CN116101071A - Vehicle braking method and device, vehicle and medium - Google Patents
Vehicle braking method and device, vehicle and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present disclosure relates to a vehicle braking method, which belongs to the technical field of vehicle control, and the method comprises the following steps: acquiring running environment information of a vehicle, wherein the running environment information comprises distance information between the vehicle and an obstacle; determining a first duty ratio of a first braking torque provided by motor braking in the total required braking torque and a second duty ratio of a second braking torque provided by hydraulic braking in the required braking torque according to the distance information when the vehicle meets the braking condition; and according to the first duty ratio and the second duty ratio, motor braking and hydraulic braking are carried out on the vehicle, and braking energy recovery is started. According to the vehicle braking control method and device, the duty ratio relation between motor braking and hydraulic braking is distributed based on the obstacle distance information of the position where the vehicle is located, the environment information of the vehicle is fully considered, active recovery of braking energy can be achieved to the maximum extent under the condition that driving safety of the vehicle is guaranteed, and cruising ability of the vehicle is improved.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, and in particular relates to a vehicle braking method, a vehicle braking device, a vehicle and a medium.
Background
In a typical urban operating situation, about 50% of the energy is consumed in the form of thermal energy during the braking operation of the vehicle. The braking performance is one of important performance indexes of the automobile, is directly related to traffic safety, and is a measure capable of optimizing energy flow, and for the electric automobile, the braking energy recovery has research significance for increasing the endurance mileage of the electric automobile because the endurance capacity of a power battery is limited.
In the related art, more researches are carried out on the endurance mileage of the electric automobile, but the problem that the endurance mileage of the electric automobile is shorter needs to be further solved under the condition that any hardware facilities and circuit structures are not changed.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a vehicle braking method, device, vehicle and medium, so as to solve the problem of shorter endurance mileage of an electric vehicle.
According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle braking method including:
acquiring driving environment information of the vehicle, wherein the driving environment information comprises distance information between the vehicle and an obstacle;
determining a first duty ratio of a first braking torque provided by motor braking in total required braking torque and a second duty ratio of a second braking torque provided by hydraulic braking in the required braking torque according to the distance information when the vehicle meets the braking condition, wherein the first duty ratio is positively related to the distance information, and the second duty ratio is negatively related to the distance information;
and according to the first duty ratio and the second duty ratio, motor braking and hydraulic braking are carried out on the vehicle, and braking energy recovery is started, wherein the braking energy recovery quantity is positively related to the first duty ratio.
Optionally, the method further comprises:
and determining that the vehicle meets the braking condition under the condition that the speed of the vehicle is greater than a first speed threshold value and the distance represented by the distance information is smaller than the first distance threshold value.
Optionally, determining a first duty ratio of the first braking torque provided by the motor braking in the total required braking torque according to the distance information when the vehicle meets the braking condition, and determining a second braking torque provided by the hydraulic braking before the second duty ratio of the required braking torque comprises:
and determining that the vehicle does not meet a preset emergency braking condition according to the speed of the vehicle and the running environment information.
Optionally, the method further comprises:
and under the condition that the speed of the vehicle is greater than a second vehicle speed threshold value, an obstacle exists in the running environment information, and the distance between the obstacle and the vehicle is smaller than the second distance threshold value, the vehicle is braked in an emergency mode through hydraulic braking, wherein the obstacle comprises a traffic signal lamp in a red light or yellow light state.
Optionally, the driving environment information further includes information representing a highest speed limit, and before the determining, according to the distance information, a first duty ratio of a first braking torque provided by motor braking to a total required braking torque, and a second braking torque provided by hydraulic braking to a second duty ratio of the required braking torque, the driving environment information further includes:
and controlling the vehicle to be decelerated to be smaller than the highest speed limit when the speed of the vehicle is larger than the highest speed limit.
Optionally, the determining, according to the distance information, a first duty ratio of a first braking torque provided by motor braking in a total required braking torque and a second duty ratio of a second braking torque provided by hydraulic braking in the required braking torque includes:
determining a target distance interval in which the distance information is located in a plurality of preset distance intervals;
and determining the first duty ratio and the second duty ratio according to the energy recovery mode corresponding to the target distance interval.
