CN116164986B - Vehicle line control brake control method and test platform thereof - Google Patents
Vehicle line control brake control method and test platform thereof Download PDFInfo
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- CN116164986B CN116164986B CN202310437115.6A CN202310437115A CN116164986B CN 116164986 B CN116164986 B CN 116164986B CN 202310437115 A CN202310437115 A CN 202310437115A CN 116164986 B CN116164986 B CN 116164986B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a control method of vehicle brake-by-wire and a test platform thereof, which judge whether an obstacle exists in front and other vehicles exist behind the vehicle through an image acquisition system and a radar ranging system which are positioned in front and behind the vehicle; based on whether a vehicle is in the rear and whether the vehicle in the rear is decelerating, different driving strategies are formulated so as to avoid rear-end collision accidents caused in the braking process to the greatest extent; and meanwhile, based on different types of obstacles, different driving strategies are formulated, braking, lane changing or steering of the vehicle is controlled, the probability of rear-end collision accidents is reduced while the target vehicle is guided to avoid the obstacle, and whether the control method is effectively executed is verified through a test platform.
Description
Technical Field
The invention belongs to the field of brake-by-wire control, and particularly relates to a vehicle brake-by-wire control method and a test platform thereof.
Background
The brake-by-wire system is divided into a mechanical brake-by-wire system and a hydraulic brake-by-wire system, wherein the mechanical brake-by-wire system is different from a conventional hydraulic brake system, the mechanical brake-by-wire system uses electric energy as an energy source, a brake cushion block is driven by a motor, energy and signals are transmitted by an electric wire, a brake pipeline is not connected in the system, the structure is simple, the volume is small, the work is stable, the maintenance is simple, a hydraulic oil pipeline is not arranged, the problem of hydraulic oil leakage is solved, and the requirement on the stability of a vehicle network is high because the hydraulic brake-by-wire system depends on pure data signal transmission.
The active safety system of the automobile is a safety system comprising electronic equipment such as ABS, ESP and the like, and the passive safety system relates to an automobile body energy absorption structure, a safety belt, an air bag and the like, wherein the active safety system most typically enables an active braking system, the active braking system is used for enabling the automobile to normally run under a non-self-adaptive cruising condition, and when the automobile encounters an emergency dangerous condition, the active braking system automatically generates a braking effect to enable the automobile to be decelerated.
The prior art document 1 (publication number CN 206552018U) provides a safe driving control system, which detects an obstacle in the running of an automobile body to feed back the size of the obstacle, detects the speed of the automobile body, prompts a driver to pay attention to the distance between the automobile body and a front object and a rear object, and effectively ensures driving safety; prior art document 2 (publication No. CN113335241 a) provides a method of optimizing active emergency braking, which collects target information in front of a vehicle in real time through a front-view camera, and inputs the running state of the vehicle and the driving behavior of a driver as activation conditions of an active emergency braking system.
However, in the prior art, the common braking strategy of the active braking system carried on the mechanical brake-by-wire system is to meet the emergency braking of an obstacle, the intelligent degree is low, different brake-by-wire strategies cannot be formulated according to the actual road conditions, and meanwhile, the vehicle is suddenly stopped due to the starting of the active braking system, so that the vehicle is easy to have a rear-end collision accident.
