CN115431937A - Emergency braking method, device, medium, vehicle and system - Google Patents
Emergency braking method, device, medium, vehicle and system Download PDFInfo
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- CN115431937A CN115431937A CN202210529805.XA CN202210529805A CN115431937A CN 115431937 A CN115431937 A CN 115431937A CN 202210529805 A CN202210529805 A CN 202210529805A CN 115431937 A CN115431937 A CN 115431937A
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- vehicle
- request
- braking
- brake
- emergency braking
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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
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
Abstract
The present disclosure relates to an emergency braking method, an apparatus, a medium, a vehicle, and a system, the emergency braking method being applied to a brake control apparatus of the vehicle. Firstly, acquiring a pre-starting request and an idle stroke elimination request; then, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle; finally, if an emergency braking request is obtained from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request. By the mode, the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle can be eliminated in the pre-braking stage, so that the vehicle can be directly controlled to carry out emergency braking when entering the emergency braking stage formally, the emergency braking time is shortened, and finally, collision is effectively avoided and the possibility of collision is reduced.
Description
Technical Field
The present disclosure relates to the field of vehicle safety technologies, and in particular, to an emergency braking method, apparatus, medium, vehicle, and system.
Background
At present, the types of vehicles are more and more, and the requirements of people on the safety performance of the vehicles are also higher and higher. The vehicle is provided with an Automatic Braking Priming (ABP) stage and an All-wheel Emergency Braking (AEB) stage, and the vehicle can be braked emergently in the ABP stage if an Emergency situation is met or the distance between the vehicle and an obstacle is short during the driving process of the vehicle.
The existing emergency braking mode can eliminate the gap between a brake disc and a friction disc at an ABP stage, namely eliminate the distance between the brake disc and the friction disc of a vehicle at a pre-braking stage, and eliminate the distance of the first half idle stroke of the vehicle at an AEB stage to perform emergency braking, namely eliminate the distance of the first half idle stroke of the vehicle at a formal emergency braking stage and perform emergency braking. However, according to the emergency braking method, when the vehicle enters the emergency braking stage in the official form, the vehicle needs to be braked in the emergency after the distance of the first half of the idle stroke of the vehicle is removed, so that the time for the emergency braking in the official braking stage is long, and further, the possibility of collision cannot be effectively avoided or reduced.
Therefore, it is an urgent technical problem to provide an emergency braking method for shortening the emergency braking time.
Disclosure of Invention
To solve the technical problems stated above or at least partially, the present disclosure provides an emergency braking method, apparatus, medium, vehicle, and system.
In a first aspect, the present disclosure provides an emergency braking method applied to a brake control apparatus of a vehicle, the method including:
acquiring a pre-braking request and an idle stroke elimination request, wherein the pre-braking request is acquired from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency braking controller;
controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle;
if an emergency braking request is received from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request.
In some embodiments of the present disclosure, a brake control apparatus includes a body stabilizer and a brake booster;
wherein, based on the pre-braking request and the idle stroke elimination request, the vehicle is controlled to perform pre-braking, comprising:
eliminating, by a vehicle body stabilizer, a distance between a brake disc and a friction pad of a vehicle based on a pre-braking request;
the distance of the idle stroke of the vehicle is eliminated based on the idle stroke elimination request by the vehicle body stabilizer and the brake booster.
In some embodiments of the present disclosure, the elimination of the distance of the idle stroke of the vehicle based on the idle stroke elimination request by the vehicle body stabilizer and the brake booster includes:
transmitting the pre-power carried by the idle stroke elimination request to the brake booster through the vehicle body stabilizer;
the distance of the idle stroke of the vehicle is eliminated by the brake booster based on the pre-power.
In some embodiments of the present disclosure, the elimination of the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the vehicle body stabilizer and the brake booster includes:
generating a pre-braking hydraulic flow according to the pre-braking power carried by the idle stroke elimination request through a vehicle body stabilizer, and sending the pre-braking hydraulic flow to a brake booster;
the distance of the idle stroke of the vehicle is eliminated by the brake booster based on the pre-braking hydraulic flow.
In some embodiments of the present disclosure, while eliminating the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the vehicle body stabilizer and the brake booster, the method further includes:
if the distance between the brake disc and the friction plate of the vehicle is not completely eliminated, the distance between the brake disc and the friction plate of the vehicle is continuously eliminated based on the idle stroke elimination request.
In some embodiments of the present disclosure, a brake control apparatus includes a body stabilizer and a brake booster;
wherein, based on the emergency braking request, the vehicle is controlled to carry out emergency braking, comprising:
generating a pressure building request based on the emergency braking request through a vehicle body stabilizer, and sending the pressure building request to a brake booster;
and controlling the vehicle to perform emergency braking based on the pressure building request through the brake booster.
In some embodiments of the present disclosure, the build-up request carries an emergency braking force;
wherein, through the automobile body stabilizer, based on the emergency braking request generates the request of building voltage, include:
acquiring deceleration of the vehicle in response to the emergency braking request;
and calculating the emergency braking force based on the deceleration of the vehicle to obtain a pressure build-up request carrying the emergency braking force.
In some embodiments of the present disclosure, the build pressure request carries an emergency brake hydraulic flow rate;
wherein, through the automobile body stabilizer, based on the emergency braking request generates the request of building voltage, include:
acquiring deceleration and hydraulic flow rate of the vehicle in response to the emergency braking request;
calculating an emergency braking force based on a deceleration of the vehicle;
and calculating the emergency brake hydraulic flow according to the emergency brake force, the hydraulic flow speed and the relationship between the predetermined brake force and the liquid volume to obtain a pressure building request carrying the emergency brake hydraulic flow.
