CN113147753A - Vehicle brake control method, device, storage medium and automatic brake system - Google Patents

Vehicle brake control method, device, storage medium and automatic brake system Download PDF

Info

Publication number
CN113147753A
CN113147753A CN202110316030.3A CN202110316030A CN113147753A CN 113147753 A CN113147753 A CN 113147753A CN 202110316030 A CN202110316030 A CN 202110316030A CN 113147753 A CN113147753 A CN 113147753A
Authority
CN
China
Prior art keywords
vehicle
motor
braking
deceleration
negative torque
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.)
Granted
Application number
CN202110316030.3A
Other languages
Chinese (zh)
Other versions
CN113147753B (en
Inventor
邓晶
刘卫东
沈鹏发
王爱春
黄少堂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangling Motors Corp Ltd
Original Assignee
Jiangling Motors Corp Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangling Motors Corp Ltd filed Critical Jiangling Motors Corp Ltd
Priority to CN202110316030.3A priority Critical patent/CN113147753B/en
Publication of CN113147753A publication Critical patent/CN113147753A/en
Application granted granted Critical
Publication of CN113147753B publication Critical patent/CN113147753B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for 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
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention provides a vehicle brake control method, a vehicle brake control device, a storage medium and an automatic brake system, wherein the method comprises the following steps: acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle; judging whether the current running speed and the current distance meet the intervention condition or not; if so, calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance; and sending the braking deceleration to an electronic stability control system to enable the electronic stability control system to control a hydraulic braking system to provide the braking deceleration, and simultaneously sending the motor negative torque to a vehicle control unit to enable the vehicle control unit to control a motor to provide the motor negative torque. The invention leads the hydraulic braking system and the motor to be simultaneously involved to lead the vehicle to quickly reach the required deceleration, thereby reducing the braking response time and the braking distance.