Disclosure of Invention
In order to solve the above problems, the present invention provides a vehicle brake-by-wire control method, which is characterized in that the method comprises the following steps:
s1: in the driving process, a front image is acquired through a front image acquisition system positioned on a front bumper of the vehicle, and whether an obstacle exists in a distance L between the front image acquisition system and the front of the vehicle is judged through a front radar ranging system;
s2: if no obstacle exists, the vehicle is normally driven; if an obstacle exists, acquiring a rear image through a rear image acquisition system positioned on a rear bumper of the vehicle, and judging a distance L between the rear image and the rear of the vehicle through a rear radar ranging system 1 Within the distance, whether a vehicle is present;
s3: if no vehicle exists behind, the brake system is controlled to start through a control line of a vehicle central controller, and braking is executed; if the vehicle exists in the rear, an alarm is sent to the rear vehicle to indicate that the rear vehicle decelerates, the distance between the vehicle and the rear vehicle is acquired through a rear radar ranging system, whether the rear vehicle has deceleration operation or not is judged, if the deceleration operation exists, a control line is used for controlling the starting of a braking system, and braking is executed in a first braking mode; if the rear vehicle does not have the deceleration operation, judging the type of the obstacle in front of the vehicle, wherein the type of the obstacle belongs to a first type of obstacle or a second type of obstacle;
s4: if the obstacle is a first type obstacle, the control line controls the braking system to start, and braking is executed in a second braking mode;
s5: if the obstacle is a second type obstacle, an image acquisition system positioned at the side of the vehicle is started to acquire a side image, if the obstacle exists at the side, the control line is controlled to start the braking system, braking is executed in a second braking mode, and if the obstacle does not exist at the side, a steering or lane changing prompt is sent to the owner of the vehicle.
Preferably, the first braking mode is to control the braking device to brake the wheels with 50% -60% of the maximum braking force until the speed of the vehicle is zero, and the braking time T 1 Braking distance H 1 ；
The second braking mode is to control the braking device to apply initial braking force to the wheels by 15-20% of the maximum braking force, and then control the braking force of the braking device to slowly increase to 50-60% of the maximum braking force until the speed of the vehicle is zero, and the braking time T 2 Braking distance H 2 Wherein T is 2 >T 1 ,H 2 >H 1 。
Preferably, the first type of obstacle is an obstacle having a relative displacement perpendicular to the vehicle running direction, and the second type of obstacle is an obstacle having no relative displacement perpendicular to the vehicle running direction.
Preferably, in the step S5, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, and if the obstacle is located at the side, a radar ranging system located at the front is started, and the current speed of the vehicle and the speed at which the distance between the current speed and the front obstacle is reduced are used to determine that the front obstacle is a stationary obstacle or a co-moving obstacle.
Preferably, if the obstacle is a stationary obstacle, the control line is controlled to start the braking system, braking is performed in the second braking mode, and if the obstacle is a co-moving obstacle, the control line is controlled to start the braking system, and braking is performed in the third braking mode.
Preferably, the third braking mode is to control the braking device to apply an initial braking force to the wheels at 15% -20% of the maximum braking force, and further control the braking force of the braking device to slowly increase to 50% -60% of the maximum braking force until the speed of the vehicle is less than or equal to the speed of the equidirectional movement obstacle, and the braking time T 3 Braking distance H 3 Wherein T is 3 >T 2 ,H 3 >H 2 。
Preferably, in the step S5, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, if the side is not provided with the obstacle, navigation information of a traveling road section of the vehicle is acquired to determine whether the traveling road condition of the vehicle has a lane change or steering condition, whether the road section in the traveling direction of the vehicle is a single lane is preferentially determined, if the road section is not the single lane, the vehicle owner is prompted to perform lane change traveling to an adjacent lane, if the road section in the traveling direction of the vehicle is the single lane, whether a branch road exists is further determined, and if the road section in the traveling direction of the vehicle exists, the vehicle owner is prompted to perform steering operation to the branch road direction.
Preferably, the distance L is not less than a braking distance required by the braking device to brake the wheels at 40% of the maximum braking force until the vehicle speed of the own vehicle is zero; the distance L 1 The safety braking distance to be maintained is required when the vehicle is running at the maximum speed limit of the current road section.
Preferably, in step S5, after a steering or lane changing prompt is sent to the owner of the vehicle, if the owner does not perform steering or lane changing operation for a predetermined time, the steer-by-wire system is controlled to perform auxiliary steering operation on the vehicle, so as to steer or change the lane of the vehicle.
