CN113928292B - Vehicle braking method, system and computer readable storage medium - Google Patents
Vehicle braking method, system and computer readable storage medium Download PDFInfo
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- CN113928292B CN113928292B CN202111324591.4A CN202111324591A CN113928292B CN 113928292 B CN113928292 B CN 113928292B CN 202111324591 A CN202111324591 A CN 202111324591A CN 113928292 B CN113928292 B CN 113928292B
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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
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
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- Regulating Braking Force (AREA)
Abstract
The application discloses a vehicle braking method, a system and a computer readable storage medium, wherein the vehicle braking method is applied to an Electronic Braking System (EBS), the EBS is in communication connection with an electronic parking braking system (EPB), and the vehicle braking method comprises the following steps: the electronic braking system EBS receives a request message sent by the electronic parking braking system EPB and performs service braking on the vehicle; the request message is sent by the electronic parking brake system EPB when the vehicle meets an AUTOHOLD trigger condition. Compared with the prior art, the automobile is frequently started and stopped so that the AUTOHOLD function is frequently intervened, and the service life of the parking brake chamber is short and the parking brake chamber is easy to fail, the application greatly reduces the use frequency of the parking brake chamber, prolongs the service life of the parking brake chamber and reduces the failure rate of the parking brake chamber.
Description
Technical Field
The present application relates to the field of automobile brake control technologies, and in particular, to a vehicle braking method, system and computer readable storage medium.
Background
In recent years, electronic parking brake systems EPB (Electronic Parking Brake) of air-brake vehicles have matured, and more air-brake vehicles have begun to be equipped with electronic parking brake systems EPB. The actuating mechanism of the EPB comprises a parking brake air chamber and a brake, and the service life of the parking brake air chamber is about 10-15 ten thousand times and is far lower than 100 ten thousand times of a service brake air chamber according to statistics. Meanwhile, an automatic parking function is one of important functions of the electronic parking brake system EPB, so that a driver can realize parking without operating the EPB switch. In the early and late peak of urban areas, under the condition that vehicles are frequently started and stopped, the AUTOHOLD function can be frequently involved, so that the riding comfort of a driver is improved, and the service life of a parking brake chamber is also examined. In addition, the AUTOHOLD function is used where the output air pressure of the parking brake chamber is at a maximum, which can further damage the parking brake chamber. Therefore, in the prior art and in the using process, the parking brake chamber has the problems of short service life and easy failure.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present application and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
Compared with the prior art that the frequent start and stop of the vehicle causes frequent intervention of an AUTOHOLD function, and further the service life of a parking brake chamber is short and the vehicle is easy to fail, the method and the system for braking the vehicle provided by the application have the advantages that when the vehicle meets the AUTOHOLD triggering condition, the electronic brake system EBS receives the request message sent by the electronic parking brake system EPB to brake the vehicle in a running way, the use frequency of the parking brake chamber is greatly reduced, the service life of the parking brake chamber is prolonged, and the failure rate of the parking brake chamber is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural view of a first embodiment of a vehicle braking system of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle braking method according to the present application;
fig. 3 is a flow chart of a second embodiment of the vehicle braking method of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Fig. 1 is a schematic structural diagram of a first embodiment of a vehicle braking system according to the present application, in fig. 1, an EBS controller is 1, an electric control brake valve is 2, a single-channel bridge control module is 3, a double-channel bridge control module is 4, an ABS solenoid valve is 5, a service brake air chamber is 6, an EPB switch is 7, an EPB controller is 8, an EPB parking brake valve is 9, a parking brake air chamber is 10, an air storage device is 11, a front brake is 12, a rear brake is 13, and a CAN network is 14. In the figure, the solid lines are pipe connections and the broken lines are electrical connections.
