CN113370959A - Double-brake control method and system suitable for low-speed automatic driving special operation vehicle - Google Patents

Double-brake control method and system suitable for low-speed automatic driving special operation vehicle Download PDF

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CN113370959A
CN113370959A CN202110825863.2A CN202110825863A CN113370959A CN 113370959 A CN113370959 A CN 113370959A CN 202110825863 A CN202110825863 A CN 202110825863A CN 113370959 A CN113370959 A CN 113370959A
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vehicle
brake
braking
brake mechanism
control
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CN113370959B (en
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张然
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Wuxi Taiji Brain Intelligent Technology Co ltd
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Wuxi Taiji Brain Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking

Abstract

The invention discloses a double-brake control method and system suitable for a low-speed automatic driving special operation vehicle, which are used for overcoming the defects of a single-brake system. Meanwhile, the braking performance of the vehicle can be improved through a plurality of sets of braking systems, and the reliability and the safety of the braking system can also be improved through the hot backup of the plurality of sets of braking systems; meanwhile, the invention also provides a judgment method for controlling the starting and the stopping of each brake subsystem according to the braking requirements of the vehicle, and the switching of two sets of brake systems can be timely, efficiently and accurately controlled by the method.

Description

Double-brake control method and system suitable for low-speed automatic driving special operation vehicle
Technical Field
The invention belongs to an automatic driving vehicle control technology, and particularly relates to a double-brake control method and system suitable for a low-speed automatic driving special operation vehicle.
Background
At present, most special operation vehicles (such as watering lorries and the like) need manual driving and operation, and great manpower and financial resources are needed. The rapid development of the automatic driving technology puts higher demands and challenges on the structure, control method and safety performance of the brake system, and continuously pushes the technical improvement and innovation of the brake system in various aspects.
The friction contact mode of the mechanical brake has large abrasion to the brake mechanism, and the brake mechanism needs to be maintained frequently. However, an automatically driven vehicle (especially, in a low-speed automatic driving state, a special working vehicle generally needs a low-speed mode, for example, not more than 30km per hour) often works in an unmanned operation state for a long time, and a mechanical brake mechanism needs a specific person to track and maintain the vehicle, so that the maintenance cost is high. The braking performance of the electronic braking system is related to the rotating speed of the motor, and the braking performance is reduced when the rotating speed of the motor is lower. It is difficult for a single electronic braking system to provide a stable and reliable braking force.
There is a need for a hybrid braking system of electronic braking and mechanical braking, and the existing dual braking system is applied in the field of manual driving, and the switching judgment is determined according to the operation of the driver on the brake pedal.
However, due to lack of participation of drivers, the requirements of the automatic driving special vehicle on braking capability and safety are extremely high, and how to accurately control the intervention and exit of each braking subsystem of the automatic driving special vehicle according to the requirement of the braking effect of the vehicle also becomes a subsequent problem.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, and provides a double-brake control method and a double-brake control system which are suitable for a low-speed automatic driving special operation vehicle, and are used for overcoming the defects of a single-brake system. Meanwhile, the braking performance of the vehicle can be improved through a plurality of sets of braking systems, and the reliability and the safety of the braking system can also be improved through the hot backup of the plurality of sets of braking systems; meanwhile, the invention also provides a judgment method for controlling the starting and the stopping of each brake subsystem according to the braking requirements of the vehicle, and the switching of two sets of brake systems can be timely, efficiently and accurately controlled by the method.
The technical scheme is as follows: the invention discloses a double-brake control method suitable for a low-speed automatic driving special operation vehicle, which comprises the following steps of:
step S1: the braking control decision making process starts, and the step S2 is entered;
step S2: judging the state of the brake enabling control signal s, namely: if the brake system is not in the enabled state, the step S3 is executed, otherwise, the step S4 is executed;
step S3: closing the mechanical brake mechanism and the electronic brake mechanism at the same time, and returning to execute the step S1;
step S4: obtaining vehicle behavior from a vehicle information acquisition moduleThe driving speed V and the vehicle acceleration a obtain the safe braking distance S from the vehicle control decision module 1sftyAnd a time constraint TlimitThen, it proceeds to step S5;
step S5: judging whether the current vehicle running speed V is less than a speed threshold value V required by parkingholdIf yes, go to step S6, otherwise go to step S7;
step S6: starting the mechanical brake mechanism, closing the electronic brake mechanism, and then returning to execute the step S1;
step S7: the current vehicle running speed V is greater than or equal to a speed threshold V required for parkingholdIf the mechanical brake mechanism and the electronic brake mechanism are in the closed state, the step S8 is executed, otherwise, the step S9 is executed;