Preferably, the invention further provides a vehicle brake-by-wire system test platform, which is characterized by comprising a simulated obstacle, a simulated vehicle, a brake time acquisition module and a brake distance acquisition module, wherein the simulated obstacle and the simulated vehicle are used for simulating different types of working conditions, the simulated obstacle is a first type obstacle positioned in front of the test vehicle and/or a second type obstacle positioned in front of the test vehicle and/or is a side obstacle of the test vehicle, the simulated vehicle is positioned behind the test vehicle and is positioned behind the simulated vehicle to come, the test vehicle is based on the type of the simulated obstacle and whether the simulated vehicle exists behind the test vehicle or not, a control method for executing vehicle brake-by-wire is executed, the brake time acquisition module is used for acquiring the brake time required by executing a brake command based on the control method under different types of working conditions, and the brake distance acquisition module is used for acquiring the brake distance required by executing the brake command based on the control method under different types of working conditions, and comparing the magnitude relation of the brake distance under different types of working conditions and the brake time under different types of working conditions, and whether the magnitude relation of the brake time under different working conditions accords with the preset working conditions.
The technical scheme of the invention has the beneficial effects that:
1. based on whether a vehicle is in the rear and whether the vehicle in the rear is decelerating, different driving strategies are formulated so as to avoid rear-end collision accidents caused in the braking process to the greatest extent.
2. Based on different types of obstacles, different driving strategies are formulated, braking, lane changing or steering of the vehicle is controlled, and the probability of rear-end collision accidents is reduced while the target vehicle is guided to avoid the obstacle.
Drawings
FIG. 1 is a flow chart of a method for controlling brake-by-wire of a vehicle according to the present invention.
Detailed Description
Fig. 1 is a flow chart of a vehicle brake-by-wire control method according to the present invention, and the present invention provides a vehicle brake-by-wire control method, which comprises the following steps:
s1: in the driving process, a front image is acquired through a front image acquisition system positioned on a front bumper of the vehicle, and whether an obstacle exists in a distance L between the front image acquisition system and the front of the vehicle is judged through a radar ranging system;
wherein the distance L is not less than a braking distance required by the braking device to brake the wheels at 40% of the maximum braking force until the vehicle speed of the vehicle is zero.
S2: if no obstacle exists, the vehicle is normally driven; if an obstacle exists, acquiring a rear image through a rear image acquisition system positioned on a rear bumper of the vehicle, and judging a distance L between the rear image and the rear of the vehicle through a rear radar ranging system 1 Within the distance, whether a vehicle is present;
wherein the distance L 1 For the safety braking distance to be maintained when the vehicle is driving at the maximum speed limit of the current road section, e.g. 120km/h, L 1 80m; the maximum speed limit of the current road section is 80km/h, L 1 40m.
S3: if no vehicle exists behind, the brake system is controlled to start through a control line of a vehicle central controller, and braking is executed; if the vehicle exists in the rear, an alarm is sent to the rear vehicle to indicate that the rear vehicle decelerates, the distance between the vehicle and the rear vehicle is acquired through a rear radar ranging system, whether the rear vehicle has deceleration operation or not is judged, if the deceleration operation exists, a control line is used for controlling the starting of a braking system, and braking is executed in a first braking mode; if the rear vehicle does not have the deceleration operation, judging the type of the obstacle in front of the vehicle, and judging the type of the obstacle belongs to the first type of obstacle or the second type of obstacle.
After the warning is sent to the rear vehicle through the step S3 and the deceleration operation of the rear vehicle is judged, the braking is executed for the vehicle, so that the rear-end collision accident of the rear vehicle caused by the emergency braking of the vehicle is avoided.