In a first embodiment of the vehicle brake system according to the present application, referring to fig. 1, the vehicle brake system includes:
the electronic brake system EBS comprises an EBS controller 1, an electric control brake valve 2, a single-channel bridge control module 3, a double-channel bridge control module 4, an ABS electromagnetic valve 5 and a service brake air chamber 6;
an electronic parking brake system EPB comprising an EPB switch 7, an EPB controller 8, an EPB parking brake valve 9 and a parking brake chamber 10;
a gas storage device 11, and a front brake 12 and a rear brake 13.
In this embodiment, the number of front brakes, rear brakes, parking brake chambers and ABS solenoid valves is two, the number of service brake chambers is four, the front brakes are disposed on the front axle of the vehicle, the rear brakes are disposed on the rear axle of the vehicle, two of the four service brake chambers are disposed on the front axle of the vehicle, the other two are disposed on the rear axle of the vehicle, the parking brake chambers are disposed on the rear axle of the vehicle, and the ABS solenoid valves are disposed on the vehicle frame relatively close to the wheels.
The first air inlet of the electric control valve is connected with the air storage device through a pipeline, the first air inlet of the electric control valve is also communicated with the first air outlet of the electric control valve, the first air outlet of the electric control valve is communicated with the control port of the double-channel bridge control module through a pipeline, and the air outlet of the double-channel bridge control module is communicated with the air inlets of the two service brake air chambers arranged on the rear axle through a pipeline.
The second air inlet of the electric control valve is connected with the air storage device through a pipeline, the second air inlet of the electric control valve is also communicated with the second air outlet of the electric control valve, the second air outlet of the electric control valve is communicated with the control port of the single-channel bridge control module through a pipeline, the air outlet of the single-channel bridge control module is communicated with the air inlet of the ABS electromagnetic valve through a pipeline, and the air outlet of the ABS electromagnetic valve is communicated with the air inlets of the two service brake air chambers arranged on the rear axle through a pipeline.
The air inlet of the EPB parking brake valve is connected with the air storage device through a pipeline, the air inlet of the EPB parking brake valve is also communicated with the air outlet of the EPB parking brake valve, and the air outlet of the EPB parking brake valve is communicated with the air inlets of the two parking brake air chambers arranged on the rear shaft through a pipeline.
In this embodiment, the EBS controller and the EPB controller are communicatively connected via a CAN network (Controller Area Network controller area network) 14. The signal output end of the EBS controller is respectively in communication connection with the control signal input end of the electric control brake valve, the control signal input end of the single-channel bridge control module, the control signal input end of the double-channel bridge control module and the control signal input end of the ABS electromagnetic valve through ESB wire harnesses, and the signal output end of the electric control brake valve, the signal output end of the single-channel bridge control module, the signal output end of the double-channel bridge control module and the signal output end of the ABS electromagnetic valve are in communication connection with the signal input end of the EBS controller through ESB wire harnesses. The signal output end of the EPB controller is in communication connection with the control signal input end of the EPB parking brake valve through an EPB wire harness, and the signal output end of the EPB switch and the signal output end of the EPB parking brake valve are in communication connection with the signal input end of the EPB controller through the EPB wire harness.
It should be noted that, in this embodiment, the air storage device includes an air compressor, a dryer, a first air storage cylinder, a second air storage cylinder and a third air storage cylinder, the air compressor is connected with an engine of an automobile, compressed air is generated through engine power, an air inlet of the dryer is communicated with an air outlet of the air compressor through a pipeline, the dryer dries the compressed air produced by the air compressor, and the dried compressed air is transported to the first air storage cylinder, the second air storage cylinder and the third air storage cylinder through pipelines for storage. The first air reservoir can be communicated with a first air inlet of the electric control valve through a pipeline, the second air reservoir can be communicated with a second air inlet of the electric control valve through a pipeline, and the third air reservoir can be communicated with an air inlet of the EPB parking brake valve through a pipeline.