Description

Vehicle brake control method, device, storage medium and automatic brake system
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle brake control method, a vehicle brake control device, a storage medium and an automatic brake system.
Background
In recent years, as the rate of arranging Advanced Driving Assistance Systems (ADAS) for vehicles has been increasing, automatic Braking systems (AEB) have been arranged for many types of vehicles. The AEB system can actively intervene when the vehicle is about to collide with danger so as to automatically control the vehicle to perform emergency braking, thereby avoiding accidents.
However, when the AEB system is generally intervened, the vehicle is close to the front vehicle, and thus, the braking response time needs to be as short as possible, so as to shorten the braking distance and achieve the purpose of avoiding collision. At present, when an AEB system intervenes, an Electronic Stability Control (ESC) is used to Control a hydraulic braking system to generate a braking deceleration required by a vehicle, but a longer response time, usually more than 600ms, is required for the hydraulic braking system to achieve the braking deceleration required by the vehicle, so that the response time of the whole emergency braking process is longer, and the collision avoidance effect is poor.
Disclosure of Invention
Based on this, the invention aims to provide a vehicle brake control method, a vehicle brake control device, a storage medium and an automatic brake system, so as to solve the technical problem that the response time of the conventional AEB emergency brake process is long.
The vehicle brake control method is applied to an automatic brake system and comprises the following steps:
acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle;
judging whether the current running speed and the current distance meet the intervention condition or not;
if so, calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance;
and sending the braking deceleration to an electronic stability control system to enable the electronic stability control system to control a hydraulic braking system to provide the braking deceleration, and simultaneously sending the motor negative torque to a vehicle control unit to enable the vehicle control unit to control a motor to provide the motor negative torque.
In addition, the vehicle brake control method according to the above embodiment of the present invention may further have the following additional technical features:
further, after the step of sending the braking deceleration to an electronic stability control system to enable the electronic stability control system to control a hydraulic braking system to provide the braking deceleration and send the motor negative torque to a vehicle control unit to enable the vehicle control unit to control a motor to provide the motor negative torque, the method further includes:
and when the deceleration of the whole vehicle reaches the braking deceleration, gradually reducing the negative torque of the motor provided by the motor to 0 according to a first preset reduction proportion.
Further, the step of calculating the braking deceleration required by the vehicle and the negative torque of the motor based on the current running speed and the current distance includes:
calculating the braking deceleration according to the current running speed and the current distance;
calculating the total braking torque required by the vehicle according to the braking deceleration;
and calculating the negative torque of the motor according to the total braking torque and a preset coefficient.
Further, wherein:
Telectric power＝TGeneral assembly*K，TElectric powerRepresenting negative torque of said machine, TGeneral assemblyRepresenting the total braking torque, K representing the preset coefficient, and K being more than 0 and less than or equal to 0.8.
Further, before the step of calculating the negative torque of the motor according to the total braking torque and a preset coefficient, the method further comprises the following steps:
and acquiring the preset coefficient corresponding to the unique identification information from a preset mapping table according to the unique identification information of the vehicle.
Further, the step of the vehicle control unit controlling the motor to provide the negative torque of the motor comprises:
controlling the torque of the motor to gradually increase to the negative torque of the motor according to a first preset increasing proportion;
wherein the absolute values of the first preset increasing proportion and the first preset decreasing proportion are equal.
Further, the first preset increasing proportion and the first preset decreasing proportion are obtained from a preset mapping table according to unique identification information of the vehicle.
A vehicle brake control apparatus according to an embodiment of the present invention includes:
the information acquisition module is used for acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle;
the condition judging module is used for judging whether intervention conditions are met currently or not according to the current running speed and the current distance;
the data calculation module is used for calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance when the intervention condition is judged to be met currently;
and the brake control module is used for sending the brake deceleration to an electronic stability control system so that the electronic stability control system controls a hydraulic brake system to provide the brake deceleration, and simultaneously sending the motor negative torque to the vehicle control unit so that the vehicle control unit controls the motor to provide the motor negative torque.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the vehicle braking control method described above.
The invention also provides an automatic braking system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle braking control method.
Compared with the prior art: when the AEB is involved, the hydraulic braking system is controlled to provide the braking deceleration required by the vehicle, and meanwhile, the motor is controlled to provide partial motor negative torque, so that the hydraulic braking system and the motor are simultaneously involved to enable the vehicle to rapidly reach the required deceleration, the braking response time and the braking distance are reduced, and a better collision avoidance effect can be achieved.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle provided in an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle brake control method in the first embodiment of the invention;
FIG. 3 is a flowchart of a vehicle braking control method in a second embodiment of the invention;