step S8: starting the electronic braking system mechanism and returning to the step S1;
step S9: calculating the current estimated braking distance
Figure BDA0003173770430000021
If the braking distance S is predictedestimateLess than the safety braking distance SsftyStep S10 is entered, otherwise step S12 is entered; the estimated braking distance is calculated by the braking control system;
step S10: calculating the predicted braking time
Figure BDA0003173770430000022
If T isestimateLess than TlimitStep S11 is entered, otherwise step S12 is entered; the estimated braking time is calculated by the braking control system 4;
step S11: closing the mechanical brake mechanism and returning to step S1;
step S12: the mechanical brake mechanism is opened and the process returns to step S1.
The invention also discloses a system for realizing the double-brake control method suitable for the low-speed automatic driving vehicle, which comprises a vehicle control decision module, a vehicle information acquisition module and a brake which are arranged on a vehicle controllerA control system, a mechanical brake mechanism and an electronic brake mechanism; the vehicle control decision module adopts an intelligent control strategy to make a decision on the control behavior of the vehicle according to information such as sensor data, the motion state of the vehicle, the parameters of the vehicle and the like; the decision result will generate a brake enable control signal S and a safe brake distance SsftyAnd brake constraint time TlimitAnd transmits it to the brake control system; the vehicle information acquisition module acquires the vehicle speed V and the vehicle acceleration a of the current vehicle and transmits the vehicle speed V and the vehicle acceleration a to the brake control system;
the brake control system (for example, an STM32 processor can be adopted) makes a decision according to the received signals and information of the vehicle control decision module and the vehicle information acquisition module, and then controls the opening and closing of the mechanical brake mechanism and the electronic brake mechanism;
the mechanical brake mechanism starts or closes the mechanical brake system according to the execution result of the brake control system;
and the electronic brake mechanism is responsible for executing the result of the brake control system and starting or closing the electronic brake system.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the electronic brake system is combined, so that the abrasion of the conventional mechanical brake can be reduced, and the maintenance cost of a vehicle is reduced;
(2) the mechanical brake mechanism can automatically intervene and quit when the electronic brake force changes, so that the brake performance of the vehicle is ensured;
(3) the electronic brake system and the mechanical brake system are mutually in hot backup, and after any one set of brake system fails, one set of system still provides braking force, so that the running safety of the automatic driving vehicle is ensured;
(4) the invention can intelligently decide and control the opening and closing of the mechanical brake mechanism and the electronic brake mechanism according to the required braking effect of the automatic driving vehicle.
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FIG. 1 is a schematic diagram of a decision flow according to the present invention;
FIG. 2 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, the dual-brake control method for a low-speed autonomous special work vehicle according to the embodiment includes the following steps:
step S1: the braking control decision making process starts, and the step S2 is entered;
step S2: judging the state of the brake enabling control signal s, namely: if the brake system is not in the enabled state, the step S3 is executed, otherwise, the step S4 is executed;
step S3: closing the mechanical brake mechanism and the electronic brake mechanism at the same time, and returning to execute the step S1;
step S4: the vehicle information acquisition module acquires the vehicle running speed V and the vehicle acceleration a, and the vehicle control decision module 1 acquires the braking safety distance SsftyAnd a time constraint TlimitThen, it proceeds to step S5;
step S5: judging whether the current vehicle running speed V is less than a speed threshold value V required by parkingholdIf yes, go to step S6, otherwise go to step S7;
step S6: starting the mechanical brake mechanism, closing the electronic brake mechanism, and then returning to execute the step S1;
step S7: the current vehicle running speed V is greater than or equal to a speed threshold V required for parkingholdIf the mechanical brake mechanism and the electronic brake mechanism are in the closed state, the step S8 is executed, otherwise, the step S9 is executed;
step S8: starting the electronic braking system mechanism and returning to the step S1;
step S9: calculating the current estimated braking distance
Figure BDA0003173770430000041
If the braking distance S is predictedestimateLess than the safe braking distanceSsftyStep S10 is entered, otherwise step S12 is entered; here, the estimated braking distance is calculated by the braking control system 4;
step S10: calculating the predicted braking time
Figure BDA0003173770430000042
If T isestimateLess than TlimitStep S11 is entered, otherwise step S12 is entered; the estimated braking time is calculated by the braking control system 4;
step S11: closing the mechanical brake mechanism and returning to step S1;
step S12: the mechanical brake mechanism is opened and the process returns to step S1.