Further, the vehicle braking system further comprises a sensor unit, wherein the sensor unit comprises a gradient sensor and a vehicle speed sensor, and the gradient sensor and the vehicle speed sensor are in communication connection with the EBS controller through wire harnesses. The gradient sensor is used for collecting gradient information of the current position of the vehicle and transmitting the gradient information to the EBS controller, and the vehicle speed sensor is used for collecting the speed of the vehicle and transmitting the speed to the EBS controller.
The operating principle of the vehicle brake system for implementing the AUTOHOLD function is as follows:
the EPB controller judges whether the vehicle meets an AUTOHOLD triggering condition, if the vehicle meets the AUTOHOLD triggering condition, the EPB controller sends a request message to the EBS controller through a CAN network, the EBS controller receives the request message and sends a control signal of service braking to an electric control brake valve, a single-channel bridge control module and a double-channel bridge control module, a first air inlet and a second air inlet of the electric control brake valve and control openings of the single-channel bridge control module and the double-channel bridge control module are all opened, a brake air channel is conducted, compressed air enters a service brake air chamber arranged on a front shaft and a rear shaft from a gas storage device, and push rods of the service brake air chamber are acted by the compressed air to push the front brake and the rear brake to perform service braking.
The EBS controller can control the opening degree of the control ports of the single-channel bridge control module and the double-channel bridge control module according to the gradient information of the current position of the vehicle fed back by the gradient sensor, when the electronic brake system EBS realizes an AUTOHOLD function, the energy consumption during braking can be reduced, and the service lives of a service brake air chamber, a front brake and a rear brake are prolonged.
The working principle of the vehicle braking system for realizing dynamic parking is as follows:
in the running process of the vehicle, a driver pulls the EPB switch by hand, the EPB switch sends a parking signal to the EPB controller, the EPB controller receives the parking signal and then sends a target speed request to the EBS controller through the CAN network, the EBS controller receives the target speed request and sends a control signal of service braking to the electric control brake valve, the single-channel bridge control module and the double-channel bridge control module, the first air inlet and the second air inlet of the electric control brake valve and the control openings of the single-channel bridge control module and the double-channel bridge control module are all opened, so that a brake air circuit is conducted, compressed air enters a service brake air chamber arranged on a front shaft and a rear shaft from the air storage device, and a push rod of the service brake air chamber is acted by the compressed air to push the front brake and the rear brake to perform service braking. In the process of service braking, a vehicle speed sensor monitors the vehicle speed in real time and sends the vehicle speed to an EBS controller, when the vehicle speed reaches a target speed value, the EBS controller sends a control signal for stopping service braking to an electric control brake valve, a single-channel bridge control module and a double-channel bridge control module, a first air inlet and a second air inlet of the electric control brake valve and control ports of the single-channel bridge control module and the double-channel bridge control module are closed, a brake air circuit is disconnected, and service braking is stopped.
After stopping service braking, the EBS controller sends a braking switching message to the EPB controller through the CAN network, after receiving the braking switching message, the EPB controller sends a control signal of parking braking to the EPB parking braking valve, an air inlet of the EPB parking braking valve is opened, a braking air path is conducted, compressed air enters a parking braking air chamber arranged on the EPB parking braking valve from the air storage device, a push rod of the parking braking air chamber is acted by the compressed air, and the rear brake is pushed to perform parking braking.
In addition, the embodiment of the application also provides a vehicle braking method which is applied to the vehicle braking system. In a first embodiment of the vehicle braking method of the present application, referring to fig. 2, the vehicle braking method includes:
and step S10, judging whether the vehicle meets an AUTOHOLD triggering condition.
In this embodiment, it should be noted that the determination process for determining whether the vehicle satisfies the auto triggering condition is as follows:
step S101, an EPB controller acquires an automatic parking automatic key signal;
step S102, the EPB controller judges whether the current vehicle speed is equal to 0, if so, step S103 and step S104 are carried out simultaneously, otherwise, step S102 is repeated;
step S103, the EPB controller judges whether the vehicle door is opened, if so, step S105 is carried out, otherwise, step S102 is returned;
step S104, the EPB controller judges whether the time for pressing the brake pedal is more than 3 seconds, if so, step S105 is carried out, otherwise, step S102 is returned;
step S105, the EPB controller confirms that the vehicle meets an AUTOHOLD trigger condition and generates a request message.