Wherein the first braking mode is to control the braking device to brake the wheels with 50-60% of the maximum braking force until the speed of the vehicle is zero, and the braking time T 1 Braking distance H 1 。
The specific method for judging the type of the obstacle is as follows: the obstacles are classified according to whether relative displacement perpendicular to the running direction of the vehicle exists or not, wherein the first type of obstacle is an obstacle with relative displacement perpendicular to the running direction of the vehicle, and the second type of obstacle is an obstacle without relative displacement perpendicular to the running direction of the vehicle;
according to the method, the obstacle is divided, for example, pedestrians or non-motor vehicles crossing the road are first type obstacles in the driving process; an obstacle such as a temporary road block in front of a vehicle or a traveling section of the vehicle, which suddenly stops in front of the vehicle, is a second type of obstacle.
S4: if the obstacle is a first type obstacle, the control line controls the braking system to start, and braking is executed in a second braking mode;
the second braking mode is to control the braking device to apply initial braking force to the wheels with 15-20% of the maximum braking force, and further control the braking force of the braking device to slowly increase to 50-60% of the maximum braking force until the speed of the vehicle is zero, and the braking time T 2 Braking distance H 2 Wherein T is 2 >T 1 ,H 2 >H 1 The method comprises the steps of carrying out a first treatment on the surface of the The second braking mode is adopted to brake the vehicle, the braking distance of the vehicle is larger than that of the first braking mode, the braking time is prolonged by increasing the braking distance, the braking alarm of the rear vehicle is further enhanced, the rear vehicle is prompted to decelerate, and meanwhile the vehicle is prevented from decelerating too fast, so that rear-end collision of the rear vehicle is caused.
S5: if the obstacle is a second type obstacle, an image acquisition system positioned at the side of the vehicle is started to acquire a side image, if the obstacle exists at the side, the control line is controlled to start the braking system, braking is executed in a second braking mode, and if the obstacle does not exist at the side, a steering or lane changing prompt is sent to the owner of the vehicle.
For the second type of obstacle, the vehicle turns or changes the lane without collision with the obstacle because the second type of obstacle does not have relative displacement perpendicular to the running direction of the vehicle, and the vehicle turns or changes the lane under the condition that the vehicle behind does not decelerate, so that rear-end collision of the vehicle behind can be avoided.
In another embodiment of the present invention, in step S5, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, and if the obstacle is located at the side, a radar ranging system located at the front is started, so that the front obstacle is determined to be a stationary obstacle or a co-moving obstacle according to the current speed of the vehicle and the speed at which the distance between the current speed of the vehicle and the front obstacle is reduced, wherein the stationary obstacle is, for example, a front stationary roadblock, and the co-moving obstacle is, for example, a front decelerating vehicle.
If the obstacle is a static obstacle, the brake-by-wire system is started, braking is performed in a second braking mode, and if the obstacle is a co-moving obstacle, the brake-by-wire system is started, and braking is performed in a third braking mode.
The third braking mode is to control the braking device to apply initial braking force to the wheels with 15-20% of the maximum braking force, and further control the braking force of the braking device to slowly increase to 50-60% of the maximum braking force until the speed of the vehicle is less than or equal to the speed of the equidirectional movement obstacle, and the braking time T 3 Braking distance H 3 Wherein T is 3 >T 2 ,H 3 >H 2 ；
The relative distance decreasing speed between the own vehicle and the co-moving obstacle is lower than the relative distance decreasing speed between the own vehicle and the stationary obstacle, so that the braking time and the braking distance of the own vehicle are both increased for the co-moving obstacle.
In another embodiment of the present invention, in step S5, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, if the side is not provided with the obstacle, navigation information of a traveling road section of the vehicle is acquired to determine whether the traveling road condition of the vehicle has a lane change or steering condition, whether the road section in the traveling direction of the vehicle is a single lane is preferentially determined, if the road section is not the single lane, a vehicle owner is prompted to perform lane change traveling to an adjacent lane, if the road section in the traveling direction of the vehicle is the single lane, whether a branch road exists is further determined, and if the road section in the traveling direction of the vehicle exists, the vehicle owner is prompted to perform steering operation in the branch road direction;
in another embodiment of the present invention, after a steering or lane changing prompt is sent to the owner of the vehicle in step S5, if the owner does not perform steering or lane changing operation within a predetermined time, for example, 3S, the steer-by-wire system is controlled to perform an auxiliary steering operation on the vehicle, so as to steer or change lanes of the vehicle.