FIG. 4 is a comparison of various parameter curves for an emergency braking process provided in an embodiment of the present invention;
FIG. 5 is a schematic configuration diagram of a vehicular brake control apparatus in a third embodiment of the invention;
fig. 6 is a schematic structural view of an automatic braking system in a fourth embodiment of the invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The following embodiments can be applied to the vehicle shown in fig. 1, where the vehicle shown in fig. 1 may be a pure electric vehicle or a hybrid vehicle, and specifically includes an automatic braking system (AEB), a Vehicle Controller Unit (VCU), an electronic stability control system (ESC), a motor, and a hydraulic braking system.
The automatic braking system is respectively connected with the vehicle control unit and the electronic stability control system, so that a negative torque request is sent to the vehicle control unit and a deceleration request is sent to the electronic stability control system during intervention. Meanwhile, the electronic stability control system is connected with the hydraulic braking system and is mainly used for controlling the hydraulic braking system to operate, and the hydraulic braking system is mainly used for generating hydraulic braking torque and forming deceleration so as to decelerate the vehicle. The vehicle control unit is connected with the motor and is mainly used for controlling the motor to run, wherein when the motor provides positive torque, acceleration for driving the vehicle to accelerate is provided; conversely, when the motor provides negative torque, the motor is towed backwards to increase the deceleration rate at which the vehicle decelerates.
In the specific implementation, the automatic braking system, the vehicle control unit, the electronic stability control system, the motor and the hydraulic braking system CAN be electrically connected through a CAN bus of the vehicle. Meanwhile, the torque control and the hydraulic braking control of the motor are mutually independent, and the torque control of the motor does not influence the ESC to respond to the braking request of the AEB, so that the motor and the hydraulic braking system can be simultaneously involved to decelerate the vehicle, and the aim of shortening the braking response time is fulfilled.
It should be noted that the configuration shown in fig. 1 does not constitute a limitation of the vehicle, which in other embodiments may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
Example one
Referring to fig. 2, a vehicle brake control method according to a first embodiment of the present invention is shown, which can be applied to an automatic brake system, and the method specifically includes steps S01-S04.
Step S01, a current running speed of the vehicle and a current distance between the vehicle and the obstacle ahead are acquired.
The current running speed of the vehicle can be provided by the vehicle control unit, and the current distance between the vehicle and the front obstacle can be detected by a front radar of the vehicle.
And step S02, judging whether the current intervention condition is met according to the current running speed and the current distance. When the intervention condition is judged to be met currently, the steps S03-S04 are executed, so that the automatic braking system performs emergency braking in an intervention manner. And when the current intervention condition is judged not to be met, if the front obstacle is far away or no obstacle exists, the action is not allowed to continue monitoring.
In specific implementation, the time required for the vehicle to collide with the front obstacle can be calculated according to the current running speed and the current distance; and if the time required for the vehicle to collide with the front obstacle is less than the threshold value and represents that the vehicle is about to have collision danger, judging that the intervention condition is met currently.
And step S03, calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance.
It should be noted that, when emergency braking is performed by AEB intervention, the vehicle is generally required to stop before reaching the front obstacle, for example, stop at a distance of 1m (which can be preset) from the front obstacle, that is, the vehicle braking displacement is smaller than the current distance, so as to avoid collision, for example, when the current distance between the vehicle and the front obstacle is 10, the vehicle braking displacement may be set to 10-1 ═ 9 m. Of course, the vehicle can stop just reaching the obstacle in the limit. Also, since the vehicle eventually needs to be completely stopped, the final speed of the vehicle is 0.
From this, it can be inferred from the displacement equation S-Vot +1/2at2 and the velocity equation V-Vo + at-0:
Figure BDA0002991215630000061
wherein a is deceleration, Vo is current running speed, s is vehicle braking displacement, and under the condition that the current running speed Vo and the vehicle braking displacement s are known, the braking deceleration a required by the vehicle can be calculated.
In addition, the following relationship exists between the total braking torque T and the deceleration a:
T＝M*a*r
wherein M is the vehicle mass, and r is the tire rolling radius. Therefore, after the braking deceleration a required by the vehicle is calculated, the total braking torque T required by the vehicle can be calculated.
Based on the spirit of the invention, because the motor and the hydraulic braking system are required to be simultaneously involved to brake the vehicle, the total braking torque T can be provided by the motor and the hydraulic braking system together in the early stage of braking, for example, 1/2 (preset proportion) is provided by the motor and the hydraulic braking system respectively, so that after the total braking torque T required by the vehicle is calculated, partial braking torque can be distributed to the motor according to the set proportion to bear, and the motor generates braking action in a manner of providing negative torque, so that the negative torque of the motor can be determined according to the braking torque distributed to the motor to bear, for example, the total braking torque required by the vehicle is-6000 Nm, half of the braking torque is distributed to the motor to bear, and the negative torque of the motor is-3000 Nm.
And step S04, sending the braking deceleration to an electronic stability control system, so that the electronic stability control system controls a hydraulic braking system to provide the braking deceleration, and simultaneously sending the motor negative torque to a vehicle control unit, so that the vehicle control unit controls a motor to provide the motor negative torque.