Wherein the EPB controller is connected or connectable to an automatic parking auto key, a vehicle speed sensor, a door switch, and a brake pedal sensor.
When the automatic parking button is pressed, an EPB controller connected to the automatic parking button receives a high potential output from the automatic parking button, thereby obtaining an automatic parking button signal.
The vehicle speed sensor can detect the current vehicle speed of the vehicle in real time, and therefore, when the value output to the EPB controller by the vehicle speed sensor is 0, the current vehicle speed is equal to 0.
The door switch is arranged on the edge of the door, the door is triggered to open no matter whether the door is opened or closed, when the door is opened, the door switch outputs a low potential, and an EPB controller connected with the door switch receives the low potential output by the door switch, so that the door can be judged to be in an open state; when the door is closed, the door switch outputs a high potential, and the EPB controller connected with the door switch receives the high potential output by the door switch, so that the door can be judged to be in a closed state.
The brake pedal sensor is installed on the brake pedal, and when the brake pedal is not stepped on, the brake pedal sensor does not output a sensing signal, and when the brake pedal is not stepped on, the brake pedal sensor outputs a first sensing signal, and when the brake pedal is stepped on, the brake pedal sensor outputs a second sensing signal, so that the EPB controller only needs to judge whether the second sensing signal is continuously received or not, and the continuous time exceeds 3 seconds, and judges whether the time for stepping on the brake pedal is more than 3 seconds.
And step S20, if the vehicle meets an AUTOHOLD trigger condition, the electronic parking brake system EPB sends a request message to the electronic brake system EBS.
In this embodiment, it should be noted that the EPB controller in the EPB is communicatively connected to the EBS controller in the EBS of the electronic parking brake system through a CAN network (Controller Area Network controller area network). Therefore, when the vehicle satisfies the AUTOHOLD trigger condition, the EPB controller transmits the generated request message to the EBS controller.
And step S30, the electronic brake system EBS receives the request message and performs service braking on the vehicle.
Specifically, the step of receiving the request message by the electronic brake system EBS and performing service braking on the vehicle includes:
step 301, receiving a request message sent by the electronic parking brake system EPB;
step S302, detecting gradient information of the current position of the vehicle;
step S303, determining an air pressure output value according to the gradient information;
step S304, determining braking force according to the air pressure output value;
and step S305, performing service braking on the vehicle according to the braking force.
In this embodiment, the gradient information of the current position of the vehicle may be detected and obtained by a gradient sensor, and the gradient sensor uploads the detected and obtained gradient information to the EBS controller.
The EBS controller receives the request message, acquires the detected gradient information from the gradient sensor as gradient information of the current position of the vehicle, acquires an air pressure output value corresponding to the gradient information from a gradient-air pressure output value table, and determines the opening degree of the control ports of the single-channel bridge control module and the double-channel bridge control module according to the air pressure output value. The control signal of service braking is sent to the electric control brake valve, the single-channel bridge control module and the double-channel bridge control module by the EBS controller, meanwhile, the opening degree control command of the control ports of the single-channel bridge control module and the double-channel bridge control module is also sent to the single-channel bridge control module and the double-channel bridge control module by the EBS controller, the first air inlet and the second air inlet of the electric control brake valve are fully opened, the control ports of the single-channel bridge control module and the double-channel bridge control module are opened according to the opening degree control command, the brake air channel is conducted, compressed air enters the service brake air chamber arranged on the front shaft and the rear shaft from the air storage device, and push rods of the service brake air chamber are acted by the compressed air to push the front brake and the rear brake to perform service braking.