In a second aspect, the present disclosure provides an emergency braking device provided in a brake control device of a vehicle, the device including:
the system comprises a request acquisition module, a vehicle motion controller and an emergency brake controller, wherein the request acquisition module is used for acquiring a pre-braking request and an idle stroke elimination request sent by the vehicle motion controller, the pre-braking request is acquired from the emergency brake controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency brake controller;
the pre-braking control module is used for controlling the vehicle to perform pre-braking based on a pre-braking request and an idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle;
and the emergency braking module is used for controlling the vehicle to perform emergency braking based on the emergency braking request if the emergency braking request is acquired from the emergency braking controller.
In a third aspect, the present disclosure provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the emergency braking method of the first aspect.
In a fourth aspect, the present disclosure provides a vehicle equipped with a brake control apparatus, wherein the brake control apparatus is configured to obtain a pre-braking request and a lost motion elimination request, wherein the pre-braking request is obtained from an emergency brake controller by a vehicle motion controller, and the lost motion elimination request is generated by the vehicle motion controller according to the pre-braking request obtained from the emergency brake controller;
controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle;
if the emergency braking request is obtained from the emergency braking controller, the vehicle is controlled to carry out emergency braking based on the emergency braking request.
In a fifth aspect, the present disclosure provides an emergency braking system, comprising:
the emergency brake controller is used for acquiring the obstacle information and the driver intention in front of the vehicle and generating a pre-brake request according to the obstacle information and the driver intention;
the vehicle motion controller is used for generating an idle stroke elimination request according to the pre-braking request and sending the pre-braking request and the idle stroke elimination request to the brake control device;
and the brake control device is used for acquiring a pre-braking request and an idle stroke elimination request, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle, and controlling the vehicle to perform emergency braking based on the emergency braking request if the emergency braking request is acquired from the emergency braking controller.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the emergency braking method, the emergency braking device, the emergency braking medium, the vehicle and the emergency braking system are applied to a braking control device of the vehicle. Firstly, a pre-braking request and an idle stroke elimination request are obtained, wherein the pre-braking request is obtained from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request obtained from the emergency braking controller; then, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle; finally, if an emergency braking request is received from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request. Through the mode, when the vehicle needs emergency braking, the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle can be eliminated in the pre-braking stage, so that when the received emergency braking request formally enters the emergency braking stage, the vehicle can be directly controlled to carry out emergency braking, the emergency braking time is shortened, and finally collision is effectively avoided and the possibility of collision is reduced.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale.
FIG. 1 is a schematic illustration of stages in emergency braking of a vehicle provided by the prior art;
fig. 2 is an architecture diagram of an emergency brake device provided in the prior art;
FIG. 3 is a schematic illustration of components on a vehicle performing emergency braking;
fig. 4 is a schematic flow chart of an emergency braking method according to an embodiment of the present disclosure;
fig. 5 is an architecture diagram of an emergency braking device provided in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an emergency braking device according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more complete and thorough understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
With the rapid development of vehicle technology, the utilization rate of vehicles is higher and higher, and under the condition that the utilization rate of vehicles is higher and higher, the probability of traffic accidents is higher and higher. Therefore, emergency braking of vehicles is increasingly applied in the field of vehicle safety to improve safety during vehicle driving.
At present, the types of vehicles are more and more, and the requirements of people on the safety performance of the vehicles are also higher and higher. For example, in some medium and large full-size Sport Utility Vehicles (SUVs), if an emergency occurs or the Vehicle is in close proximity to an obstacle during driving, the Vehicle needs to be braked emergently for a long time due to a heavy Vehicle weight, and therefore, the emergency braking time of the Vehicle is long, and collision cannot be effectively avoided or the possibility of collision is reduced.
To facilitate understanding of the emergency braking process of a vehicle, fig. 1 shows a schematic diagram of stages of emergency braking of a vehicle provided by the prior art.
As shown in fig. 1, the emergency braking process of the vehicle can be divided into four stages, which are: an ABP phase, an Adaptive Brake Assist (ABA) phase, an Automatic Warning Braking (AWB) phase, and an AEB phase.
Specifically, during the ABP phase, the body stabilizer on the vehicle needs to eliminate the distance between the brake disc and the friction pad on the wheel of the vehicle, thereby preparing for the build-up process of the AEB phase. The vehicle body stabilizer may be an Electronic mechanism that controls braking of the entire vehicle, and may specifically be an Electronic Stability Program (ESP).
Specifically, in the ABA stage, the vehicle body stabilizer can feed back a processing result in the ABP stage to an emergency brake controller on the vehicle, the emergency brake controller can judge whether the vehicle has a potential collision risk according to the processing result in the ABP stage, if so, a collision early warning function is activated, and a corresponding grade signal (ABA-Level) and an adaptive brake activation signal (ABA-Active) signal of adaptive braking are sent to the vehicle body stabilizer, so that the vehicle body stabilizer improves a hydraulic brake auxiliary threshold according to the two signals, and then the vehicle body stabilizer feeds back the improved hydraulic brake auxiliary threshold to the emergency brake controller. The Emergency brake controller may be an Automatic Emergency Brake (AEB), among others.
Specifically, in the ABP stage, the emergency brake controller may send the inching force and the inching frequency of the automatic warning brake level to the vehicle body stabilizer, and the vehicle body stabilizer may alarm according to the inching force and the inching frequency of the automatic warning brake level and feed an alarm result back to the emergency brake controller.
Specifically, in the AEB stage, if the user does not control the vehicle to perform emergency braking according to the alarm result or the emergency braking mode is wrong, the emergency braking controller sends an emergency braking request to the vehicle body stabilizer, the vehicle body stabilizer combines with the brake booster, the distance of the first half section of the idle stroke of the vehicle is eliminated according to the emergency braking request, and the vehicle is subjected to emergency braking, so that the emergency braking process of the vehicle is completed. The brake booster may be an electronic booster (eboaster) that assists the driver in applying the braking force.