As shown in fig. 2, the system for implementing the dual-brake control method for the low-speed automatic driving vehicle of the present embodiment includes a vehicle control decision module 1, a vehicle information acquisition module 2, a vehicle control system 3, a mechanical brake mechanism 4, and an electronic brake mechanism 5, which are disposed on a vehicle controller; the vehicle control decision module 1 transmits a brake enabling control signal S to the brake control system 3, and calculates and obtains the safe brake distance S of the current vehiclesftyAnd a time constraint TlimitAnd transmitted to the brake control system 3; the vehicle information acquisition module 2 acquires the speed V and the acceleration a of the current vehicle and transmits the speed V and the acceleration a to the brake control system 3; the brake control system 3 makes a decision (the decision and control method for automatically adjusting the intervention time of the mechanical brake and the electronic brake) according to the received signals and information of the vehicle control decision module 1 and the vehicle information acquisition module 2, and further controls the mechanical brake mechanism 4 and the electronic brake mechanism 5 to be opened and closed; the mechanical brake mechanism 4 starts or closes the mechanical brake system according to the execution result of the brake control system 3; the electronic brake mechanism 5 is responsible for executing the result of the brake control system 3, and the electronic brake system is turned on or off.
Example (b):
the embodiment of the present invention will be described below by way of specific example, and the present embodiment performs double-brake control for a special working vehicle, such as an automated road sweeper, which needs to be driven at a low speed. The mechanical brake mechanism of the dual brake control system of the present embodiment may adopt, but is not limited to, an electromagnetic brake mechanism.
The electronic braking mechanism of the dual-brake control system of the embodiment can adopt, but is not limited to, an energy-consuming braking mechanism.
Carry on intelligent control ware in the low-speed autopilot street sweeper of this embodiment. The intelligent controller is provided with a vehicle control decision module, a vehicle information acquisition module and a brake control system. The brake control system controls the hardware of the intelligent controller to generate control signals to control the electromagnetic brake mechanism and the energy consumption brake mechanism.
The low-speed automatic driving sweeping vehicle of the embodiment senses the surrounding environment data of the vehicle through the sensor. The sensor includes, but is not limited to, one or a combination of a laser radar, a camera, an inertial navigation unit, an ultrasonic radar, a global navigation satellite system, an encoder, and the like.
The vehicle control decision module of the embodiment determines whether the vehicle has a braking requirement according to sensor data information and a control algorithm, and then controls the state of a braking enabling signal s.
The vehicle control decision module of the embodiment generates the driving tracks of the vehicle and the barrier according to the sensor data information, and determines the safe braking distance S by combining a control algorithmsftyAnd a time constraint TlimitThe size of (d); for example, in the present embodiment, the following are preset: when the pair S is not requiredsftyOr TlimitWhere special constraints are imposed, one or both may be set to infinity.
The sensor information acquisition module of the embodiment acquires vehicle sensor information, and calculates the speed V and the acceleration a of the vehicle according to the acquired information.
The execution of the brake control system may be performed periodically or triggered by an event.
Step S1: the braking control decision process starts and proceeds to step S2.
Step S2: judging the state of the brake enabling control signal s, namely: if the brake system is not in the enabled state, the step S3 is executed, otherwise, the step S4 is executed;
step S3: generating a control signal, closing the mechanical brake mechanism and the electronic brake mechanism at the same time, and returning to execute the step S1;
step S4: the vehicle information acquisition module acquires the vehicle running speed V and the vehicle acceleration a, and the vehicle control decision module acquires the safe braking distance SsftyAnd a time constraint TlimitThen, it proceeds to step S5;
step S5: judging whether the current vehicle running speed V is less than a speed threshold value V required by parkinghold. If yes, go to step S6, otherwise go to step S7;
step S6: starting the mechanical brake mechanism, closing the electronic brake mechanism, and then returning to execute the step S1;
step S7: the current vehicle running speed V is greater than or equal to a speed threshold V required for parkingholdIf the mechanical brake mechanism and the electronic brake mechanism are in the closed state, the step S8 is executed, otherwise, the step S9 is executed;
step S8: starting the electronic braking system mechanism and returning to the step S1;
step S9: calculating the current estimated braking distance
Figure BDA0003173770430000061
If the braking distance S is predictedestimateLess than the safety braking distance SsftyStep S10 is entered, otherwise step S12 is entered; here, the estimated braking distance is calculated by the braking control system 4;
step S10: calculating the predicted braking time
Figure BDA0003173770430000062
If T isestimateLess than TlimitStep S11 is entered, otherwise step S12 is entered; the estimated braking time is calculated by the braking control system 4;
step S11: closing the mechanical brake mechanism and returning to step S1;
step S12: the mechanical brake mechanism is opened and the process returns to step S1.
In summary, the present invention can intelligently decide and control the on and off of the mechanical brake mechanism and the electronic brake mechanism according to the required braking effect of the autonomous vehicle. The double-brake control system is particularly suitable for double-brake control of low-speed automatic driving vehicles, can automatically adjust intervention time of mechanical brakes and electronic brakes according to brake requirements, reduces mechanical brake loss as much as possible, guarantees braking force of the whole vehicle, and guarantees reliability and safety of a brake system.