Further, after the step of performing service braking on the vehicle, the electronic brake system EBS receives the request message sent by the electronic parking brake system EPB, the method further includes:
judging whether the time for the vehicle to carry out service braking exceeds a first preset time or not;
if the first preset time is exceeded, the electronic brake system EBS sends a brake switching message to the electronic parking brake system EPB so that the electronic parking brake system EPB can be started, and parking brake is carried out on the vehicle.
The specific implementation process of the electronic braking system EBS sending a braking switching message to the electronic parking braking system EPB for starting the electronic parking braking system EPB and performing parking braking on the vehicle is described above, and will not be described herein.
It should be noted that, in this embodiment, the first preset time is much longer than the set time.
Compared with the prior art that the vehicle frequently starts and stops to enable the AUTOHOLD function to be frequently intervened, so that the service life of the parking brake chamber is short and the parking brake chamber is easy to fail, the electronic brake system EBS receives the request message sent by the electronic parking brake system EPB when the vehicle meets the AUTOHOLD triggering condition, so that the vehicle is subjected to service braking, the use frequency of the parking brake chamber is greatly reduced, the service life of the parking brake chamber is prolonged, and the failure rate of the parking brake chamber is reduced.
In a second embodiment of the vehicle braking method according to the present application, based on the first embodiment, referring to fig. 3, the vehicle braking method further includes:
and step B10, the electronic parking brake system EPB receives a parking brake instruction and sends a target speed request to the electronic brake system EBS.
In this embodiment, the parking brake command is a parking signal sent by the EPB switch when the driver pulls the EPB switch by hand during the driving process of the vehicle, the EPB switch sends the parking signal to the EPB controller, and the EPB controller receives the parking signal and then sends a target speed request to the EBS controller through the CAN network. The target speed request includes a target speed value, which is a fixed value, that is, the target speed value in the target speed request sent by the electronic parking brake system EPB to the electronic brake system EBS is the same value once the electronic parking brake system EPB receives the parking brake command no matter what the current vehicle speed is. The target speed value may be determined based on actual demand.
And step B20, the electronic brake system EBS receives the target speed request, and service braking is carried out on the vehicle until the vehicle speed reaches the target speed value.
Specifically, the step of the electronic brake system EBS receiving the target speed request and performing service braking on the vehicle until the vehicle speed reaches the target speed value includes:
step B201, the electronic brake system EBS receives a target speed request;
step B202, judging the initial speed of the vehicle;
and step B203, if the initial vehicle speed is greater than or equal to a set second threshold value, executing a step of braking the vehicle until the vehicle speed reaches a target speed value.
It should be noted that, in this embodiment, after the EBS controller receives the target speed request, the current speed of the vehicle is obtained from the vehicle speed sensor as the initial speed of the vehicle, if the initial speed is greater than or equal to the set second threshold value, the EBS controller sends a control signal of service braking to the electric control brake valve, the single-channel bridge control module and the dual-channel bridge control module, the first air inlet and the second air inlet of the electric control brake valve, and the control openings of the single-channel bridge control module and the dual-channel bridge control module are all opened, so that the brake air path is turned on, compressed air enters into the service brake air chambers arranged on the front axle and the rear axle from the air storage device, and the push rod of the service brake air chamber is acted by the compressed air to push the front brake and the rear brake to perform service braking. In the process of service braking, a vehicle speed sensor monitors the vehicle speed in real time and sends the vehicle speed to an EBS controller, when the vehicle speed reaches a target speed value, the EBS controller sends a control signal for stopping service braking to an electric control brake valve, a single-channel bridge control module and a double-channel bridge control module, a first air inlet and a second air inlet of the electric control brake valve and control ports of the single-channel bridge control module and the double-channel bridge control module are closed, a brake air circuit is disconnected, and service braking is stopped.