The foregoing briefly describes four phases of an emergency braking process of a vehicle, which may be performed by an emergency braking device on the vehicle for a specific understanding of the emergency braking process in the prior art. Fig. 2 shows an architecture diagram of an emergency brake device provided in the prior art. Fig. 3 shows a schematic diagram of the components of a vehicle for performing emergency braking.
As shown in fig. 2, the emergency braking apparatus of a vehicle includes: an emergency brake controller 100 and a brake control device 200. The brake control device 200 includes a vehicle body stabilizer 210 and a brake booster 220. Wherein the body stabilizer 210 may be the ESP described above, and the brake booster 200 may be the iBooster described above.
As shown in fig. 3, the components of the vehicle that perform emergency braking include: a body stabilizer 210, a brake booster 220, a brake pedal 230, a master cylinder 240, a hydraulic brake line 250, and wheels 260.
Specifically, in the ABP phase, first, the emergency brake controller 100 on the vehicle acquires information on an obstacle in front of the vehicle and driver's intention from the brake information of the brake pedal 230, and determines whether the vehicle is about to collide according to the information on the obstacle in front and the driver's intention, and generates a pre-braking request if it is determined that the collision is unavoidable; next, the emergency brake controller 100 executes S1, i.e., the emergency brake controller 100 sends a pre-braking request to the vehicle body stabilizer 210 in the brake control device 200; then, the vehicle body stabilizer 210 pressurizes the brake master cylinder 240 by the motor, thereby building pressure on the hydraulic brake line 250, and since the wheel 260 forms a pressure difference with the hydraulic brake line 250, the pressure difference can be used to eliminate a gap between a brake disc and a friction pad in the wheel 260, so that the gap between the brake disc and the friction pad is eliminated at the ABP stage of the vehicle, thereby shortening the pressurizing time and the braking distance for the emergency braking process. The ABP phase is also understood to be the pre-braking phase.
Specifically, in the ABA stage, first, the vehicle body stabilizer 210 may execute S2, that is, the vehicle body stabilizer 210 feeds back a pre-braking result to the emergency brake controller 100; then, the emergency brake controller 100 may determine whether the vehicle has a potential collision risk according to the pre-braking result, activate the collision warning function if the vehicle has the potential collision risk, and send an ABA-Level signal and an ABA-Active signal to the vehicle body stabilizer 210 (this process is not shown in fig. 2), so that the vehicle body stabilizer 210 raises the threshold for hydraulic brake assist according to the two signals, and then the vehicle body stabilizer 210 feeds back the raised threshold for hydraulic brake assist to the emergency brake controller 100 (this process is not shown in fig. 2).
Specifically, in the ABP phase, first, the emergency brake controller 100 may send the inching force and the inching frequency of the automatic warning braking level to the body stabilizer 210 (this process is not shown in fig. 2), and the body stabilizer 210 may alarm according to the inching force and the inching frequency of the automatic warning braking level (this process is not shown in fig. 2), and feed back an alarm result to the emergency brake controller 100, where the alarm result may include an emergency braking operation of the user.
Specifically, in the AEB stage, if the alarm result does not include the user 'S emergency braking operation or the user' S emergency braking operation is incorrect, the emergency braking controller 100 may perform S3, that is, send an emergency braking request to the body stabilizer 210; next, the body stabilizer 210 generates a pressure build request according to the emergency braking request, and performs S4, that is, sends the pressure build request to the brake booster 220; finally, the brake booster 220 pressurizes the master cylinder 240 through the motor in response to the pressurizing request, so that the fluid in the master cylinder 240 flows into the wheel 260 through the hydraulic brake line 250, and the wheel 260 eliminates the distance of the first half of the idle stroke of the vehicle and performs emergency braking according to the flowing fluid, thereby completing the emergency braking process of the vehicle.
It should be noted that, based on the emergency braking mode of the prior art, another drawback is: if the time of the pre-braking stage is short, the emergency braking stage is entered formally when the distance between the brake disc and the friction disc cannot be completely eliminated in the pre-braking stage, so that the emergency braking can be performed only after the gap between the brake disc and the friction disc and the distance of the first half-section idle stroke of the vehicle are continuously eliminated after the emergency braking stage is entered formally, and the emergency braking time of the formal emergency braking stage is further prolonged.
In summary, based on the emergency braking method provided by the prior art, the emergency braking time of the vehicle is too long, and the collision cannot be effectively avoided or the possibility of collision is reduced.
In order to solve the above problem, embodiments of the present disclosure provide an emergency braking method, an apparatus, a medium, a vehicle, and a system, which can shorten an emergency braking time.
The emergency braking method provided by the embodiment of the present disclosure is specifically explained below with reference to fig. 4. Wherein the emergency braking method is applied to a brake control device of a vehicle. The brake control device may be constituted by a vehicle body stabilizer and a brake booster. The vehicle body stabilizer can be an ESP or other forms of vehicle body stabilizers, and the brake booster can be an iBooster or other forms of brake boosters.
Fig. 4 shows a schematic flow chart of an emergency braking method according to an embodiment of the present disclosure.
As shown in fig. 4, the emergency braking method may include the following steps.
And S410, acquiring a pre-braking request and an idle stroke elimination request, wherein the pre-braking request is acquired from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency braking controller.
In the disclosed embodiment, during the running of the vehicle, the emergency brake controller on the vehicle may acquire the obstacle information in front of the vehicle and the driver's intention in real time, generate the pre-braking request according to the obstacle information in front of the vehicle and the driver's intention, and then the vehicle motion controller may generate the idle stroke elimination request based on the pre-braking request and transmit the pre-braking request and the idle stroke elimination request to the brake control device, so that the brake control device acquires the pre-braking request and the idle stroke elimination request.
To facilitate understanding of the process of the brake control device acquiring the pre-braking request and the idle stroke elimination request, fig. 5 shows an architecture diagram of an emergency brake device provided by the embodiment of the disclosure.