It should be understood that after receiving the braking signal, the braking deceleration of the hydraulic braking system will gradually increase (increase negatively) from 0 to the braking deceleration, which requires a relatively long response time, typically around 600 ms; meanwhile, the torque of the motor is gradually increased (negatively increased) to the negative torque of the motor, the speed of the motor responding to the torque is fast, and the delay is small, so that the current actual deceleration of the vehicle is the sum of the current braking deceleration provided by the hydraulic braking system and the current braking deceleration provided by the motor.
In summary, in the vehicle brake control method in the above embodiment of the invention, when the AEB intervenes, the hydraulic brake system is controlled to provide the required braking deceleration of the vehicle, and at the same time, the motor providing part of the motor negative torque is controlled, so that the hydraulic brake system and the motor intervene simultaneously to make the vehicle reach the required deceleration quickly, thereby reducing the brake response time and the brake distance, and achieving a better collision avoidance effect.
Example two
Referring to fig. 3, a vehicle brake control method according to a second embodiment of the present invention is shown, which can be applied to an automatic brake system, and the method specifically includes steps S11 to S18.
Step S11, a current running speed of the vehicle and a current distance between the vehicle and the obstacle ahead are acquired.
And step S12, judging whether the current intervention condition is met according to the current running speed and the current distance. When the intervention condition is judged to be met currently, the steps S13-S18 are executed, so that the automatic braking system performs emergency braking in an intervention manner. And when the current intervention condition is judged not to be met, if the front obstacle is far away or no obstacle exists, the action is not allowed to continue monitoring.
Step S13 is a step of calculating a braking deceleration from the current running speed and the current distance.
And step S14, calculating the total braking torque required by the vehicle according to the braking deceleration.
And step S15, calculating the negative torque of the motor according to the total braking torque and a preset coefficient.
Among them are: t isElectric power＝TGeneral assembly*K，TElectric powerRepresenting negative torque of said machine, TGeneral assemblyRepresenting the total braking torque, K representing the preset coefficient, and K being more than 0 and less than or equal to 0.8. It should be understood that the smaller the coefficient K, the smaller the reduced braking response time, and the larger the coefficient K, which may result in the motor having too large negative torque and easily triggering the anti-lock braking system of the vehicle. Therefore, as a preferable condition of this embodiment, K is 0.5, that is, half of the braking torque is allocated to the motor in the early stage of braking.
And step S16, sending the braking deceleration to an electronic stability control system, so that the deceleration provided by a hydraulic braking system controlled by the electronic stability control system is gradually increased to the braking deceleration according to a second preset increasing proportion, and simultaneously sending the motor negative torque to the vehicle control unit, so that the torque of the motor controlled by the vehicle control unit is gradually increased to the motor negative torque according to a first preset increasing proportion.
And step S17, when the deceleration of the whole vehicle reaches the braking deceleration, the negative torque of the motor provided by the motor is gradually reduced to 0 according to a first preset reduction proportion.
That is, when the actual deceleration of the entire vehicle has reached the braking deceleration required by the vehicle, the braking action of the electric motor may be gradually removed, that is, the negative torque of the electric motor provided by the electric motor is gradually reduced to 0 according to the first preset reduction ratio. That is, in this embodiment, after the motor reaches the purpose, its torque returns to 0 fast to the vehicle can respond to accelerator pedal's acceleration request fast after accomplishing the braking, avoids producing the acceleration pause after the braking, guarantees to drive and experiences.
And step S18, when the vehicle is completely braked, gradually reducing the braking deceleration provided by the hydraulic braking system to 0 according to a second preset reduction proportion.
That is to say, when the vehicle is fully braked (the vehicle speed is 0), the braking deceleration provided by the hydraulic braking system is gradually reduced to 0 according to the second preset reduction proportion, so that the hydraulic braking force is released, the influence on restarting the vehicle by a driver is avoided, and the driving experience is ensured.
Wherein the first preset increasing proportion is equal to the first preset decreasing proportion in absolute value, and the second preset increasing proportion is equal to the second preset decreasing proportion in absolute value. Meanwhile, the speed of the motor responding to the torque is high, and the delay is small, so that the first preset increasing proportion is larger than the second preset increasing proportion, and the first preset reducing proportion is larger than the second preset reducing proportion.
The emergency braking process of the present embodiment is described in detail below with reference to the specific example and fig. 4:
suppose that the mass of the whole vehicle is 1700kg, and the deceleration required by the vehicle is-10 m/s2If the rolling radius of the vehicle is 0.35m, the total braking torque required by the vehicle is about-6000 Nm, and if the K value is 0.5, the negative torque of the motor is-3000 Nm;
as shown in the motor torque curve in fig. 4, in the early stage of AEB intervention, the motor torque is linearly increased to-3000 Nm at a first preset increase rate (e.g., 10000Nm/s), assuming that the process requires 1/2t1 time; meanwhile, as shown in the ESC braking torque curve in FIG. 4, the ESC braking torque (i.e. the braking torque of the hydraulic braking system, which is linearly related to the deceleration thereof) is linearly increased to-6000 Nm at a second preset increase rate, assuming that the process requires t1 time, when the ESC braking torque reaches-6000 Nm, the braking deceleration of the hydraulic braking system is-10 m/s2；