In this embodiment, the step of performing service braking on the vehicle until the vehicle speed reaches the target speed value may further be:
1) Determining an initial braking force according to a preset initial air pressure output value;
2) Performing service braking on the vehicle according to the initial braking force;
3) Acquiring the current speed of a vehicle at preset intervals, and calculating the difference value between the current speed and the preset speed corresponding to the current moment;
4) If the difference is a positive value, maintaining the initial braking force to perform service braking on the vehicle, and returning to the step 3);
5) If the difference is a negative value, calculating the difference between the current moment and the time when the preset vehicle speed reaches the target speed value, and calculating the braking force at the current moment according to a speed-acceleration formula and a resistance-acceleration formula;
6) Braking the vehicle according to the braking force;
7) Repeating steps 3) -6) until the speed of the vehicle reaches the target speed value.
The method comprises the steps that an EBS controller sends a control signal of service braking to an electric control brake valve, a single-channel bridge control module and a double-channel bridge control module, a preset initial air pressure output value is sent to the single-channel bridge control module and the double-channel bridge control module, the electric control brake valve receives the control signal of service braking and controls a first air inlet and a second air inlet of the electric control brake valve to be completely opened, the single-channel bridge control module and the double-channel bridge control module receive the control signal of service braking and the preset initial air pressure output value, the opening degree of the control ports of the single-channel bridge control module and the double-channel bridge control module is controlled to be opened, and a brake air path is conducted to perform service braking on a vehicle. In the process of carrying out service braking on the vehicle, acquiring the current speed of the vehicle at preset intervals, calculating the difference value between the current speed of the vehicle and the preset speed corresponding to the current moment (the moment of acquiring the current speed of the vehicle), and if the difference value is a positive value, keeping the opening degree of control ports of a single-channel bridge control module and a double-channel bridge control module in the gas circuit; if the difference is a negative value, calculating the difference between the current moment and the time when the preset vehicle speed reaches a target speed value, and according to a speed-acceleration formula v=v0+at, wherein V is the target speed, V0 is the current vehicle speed, t is the difference between the current moment and the time when the preset vehicle speed reaches the target speed value, a is the acceleration, and a resistance-acceleration formula f=ma, calculating to obtain the braking force at the current moment, wherein m is the weight of the vehicle, determining the air pressure output value applied to a push rod in a service brake air chamber according to the obtained braking force, and controlling the opening degree of control ports of a single-channel bridge control module and a double-channel bridge control module to correspond to the air pressure output value. And repeating the steps until the vehicle speed reaches a target speed value in the process of carrying out service braking on the vehicle.
And step B30, the electronic brake system EBS sends a brake switching message to the electronic parking brake system EPB so as to enable the electronic parking brake system EPB and perform parking brake on the vehicle.
It should be noted that, in this embodiment, the step of sending, by the electronic brake system EBS, a brake switching message to the electronic parking brake system EPB for enabling the electronic parking brake system EPB and performing parking brake on the vehicle is specifically implemented as follows: the EBS controller sends a brake switching message to the EPB controller, the EPB controller receives the brake switching message and then sends a control signal of parking brake to the EPB parking brake valve, an air inlet of the EPB parking brake valve is opened, so that a brake air path is conducted, compressed air enters a parking brake air chamber arranged on the EPB parking brake valve from the air storage device, and a push rod of the parking brake air chamber is acted by the compressed air to push the rear brake to carry out parking brake.
Further, if the initial vehicle speed is smaller than the set second threshold value, step B30 is directly executed.
Further, in the process of performing service braking on the vehicle until the vehicle speed reaches a target speed value, the EBS interval of the electronic braking system is set for time, whether the current vehicle speed is larger than a corresponding theoretical vehicle speed or not and whether the difference between the current vehicle speed and the theoretical vehicle speed is larger than a preset difference or not is judged, and if yes, the EBS of the electronic braking system starts anti-lock braking.
In this embodiment, when the anti-lock braking is started, the air inlet of the ABS electromagnetic valve is in a fully opened state, and the anti-lock braking is implemented as follows: the EBS control sends an anti-lock braking instruction to the ABS electromagnetic valve, and after the ABS electromagnetic valve receives the anti-lock braking instruction, the opening degree of the air inlet of the ABS electromagnetic valve is controlled to be reduced, namely the air inlet of the ABS electromagnetic valve is not in a full-open state any more, so that the thrust exerted on a front brake by a push rod of a service brake air chamber can be reduced, and the locking of a wheel is prevented.
Further, in the process of performing service braking on the vehicle until the vehicle speed reaches a target speed value, the electronic brake system EBS monitors the vehicle speed of the vehicle in real time, and if the vehicle speed of the vehicle does not change obviously within a continuous set time, the electronic brake system EBS sends a brake switching message to the electronic parking brake system EPB so as to enable the electronic parking brake system EPB and perform parking braking on the vehicle.
It should be noted that, in this embodiment, the electronic brake system EBS sends a brake switching message to the electronic parking brake system EPB to enable the electronic parking brake system EPB, and the specific implementation process of parking brake for the vehicle is described above and will not be described here again.
Compared with the prior art that the electronic parking brake system EPB is directly used for parking the vehicle in dynamic parking, and the pneumatic output values output to the parking brake air chamber are all the largest, so that the rear wheels of the vehicle can be instantly subjected to a large braking force, the phenomenon that the tail of the vehicle is out of control and the risk that the wheels are out of control suddenly are very easy to occur.
In this embodiment, linkage control of the electronic parking brake system EPB and the electronic parking brake system EPB is realized, and brake deceleration of the electronic parking brake system EPB may be compensated by using linkage control of the electronic parking brake system EPB, and brake redundancy may be realized when an AEB (automatic emergency brake) function is realized in automatic driving.
Claims (9)
1. A vehicle braking method, wherein the vehicle braking method is applied to an electronic brake system EBS, the electronic brake system EBS being communicatively connected to an electronic parking brake system EPB, the vehicle braking method comprising:
the electronic braking system EBS receives a request message sent by the electronic parking braking system EPB and performs service braking on the vehicle;
the request message is sent by the electronic parking brake system EPB when the vehicle meets an AUTOHOLD triggering condition;
the vehicle braking method further includes:
the Electronic Braking System (EBS) receives a target speed request sent by the electronic parking braking system (EPB), and performs service braking on the vehicle until the vehicle speed reaches a target speed value, wherein the target speed request is sent by the electronic parking braking system (EPB) after receiving a parking braking instruction;
the step of performing service braking on the vehicle until the vehicle speed reaches a target speed value comprises the following steps:
acquiring the current speed of a vehicle at preset intervals, and calculating the difference value between the current speed and the preset speed corresponding to the current moment;
if the difference is a negative value, calculating the difference between the current moment and the time when the preset vehicle speed reaches the target speed value, and calculating the braking force at the current moment according to a speed-acceleration formula and a resistance-acceleration formula;
and carrying out service braking on the vehicle according to the braking force, repeating the step of obtaining the current speed of the vehicle at preset intervals, calculating the difference value between the current speed and the preset speed corresponding to the current moment, if the difference value is a negative value, calculating the difference value between the current moment and the time when the preset speed reaches a target speed value, calculating the braking force at the current moment according to a speed-acceleration formula and a resistance-acceleration formula, and carrying out service braking on the vehicle according to the braking force until the speed of the vehicle reaches the target speed value.
2. The method for braking a vehicle according to claim 1, wherein the step of the electronic brake system EBS receiving a request message sent by the electronic parking brake system EPB and performing service braking on the vehicle comprises:
receiving a request message sent by the electronic parking brake system EPB;
detecting gradient information of the current position of the vehicle;
determining an air pressure output value according to the gradient information;
determining a braking force according to the air pressure output value;
and carrying out service braking on the vehicle according to the braking force.
3. The method for braking a vehicle according to claim 1 or 2, wherein the step of the electronic braking system EBS receiving a request message sent by the electronic parking brake system EPB and braking the vehicle by service further comprises:
judging whether the vehicle is successfully braked by running;
if so, sending a success message to the electronic parking brake system EPB;
if the vehicle fails, a failure message is sent to the electronic parking brake system EPB so as to start the electronic parking brake system EPB and perform parking brake on the vehicle.
4. The vehicle braking method according to claim 1, wherein the electronic brake system EBS receives a target speed request sent by the electronic parking brake system EPB, and after the step of service braking the vehicle until the vehicle speed reaches a target speed value, the method further comprises:
and the electronic braking system EBS sends a braking switching message to the electronic parking braking system EPB so as to start the electronic parking braking system EPB and perform parking braking on the vehicle.
5. The method according to claim 1, wherein in the process of braking the vehicle until the vehicle speed reaches the target speed value, the EBS interval of the electronic brake system is set to determine whether the current vehicle speed is greater than the corresponding theoretical vehicle speed and whether the difference between the current vehicle speed and the theoretical vehicle speed is greater than a preset difference, and if so, the EBS of the electronic brake system starts the anti-lock brake.
6. The vehicle braking method according to claim 1 or 5, wherein the step of the electronic brake system EBS receiving the target speed request sent by the electronic parking brake system EPB and service-braking the vehicle until the vehicle speed reaches the target speed value, comprises:
the electronic brake system EBS receives a target speed request sent by the electronic parking brake system EPB;
judging the initial speed of the vehicle;
and if the initial vehicle speed is greater than or equal to a set second threshold value, executing the step of carrying out service braking on the vehicle until the vehicle speed reaches a target speed value.
7. A vehicle braking system, the vehicle braking system comprising: the electronic parking brake system (EBS) and the electronic parking brake system (EPB) are in communication connection, wherein the electronic parking brake system (EPB) is used for realizing the following steps:
receiving a brake switching message or a failure message sent by the electronic brake system EBS;
parking braking is carried out on the vehicle;
the electronic brake system EBS is used for realizing the following steps:
the electronic braking system EBS receives a request message sent by the electronic parking braking system EPB and performs service braking on the vehicle;
the request message is sent by the electronic parking brake system EPB when the vehicle meets an AUTOHOLD triggering condition;
the Electronic Braking System (EBS) receives a target speed request sent by the electronic parking braking system (EPB), and performs service braking on the vehicle until the vehicle speed reaches a target speed value, wherein the target speed request is sent by the electronic parking braking system (EPB) after receiving a parking braking instruction;
the electronic brake system EBS is further configured to implement the following steps:
obtaining the current speed of the vehicle at preset intervals, calculating the difference value between the current speed and the preset speed corresponding to the current moment, if the difference value is a negative value, calculating the difference value between the current moment and the time when the preset speed reaches a target speed value, calculating the braking force at the current moment according to a speed-acceleration formula and a resistance-acceleration formula, braking the vehicle according to the braking force, repeating the preset intervals to obtain the current speed of the vehicle, calculating the difference value between the current speed and the preset speed corresponding to the current moment, if the difference value is a negative value, calculating the difference value between the current moment and the time when the preset speed reaches the target speed value, calculating the braking force at the current moment according to a speed-acceleration formula and a resistance-acceleration formula, and performing service braking on the vehicle according to the braking force until the speed of the vehicle reaches the target speed value.
8. The vehicle braking system according to claim 7, further comprising a sensor unit including a gradient sensor for detecting gradient information of a current position of the vehicle and a vehicle speed sensor for detecting a vehicle speed of the vehicle.
9. A computer-readable storage medium, on which a computer program is stored, which storage medium is included in a vehicle braking system according to any one of claims 7 to 8, which computer program, when being executed by a processor, implements a vehicle braking method according to any one of claims 1 to 6.
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| CN202111324591.4A CN113928292B (en) | 2021-11-09 | 2021-11-09 | Vehicle braking method, system and computer readable storage medium |
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| CN113928292A (en) | 2022-01-14 |
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