In another embodiment of the present invention, a test platform for a brake-by-wire system of a vehicle is provided, where the test platform includes a simulated obstacle, a simulated vehicle, a brake time acquisition module, and a brake distance acquisition module, where the simulated obstacle and the simulated vehicle are used for simulating different types of conditions, the simulated obstacle is a first type of obstacle located in front of the test vehicle and/or a second type of obstacle located in front of the test vehicle and/or is a side obstacle of the test vehicle, the simulated vehicle is located behind the test vehicle and is located behind the simulated vehicle, the test vehicle executes a control method for brake-by-wire of the vehicle based on the type of simulated obstacle and whether the simulated vehicle is present behind the test vehicle, the brake time acquisition module is used for acquiring a brake time required for executing a brake command based on the control method under different types of conditions, and the brake distance acquisition module is used for acquiring a brake distance required for executing the brake command based on the different types of conditions, comparing a magnitude relation of the brake distance under different types of conditions and a magnitude relation of the brake time under different types of conditions, and whether the magnitude relation of the brake time under different types of conditions corresponds to a preset magnitude relation under the corresponding conditions.
The foregoing is merely exemplary of the present invention and is not intended to limit the scope of the present invention; all equivalent methods or structures that may be made using the teachings of this invention are included within the scope of this invention.
Claims (7)
1. A control method of a vehicle brake-by-wire for a vehicle brake-by-wire system electrically connected to an image acquisition system located in front of a vehicle, a radar ranging system located behind the vehicle, and an image acquisition system located sideways, characterized by comprising the steps of:
s1: in the driving process, a front image is acquired through a front image acquisition system positioned on a front bumper of the vehicle, and whether an obstacle exists in a distance L between the front image acquisition system and the front of the vehicle is judged through a front radar ranging system;
s2: if no obstacle exists, the vehicle is normally driven; if an obstacle exists, acquiring a rear image through a rear image acquisition system positioned on a rear bumper of the vehicle, and judging whether the vehicle exists within a distance L1 from the rear of the vehicle through a rear radar ranging system;
s3: if no vehicle exists behind, enabling the brake-by-wire system to start and executing braking; if the vehicle exists in the rear, an alarm is sent to the rear vehicle to indicate that the rear vehicle decelerates, the distance between the vehicle and the rear vehicle is acquired through a rear radar ranging system, whether the rear vehicle has deceleration operation or not is judged, if the deceleration operation exists, a control line is used for controlling the starting of a braking system, and braking is executed in a first braking mode; if the rear vehicle does not have the deceleration operation, judging the type of the obstacle in front of the vehicle, wherein the type of the obstacle belongs to a first type of obstacle or a second type of obstacle;
s4: if the obstacle is a first type obstacle, the control line controls the braking system to start, and braking is executed in a second braking mode; if the obstacle is a second type obstacle, a side image acquisition system positioned at the side of the vehicle is started to acquire a side image, if the side is provided with the obstacle, a control line control braking system is started, braking is executed in a second braking mode or a third braking mode, and if the side is not provided with the obstacle, a steering or lane changing prompt is sent to a vehicle owner;
the first braking mode is to control a braking device to brake wheels by 50% -60% of the maximum braking force until the speed of the vehicle is zero;
the second braking mode is to control the braking device to apply initial braking force to the wheels by 15-20% of the maximum braking force, and then control the braking force of the braking device to slowly increase to 50-60% of the maximum braking force until the speed of the vehicle is zero;
wherein, the braking time T2 of the second braking mode is longer than the braking time T1 of the first braking mode, and the braking distance H2 of the second braking mode is longer than the braking distance H1 of the first braking mode;
wherein the first type of obstacle is an obstacle having relative displacement with respect to the own vehicle in a direction perpendicular to the vehicle traveling direction, and the second type of obstacle is an obstacle having no relative displacement with respect to the own vehicle in a direction perpendicular to the vehicle traveling direction;
the third braking mode is to control the braking device to apply initial braking force to the wheels at 15% -20% of the maximum braking force, and enable the braking force of the braking device to be slowly increased to 50% -60% of the maximum braking force until the speed of the vehicle is smaller than or equal to the speed of the homodromous obstacle, the braking time T3 of the third braking mode is longer than the braking time T2 of the second braking mode, and the braking distance H3 of the third braking mode is longer than the braking distance H2 of the second braking mode.
