system and break control method |
| CN108025707A (en) * | 2015-09-21 | 2018-05-11 | 克诺尔商用车制动系统有限公司 | Method for making commercial car slow down |
| CN108025716A (en) * | 2015-09-18 | 2018-05-11 | 大众汽车有限公司 | Brake force, which strengthens, adapts to the automatic of different brake loads |
| CN108216169A (en) * | 2016-12-22 | 2018-06-29 | 比亚迪股份有限公司 | Vehicle brake control method, braking system and vehicle using this method |
| CN108528419A (en) * | 2018-01-31 | 2018-09-14 | 江苏大学 | A kind of bicyclic forecast Control Algorithm of the vehicle line control brake system towards full application of brake operating mode |
| CN110155009A (en) * | 2019-06-20 | 2019-08-23 | 爱驰汽车有限公司 | Brake control method, system, equipment and storage medium based on intelligent power-assisted |
| CN110402212A (en) * | 2017-03-28 | 2019-11-01 | 大众汽车有限公司 | The method and control device and motor vehicle of the control device of the braking equipment of operation motor vehicle |
| CN112477831A (en) * | 2020-12-10 | 2021-03-12 | 交控科技股份有限公司 | Brake control system, method and railway vehicle |
-
2021
- 2021-04-19 CN CN202110418351.4A patent/CN113147712B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007008334A (en) * | 2005-06-30 | 2007-01-18 | Toyota Motor Corp | Braking control unit of vehicle |
| CN101037109A (en) * | 2006-03-15 | 2007-09-19 | 丰田自动车株式会社 | Brake controller and method for controlling brakes |
| CN103481877A (en) * | 2012-06-12 | 2014-01-01 | 福特全球技术公司 | Method for adapting braking process |
| JP2014118065A (en) * | 2012-12-18 | 2014-06-30 | Volvo Lastvagnar Aktiebolag | Electronic control brake system and break control method |
| CN108025716A (en) * | 2015-09-18 | 2018-05-11 | 大众汽车有限公司 | Brake force, which strengthens, adapts to the automatic of different brake loads |
| CN108025707A (en) * | 2015-09-21 | 2018-05-11 | 克诺尔商用车制动系统有限公司 | Method for making commercial car slow down |
| CN108216169A (en) * | 2016-12-22 | 2018-06-29 | 比亚迪股份有限公司 | Vehicle brake control method, braking system and vehicle using this method |
| CN110402212A (en) * | 2017-03-28 | 2019-11-01 | 大众汽车有限公司 | The method and control device and motor vehicle of the control device of the braking equipment of operation motor vehicle |
| CN108528419A (en) * | 2018-01-31 | 2018-09-14 | 江苏大学 | A kind of bicyclic forecast Control Algorithm of the vehicle line control brake system towards full application of brake operating mode |
| CN110155009A (en) * | 2019-06-20 | 2019-08-23 | 爱驰汽车有限公司 | Brake control method, system, equipment and storage medium based on intelligent power-assisted |
| CN112477831A (en) * | 2020-12-10 | 2021-03-12 | 交控科技股份有限公司 | Brake control system, method and railway vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113147712A (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2643066C2 (en) | Accelerator response method and apparatus | |
| WO2020111133A1 (en) | Traffic assistance system, server and method, in-vehicle device and operation method thereof, computer program, recording medium, computer, and semiconductor integrated circuit | |
| CN112757909B (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN110816498A (en) | Pressure compensation method, device and equipment for intelligent brake system and storage medium | |
| CN113511081A (en) | Control method and device for self-adaptive energy recovery of electric automobile | |
| CN113353086A (en) | Vehicle control method and device and electronic equipment | |
| CN114834408B (en) | Automobile braking method and system | |
| CN113147712B (en) | Adaptive braking method, device, equipment and storage medium | |
| CN114987555A (en) | Method and device for determining longitudinal abnormal state of automatic driving, electronic equipment and medium | |
| CN108725213B (en) | Energy feedback control method and device | |
| CN117022211B (en) | Anti-lock parking method, device, equipment and storage medium | |
| CN111612938B (en) | Event recording equipment control method, device, equipment and storage medium | |
| CN114103650B (en) | Single pedal control method and device for vehicle, electronic equipment and storage medium | |
| EP3725613A1 (en) | Vehicle control method and vehicle control device | |
| CN114906141A (en) | Adaptive cruise control method and device | |
| CN115366688A (en) | Vehicle brake control method, device, equipment and storage medium | |
| CN111196278B (en) | Slope identification and vehicle control method and device and electronic equipment | |
| CN112109648B (en) | Method for detecting clamping stagnation of accelerator pedal and vehicle control unit | |
| CN107885203B (en) | Front vehicle following method and system based on wheel speed sensor | |
| CN112731900B (en) | Unmanned vehicle monitoring method and device | |
| CN115497295B (en) | Safety early warning method and device | |
| CN115352457B (en) | Method and device for determining landslide state of vehicle, processor and MCU | |
| CN114460976B (en) | Control method and device for arm support, storage medium, processor and arm support | |
| CN114655277B (en) | Method for calculating intelligent driving overspeed protection curve of heavy-duty train and related equipment | |
| CN115284873A (en) | Vehicle accelerator pedal control method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |