CN114030448A - Vehicle and control system, method and device - Google Patents
Vehicle and control system, method and device Download PDFInfo
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- CN114030448A CN114030448A CN202111252801.3A CN202111252801A CN114030448A CN 114030448 A CN114030448 A CN 114030448A CN 202111252801 A CN202111252801 A CN 202111252801A CN 114030448 A CN114030448 A CN 114030448A
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- valve
- vehicle
- control
- brake
- branch pipe
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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
- 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
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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
- B60T13/12—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 the fluid being liquid
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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
- B60T13/24—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 the fluid being gaseous
- B60T13/26—Compressed-air systems
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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
- B60T17/04—Arrangements of piping, valves in the piping, e.g. cut-off valves, couplings or air hoses
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a vehicle and a control system, a method and a device, wherein the system comprises: the first ends of the first branch pipe and the second branch pipe are connected with an outlet of a first main pipeline, the second ends of the first branch pipe and the second branch pipe are connected with an inlet of a second main pipeline, and the second main pipeline is used for supplying fluid conveyed by the first main pipeline to a brake piston of a vehicle; the first valve is arranged on the first branch pipe and used for executing a first braking action of the non-automatic driving on the vehicle; the second valve is arranged on the second branch pipe and used for executing a second braking action of the automatic driving on the vehicle; the third valve is arranged on the first branch pipe and is positioned between the first valve and the second main pipeline; and the control unit is connected with the second valve and is used for controlling the second valve to execute a second braking action. The control system and the control method are simpler, have fewer required parts, reduce the implementation cost and occupy less space of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle and a control system, method and device.
Background
In autonomous driving, automatic control of the brakes of the motor vehicle is required. When an existing motor vehicle is modified into a vehicle with an automatic driving function at present, a common method is to install a motor in the vehicle, provide driving force through the motor to act on a brake pedal, and control the motor so as to realize braking of the motor vehicle. The control system and method for implementing automatic driving switching is complex and costly.
Therefore, there is a need to propose a new control system and method that implement the switching of the automatic control of the vehicle in a simpler manner.
Disclosure of Invention
The invention provides a vehicle and a control system, a method and a device, which can implement the switching of the automatic control of the vehicle in a simpler mode.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides a vehicle control system, including: the system comprises a first main pipeline, a second main pipeline, a first branch pipe, a second branch pipe, a first valve, a second valve, a third valve and a control unit;
the first ends of the first branch pipe and the second branch pipe are connected with an outlet of the first main pipeline, the second ends of the first branch pipe and the second branch pipe are connected with an inlet of the second main pipeline, and the second main pipeline is used for supplying fluid conveyed by the first main pipeline to a brake piston of a vehicle;
the first valve is arranged on the first branch pipe and used for executing a first braking action of the non-automatic driving on the vehicle;
the second valve is arranged on the second branch pipe and used for executing a second braking action of the automatic driving on the vehicle;
the third valve is arranged on the first branch pipe, is positioned between the first valve and the second main pipeline, and is used for keeping an opening state when the first braking action is executed and keeping a closing state when the second braking action is executed;
the control unit is connected with the second valve and the third valve and used for controlling the second valve to execute the second braking action.
In an alternative embodiment, the first valve is a three-way valve;
the second valve is a normally closed type electric control flow valve;
the third valve is a normally open type electric control flow valve.
In an alternative embodiment, the control unit comprises:
and the control circuit board is connected with the second valve and the third valve and is used for controlling the opening degrees of the second valve and the third valve.
In an alternative embodiment, the fluid is any one of:
air and hydraulic oil.
In a second aspect, an embodiment of the present invention further provides a vehicle control method, which is applied to the vehicle control system in any one of the first aspect, and the method includes:
when the vehicle is in an automatic driving state, according to a brake signal of the vehicle, controlling to open the second valve, close the third valve and execute a second brake action on the vehicle;
and when the vehicle is in a non-automatic driving state, controlling to close the second valve and open the third valve.
In an alternative embodiment, the controlling the second valve to be opened according to the braking signal of the vehicle includes:
according to the first safety distance of the braking signal, closing the third valve, and adjusting the second valve to a first opening degree so as to control the braking distance of the vehicle; the first safe distance is the distance from the running brake to the non-collision in the static process of the vehicle.
In an alternative embodiment, the controlling the second valve to be opened according to a braking signal of the vehicle further includes:
according to a second safety distance of the brake signal, closing the third valve, and adjusting the second valve to a second opening degree so as to control the acceleration of the vehicle; and the second safe distance is the distance that the vehicle does not collide in the process of braking to be not static from running.
In a third aspect, an embodiment of the present invention further provides a vehicle control device applied to the vehicle control system according to any one of the first aspect, where the device includes:
the first control module is used for controlling the second valve to be opened, the third valve to be closed and the second brake action to be executed on the vehicle according to the brake signal of the vehicle when the vehicle is in the automatic driving state;
and the second control module is used for controlling to close the second valve and open the third valve when the vehicle is in a non-automatic driving state.
In an alternative embodiment, the first control module comprises:
the first control submodule is used for closing the third valve according to a first safety distance of the brake signal and adjusting the second valve to a first opening degree so as to control the brake distance of the vehicle; the first safe distance is the distance from the running brake to the non-collision in the static process of the vehicle;
the second control submodule is used for closing the third valve according to a second safety distance of the brake signal and adjusting the second valve to a second opening degree so as to control the acceleration of the vehicle; wherein the second safe distance is the distance that the vehicle does not collide from the driving brake to the non-stationary process
In a fourth aspect, the embodiment of the invention further provides a vehicle, which includes the vehicle control system in any one of the first aspect
Compared with the prior art, the vehicle and the control system, method and device provided by the invention have the following advantages:
the first branch pipe and the second branch pipe are communicated with the first main pipeline and the second main pipeline in parallel to open the first valve and the third valve to execute a first braking action of non-automatic driving on a vehicle; the second valve is opened, and the third valve is closed to execute the second braking action of the automatic driving on the vehicle, so that the automatic control of the vehicle braking action is realized. The control system and the control method are simpler to switch in different driving states, the required parts are fewer, the implementation cost is reduced, the occupied space of the vehicle is small, and particularly, the existing factory vehicle is easier to modify for implementing automatic control.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic gas path diagram of a first valve for executing a first braking action according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a gas path for releasing the first braking action of the first valve according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of an air path for a vehicle control system to perform a second braking action according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a pneumatic circuit for releasing a second braking action by the vehicle control system according to the embodiment of the present invention;
FIG. 5 is a flow chart of a vehicle control method provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Description of reference numerals:
1-a first main pipeline, 2-a second main pipeline, 3-a first branch pipe, 4-a second branch pipe, 5-a first valve, 6-a second valve, 7-a third valve and 8-a control unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
The vehicle brake system structure comprises a fluid pressure supply source, a vehicle control system and a brake device which are sequentially communicated, wherein the fluid pressure supply source supplies fluid (or called hydraulic medium) with pressure to the vehicle control system, the vehicle control system controls the brake device to execute brake action according to the brake requirement of the vehicle, and the fluid pressure supply source can be adaptively selected according to the type of the fluid. For example, when the fluid is air, the fluid pressure supply source can be an air compression device; when the fluid is hydraulic oil, the fluid pressure supply source can be a hydraulic station. The brake device is determined according to the configuration condition of a vehicle type and is generally a brake caliper, a brake chamber and a piston are arranged on the brake caliper, and the brake chamber is communicated with the piston. When the brake is executed, the piston drives the brake pad to clamp the brake disc under the action of fluid pressure so as to execute the brake; when the brake action is not executed, the spring on the brake caliper opens the brake pad to return the piston so as to release the brake action.
The embodiment of the invention provides a vehicle control system, which comprises: a first main line 1, a second main line 2, a first branch line 3, a second branch line 4, a first valve 5, a second valve 6, a third valve 7 and a control unit 8.
The first ends of the first branch pipe 3 and the second branch pipe 4 are both connected with an outlet of the first main pipeline 1, the second ends of the first branch pipe 3 and the second branch pipe 4 are both connected with an inlet of the second main pipeline 2, and the second main pipeline 2 is used for supplying fluid conveyed by the first main pipeline 1 to a braking device of a vehicle; the first valve 5 is arranged on the first branch pipe 3 and used for executing a first braking action of the non-automatic driving on the vehicle; the second valve 6 is arranged on the second branch pipe 4 and is used for executing second braking action of the automatic driving on the vehicle; the third valve 7 is arranged on the first branch pipe, is positioned between the first valve and the second main pipeline, and is used for keeping an opening state when the first braking action is executed and keeping a closing state when the second braking action is executed; and the control unit 8 is connected with the second valve 6 and the third valve 7 and is used for controlling the second valve 6 to execute a second braking action.
Specifically, the way in which the first branch pipe 3 and the second branch pipe 4 communicate in parallel with the outlet of the first main pipeline 1 and the inlet of the second main pipeline 2 may be selected according to actual situations. For example, three-way pipes are respectively installed at the outlet of the first main pipeline 1 and the inlet of the second main pipeline 2, and the first branch pipe 3 and the second branch pipe 4 are installed in parallel through the two three-way pipes, so as to divide the fluid flowing in the first main pipeline 1 and then join the fluid flowing in the second main pipeline 2. Of course, when the first branch pipe 3 and the second branch pipe 4 are hoses, they may be directly connected to the first main pipe 1 and the second main pipe 2 by a screw structure.
In the following, air is selected as the fluid to explain how to perform the first braking operation and the second braking operation, and after the vehicle control system is installed in the vehicle braking system, the fluid pressure supply source first pressurizes and stores a certain amount of fluid in the air tank. When the first braking action is not performed, the third valve 7 is in an open state. Referring to fig. 1, the first valve 5 controls the second main pipeline 2 to communicate with the atmosphere, and no pressure acts on the brake chamber; when the non-automatic driving needs to execute the first braking action, please refer to fig. 2, control the first valve 5 to close the communication state of the second main pipe 2 and the atmosphere, and simultaneously control the first valve 5 to open the communication state of the first branch pipe 3 and the second main pipe 2, so that the air flows through the first main pipe 1, the first branch pipe 3 and the second main pipe 2 to the braking chamber to execute the first braking action. It can be understood that first valve 5 can be directly with brake pedal mechanical connection, through the degree of depth of trampling of control brake pedal, control brake power size, when removing first brake action, drives first valve return to initial condition through brake pedal's return spring. The non-automatic driving includes manual driving, remote control driving and the like.
Referring to fig. 3, arrows indicate the flowing direction of the air path, when the second braking operation is performed, the third valve 7 is closed, air cannot flow to the second main pipe 2 through the first branch pipe 3, the second valve 6 is controlled to be opened, and air flows to the braking chamber through the first main pipe 1, the second branch pipe 4 and the second main pipe 2 to perform the second braking operation. When the second braking action is released, referring to fig. 4, the third valve 7 is opened, the braking chamber is communicated with the atmosphere, and the second braking action is performed so that the air pressure in the braking chamber is released to release the second braking action. When the second braking operation is performed, the opening degrees and the control timings of the second valve 6 and the third valve 7 are controlled by the control unit 7.
It will be appreciated that the third valve 7 may take a variety of forms. For example, the check valve structure is opened and closed under the control of a valve plate, a buffer spring is arranged on the edge of the valve plate, after the first braking action is executed, the valve plate is slowly returned through the buffer spring, and air pressure in a braking chamber is released in the process of slow return so as to relieve the first braking action. When the second braking action is executed, the valve plate is closed under the action of air pressure reverse thrust to execute the second braking action, and when the second braking action needs to be relieved, the control unit 7 controls the valve plate to deflect through a motor, releases the air pressure in the braking chamber and returns to the initial state.
The first braking operation and the second braking operation are executed, and vehicle-mounted intelligent control and off-vehicle control can be performed according to the configuration condition of the vehicle.
When carrying out on-vehicle intelligent Control, piston and brake connecting rod or brake pedal mechanical connection, when carrying out first brake action or second brake action, the fluid acts on the piston and drives brake connecting rod or brake pedal and remove, and removal in-process brake action signal sends to vehicle ECU (Electronic Control Unit), and vehicle ECU corresponds Control brake caliper according to brake action signal to realize the accurate Control of brake action. During off-board control, the first braking action and the second braking action are executed without passing through a vehicle ECU, and the piston directly acts on the brake caliper. It can be understood that during off-board control, the first braking action is according to non-autopilot's control to the aperture size of adjustment first valve 5 makes the vehicle accomplish the braking action with different states of urgency, in order to realize brake pedal and first valve 5's linkage. Similarly, the second braking action may be performed in accordance with autopilot control. Therefore, the opening degree of the first valve 5 or the second valve 6 can be controlled correspondingly to the braking force.
The second valve 6 and the third valve 7 may be electrically operated valves, the control unit 8 may be a relay or a control circuit board integrated with a single chip microcomputer, and the control unit 8 may be controlled by an automatic driving system of the vehicle by sending instructions to control the opening degrees of the second valve 6 and the third valve 7; of course, the control unit 8 may also control the opening of the second valve 6 by itself. When the control unit 8 adopts a relay, the normally open end of the relay is respectively connected with the power supply end of the electric valve and the power supply source, and the control end of the relay receives the control instruction of the automatic driving system. When the second braking action needs to be executed, the relay is controlled to be attracted to enable the electric valve to be electrified, the second valve 6 is opened, the third valve 7 is closed, and fluid flows to the brake calipers of the vehicle through the second branch pipe 4 to execute the second braking action. And the opportunity of executing the second braking action by automatic driving is judged according to the surrounding environment of the vehicle, and the surrounding environment can be acquired by a vehicle-mounted radar or a camera of the automatic driving system.
The vehicle executes the first braking operation and the second braking operation, and is controlled to be executed according to the state of non-automatic driving and the state of automatic driving which are different. When the automatic driving does not work, the manual driving mode can be adopted, the control unit 8 closes the second valve 6, and the whole air circuit is only controlled by the foot brake. When the automatic driving does not work, the manual driving is not influenced.
It should be further noted that the first braking action and the second braking action can only be controlled off-board under the configuration condition of the vehicle, the first braking action and the second braking action are not executed through a vehicle ECU, the braking force of the first braking action is controlled by the depth of the driver stepping on the brake pedal during manual driving, and the driver can manually control the spot braking according to the driving experience in order to reduce the occurrence of the dynamic locking condition of the vehicle tire during the braking process; however, when the second braking action of automatic driving is executed, the second valve 6 is directly opened, and the continuous constant flow supply can cause the fluid to continuously act on the piston of the brake caliper, and the brake disc is continuously clamped by the brake pad of the brake caliper, so that the dynamic locking of the vehicle tire is inevitably caused, and the risk of the vehicle tail flicking exists in the second braking action. In this situation, therefore, a variable regulation of the flow rate of the second branch 4 is required, and the skilled person will understand that this problem can be solved by the control unit 8 controlling the second valve 6 to open and close at a certain frequency.
In order to solve the above problems in a better manner, the second valve 6 in the embodiment of the present invention is a butterfly valve, a valve rod of the butterfly valve can rotate circumferentially, the opening and closing of the butterfly valve are mainly realized by driving a valve plate to rotate by the valve rod, the valve plate is a disc, and the valve rod drives the valve plate to rotate around its own axis in the valve body, so as to achieve the purpose of opening and closing or adjusting the flow. In order to achieve the purpose of variable regulation and control of flow, one end of the valve rod is provided with a driven gear; a driving motor is installed on the butterfly valve, a driving gear meshed with the driven gear is installed on the driving motor, the driving motor is electrically connected with a control unit 8, and the control unit 8 is a control circuit board integrated with a single chip microcomputer. When the second braking action is executed, the singlechip controls the driving motor to rotate at a rated rotating speed so as to drive the valve plate to rotate in the valve body, when the valve plate rotates to be parallel to the length direction of the second branch pipe 4, the opening degree is maximum, and the braking force of the second braking action is maximum correspondingly; when the valve plate rotates to be vertical to the length direction of the second branch pipe 4, the braking force is correspondingly minimum. When the second braking action is executed, the valve plate continuously rotates in the valve body, and the fluid flow of the second branch pipe 4 is changed in a fluctuating mode according to rules, so that dynamic locking of vehicle tires is avoided when the second braking action is executed. Of course, the rotation speed of the driving motor can also be adjusted by controlling PWM (Pulse Width Modulation) with different duty ratios by the control unit 8, so that the valve plate rotates for one turn (or referred to as 360 °) at different rotation speeds. The rotation speed can be selected according to the result of the calibration test, and is not described herein again. The implementation mode has the advantages of simple structure, low cost and small influence on the braking distance of the vehicle.
Of course, in the present embodiment, the second valve 6 may be other types of valves.
In an alternative embodiment, the first valve 5 is a three-way valve; the second valve 6 is a normally closed type electric control flow valve; the third valve 7 is a normally open type electric control flow valve.
Specifically, the first valve 5 is a three-way valve, one end of which is used for releasing the pressure of the brake chamber, and the corresponding communication state is controlled by the rotation angle of the valve core of the three-way valve. Normally closed type electronic control flow valve is closed state when not controlling to open, and for the driving control of vehicle, need priority to ensure manual driving usually, selects automatic driving according to actual demand and road conditions. The second valve 6 adopts a normally closed type electric control flow valve, when the automatic driving fails, the second valve 6 is in a closed state, the manual driving can still be ensured not to be influenced, and the applicability of the second valve 6 is improved; meanwhile, when the normally closed type electric control flow valve is not driven automatically, no power consumption is generated. In addition, the normally closed electric control flow valve is selected for use, and the valve has the advantages of high control sensitivity, good air tightness, safety, reliability, simplicity and convenience in debugging, long service life and the like. Similarly, the third valve 7 is a normally open type electric control flow valve, and the advantages are also achieved.
In an alternative embodiment, the control unit 8 comprises:
and the control circuit board is connected with the second valve 6 and the third valve 7 and is used for controlling the opening degree of the second valve 6 and the third valve 7.
For the normally closed type electric control flow valve, the opening degree of the second valve 6 can be controlled more accurately by adopting the control circuit board, and different opening degrees correspond to the flow rate of the fluid flowing through the second pipeline so as to accurately control the execution of the second braking action. Of course, the second valve 6 with a flow meter may be selected, and the control circuit board obtains the flow value fed back by the flow meter and correspondingly controls the opening of the second valve 6.
In an alternative embodiment, the fluid is any one of:
air and hydraulic oil.
Specifically, air is compressed by an air compressor and then stored in an air storage tank at a certain pressure, and the air storage tank is communicated with a first main pipeline; hydraulic oil is supplied to the first main line through the hydraulic station. The air and hydraulic oil selection mode can be flexibly selected according to the actual condition of the vehicle. For example, for light vehicles with small mass, air can be selected as fluid, the air viscosity is small, the flow resistance in pipes is small, the long-distance transmission is convenient, compared with hydraulic oil, the pneumatic reaction is fast, the action is rapid, the maintenance is simple, and pipelines are not easy to block; the heavy vehicle with large mass can select hydraulic oil as fluid, the hydraulic thrust is large, the arrangement is simple, the overload protection is easy to realize by means of the overflow valve, and meanwhile, the hydraulic part can realize automatic lubrication, so that the service life is longer.
It should be noted that, when the fluid is hydraulic oil, the first valve 5 is a three-way valve, one end of the three-way valve is connected to a fuel distribution tank, when the first brake action or the second brake action is released, the hydraulic oil flows to the fuel distribution tank for temporary storage, when the liquid level reaches the target height, the hydraulic oil is pumped to the fuel storage tank of the hydraulic station through an oil pump, and then the hydraulic station is pressurized to execute the first brake action or the second brake action.
The embodiment of the invention also provides a vehicle control method, which is applied to a vehicle control system and comprises the following steps:
and 10, controlling to open the second valve and close the third valve 7 according to a brake signal of the vehicle when the vehicle is in an automatic driving state, and executing a second brake action on the vehicle.
Specifically, the brake signal can be obtained through a vehicle-mounted radar or a camera. The vehicle-mounted radar acquires the distance of the vehicle through the time difference between the emission pulse and the echo pulse, and determines whether to execute a second braking action according to the distance; the camera can acquire the distance of the vehicle by identifying the depth of the space. Of course, the brake signal may also be obtained in other ways based on existing autopilot systems.
In an alternative embodiment, the controlling of the opening of the second valve in response to a braking signal of the vehicle includes:
step 10.1, closing the third valve 7 according to the first safety distance of the braking signal, and adjusting the second valve to a first opening degree to control the braking distance of the vehicle; the first safe distance is the distance from the driving brake to the static process of the vehicle without collision.
Specifically, the braking distance is one of the critical parameters for measuring the braking performance of the vehicle, and is the distance traveled by the vehicle from the beginning of braking to the time when the vehicle is completely stationary under a certain speed. Especially, when emergency braking is carried out, the reduction of the braking distance is important. In an automatic driving state, when the second braking action is executed by the vehicle ECU, in order to ensure that the braking distance is minimum, the first opening is controlled to be directly opened to the maximum flow of the second valve, and the vehicle ECU executes the second braking action according to the maximum braking force configured for the vehicle. When the second braking action is executed and does not pass through the vehicle ECU, in order to ensure the safety of the vehicle and the driver and passengers, the first opening degree is controlled to match the first safety distance, so that the vehicle is braked with enough braking force when the second braking action is executed. The first opening degree can be adaptively adjusted according to the speed change of the vehicle from the driving brake to the static process; or the self-adaptive adjustment is carried out according to the distance change between the vehicle and the braking position; of course, the speed change and the distance change can be integrated for self-adaptive adjustment, so that the vehicle can be braked to be static within the first safe distance. It will be appreciated that the vehicle is stationary and the second valve is still open to allow a braking force to be applied to the brake disc to keep the vehicle stationary. And the safety of the vehicle and the driver and passengers is ensured by adjusting the second valve to the first opening degree.
It should be noted that, during following or other driving of the vehicle, the vehicle does not need to be braked to be completely stationary, and the second valve may be adjusted to other opening degrees according to the brake signal.
In an alternative embodiment, the controlling of the opening of the second valve is based on a braking signal of the vehicle, further comprising:
step 10.2, closing the third valve 7 according to the second safety distance of the brake signal, and adjusting the second valve to a second opening degree to control the acceleration of the vehicle; and the second safe distance is the distance that the vehicle does not collide in the process of braking to be not static from running.
Specifically, in the driving process of the vehicle, the change of the vehicle acceleration influences the comfort of the driver and the passengers, namely, the slower the change of the vehicle acceleration is, the more comfortable the passengers are; the faster the acceleration changes, the less comfortable the passenger. In the braking process, the acceleration of the vehicle is determined by the tightness degree of the brake disc clamped by the braking device, the larger the fluctuation of the opening degree of the second valve is, the larger the clamping force for clamping the brake disc is, and the larger the acceleration change is; the smaller the opposite.
And in the process of executing the second braking action, the second valve is adjusted to the second opening degree so as to control the acceleration of the vehicle, and the safety and the comfort of braking can be controlled. The second opening degree can be adjusted adaptively according to the speed change of the vehicle braking process.
And 11, when the vehicle is in a non-automatic driving state, controlling to close the second valve and open the third valve 7.
Specifically, in the non-autonomous driving state, the second valve is closed and the third valve 7 is opened because the non-emergency brake operation is not performed by opening the second valve.
Based on the same inventive concept as the control method, an embodiment of the present invention further provides a vehicle control apparatus applied to the vehicle control system according to any one of the above embodiments, the apparatus including:
the first control module 101 is configured to control to open the second valve and close the third valve 7 according to a braking signal of the vehicle in an automatic driving state of the vehicle, and perform the second braking action on the vehicle;
and the second control module 102 is used for controlling to close the second valve and open the third valve 7 when the vehicle is in a non-automatic driving state.
In an alternative embodiment, the first control module comprises:
the first control submodule is used for closing the third valve 7 according to the first safety distance of the braking signal and regulating the second valve to a first opening degree so as to control the braking distance of the vehicle; the first safe distance is the distance from the running brake to the non-collision in the static process of the vehicle;
the second control submodule is used for closing the third valve 7 according to a second safety distance of the brake signal and regulating the second valve to a second opening degree so as to control the acceleration of the vehicle; and the second safe distance is the distance that the vehicle does not collide in the process of braking to be not static from running.
Based on the same inventive concept as the control method, the embodiment of the invention also provides a vehicle, and the vehicle comprises the vehicle control system of any one of the embodiments.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
the first branch pipe and the second branch pipe are communicated with the first main pipeline and the second main pipeline in parallel, and a first valve is used for executing a first braking action of non-automatic driving on the vehicle; and the second valve is used for executing second braking action of the automatic driving on the vehicle, so that the automatic control of the vehicle braking action is realized. The control system and the control method are simpler to switch in different driving states, the required parts are fewer, the implementation cost is reduced, the occupied space of the vehicle is small, and particularly, the existing factory vehicle is easier to modify for implementing automatic control.
Since the electronic device described in this embodiment is an electronic device used for implementing the method for processing information in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various variations thereof based on the method for processing information described in this embodiment, and therefore, how to implement the method in this embodiment by the electronic device is not described in detail here. Electronic devices used by those skilled in the art to implement the method for processing information in the embodiments of the present application are all within the scope of the present application.
Claims (10)
1. A vehicle control system, characterized in that the system comprises: the system comprises a first main pipeline, a second main pipeline, a first branch pipe, a second branch pipe, a first valve, a second valve, a third valve and a control unit;
the first ends of the first branch pipe and the second branch pipe are connected with an outlet of the first main pipeline, the second ends of the first branch pipe and the second branch pipe are connected with an inlet of the second main pipeline, and the second main pipeline is used for supplying fluid conveyed by the first main pipeline to a brake piston of a vehicle;
the first valve is arranged on the first branch pipe and used for executing a first braking action of the non-automatic driving on the vehicle;
the second valve is arranged on the second branch pipe and used for executing a second braking action of the automatic driving on the vehicle;
the third valve is arranged on the first branch pipe, is positioned between the first valve and the second main pipeline, and is used for keeping an opening state when the first braking action is executed and keeping a closing state when the second braking action is executed;
the control unit is connected with the second valve and the third valve and used for controlling the second valve to execute the second braking action.
2. The vehicle control system according to claim 1,
the first valve is a three-way valve;
the second valve is a normally closed type electric control flow valve;
the third valve is a normally open type electric control flow valve.
3. The vehicle control system according to claim 1 or 2, characterized in that the control unit includes:
and the control circuit board is connected with the second valve and the third valve and is used for controlling the opening degrees of the second valve and the third valve.
4. The vehicle control system of claim 1, wherein the fluid is any one of:
air and hydraulic oil.
5. A vehicle control method, characterized by being applied to the vehicle control system according to any one of claims 1 to 4, the method comprising:
when the vehicle is in an automatic driving state, according to a brake signal of the vehicle, controlling to open the second valve, close the third valve and execute a second brake action on the vehicle;
and when the vehicle is in a non-automatic driving state, controlling to close the second valve and open the third valve.
6. The vehicle control method according to claim 5, wherein the controlling of the opening of the second valve according to the brake signal of the vehicle includes:
according to the first safety distance of the braking signal, closing the third valve, and adjusting the second valve to a first opening degree so as to control the braking distance of the vehicle; the first safe distance is the distance from the running brake to the non-collision in the static process of the vehicle.
7. The vehicle control method according to claim 5, wherein the controlling of the opening of the second valve according to a brake signal of the vehicle further comprises:
according to a second safety distance of the brake signal, closing the third valve, and adjusting the second valve to a second opening degree so as to control the acceleration of the vehicle; and the second safe distance is the distance that the vehicle does not collide in the process of braking to be not static from running.
8. A vehicle control apparatus, characterized by being applied to the vehicle control system according to any one of claims 1 to 4, the apparatus comprising:
the first control module is used for controlling the second valve to be opened, the third valve to be closed and the second brake action to be executed on the vehicle according to the brake signal of the vehicle when the vehicle is in the automatic driving state;
and the second control module is used for controlling to close the second valve and open the third valve when the vehicle is in a non-automatic driving state.
9. The vehicle control apparatus according to claim 8, characterized in that the first control module includes:
the first control submodule is used for closing the third valve according to a first safety distance of the brake signal and adjusting the second valve to a first opening degree so as to control the brake distance of the vehicle; the first safe distance is the distance from the running brake to the non-collision in the static process of the vehicle;
the second control submodule is used for closing the third valve according to a second safety distance of the brake signal and adjusting the second valve to a second opening degree so as to control the acceleration of the vehicle; and the second safe distance is the distance that the vehicle does not collide in the process of braking to be not static from running.
10. A vehicle characterized by comprising the vehicle control system of any one of claims 1 to 4.
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