Claims (2)

1. A double-brake control method suitable for a low-speed automatic driving special operation vehicle is characterized by comprising the following steps: the method comprises the following steps:
step S1: the braking control decision making process starts, and the step S2 is entered;
step S2: judging the state of the brake enabling control signal s, namely: if the brake system is not in the enabled state, the step S3 is executed, otherwise, the step S4 is executed;
step S3: closing the mechanical brake mechanism and the electronic brake mechanism at the same time, and returning to execute the step S1;
step S4: the vehicle information acquisition module acquires the vehicle running speed V and the vehicle acceleration a, and the vehicle control decision module 1 acquires the safe braking distance SsftyAnd a time constraint TlimitThen, it proceeds to step S5;
step S5: judging whether the current vehicle running speed V is less than a speed threshold value V required by parkingholdIf yes, go to step S6, otherwise go to step S7;
step S6: starting the mechanical brake mechanism, closing the electronic brake mechanism, and then returning to execute the step S1;
step S7: the current vehicle running speed V is greater than or equal to a speed threshold V required for parkingholdIf the mechanical brake mechanism and the electronic brake mechanism are in the closed state, the step S8 is executed, otherwise, the step S9 is executed;
step S8: starting the electronic braking system mechanism and returning to the step S1;
step S9: computingCurrent predicted braking distance
Figure FDA0003173770420000011
If the braking distance S is predictedestimateLess than the safety braking distance SsftyStep S10 is entered, otherwise step S12 is entered; the estimated braking distance is calculated by the braking control system;
step S10: calculating the predicted braking time
Figure FDA0003173770420000012
If T isestimateLess than TlimitStep S11 is entered, otherwise step S12 is entered; the estimated braking time is calculated by a braking control system;
step S11: closing the mechanical brake mechanism and returning to step S1;
step S12: the mechanical brake mechanism is opened and the process returns to step S1.
2. A system for implementing the dual brake control method for a low-speed autonomous working vehicle according to claim 1, characterized in that: the system comprises a vehicle control decision module, a vehicle information acquisition module, a brake control system, a mechanical brake mechanism and an electronic brake mechanism, wherein the vehicle control decision module, the vehicle information acquisition module and the brake control system are arranged on an automobile controller;
the vehicle control decision module decides the control behavior of the vehicle by adopting an intelligent control strategy according to the sensor data, the vehicle motion state and the parameter information of the vehicle, and the decision result generates a brake enabling control signal S and a safe brake distance SsftyAnd brake constraint time TlimitAnd transmits it to the brake control system;
the vehicle information acquisition module acquires the vehicle speed V and the vehicle acceleration a of the current vehicle and transmits the vehicle speed V and the vehicle acceleration a to the brake control system;
the brake control system makes a decision according to the received signals and information of the vehicle control decision module and the vehicle information acquisition module, and then controls the mechanical brake mechanism and the electronic brake mechanism to be opened and closed;
the mechanical brake mechanism starts or closes the mechanical brake system according to the decision of the brake control system;
and the electronic brake mechanism starts or closes the electronic brake system according to the decision of the brake control system.
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Citations (8)