As can be seen from the deceleration curve of the entire vehicle as shown in FIG. 4, when the motor torque reaches-3000 Nm, the deceleration of the entire vehicle has reached-10 m/s2The response time taken is 1/2t1, whereas if the hydraulic brake system alone is used to provide the braking deceleration required by the vehicle, the response time taken is t1, so the embodiment can shorten the braking response time by half;
further, as shown by the motor torque curve and the vehicle deceleration curve in fig. 4, when the vehicle deceleration reaches the vehicle deceleration-10m/s2The motor torque is linearly reduced to 0Nm according to a first preset reduction proportion; while, as shown by the ESC braking torque curve and AEB requested deceleration (i.e., vehicle requested deceleration) curve in fig. 4, when AEB requested deceleration is 0 (representing full vehicle braking), the ESC braking torque is linearly reduced to 0Nm at a second predetermined reduction rate.
At this time, it should be further noted that, because different vehicle types are matched with different components such as motors and hydraulic systems, when a set of braking strategy is applied to different vehicle types, different braking stationarities may be generated. For this reason, in some cases of the present embodiment, before the step of calculating the negative torque of the motor according to the total braking torque and the preset coefficient (step S15), the method may further include:
and acquiring the preset coefficient K (also called distribution coefficient) corresponding to the unique identification information from a preset mapping table according to the unique identification information of the vehicle.
Meanwhile, the first preset increasing proportion, the first preset decreasing proportion, the second preset increasing proportion and the second preset decreasing proportion can also be obtained from the preset mapping table according to the unique identification information of the vehicle.
The unique identification information of the vehicle may be a vehicle model. In other words, in practical application, the adaptive distribution coefficient, the increasing proportion and the decreasing proportion can be calibrated according to different vehicle types, so that different negative torque request values and change rates can be customized according to different vehicle types to match and optimize the braking stability in the whole braking process.
EXAMPLE III
In another aspect of the present invention, referring to fig. 5, a vehicle brake control device is shown in a third embodiment of the present invention, which is applied to an automatic braking system, and specifically includes:
the information acquisition module 11 is used for acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle;
a condition determining module 12, configured to determine whether an intervention condition is currently met according to the current driving speed and the current distance;
the data calculation module 13 is configured to calculate a braking deceleration and a motor negative torque required by the vehicle according to the current running speed and the current distance when it is determined that the intervention condition is currently satisfied;
and the brake control module 14 is configured to send the brake deceleration to an electronic stability control system, so that the electronic stability control system controls a hydraulic brake system to provide the brake deceleration, and simultaneously sends the motor negative torque to the vehicle control unit, so that the vehicle control unit controls the motor to provide the motor negative torque.
Further, in some alternative embodiments of the present invention, the vehicle brake control apparatus further includes:
and when the deceleration of the whole vehicle reaches the braking deceleration, gradually reducing the negative torque of the motor provided by the motor to 0 according to a first preset reduction proportion.
Further, in some optional embodiments of the present invention, the data calculating module 13 includes:
a deceleration calculation unit configured to calculate the braking deceleration based on the current travel speed and the current distance;
the total torque calculating unit is used for calculating the total braking torque required by the vehicle according to the braking deceleration;
and the negative torque calculation unit is used for calculating the negative torque of the motor according to the total braking torque and a preset coefficient.
Further, in some alternative embodiments of the invention, wherein:
Telectric power＝TGeneral assembly*K，TElectric powerRepresenting negative torque of said machine, TGeneral assemblyRepresenting the total braking torque, K representing the preset coefficient, and K being more than 0 and less than or equal to 0.8.
Further, in some optional embodiments of the present invention, the data calculating module 13 further includes:
and the coefficient acquisition unit is used for acquiring the preset coefficient corresponding to the unique identification information from a preset mapping table according to the unique identification information of the vehicle.
Further, the vehicle control unit gradually increases the torque of the motor to the motor negative torque according to a first preset increase proportion by controlling the torque of the motor so that the motor provides the motor negative torque; wherein the absolute values of the first preset increasing proportion and the first preset decreasing proportion are equal. The first preset increasing proportion and the first preset decreasing proportion are obtained from a preset mapping table according to the unique identification information of the vehicle.
The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.
In summary, in the vehicle brake control device in the above embodiment of the present invention, when the AEB intervenes, the hydraulic brake system is controlled to provide the required braking deceleration of the vehicle, and at the same time, the motor providing part of the motor negative torque is controlled, so that the hydraulic brake system and the motor intervene simultaneously to make the vehicle reach the required deceleration quickly, thereby reducing the brake response time and the brake distance, and achieving a better collision avoidance effect.
Example four
Referring to fig. 6, an automatic braking system according to a fourth embodiment of the present invention is provided, which includes a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, wherein the processor 10 implements the vehicle braking control method as described above when executing the program 30.
The processor 10 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and is used to execute program codes stored in the memory 20 or process data, such as executing an access restriction program.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the autobrake system, for example a hard disk of the autobrake system. The memory 20 may also be an external storage device of the automatic brake system in other embodiments, such as a plug-in hard disk provided on the automatic brake system, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 20 may also include both an internal memory unit of the automatic brake system and an external memory device. The memory 20 may be used not only to store application software installed in the automatic brake system and various kinds of data, but also to temporarily store data that has been output or will be output.
It should be noted that the configuration shown in fig. 6 is not intended to be limiting to an automatic braking system, and in other embodiments, the automatic braking system may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
In summary, in the automatic braking system in the above embodiment of the present invention, when the AEB intervenes, the hydraulic braking system is controlled to provide the braking deceleration required by the vehicle, and at the same time, the motor providing part of the motor negative torque is controlled, so that the hydraulic braking system and the motor intervene simultaneously to make the vehicle reach the required deceleration quickly, thereby reducing the braking response time and the braking distance, and achieving a better collision avoidance effect.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle brake control method as described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A vehicle brake control method is applied to an automatic brake system, and is characterized by comprising the following steps:
acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle;
judging whether the current running speed and the current distance meet the intervention condition or not;
if so, calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance;
and sending the braking deceleration to an electronic stability control system to enable the electronic stability control system to control a hydraulic braking system to provide the braking deceleration, and simultaneously sending the motor negative torque to a vehicle control unit to enable the vehicle control unit to control a motor to provide the motor negative torque.
2. The vehicle braking control method according to claim 1, wherein the step of sending the braking deceleration to an electronic stability control system to cause the electronic stability control system to control a hydraulic braking system to provide the braking deceleration and sending the motor negative torque to a vehicle control unit to cause the vehicle control unit to control a motor to provide the motor negative torque is further followed by the step of:
and when the deceleration of the whole vehicle reaches the braking deceleration, gradually reducing the negative torque of the motor provided by the motor to 0 according to a first preset reduction proportion.
3. The vehicle brake control method according to claim 1, wherein the step of calculating the braking deceleration required of the vehicle and the motor negative torque based on the current running speed and the current distance includes:
calculating the braking deceleration according to the current running speed and the current distance;
calculating the total braking torque required by the vehicle according to the braking deceleration;
and calculating the negative torque of the motor according to the total braking torque and a preset coefficient.
4. The vehicle brake control method according to claim 3, characterized in that:
Telectric power＝TGeneral assembly*K，TElectric powerRepresenting negative torque of said machine, TGeneral assemblyRepresenting the total braking torque, K representing the preset coefficient, and K being more than 0 and less than or equal to 0.8.
5. The vehicle brake control method according to claim 3 or 4, characterized by, before the step of calculating the negative motor torque based on the total brake torque and a preset coefficient, further comprising:
and acquiring the preset coefficient corresponding to the unique identification information from a preset mapping table according to the unique identification information of the vehicle.
6. The vehicle braking control method according to claim 2, wherein the step of the vehicle control unit controlling the motor to provide the motor negative torque includes:
controlling the torque of the motor to gradually increase to the negative torque of the motor according to a first preset increasing proportion;
wherein the absolute values of the first preset increasing proportion and the first preset decreasing proportion are equal.
7. The vehicle brake control method according to claim 6, wherein the first preset increase proportion and the first preset decrease proportion are obtained from a preset map table based on unique identification information of the vehicle.
8. A vehicle brake control apparatus, characterized by comprising:
the information acquisition module is used for acquiring the current running speed of a vehicle and the current distance between the vehicle and a front obstacle;
the condition judging module is used for judging whether intervention conditions are met currently or not according to the current running speed and the current distance;
the data calculation module is used for calculating the braking deceleration and the motor negative torque required by the vehicle according to the current running speed and the current distance when the intervention condition is judged to be met currently;
and the brake control module is used for sending the brake deceleration to an electronic stability control system so that the electronic stability control system controls a hydraulic brake system to provide the brake deceleration, and simultaneously sending the motor negative torque to the vehicle control unit so that the vehicle control unit controls the motor to provide the motor negative torque.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a vehicle brake control method according to any one of claims 1 to 7.
10. An autobrake system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing a vehicle braking control method according to any one of claims 1 to 7.
CN202110316030.3A 2021-03-24 2021-03-24 Vehicle brake control method, device, storage medium and automatic brake system Active CN113147753B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110316030.3A CN113147753B (en) 2021-03-24 2021-03-24 Vehicle brake control method, device, storage medium and automatic brake system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110316030.3A CN113147753B (en) 2021-03-24 2021-03-24 Vehicle brake control method, device, storage medium and automatic brake system

Publications (2)

Publication Number Publication Date
CN113147753A true CN113147753A (en) 2021-07-23
CN113147753B CN113147753B (en) 2022-09-13

Family

ID=76884861

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110316030.3A Active CN113147753B (en) 2021-03-24 2021-03-24 Vehicle brake control method, device, storage medium and automatic brake system

Country Status (1)

Country Link
CN (1) CN113147753B (en)

Citations (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11255089A (en) * 1998-03-12 1999-09-21 Fuji Heavy Ind Ltd Vehicular automatic brake control system
US20050200197A1 (en) * 2004-03-09 2005-09-15 Ford Global Technologies, Llc Vehicle and method for controlling regenerative braking
US20070228822A1 (en) * 2006-03-29 2007-10-04 Nissan Motor Co., Ltd. Apparatus and method for controlling braking-force distribution in vehicle collision
JP2008044554A (en) * 2006-08-18 2008-02-28 Nissan Motor Co Ltd Vehicular brake control device
US20090228174A1 (en) * 2008-03-04 2009-09-10 Nissan Motor Co., Ltd. Apparatus and process for vehicle driving assistance
CN101648521A (en) * 2008-08-12 2010-02-17 比亚迪股份有限公司 Self-actuating braking system and control method thereof
JP2012229015A (en) * 2012-05-14 2012-11-22 Nissan Motor Co Ltd Regenerative braking control device of hybrid vehicle
CN102897155A (en) * 2012-09-27 2013-01-30 安科智慧城市技术（中国）有限公司 Collision avoidance system and automatic braking method of electric automobile
US20140145498A1 (en) * 2010-09-28 2014-05-29 Hitachi Automotive Systems, Ltd. Motion control system of vehicle
CN104118329A (en) * 2014-07-25 2014-10-29 奇瑞汽车股份有限公司 Automobile braking energy recovery and control system and control method thereof
CN105835819A (en) * 2015-01-29 2016-08-10 丰田自动车株式会社 Vehicle braking control apparatus
US20160325732A1 (en) * 2014-01-30 2016-11-10 Byd Company Limited Vehicle and braking feedback control method for the same
CN106828186A (en) * 2015-12-04 2017-06-13 北汽福田汽车股份有限公司 Electric automobile and its cruise control system and cruise control method
CN108437853A (en) * 2018-05-16 2018-08-24 江铃汽车股份有限公司 Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed
CN109017784A (en) * 2018-07-27 2018-12-18 南京越博动力系统股份有限公司 A kind of self-adapting cruise control method based on pure electric automobile
JP2020089044A (en) * 2018-11-22 2020-06-04 学校法人日本大学 Electric vehicle, control method of electric vehicle, and program
CN111409610A (en) * 2020-04-17 2020-07-14 江西江铃集团新能源汽车有限公司 Automatic emergency braking method and system for electric automobile
CN111547035A (en) * 2020-04-17 2020-08-18 中国第一汽车股份有限公司 Vehicle deceleration control method, device, storage medium and vehicle
CN111845668A (en) * 2020-06-15 2020-10-30 奇瑞新能源汽车股份有限公司 Automatic emergency braking method for electric automobile
CN111890946A (en) * 2020-06-17 2020-11-06 吉利汽车研究院（宁波）有限公司 Electric vehicle motor auxiliary braking parking method and system
CN112026769A (en) * 2020-09-02 2020-12-04 上海元城汽车技术有限公司 Driving-assistant longitudinal control method, device and system and storage medium
CN112208344A (en) * 2020-10-21 2021-01-12 奇瑞汽车股份有限公司 Pure electric vehicle braking energy recovery control method and simulation method thereof
CN112441000A (en) * 2019-08-16 2021-03-05 华为技术有限公司 Vehicle braking control method and device