As shown in fig. 5, the emergency brake apparatus includes an emergency brake controller 100, a brake control apparatus 200, and a vehicle motion controller 300. The brake control device 200 includes a vehicle body stabilizer 210 and a brake booster 220.
Specifically, first, the emergency brake controller 100 on the vehicle may acquire the obstacle information and the driver's intention in front of the vehicle in real time, and generate a pre-braking request according to the obstacle information and the driver's intention in front of the vehicle; then, the emergency brake controller 100 executes S1, i.e., sends a pre-braking request to the vehicle motion controller 300; next, the vehicle motion controller 300 generates an idle stroke elimination request based on the pre-braking request, and then executes S2, that is, sends the pre-braking request and the idle stroke elimination request to the brake control device 200, and specifically may send the pre-braking request and the idle stroke elimination request to the body stabilizer 210 in the brake control device 200, so that the brake control device 200 obtains the pre-braking request and the idle stroke elimination request.
The emergency brake controller may be the AEB described above, and the vehicle motion controller may be a vehicle motion management device (VMM).
Specifically, the vehicle motion controller 300 may acquire the travel speed of the vehicle after receiving the pre-braking request, and generate the idle stroke elimination request according to the travel speed of the vehicle.
And S420, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle.
In the embodiment of the disclosure, after acquiring the pre-braking request and the idle stroke elimination request, the braking control device may control the vehicle to pre-brake in response to the pre-braking request and the idle stroke elimination request, specifically, may eliminate a distance between a brake disc and a friction disc of the vehicle and eliminate a distance of an idle stroke of the vehicle.
The idle stroke of the vehicle can be specifically an idle stroke from a brake pedal to an input push rod on the vehicle.
In some embodiments, the brake control apparatus may eliminate the distance between the brake disc and the friction pad of the vehicle based on the pre-braking request through the body stabilizer, and eliminate the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the brake booster.
Specifically, with continued reference to fig. 5, for the process of eliminating the distance of the idle stroke of the vehicle, the brake control device 200 may transmit the pre-power carried by the idle stroke elimination request to the brake booster 220 through the body stabilizer 210, so that the brake booster 220 eliminates the distance of the idle stroke of the vehicle based on the pre-power carried by the idle stroke elimination request; alternatively, the brake control apparatus 200 may generate the pre-braking hydraulic flow rate based on the pre-braking power carried by the idle stroke elimination request through the vehicle body stabilizer 210, and then may transmit the pre-braking hydraulic flow rate to the brake booster 220 through the vehicle body stabilizer 210, so that the brake booster 220 eliminates the distance of the idle stroke of the vehicle based on the pre-braking hydraulic flow rate.
In other embodiments, the brake control device may eliminate the distance between the brake disc and the friction pad of the vehicle based on the pre-braking request through the body stabilizer, and if the distance between the brake disc and the friction pad of the vehicle is not completely eliminated, eliminate the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the brake booster and continue to eliminate the distance between the brake disc and the friction pad of the vehicle.
Specifically, with continued reference to fig. 5, for the process of eliminating the distance of the idle stroke of the vehicle and continuing to eliminate the distance between the brake disc and the friction pad of the vehicle, the brake control device 200 may transmit the pre-power carried by the idle stroke elimination request to the brake booster 220 through the vehicle body stabilizer 210, so that the brake booster 220 eliminates the distance of the idle stroke of the vehicle and continues to eliminate the distance between the brake disc and the friction pad of the vehicle based on the pre-power carried by the idle stroke elimination request; alternatively, the brake control apparatus 200 may generate the pre-braking hydraulic flow rate based on the pre-braking force carried by the idle stroke elimination request through the vehicle body stabilizer 210, and then may transmit the pre-braking hydraulic flow rate to the brake booster 220 through the vehicle body stabilizer 210, so that the brake booster 220 eliminates the distance of the idle stroke of the vehicle and continues to eliminate the distance between the brake disc and the friction pad of the vehicle based on the pre-braking hydraulic flow rate.
It should be noted that, the elimination manner of the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle can be referred to the description of the ABP stage and the AEB stage, which is not described herein again.
Thus, in the disclosed embodiment, when the vehicle needs emergency braking, the distance between the brake disc and the friction plate of the vehicle and the distance of the idle stroke of the vehicle can be eliminated simultaneously in the pre-braking stage, so as to prepare for entering the emergency braking stage formally.
And S430, if the emergency braking request is acquired from the emergency braking controller, controlling the vehicle to perform emergency braking based on the emergency braking request.
In the embodiment of the disclosure, after the brake control device eliminates the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle, the brake control device may feed back a pre-braking result to the emergency brake controller, and the emergency brake controller may detect an emergency braking operation of a user, and if the user does not control the vehicle to perform emergency braking or the emergency braking mode is incorrect, the emergency brake controller generates an emergency braking request and sends the emergency braking request to the brake control device, and the brake control device controls the vehicle to perform emergency braking based on the brake control device.
To facilitate understanding of the emergency braking process, with continued reference to fig. 5, after the brake control device 200 eliminates the distance between the brake disc and the friction plate of the vehicle and the distance of the idle stroke of the vehicle, the brake booster 220 and the body stabilizer 210 in the brake control device 200 may perform S4, i.e., feedback the pre-braking result to the emergency brake controller 100; next, if the emergency brake controller 100 does not detect the emergency brake operation of the user or the emergency braking manner is incorrect from the pre-braking result, the emergency brake controller 100 generates an emergency braking request and transmits the emergency braking request to the brake control device 200; then, the brake control device 200 enters an emergency braking phase, i.e., enters an AEB phase, the brake control device 200 may generate a pressure build-up request according to the emergency braking request through the vehicle body stabilizer 210, and perform S6 through the vehicle body stabilizer 210, i.e., the vehicle body stabilizer 210 may send the pressure build-up request to the brake booster 220, so that the brake booster 220 performs emergency braking according to the pressure build-up request, thereby completing the emergency braking process.