Optionally, the plurality of distance intervals include a first distance interval, a second distance interval and a third distance interval, the first distance interval is 10 meters to 20 meters, the second distance interval is 20 meters to 60 meters, and the third distance interval is 60 meters to 90 meters;
within the first distance interval, the first duty cycle increases from 10% to 20% with an increase in the distance information, and the second duty cycle decreases from 90% to 80% with an increase in the distance information;
within the second distance interval, the first duty cycle increases from 20% to 60% with an increase in the distance information, and the second duty cycle decreases from 80% to 40% with an increase in the distance information;
in the third distance section, the first duty ratio increases from 60% to 90% with an increase in the distance information, and the second duty ratio decreases from 40% to 10% with an increase in the distance information.
According to a second aspect of embodiments of the present disclosure, there is provided a vehicle brake device including:
an acquisition module configured to acquire running environment information of the vehicle, the running environment information including distance information between the vehicle and an obstacle;
a first determining module configured to determine a first duty cycle of a first braking torque provided by motor braking in a total required braking torque and a second duty cycle of a second braking torque provided by hydraulic braking in the required braking torque according to the distance information, wherein the first duty cycle is positively correlated with the distance information and the second duty cycle is negatively correlated with the distance information, if the vehicle meets a braking condition;
and a first control module configured to apply electric and hydraulic braking to the vehicle and initiate braking energy recovery in accordance with the first and second duty cycles, wherein the braking energy recovery is positively correlated to the first duty cycle.
According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising: a first processor and a first memory, the first memory storing machine executable instructions executable by the first processor for executing the machine executable instructions to implement the steps of the vehicle braking method provided in the first aspect of the present disclosure.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a second processor, implement the steps of the vehicle braking method provided by the first aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
the method and the device combine the environment sensing technology of the vehicle to acquire the running environment information of the vehicle, and determine the duty ratio of motor braking and hydraulic braking in total required braking moment respectively through the distance information of the vehicle meeting the braking condition, so that motor braking and hydraulic braking are actively carried out on the vehicle according to the duty ratio, and braking energy is recovered. Based on the obstacle distance information of the position of the vehicle, the duty ratio relation of motor braking and hydraulic braking is distributed, the environment information of the vehicle is fully considered, active recovery of braking energy can be maximally realized under the condition that the driving safety of the vehicle is ensured, and the cruising ability of the vehicle is improved; furthermore, the scheme does not have other changes in hardware setting and circuit structure, but realizes the above-mentioned aim based on the change of control logic, does not have other cost increase, and the vehicle meets the requirement of the user group on improving the vehicle endurance mileage under the condition of the same cost.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method of braking a vehicle according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a vehicle braking method according to another exemplary embodiment.
Fig. 3 is a block diagram illustrating a vehicle braking device according to an exemplary embodiment.
FIG. 4 is a functional block diagram of a vehicle, according to an exemplary embodiment.
Fig. 5 is a block diagram illustrating an apparatus for vehicle braking according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
In a conventional braking energy recovery mode of an electric automobile, whether to start a braking energy recovery function is generally determined by calculating the intensity of braking of the automobile, and if so, energy recovery is realized by an algorithm (that is, the conventional energy recovery mode is passive recovery, and whether to start energy recovery is determined according to the braking intensity after braking has been started). The logic of this mode is to determine the amount of braking energy recuperation that is actually recovered based on the braking strength, and not to maximize braking energy recuperation. However, if the maximum braking energy recovery is targeted, it is difficult to artificially match the braking strength while ensuring safe running of the automobile.
Based on the above problems, the present disclosure proposes a solution: under the condition that the vehicle meets the braking condition, determining the proportion of the moment of motor braking and hydraulic braking in the total required braking moment according to the distance information in the running environment information obtained by the vehicle sensing system, and actively implementing motor braking and hydraulic braking according to the proportion.
The vehicle braking method provided by the embodiment of the present application will be described in detail by way of specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle braking method according to an exemplary embodiment, as shown in fig. 1, the vehicle braking method includes the steps of:
in step S101, running environment information of a vehicle is acquired, the running environment information including distance information between the vehicle and an obstacle.
In the implementation process, the driving environment information is obtained based on a sensing system of a vehicle, the sensing system comprises a sensing module and a vehicle networking module, the sensing module can acquire the speed of the vehicle, the environment where the vehicle is located and the related information of a road in a preset path through a radar, a camera and various sensors in an advanced driving assistance system (Advanced Driver Assistant System, ADAS), and the vehicle networking module can comprise a vehicle-to-vehicle information exchange (Vehicle to Vehicle, V2V), a module and a vehicle-to-infrastructure information exchange (Vehicle to Infrastructure; V2I for short) module, and is used for acquiring the information of an obstacle at the front end of the vehicle.
Generally, according to the automatic driving level of a vehicle, the recognition area of the sensing system covers the range of 100 meters to 200 meters in front of the vehicle, and the environmental sensing result is determined by the position of the vehicle, the sensor performance (sensing range, sensing accuracy) and the number of sensors. Because the sensing module and the internet of vehicles module are introduced to acquire the related information of the vehicle or the related information outside the vehicle, the phenomenon of rapid acceleration or rapid deceleration can be avoided, and the relation between the high braking energy recovery rate and the driving comfort can be effectively balanced.
The distance information is obtained based on the current position of the vehicle and the position of the obstacle, and the safety of drivers and passengers can be ensured by a braking strategy optimized based on the distance information. Specifically, when the obstacle is the obstacle vehicle closest to the vehicle, the information exchange function of the vehicle-to-vehicle based on the internet of vehicles module may be used to obtain the position information of the obstacle vehicle and the position of the vehicle to calculate the distance information. In addition, when the obstacle is the obstacle vehicle, the pedestrian, the signal lamp or the speed limit sign board closest to the vehicle, based on the radar and/or the camera in the sensing system, the position of the obstacle vehicle at the front end of the vehicle can be acquired by using the image recognition function, and the distance information of the vehicle and the obstacle vehicle can be obtained.
In step S102, if the vehicle satisfies the braking condition, a first ratio of a first braking torque provided by the motor braking to a total required braking torque and a second ratio of a second braking torque provided by the hydraulic braking to the required braking torque are determined according to the distance information, wherein the first ratio is positively correlated with the distance information and the second ratio is negatively correlated with the distance information.
In the implementation process, the braking of the vehicle is divided into hydraulic braking and motor braking, wherein the hydraulic braking is mechanical braking, and is a more traditional braking mode, and the energy required for generating braking force is provided by a hydraulic device. The motor braking is used as a generator through motor reversal, the kinetic energy of the vehicle is converted and stored in the braking process, and the kinetic energy is not directly converted into heat energy to be consumed, and the mode can also be called regenerative braking, and the premise of feedback and utilization is to ensure the safety. The regenerative braking energy recovery has the advantages of improving the energy utilization rate, reducing mechanical abrasion of braking modes such as machinery, hydraulic pressure and the like, realizing more accurate braking control, reducing braking heat fading phenomenon generated by temperature rise in the traditional automobile braking process and the like.
In general, the braking force of hydraulic braking is large but the recovered energy is small, and the braking force of motor braking is small, and since the motor is reversed as a generator at the time of braking, the electric energy generated by the motor reversal is used for charging the power battery of the vehicle, and at this time, the recovered energy of braking is large. The first duty cycle is larger the greater the distance information characterizes the distance between the vehicle and the obstacle, and the second duty cycle is smaller the distance information characterizes the distance between the vehicle and the obstacle, and thus the first duty cycle is positively correlated with the distance information and the second duty cycle is negatively correlated with the distance information.
In one embodiment, the vehicle is determined to satisfy the braking condition when the vehicle speed is greater than a first vehicle speed threshold and the distance characterized by the distance information is less than the first distance threshold.
In the implementation process, the first vehicle speed threshold value represents the vehicle speed of normal running after the vehicle starts, and the vehicle speed value is smaller, and in general, the first vehicle speed threshold value can be set to be 5 m/s.
The first distance threshold represents the distance between the vehicle and the front obstacle, and under the condition that the distance represented by the distance information is smaller than the first distance threshold, motor braking and hydraulic braking can be performed on the vehicle according to the first duty ratio and the second duty ratio, and braking energy recovery is started. When the distance represented by the distance information is larger than or equal to a first distance threshold value, the fact that the obstacle at the front end of the vehicle is far away from the vehicle in the running process of the vehicle is shown, the vehicle can recover energy without braking, and the surplus energy released in the freewheeling process can be recovered and converted into electric energy through a generator and then stored in a storage battery for later acceleration running; alternatively, the vehicle may recover energy using electric motor braking entirely, without hydraulic braking, store electrical energy in a battery, and further convert it into drive energy. For example, when the vehicle starts or accelerates and an increased driving force is required, the motor driving force becomes the auxiliary power of the engine, so that the electric energy is effectively used. Typically, the first distance threshold may be set to 100 meters.
In another embodiment, in the case where the vehicle satisfies the braking condition, the vehicle braking method further includes, prior to step S102: and determining that the vehicle does not meet the preset emergency braking condition according to the speed of the vehicle and the running environment information.
In the implementation process, under the condition that the vehicle speed is not more than a second vehicle speed threshold value and under the condition that no obstacle exists in the running environment information or the obstacle exists and the distance between the obstacle and the vehicle is larger than a second distance threshold value, the fact that the vehicle does not meet the preset emergency braking condition is determined. In emergency braking, the vehicle is completely braked by hydraulic pressure to recover braking energy. For example, in the case where the driving environment information is characterized in that a pedestrian suddenly occurs at the front end of the vehicle, a car accident occurs at the front end of the vehicle, or an obstacle car at the front end of the vehicle is braked urgently, it is determined that the vehicle satisfies a preset emergency braking condition, and the vehicle is braked urgently by means of hydraulic braking.
In still another embodiment, when the speed of the vehicle is greater than the second speed threshold, and an obstacle exists in the driving environment information and the distance between the obstacle and the vehicle is smaller than the second distance threshold, the vehicle is braked urgently by a hydraulic braking mode, wherein the obstacle comprises a traffic light in a red light or yellow light state.
In practice, the magnitude of the second vehicle speed threshold is independent of the magnitude of the first vehicle speed threshold, i.e., the second vehicle speed threshold may be greater than or less than the first vehicle speed threshold, or may be equal to the first vehicle speed threshold. The second vehicle speed threshold is set to ensure that the vehicle is not braked until it is in a driving condition, and thus the second vehicle speed threshold may be small, for example, 3m/s. In addition, since the braking of the vehicle in the present embodiment depends on the state of the traffic light, the braking is performed in a case where the vehicle is close to the traffic light and the traffic light is in a red light or yellow light state, and thus the magnitude of the second distance threshold may be much smaller than that of the first distance threshold, for example, 5m.
It will be appreciated that this embodiment contemplates situations where there is no obstacle between the vehicle and the traffic light, and therefore emergency braking is required. In addition, when the traffic signal lamp exists in the second distance threshold value of the vehicle, the vehicle needs to obtain a first distance between the vehicle and the front obstacle vehicle and a second distance between the vehicle and the traffic signal lamp at the front end, and when the first distance is larger than the second distance, the magnitude of deceleration of the vehicle needs to be obtained by the second distance so as to redistribute the magnitude of braking force of motor braking and hydraulic braking or adopt the working condition of emergency braking so as to carry out corresponding braking recovery.
In step S103, motor braking and hydraulic braking are performed on the vehicle according to the first and second duty ratios, and braking energy recovery is started, wherein the braking energy recovery amount is positively correlated with the first duty ratio.
In the implementation process, braking energy is recovered for the vehicle according to the obtained first duty ratio and the second duty ratio, and the specific control mode is to realize braking according to mechanical braking of a hydraulic brake and/or based on motor reversal, and the energy is recovered in the hydraulic braking and motor braking processes.
The method and the device combine the environment sensing technology of the vehicle to acquire the running environment information of the vehicle, and determine the duty ratio of motor braking and hydraulic braking in total required braking moment respectively through the distance information of the vehicle meeting the braking condition, so that motor braking and hydraulic braking are actively carried out on the vehicle according to the duty ratio, and braking energy is recovered. Based on the obstacle distance information of the position of the vehicle, the duty ratio relation of motor braking and hydraulic braking is distributed, the environment information of the vehicle is fully considered, active recovery of braking energy can be maximally realized under the condition that the driving safety of the vehicle is ensured, and the cruising ability of the vehicle is improved; furthermore, the scheme does not have other changes in hardware setting and circuit structure, but realizes the above-mentioned aim based on the change of control logic, does not have other cost increase, and the vehicle meets the requirement of the user group on improving the vehicle endurance mileage under the condition of the same cost.
In addition, the brake-by-wire technology in the automatic driving technology can be combined to realize accurate matching of braking force, and the aim of realizing braking energy recovery is maximized, so that active decision optimization energy recovery is realized.
Referring to fig. 2, fig. 2 is a flowchart illustrating a vehicle braking method according to another exemplary embodiment, as shown in fig. 2, the vehicle braking method includes the steps of:
in step S201, running environment information of the vehicle is acquired, the running environment information including distance information between the vehicle and the obstacle.
In step S202, if the vehicle satisfies the braking condition, a first ratio of a first braking torque provided by the motor braking to a total required braking torque and a second ratio of a second braking torque provided by the hydraulic braking to the required braking torque are determined according to the distance information, wherein the first ratio is positively correlated with the distance information and the second ratio is negatively correlated with the distance information.
The above steps S201 to S202 may refer to the detailed descriptions of the steps S101 to S102, and will not be repeated here.
In step S2031, a target distance section in which the distance information is located among a plurality of preset distance sections is determined.
In the implementation process, the distance smaller than the second distance threshold is divided into a plurality of distance intervals, wherein the distance intervals can be distributed evenly or according to the emergency degree. For example, the second distance threshold is divided into three distance intervals of 100 meters, wherein the three distance intervals may be 10 meters to 40 meters, 40 meters to 70 meters, 70 meters to 100 meters, respectively, or the three distance intervals may be 10 meters to 20 meters, 20 meters to 60 meters, 60 meters to 100 meters, respectively.
In step S2032, a first duty ratio and a second duty ratio are determined according to the energy recovery pattern corresponding to the target distance zone.
Specifically, the plurality of distance intervals includes a first distance interval, a second distance interval, and a third distance interval, the first distance interval is 10 meters to 20 meters, the second distance interval is 20 meters to 60 meters, and the third distance interval is 60 meters to 90 meters.
In the first distance section, the first duty ratio increases from 10% to 20% with increasing distance information, and the second duty ratio decreases from 90% to 80% with increasing distance information.
In the second distance interval, the first duty ratio increases from 20% to 60% with the increase of the distance information, and the second duty ratio decreases from 80% to 40% with the increase of the distance information.
In the third distance interval, the first duty ratio increases from 60% to 90% with increasing distance information, and the second duty ratio decreases from 40% to 10% with increasing distance information.
The above-listed first distance interval, second distance interval, third distance interval, and first and second duty cycle data are merely exemplary and are not intended to be limiting.
In another embodiment, the driving environment information further includes information characterizing a highest speed limit, and the vehicle braking method further includes, before step S202, the steps of:
and controlling the vehicle to be decelerated to be smaller than the highest speed limit when the speed of the vehicle is larger than the highest speed limit.
In the implementation process, the highest speed limit information can be obtained based on text information on a speed limit sign board on the roadside acquired by a camera of the vehicle, or can be obtained based on road speed limit information in a preset path of the vehicle acquired by a global positioning system in a sensing system, and when the speed of the vehicle is greater than the highest speed limit represented by the speed limit information, the vehicle is controlled to be decelerated to be smaller than the highest speed limit.
Referring to fig. 3, fig. 3 is a block diagram illustrating a vehicle braking device according to an exemplary embodiment. The vehicle braking device 500 includes an acquisition module 501, a first determination module 502, and a first control module 503.
The acquisition module 501 is configured to acquire running environment information of a vehicle, the running environment information including distance information between the vehicle and an obstacle.
The first determination module 502 is configured to determine a first duty cycle of a first braking torque provided by the electric motor brake in the total required braking torque and a second duty cycle of a second braking torque provided by the hydraulic brake in the required braking torque, wherein the first duty cycle is positively correlated with the distance information and the second duty cycle is negatively correlated with the distance information, if the vehicle satisfies the braking condition.
The first control module 503 is configured to apply electric and hydraulic braking to the vehicle according to a first and second duty cycle and initiate braking energy recovery, wherein the braking energy recovery is positively correlated to the first duty cycle.
With respect to the vehicle braking device 500 in the above-described embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment regarding the vehicle braking method, and will not be explained in detail here.
In some embodiments, the vehicle braking device 500 may further include a second determination module.
The second determination module is configured to determine that the vehicle satisfies a braking condition if a speed of the vehicle is greater than a first speed threshold and a distance characterized by the distance information is less than the first distance threshold.
In some embodiments, the vehicle braking device 500 may further include a third determination module in the event that the vehicle satisfies the braking condition.
The third determination module is configured to determine that the vehicle does not satisfy a preset emergency braking condition according to a vehicle speed of the vehicle and running environment information.
In some embodiments, the vehicle braking device 500 may further include an emergency braking module.
The emergency braking module is configured to perform emergency braking on the vehicle in a hydraulic braking mode when the speed of the vehicle is greater than a second vehicle speed threshold value, an obstacle exists in the driving environment information and the distance between the obstacle and the vehicle is smaller than a second distance threshold value, wherein the obstacle comprises a traffic signal lamp in a red light state or a yellow light state.
In some embodiments, the driving environment information further includes information characterizing a highest speed limit, and the vehicle braking device 500 may further include a second control module.
The second control module is configured to control the vehicle to slow down to less than the maximum speed limit when a speed of the vehicle is greater than the maximum speed limit.
In some implementations, the first determination module 502 can include:
the first determining submodule is configured to determine a target distance interval in which the distance information is located in a plurality of preset distance intervals;
and a second determination submodule configured to determine a first duty cycle and a second duty cycle according to the energy recovery mode corresponding to the target distance interval.
The present disclosure also provides a vehicle including: a first processor and a first memory, the first memory storing machine executable instructions executable by the first processor, the first processor for executing the machine executable instructions to implement the steps of the vehicle braking method provided by the present disclosure.
Referring to fig. 4, fig. 4 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 4, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, a torque source, a driveline, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting torque provided by the torque source into mechanical torque.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one third processor 651 and a second memory 652, the third processor 651 may execute instructions 653 stored in the second memory 652.
The third processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The second memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 653, the second memory 652 may also store data such as road maps, route information, the position, direction, speed, etc. of the vehicle. The data stored by the second memory 652 may be used by the computing platform 650.
In an embodiment of the present disclosure, the third processor 651 may execute instructions 653 to perform all or part of the steps of the vehicle braking method described above.
Referring to fig. 5, fig. 5 is a block diagram illustrating an apparatus 1900 for vehicle braking according to an exemplary embodiment. For example, the apparatus 1900 may be provided as a server. Referring to fig. 5, the apparatus 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by a third memory 1932 for storing instructions, such as applications, that can be executed by the processing component 1922. The application program stored in third memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the vehicle braking methods described above.
The apparatus 1900 may further comprise a power component 1926 configured to perform power management of the apparatus 1900, a wired or wireless network interface 1950 configured to connect the apparatus 1900 to a network, and an input/output interface 1958. The device 1900 may operate based on an operating system, such as Windows Server, stored in the third memory 1932 TM ，Mac OS X TM ，Unix TM ，Linux TM ，FreeBSD TM Or the like.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a second processor, implement the steps of the vehicle braking method provided by the present disclosure.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle braking method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A vehicle braking method, characterized by comprising:
acquiring driving environment information of the vehicle, wherein the driving environment information comprises distance information between the vehicle and an obstacle;
determining a first duty ratio of a first braking torque provided by motor braking in total required braking torque and a second duty ratio of a second braking torque provided by hydraulic braking in the required braking torque according to the distance information when the vehicle meets the braking condition, wherein the first duty ratio is positively related to the distance information, and the second duty ratio is negatively related to the distance information;
and according to the first duty ratio and the second duty ratio, motor braking and hydraulic braking are carried out on the vehicle, and braking energy recovery is started, wherein the braking energy recovery quantity is positively related to the first duty ratio.
2. The method according to claim 1, wherein the method further comprises:
and determining that the vehicle meets the braking condition under the condition that the speed of the vehicle is greater than a first speed threshold value and the distance represented by the distance information is smaller than the first distance threshold value.
3. The method according to claim 1, wherein determining a first duty cycle of a first braking torque provided for motor braking in a total required braking torque based on the distance information, and a second braking torque provided for hydraulic braking before a second duty cycle of the required braking torque, in case the vehicle fulfils a braking condition, comprises:
and determining that the vehicle does not meet a preset emergency braking condition according to the speed of the vehicle and the running environment information.
4. A method according to claim 3, characterized in that the method further comprises:
and under the condition that the speed of the vehicle is greater than a second vehicle speed threshold value, an obstacle exists in the running environment information, and the distance between the obstacle and the vehicle is smaller than the second distance threshold value, the vehicle is braked in an emergency mode through hydraulic braking, wherein the obstacle comprises a traffic signal lamp in a red light or yellow light state.
5. The method of claim 1, wherein the driving environment information further includes information characterizing a highest speed limit, and wherein determining a first duty cycle of a first provided braking torque of the motor brake in a total required braking torque based on the distance information and a second braking torque provided by the hydraulic brake before a second duty cycle of the required braking torque further includes:
and controlling the vehicle to be decelerated to be smaller than the highest speed limit when the speed of the vehicle is larger than the highest speed limit.
6. The method of any of claims 1-5, wherein determining a first duty cycle of a first braking torque provided by motor braking in a total required braking torque and a second duty cycle of a second braking torque provided by hydraulic braking in the required braking torque based on the distance information comprises:
determining a target distance interval in which the distance information is located in a plurality of preset distance intervals;
and determining the first duty ratio and the second duty ratio according to the energy recovery mode corresponding to the target distance interval.
7. The method of claim 6, wherein the plurality of distance intervals comprises a first distance interval, a second distance interval, and a third distance interval, the first distance interval is 10 meters to 20 meters, the second distance interval is 20 meters to 60 meters, and the third distance interval is 60 meters to 90 meters;
within the first distance interval, the first duty cycle increases from 10% to 20% with an increase in the distance information, and the second duty cycle decreases from 90% to 80% with an increase in the distance information;
within the second distance interval, the first duty cycle increases from 20% to 60% with an increase in the distance information, and the second duty cycle decreases from 80% to 40% with an increase in the distance information;
in the third distance section, the first duty ratio increases from 60% to 90% with an increase in the distance information, and the second duty ratio decreases from 40% to 10% with an increase in the distance information.
8. A vehicle brake device, characterized by comprising:
an acquisition module configured to acquire running environment information of the vehicle, the running environment information including distance information between the vehicle and an obstacle;
a first determining module configured to determine a first duty cycle of a first braking torque provided by motor braking in a total required braking torque and a second duty cycle of a second braking torque provided by hydraulic braking in the required braking torque according to the distance information, wherein the first duty cycle is positively correlated with the distance information and the second duty cycle is negatively correlated with the distance information, if the vehicle meets a braking condition;
and a first control module configured to apply electric and hydraulic braking to the vehicle and initiate braking energy recovery in accordance with the first and second duty cycles, wherein the braking energy recovery is positively correlated to the first duty cycle.
9. A vehicle, characterized in that the vehicle comprises: a first processor and a first memory, the first memory storing machine executable instructions executable by the first processor, the first processor to execute the machine executable instructions to implement the method of any of claims 1-7.
10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a second processor, implement the method of any of claims 1-7.
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| CN202211702678.5A CN116101071A (en) | 2022-12-28 | 2022-12-28 | Vehicle braking method and device, vehicle and medium |
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| CN202211702678.5A CN116101071A (en) | 2022-12-28 | 2022-12-28 | Vehicle braking method and device, vehicle and medium |
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