Patent Citations (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11255089A (en) * 1998-03-12 1999-09-21 Fuji Heavy Ind Ltd Vehicular automatic brake control system
US20050200197A1 (en) * 2004-03-09 2005-09-15 Ford Global Technologies, Llc Vehicle and method for controlling regenerative braking
US20070228822A1 (en) * 2006-03-29 2007-10-04 Nissan Motor Co., Ltd. Apparatus and method for controlling braking-force distribution in vehicle collision
JP2008044554A (en) * 2006-08-18 2008-02-28 Nissan Motor Co Ltd Vehicular brake control device
US20090228174A1 (en) * 2008-03-04 2009-09-10 Nissan Motor Co., Ltd. Apparatus and process for vehicle driving assistance
CN101648521A (en) * 2008-08-12 2010-02-17 比亚迪股份有限公司 Self-actuating braking system and control method thereof
US20140145498A1 (en) * 2010-09-28 2014-05-29 Hitachi Automotive Systems, Ltd. Motion control system of vehicle
JP2012229015A (en) * 2012-05-14 2012-11-22 Nissan Motor Co Ltd Regenerative braking control device of hybrid vehicle
CN102897155A (en) * 2012-09-27 2013-01-30 安科智慧城市技术（中国）有限公司 Collision avoidance system and automatic braking method of electric automobile
US20160325732A1 (en) * 2014-01-30 2016-11-10 Byd Company Limited Vehicle and braking feedback control method for the same
CN104118329A (en) * 2014-07-25 2014-10-29 奇瑞汽车股份有限公司 Automobile braking energy recovery and control system and control method thereof
CN105835819A (en) * 2015-01-29 2016-08-10 丰田自动车株式会社 Vehicle braking control apparatus
CN106828186A (en) * 2015-12-04 2017-06-13 北汽福田汽车股份有限公司 Electric automobile and its cruise control system and cruise control method
CN108437853A (en) * 2018-05-16 2018-08-24 江铃汽车股份有限公司 Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed
CN109017784A (en) * 2018-07-27 2018-12-18 南京越博动力系统股份有限公司 A kind of self-adapting cruise control method based on pure electric automobile
JP2020089044A (en) * 2018-11-22 2020-06-04 学校法人日本大学 Electric vehicle, control method of electric vehicle, and program
CN112441000A (en) * 2019-08-16 2021-03-05 华为技术有限公司 Vehicle braking control method and device
CN111409610A (en) * 2020-04-17 2020-07-14 江西江铃集团新能源汽车有限公司 Automatic emergency braking method and system for electric automobile
CN111547035A (en) * 2020-04-17 2020-08-18 中国第一汽车股份有限公司 Vehicle deceleration control method, device, storage medium and vehicle
CN111845668A (en) * 2020-06-15 2020-10-30 奇瑞新能源汽车股份有限公司 Automatic emergency braking method for electric automobile
CN111890946A (en) * 2020-06-17 2020-11-06 吉利汽车研究院（宁波）有限公司 Electric vehicle motor auxiliary braking parking method and system
CN112026769A (en) * 2020-09-02 2020-12-04 上海元城汽车技术有限公司 Driving-assistant longitudinal control method, device and system and storage medium
CN112208344A (en) * 2020-10-21 2021-01-12 奇瑞汽车股份有限公司 Pure electric vehicle braking energy recovery control method and simulation method thereof

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
刘树伟等: "汽车紧急制动安全与舒适性控制仿真研究", 《现代制造工程》 *
初亮等: "单轴解耦式复合制动系统的控制策略及试验验证", 《华南理工大学学报(自然科学版)》 *
王晶等: "无人驾驶纯电动汽车制动扭矩分配控制方法", 《汽车实用技术》 *

Also Published As

Publication number Publication date
CN113147753B (en) 2022-09-13

Similar Documents

Publication Publication Date Title
US20160107634A1 (en) System and method for controlling torque of hybrid vehicle
CN111409610B (en) Automatic emergency braking method and system for electric automobile
CN111959507A (en) Lane changing control method and system, readable storage medium and vehicle
CN109969150B (en) Safe driving auxiliary method and system and vehicle
CN111278690B (en) System and method for defective vehicle braking event
US10479361B2 (en) Apparatus and method for controlling braking of vehicle
WO2020135340A1 (en) Vehicle and braking method and device therefor
CN112977470B (en) Device and method for controlling a vehicle
CN109624730B (en) Torque control method and device and electric automobile
CN113147753B (en) Vehicle brake control method, device, storage medium and automatic brake system
CN110588650A (en) Adaptive cruise control system and method and vehicle
US20190366991A1 (en) Driving support apparatus
JP2014227011A (en) Controller
US20230060311A1 (en) Method and device for parking control, vehicle controller, and new-energy vehicle
JP5169539B2 (en) Downhill road speed control device
CN110789443B (en) Brake lamp control device and vehicle
KR20220159185A (en) Apparatus for controlling Distance between platooning vehicle, vehicle system having the same and method thereof
US9932037B2 (en) Method of controlling automotive smart cruise control system
CN220180764U (en) Braking system of vehicle and vehicle
CN111169472A (en) Vehicle active safety control method and device and vehicle
US11833960B2 (en) Vehicle including electric motor and method of controlling brake lamp for the same
CN114655204A (en) Adaptive cruise control method, system, terminal device and readable storage medium
CN117656850A (en) Self-adaptive recovery control method and device, vehicle and storage medium
WO2021074274A1 (en) Apparatus and method for determining brake torque
CN116605192A (en) Method and device for regulating braking pressure of vehicle and nonvolatile 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