In some embodiments, the build-up request may carry an emergency braking force for emergency braking.
In other embodiments, the build pressure request may carry an emergency brake hydraulic flow for emergency braking.
It should be noted that, when the vehicle enters the emergency braking stage, reference may be made to the description of the AEB stage, which is not described herein again.
Therefore, in the embodiment of the disclosure, when the vehicle formally enters the emergency braking stage, the vehicle can be directly controlled to perform emergency braking, and the emergency braking can be performed without the need of eliminating the idle stroke of the vehicle, so that the emergency braking time is shortened.
The disclosed embodiments provide an emergency braking method that can be applied to a brake control device of a vehicle. Firstly, a pre-braking request and an idle stroke elimination request are obtained, wherein the pre-braking request is obtained from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request obtained from the emergency braking controller; then, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle; finally, if an emergency braking request is obtained from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request. Through the mode, when the vehicle needs emergency braking, the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle can be eliminated in the pre-braking stage, so that when the received emergency braking request formally enters the emergency braking stage, the vehicle can be directly controlled to carry out emergency braking, the emergency braking time is shortened, and finally collision is effectively avoided and the possibility of collision is reduced.
In another embodiment of the present disclosure, the brake control device may include a body stabilizer and a brake booster, and control the vehicle to pre-brake through the body stabilizer and the brake booster.
In this embodiment of the present disclosure, optionally, S420 may specifically include the following steps:
s4201, eliminating the distance between a brake disc and a friction disc of the vehicle based on a pre-braking request through a vehicle body stabilizer;
s4202, eliminating the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the body stabilizer and the brake booster.
For the principle of eliminating the distance between the brake disc and the friction disc of the vehicle in S4201, reference may be specifically made to the description of the aforementioned ABP stage.
In some embodiments, S4202 may specifically include the steps of:
s42021, sending the prefabricated power carried by the idle stroke elimination request to a brake booster through the vehicle body stabilizer;
s42022, eliminating the distance of the idle stroke of the vehicle based on the pre-power by the brake booster.
Wherein the pre-power may be a force for eliminating a distance of an idle stroke of the vehicle. Specifically, the pre-power may be determined by the vehicle motion controller based on the travel speed of the vehicle.
The idle stroke distance of the vehicle can be the distance of the first half idle stroke of the vehicle. Specifically, the first half of the idle stroke may be the idle stroke before the pre-actuation request is received.
Specifically, with continued reference to fig. 5, first, the vehicle body stabilizer 210 extracts the pre-power from the idle stroke elimination request, and performs S3 to send the pre-power to the brake booster 220; then, the brake booster 220 may pressurize the master cylinder 240 by the motor according to the pre-braking force after receiving the pre-braking force, such that the fluid in the master cylinder 240 flows into the wheel 260 through the hydraulic brake line 250, and the wheel 260 may eliminate the idle stroke distance of the vehicle according to the inflow fluid.
In other embodiments, S4202 may specifically include the following steps:
s42023, generating a pre-braking hydraulic flow according to the pre-braking power carried by the idle stroke elimination request through the vehicle body stabilizer, and sending the pre-braking hydraulic flow to the brake booster;
s42024, eliminating, by the brake booster, a distance of an idle stroke of the vehicle based on the pre-braking hydraulic flow.
The pre-braking hydraulic flow may be a flow of fluid from the master cylinder 240 through the hydraulic brake line 250 to the wheel 260, among others.
Specifically, with continued reference to fig. 5, first, the vehicle body stabilizer 210 extracts the pre-actuation power from the idle stroke elimination request, calculates the pre-actuation hydraulic flow according to the pre-actuation power, the predetermined conversion relationship between the pre-actuation power and the liquid volume, and the liquid flow rate, and performs S3 to send the pre-actuation hydraulic flow to the brake booster 220; then, after receiving the pre-braking hydraulic flow, the brake booster 220 may pressurize the master cylinder 240 by the motor according to the pre-braking hydraulic flow, so that the fluid in the master cylinder 240 flows into the wheel 260 through the hydraulic brake line 250 according to the pre-braking hydraulic flow, and the wheel 260 may eliminate the idle stroke distance of the vehicle according to the flowing fluid.
Therefore, in the embodiment of the disclosure, in the pre-braking stage, the distance between the brake disc and the friction disc of the vehicle and the distance of the first half idle stroke of the vehicle can be eliminated, so that emergency braking can be directly performed after the emergency braking stage is formally entered, and therefore, when the emergency braking stage is formally entered, the time of emergency braking is shortened, and meanwhile, double-link triggering of the vehicle body stabilizer is also realized.
In still other embodiments, while performing S4202, the method may further include the step of:
and S42025, if the distance between the brake disc and the friction plate of the vehicle is not completely eliminated, continuously eliminating the distance between the brake disc and the friction plate of the vehicle based on the idle stroke elimination request.
It can be understood that when the pre-braking period is short, the body stabilizer is likely to be unable to completely eliminate the distance between the brake disc and the friction plate, and the emergency braking period is formally entered. For this case, the vehicle body stabilizer and the brake booster may continue to eliminate the distance between the brake disk and the friction plate of the vehicle based on the idle stroke elimination request.
Alternatively, the vehicle body stabilizer may transmit the pre-power carried by the idle stroke elimination request to the brake booster, so that the brake booster continues to eliminate the distance between the brake disc and the friction pad of the vehicle according to the pre-power; or the vehicle body stabilizer can generate the preset hydraulic flow according to the preset power carried by the idle stroke elimination request, and send the preset hydraulic flow to the brake booster, so that the brake booster continuously eliminates the distance between the brake disc and the friction plate of the vehicle according to the preset hydraulic flow.