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Publication number Priority date Publication date Assignee Title
JP2011218885A (en) * 2010-04-06 2011-11-04 Toyota Motor Corp Brake control system
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
KR20180069396A (en) * 2016-12-15 2018-06-25 현대자동차주식회사 Safety Parking method for Vehicle having Parking Integrated Caliper Type Brake System
CN110630662A (en) * 2018-06-21 2019-12-31 罗伯特·博世有限公司 Method for detecting brake wear in a vehicle
CN110803144A (en) * 2019-12-02 2020-02-18 长沙万为机器人有限公司 Automatic braking method, automatic braking device and automatic driving vehicle
CN111332294A (en) * 2018-11-30 2020-06-26 比亚迪股份有限公司 Control method and device of composite braking system and electric automobile
CN112389208A (en) * 2020-11-30 2021-02-23 庆铃汽车（集团）有限公司 Energy recovery method, system, terminal, medium and vehicle for automatic driving vehicle
CN112406823A (en) * 2020-11-19 2021-02-26 智马达汽车有限公司 New energy automatic driving braking method and device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011218885A (en) * 2010-04-06 2011-11-04 Toyota Motor Corp Brake control system
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
KR20180069396A (en) * 2016-12-15 2018-06-25 현대자동차주식회사 Safety Parking method for Vehicle having Parking Integrated Caliper Type Brake System
CN110630662A (en) * 2018-06-21 2019-12-31 罗伯特·博世有限公司 Method for detecting brake wear in a vehicle
CN111332294A (en) * 2018-11-30 2020-06-26 比亚迪股份有限公司 Control method and device of composite braking system and electric automobile
CN110803144A (en) * 2019-12-02 2020-02-18 长沙万为机器人有限公司 Automatic braking method, automatic braking device and automatic driving vehicle
CN112406823A (en) * 2020-11-19 2021-02-26 智马达汽车有限公司 New energy automatic driving braking method and device
CN112389208A (en) * 2020-11-30 2021-02-23 庆铃汽车（集团）有限公司 Energy recovery method, system, terminal, medium and vehicle for automatic driving vehicle

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