2. The method according to claim 1, wherein in the step S4, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, and if the obstacle is located at the side, a radar ranging system located at the front is started, and the forward obstacle is determined to be a stationary obstacle or a co-moving obstacle by a current speed of the vehicle and a speed at which a distance between the current speed and the forward obstacle is reduced.
3. A control method of brake-by-wire of a vehicle as claimed in claim 1, characterized in that the brake-by-wire system is activated if the obstacle is a stationary obstacle, the braking is performed in said second braking mode, and the brake-by-wire system is activated if the obstacle is a co-moving obstacle, the braking is performed in a third braking mode.
4. The method of claim 1, wherein in the step S4, if the obstacle is a second type obstacle, an image acquisition system located at a side of the vehicle is started to acquire a side image, and if the side does not have an obstacle, navigation information of a traveling road section of the vehicle is acquired to determine whether the traveling road condition of the vehicle is a road condition with a lane change or a steering condition; the method comprises the steps of judging whether a road section in the running direction of a vehicle is a single lane or not preferentially, and if the road section is not the single lane, sending a lane changing running prompt to a vehicle owner; if the vehicle is a single lane, whether a road section in the running direction of the vehicle has a turnout road is further judged, and if the vehicle has the turnout road, the vehicle owner is prompted to carry out steering operation in the direction of the turnout road.
5. A control method of brake-by-wire of a vehicle as set forth in claim 1, wherein the distance L is not less than a braking distance required by the braking device to brake the wheels at 40% of the maximum braking force until the vehicle speed of the vehicle is zero; the distance L1 is a safety braking distance required to be maintained when the vehicle runs at the maximum speed limit of the current road section.
6. The method according to claim 1, wherein in step S5, after a steering or lane changing prompt is sent to a vehicle owner, if the vehicle owner does not perform steering or lane changing operation for a predetermined time, the steering-by-wire system is controlled to perform an auxiliary steering operation on the vehicle, so as to steer or change the lane of the vehicle.
7. A vehicle brake-by-wire system test platform, characterized in that the test platform comprises a simulated obstacle, a simulated vehicle, a brake time acquisition module and a brake distance acquisition module, wherein the simulated obstacle and the simulated vehicle are used for simulating different types of working conditions, the simulated obstacle is a first type of obstacle positioned in front of the test vehicle and/or a second type of obstacle positioned in front of the test vehicle and/or is a side obstacle of the test vehicle, the simulated vehicle is positioned behind the test vehicle and is positioned behind the simulated vehicle to come, the test vehicle is used for executing a control method of vehicle brake-by-wire according to any one of claims 1-6 based on the type of the simulated obstacle and whether the simulated vehicle exists behind the test vehicle or not, the brake time acquisition module is used for acquiring the brake time required by the control method to execute a brake command under different types of working conditions, and the brake distance acquisition module is used for acquiring the corresponding relation of the magnitude of the brake distance under different types of working conditions and the magnitude relation of the brake time under different types of working conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310437115.6A CN116164986B (en) | 2023-04-23 | 2023-04-23 | Vehicle line control brake control method and test platform thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310437115.6A CN116164986B (en) | 2023-04-23 | 2023-04-23 | Vehicle line control brake control method and test platform thereof |
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| CN116164986A CN116164986A (en) | 2023-05-26 |
| CN116164986B true CN116164986B (en) | 2023-07-25 |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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