Therefore, in the embodiment of the disclosure, if the time of the pre-braking stage is short, the emergency braking stage is formally entered when the distance between the brake disc and the friction plate cannot be completely eliminated in the pre-braking stage, and for the situation, the brake control device can continuously eliminate the distance between the brake disc and the friction plate of the vehicle while eliminating the idle stroke distance of the vehicle through the brake booster, so that the emergency braking can be directly performed when the emergency braking stage is formally entered, thereby shortening the emergency braking time; and because the pressure building speed of the brake booster is greater than that of the vehicle body stabilizer, even if the vehicle body stabilizer cannot completely eliminate the distance between the brake disc and the friction plate of the vehicle, the brake booster can also quickly eliminate the distance between the brake disc and the friction plate of the vehicle, ensure that the distance between the brake disc and the friction plate can be completely eliminated in the pre-braking stage, and also expand the functions of the brake booster.
In still another embodiment of the present disclosure, the brake control apparatus may include a vehicle body stabilizer and a brake booster, and control the vehicle to perform emergency braking through the vehicle body stabilizer and the brake booster.
In the embodiment of the present disclosure, optionally, S430 may specifically include the following steps:
s4301, generating a pressure building request based on the emergency braking request through a vehicle body stabilizer, and sending the pressure building request to a brake booster;
and S4302, controlling the vehicle to perform emergency braking through the brake booster based on the pressure building request.
Specifically, with continued reference to fig. 5, first, after the body stabilizer 210 performs pre-braking, S4 is performed to feed back a pre-braking result to the emergency brake controller 100; then, the emergency brake controller 100 transmits an emergency braking operation to the brake control device 200 according to the emergency braking operation of the user; next, the body stabilizer 210 in the brake control device 200 generates a pressure build-up request according to the emergency brake request, and performs S6, that is, transmits the pressure build-up request to the brake booster 220.
In some embodiments, the boost request carries an emergency braking force;
correspondingly, S4301 may specifically include the following steps:
s43011, responding to the emergency braking request, and acquiring the deceleration of the vehicle;
s43012, calculating an emergency braking force based on the deceleration of the vehicle, and obtaining a pressure build-up request carrying the emergency braking force.
Specifically, after receiving the emergency braking request, the vehicle body stabilizer acquires the deceleration of the vehicle according to the braking condition of the vehicle, calculates the emergency braking force according to the deceleration, and obtains the pressure build-up request carrying the emergency braking force.
Further, with continued reference to fig. 3, the brake booster 220 may pressurize the master cylinder 240 through the motor according to the emergency braking force carried by the pressurization request, so that the fluid in the master cylinder 240 flows into the wheel 260 through the hydraulic brake pipe 250, and the wheel 260 may perform emergency braking according to the flowing fluid, thereby completing the emergency braking process of the vehicle.
In other embodiments, the pressure build request carries an emergency brake hydraulic flow rate;
correspondingly, S4301 may specifically include the following steps:
s43013, responding to the emergency braking request, and acquiring the deceleration and the hydraulic flow rate of the vehicle;
s43014, calculating an emergency braking force based on the deceleration of the vehicle;
s43015, calculating the emergency brake hydraulic flow according to the emergency brake force, the hydraulic flow rate and the predetermined relation between the brake force and the liquid volume to obtain the pressure building request carrying the emergency brake hydraulic flow.
Specifically, the vehicle body stabilizer acquires deceleration and hydraulic flow rate of the vehicle according to the emergency braking request, then calculates emergency braking force according to the deceleration of the vehicle, and then calculates emergency braking hydraulic flow rate according to the emergency braking force, the hydraulic flow rate and a predetermined relationship between the braking force and the liquid volume, thereby obtaining a pressure building request carrying the emergency braking hydraulic flow rate.
Further, with continued reference to fig. 3, after receiving the carried pressure buildup request of the emergency brake hydraulic flow, the brake booster 220 may pressurize the brake master cylinder 240 by the motor according to the emergency brake hydraulic flow, so that the brake master cylinder 240 controls the liquid to flow into the wheel 260 through the hydraulic brake pipe 250 based on the emergency brake hydraulic flow, and the wheel 260 performs emergency braking according to the flowing liquid, thereby completing the emergency braking process of the vehicle.
Thus, in the embodiment of the present disclosure, the brake control device may perform emergency braking based on the emergency braking force or the emergency braking hydraulic flow carried by the pressure build-up request through the brake booster, thereby sequentially performing an emergency braking process of the vehicle.
The embodiment of the present disclosure also provides an emergency braking device for implementing the emergency braking method, which is described below with reference to fig. 6. In the disclosed embodiment, the emergency braking device is disposed in an emergency control device of the vehicle. The emergency control device may be formed by a vehicle body stabilizer and a brake booster. The vehicle body stabilizer can be an ESP or other forms of vehicle body stabilizers, and the brake booster can be an iBooster or other forms of brake boosters.
Fig. 6 shows a schematic structural diagram of an emergency braking device provided by the embodiment of the disclosure.
As shown in fig. 6, the emergency braking device 600 may include:
a request obtaining module 610, configured to obtain a pre-braking request and a free-range elimination request, where the pre-braking request is obtained from the emergency braking controller through the vehicle motion controller, and the free-range elimination request is generated by the vehicle motion controller according to the pre-braking request obtained from the emergency braking controller;
the pre-braking control module 620 is used for controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises the elimination of the distance between a brake disc and a friction disc of the vehicle and the elimination of the distance of the idle stroke of the vehicle;
and an emergency braking module 630, configured to control the vehicle to perform emergency braking based on the emergency braking request if the emergency braking request is obtained from the emergency braking controller.
The emergency braking device according to the embodiment of the present disclosure is arranged in a brake control device of a vehicle. Firstly, a pre-braking request and an idle stroke elimination request are obtained, wherein the pre-braking request is obtained from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request obtained from the emergency braking controller; then, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle; finally, if an emergency braking request is received from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request. Through the mode, when the vehicle needs emergency braking, the distance between the brake disc and the friction disc of the vehicle and the distance of the idle stroke of the vehicle can be eliminated in the pre-braking stage, so that when the received emergency braking request formally enters the emergency braking stage, the vehicle can be directly controlled to carry out emergency braking, the emergency braking time is shortened, and finally collision is effectively avoided and the possibility of collision is reduced.
In some embodiments of the present disclosure, a brake control apparatus includes a body stabilizer and a brake booster;
accordingly, the pre-brake control module 620 may include:
a first eliminating unit for eliminating a distance between a brake disc and a friction pad of a vehicle based on a pre-braking request through a vehicle body stabilizer;
and a second eliminating unit for eliminating the distance of the idle stroke of the vehicle based on the idle stroke elimination request through the vehicle body stabilizer and the brake booster.
In some embodiments of the present disclosure, the second eliminating unit is specifically configured to send the pre-power carried by the idle stroke eliminating request to the brake booster through the vehicle body stabilizer;
the distance of the idle stroke of the vehicle is eliminated by the brake booster on the basis of the pre-power.
In some embodiments of the present disclosure, the second eliminating unit is specifically configured to generate a pre-braking hydraulic flow according to the pre-braking force carried by the idle stroke eliminating request through the vehicle body stabilizer, and send the pre-braking hydraulic flow to the brake booster;
the distance of the idle stroke of the vehicle is eliminated by the brake booster based on the pre-braking hydraulic flow.
In some embodiments of the present disclosure, the second elimination unit is further configured to continue to eliminate the distance between the brake disc and the friction pad of the vehicle based on the idle stroke elimination request if the distance between the brake disc and the friction pad of the vehicle is not completely eliminated.
In some embodiments of the present disclosure, a brake control apparatus includes a body stabilizer and a brake booster;
accordingly, the emergency braking module 630 may include:
the pressure building request generating unit is used for generating a pressure building request based on the emergency braking request through the vehicle body stabilizer and sending the pressure building request to the brake booster;
and the emergency braking unit is used for controlling the vehicle to perform emergency braking based on the pressure building request through the brake booster.
In some embodiments of the present disclosure, the build-up request carries an emergency braking force;
correspondingly, the pressure building request generating unit is specifically used for responding to the emergency braking request and acquiring the deceleration of the vehicle;
and calculating the emergency braking force based on the deceleration of the vehicle to obtain a pressure build-up request carrying the emergency braking force.
In some embodiments of the present disclosure, the build pressure request carries an emergency brake hydraulic flow rate;
correspondingly, the pressure build-up request generating unit is specifically used for responding to the emergency braking request and acquiring the deceleration and the hydraulic flow speed of the vehicle;
calculating an emergency braking force based on a deceleration of the vehicle;
and calculating the emergency brake hydraulic flow according to the emergency brake force, the hydraulic flow speed and the relationship between the predetermined brake force and the liquid volume to obtain a pressure building request carrying the emergency brake hydraulic flow.
It should be noted that the emergency braking device 600 shown in fig. 6 may perform each step in the method embodiment shown in fig. 4, and implement each process and effect in the method embodiment shown in fig. 4, which are not described herein again.
The embodiments of the computer-readable storage medium provided by the present disclosure are the same as the emergency braking methods of the embodiments described above, and details that are not described in detail in the embodiments of the computer-readable storage medium may refer to the embodiments of the emergency braking method described above.
The present embodiments provide a storage medium containing computer executable instructions which when executed by a computer processor are operable to perform an emergency braking method for application to a brake control apparatus of a vehicle, the method comprising:
acquiring a pre-braking request and an idle stroke elimination request, wherein the pre-braking request is acquired from the emergency braking controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency braking controller;
controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle;
if the emergency braking request is obtained from the emergency braking controller, the vehicle is controlled to carry out emergency braking based on the emergency braking request.
Of course, the storage medium provided by the embodiments of the present disclosure contains computer-executable instructions, and the computer-executable instructions are not limited to the above method operations, and may also perform related operations in the emergency braking method provided by any embodiments of the present disclosure.
The disclosed embodiment also provides a vehicle, which is provided with a brake control device;
the brake control device is used for acquiring a pre-braking request and an idle stroke elimination request, wherein the pre-braking request is acquired from the emergency brake controller through the vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency brake controller;
controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle;
if an emergency braking request is received from the emergency braking controller, the vehicle is controlled to perform emergency braking based on the emergency braking request.
The disclosed embodiment also provides an emergency braking system, which includes an emergency brake controller 100, a vehicle motion controller 200, and a brake control device 300, as shown in fig. 5.
An emergency brake controller 100 for acquiring obstacle information and driver's intention in front of the vehicle and generating a pre-braking request according to the obstacle information and the driver's intention;
a vehicle motion controller 200 for generating an idle stroke elimination request according to the pre-braking request, and sending the pre-braking request and the idle stroke elimination request to the brake control device;
and a brake control device 300 for obtaining a pre-braking request and an idle stroke elimination request, and controlling the vehicle to pre-brake based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking includes eliminating a distance between a brake disc and a friction disc of the vehicle and eliminating a distance of an idle stroke of the vehicle, and if an emergency braking request is obtained from the emergency braking controller, controlling the vehicle to perform emergency braking based on the emergency braking request.
From the above description of the embodiments, it is obvious for a person skilled in the art that the present disclosure can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present disclosure may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer cloud platform (which may be a personal computer, a server, or a network cloud platform, etc.) to execute the emergency braking method provided in the embodiments of the present disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. An emergency braking method, characterized by being applied to a brake control apparatus of a vehicle, the method comprising:
acquiring a pre-braking request and an idle stroke elimination request, wherein the pre-braking request is acquired from an emergency braking controller through a vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency braking controller;
controlling the vehicle to pre-brake based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating a distance between a brake disc and a friction disc of the vehicle and eliminating a distance of an idle stroke of the vehicle;
and if an emergency braking request is acquired from the emergency braking controller, controlling the vehicle to perform emergency braking based on the emergency braking request.
2. The method of claim 1, wherein the brake control device includes a body stabilizer and a brake booster;
wherein said controlling the vehicle to pre-brake based on the pre-braking request and the idle stroke cancellation request comprises:
eliminating, by the body stabilizer, a distance between a brake disc and a friction pad of the vehicle based on the pre-braking request;
eliminating, by the vehicle body stabilizer and the brake booster, a distance of an idle stroke of the vehicle based on the idle stroke elimination request.
3. The method of claim 2, wherein said eliminating, by said body stabilizer and said brake booster, the distance of the idle stroke of said vehicle based on said idle stroke elimination request comprises:
sending the pre-power carried by the idle stroke elimination request to the brake booster through the vehicle body stabilizer;
eliminating, by the brake booster, a distance of an idle stroke of the vehicle based on the pre-power.
4. The method of claim 2, wherein said eliminating, by said body stabilizer and said brake booster, the distance of the idle stroke of said vehicle based on said idle stroke elimination request comprises:
generating a preset hydraulic flow according to the preset power carried by the idle stroke elimination request through the vehicle body stabilizer, and sending the preset hydraulic flow to the brake booster;
eliminating, by the brake booster, a distance of an idle stroke of the vehicle based on the pre-braking hydraulic flow.
5. The method according to claim 2, wherein while said eliminating the distance of the idle stroke of the vehicle based on the idle stroke elimination request by the vehicle body stabilizer and the brake booster, the method further comprises:
if the distance between the brake disc and the friction disc of the vehicle is not completely eliminated, continuously eliminating the distance between the brake disc and the friction disc of the vehicle based on the idle stroke elimination request.
6. The method of claim 1, wherein the brake control device includes a body stabilizer and a brake booster;
wherein the controlling the vehicle to emergency brake based on the emergency braking request comprises:
generating, by the vehicle body stabilizer, a pressure build-up request based on the emergency braking request, and sending the pressure build-up request to the brake booster;
controlling, by the brake booster, the vehicle to perform emergency braking based on the pressure build-up request.
7. The method of claim 6, wherein the build-up pressure request carries an emergency braking force;
wherein the generating, by the body stabilizer, a build-up pressure request based on the emergency braking request comprises:
acquiring a deceleration of the vehicle in response to the emergency braking request;
calculating the emergency braking force based on the deceleration of the vehicle, and obtaining the pressure build-up request carrying the emergency braking force.
8. The method of claim 6, wherein the build pressure request carries an emergency brake hydraulic flow rate;
wherein the generating, by the body stabilizer, a build-up pressure request based on the emergency braking request comprises:
acquiring deceleration and hydraulic flow rate of the vehicle in response to the emergency braking request;
calculating the emergency braking force based on a deceleration of the vehicle;
and calculating the emergency brake hydraulic flow according to the emergency brake force, the hydraulic flow rate and the relationship between the predetermined brake force and the liquid volume to obtain the pressure building request carrying the emergency brake hydraulic flow.
9. An emergency brake device, which is arranged in a brake control device of a vehicle, the emergency brake device comprising:
the system comprises a request acquisition module, a control module and a control module, wherein the request acquisition module is used for acquiring a pre-braking request and an idle stroke elimination request, the pre-braking request is acquired from an emergency braking controller through a vehicle motion controller, and the idle stroke elimination request is generated by the vehicle motion controller according to the pre-braking request acquired from the emergency braking controller;
the pre-braking control module is used for controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises the elimination of the distance between a brake disc and a friction disc of the vehicle and the elimination of the distance of the idle stroke of the vehicle;
and the emergency braking module is used for controlling the vehicle to perform emergency braking based on the emergency braking request if the emergency braking request is acquired from the emergency braking controller.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the emergency braking method according to any of the preceding claims 1-8.
11. A vehicle characterized by being provided with a brake control device, wherein the brake control device is configured to obtain a pre-braking request and a lost motion elimination request, wherein the pre-braking request is obtained from an emergency brake controller by a vehicle motion controller, and the lost motion elimination request is generated by the vehicle motion controller from the pre-braking request obtained from the emergency brake controller;
controlling the vehicle to pre-brake based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating a distance between a brake disc and a friction disc of the vehicle and eliminating a distance of an idle stroke of the vehicle;
and if an emergency braking request is acquired from the emergency braking controller, controlling the vehicle to perform emergency braking based on the emergency braking request.
12. An emergency braking system, configured on a vehicle, the system comprising:
the emergency brake controller is used for acquiring obstacle information and driver intention in front of the vehicle and generating a pre-brake request according to the obstacle information and the driver intention;
the vehicle motion controller is used for generating an idle stroke elimination request according to the pre-braking request and sending the pre-braking request and the idle stroke elimination request to a brake control device;
the brake control device is used for acquiring a pre-braking request and an idle stroke elimination request, controlling the vehicle to perform pre-braking based on the pre-braking request and the idle stroke elimination request, wherein the pre-braking comprises eliminating the distance between a brake disc and a friction disc of the vehicle and eliminating the distance of the idle stroke of the vehicle, and controlling the vehicle to perform emergency braking based on the emergency braking request if the emergency braking request is acquired from the emergency braking controller.
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| CN202210529805.XA CN115431937A (en) | 2022-05-16 | 2022-05-16 | Emergency braking method, device, medium, vehicle and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946665A (en) * | 2023-02-07 | 2023-04-11 | 上海拿森汽车电子有限公司 | Method, system and storage medium for detecting pressure build-up starting point position |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946665A (en) * | 2023-02-07 | 2023-04-11 | 上海拿森汽车电子有限公司 | Method, system and storage medium for detecting pressure build-up starting point position |
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