CN116442998B - Vehicle brake control system and method - Google Patents
Vehicle brake control system and method Download PDFInfo
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- CN116442998B CN116442998B CN202310534049.4A CN202310534049A CN116442998B CN 116442998 B CN116442998 B CN 116442998B CN 202310534049 A CN202310534049 A CN 202310534049A CN 116442998 B CN116442998 B CN 116442998B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a vehicle brake control system and a method thereof, belonging to the technical field of vehicle brake control, wherein the method comprises the following steps: receiving and storing information data to be used, and performing braking control on the vehicle based on the information data to be used; monitoring the current scene state of the vehicle, monitoring the position, direction, speed, engine working state, residual mileage, running track, running time and oil quantity of the vehicle in real time, judging the current scene state of the vehicle and predicting the current wheel speed actual value through a wheel speed sensor; predicting a target scene to be converted of the vehicle, and measuring the actual value of the current wheel speed; the method can select corresponding braking frequency and deceleration amplitude according to the tire speed difference between different scenes, and selectively decelerate in stages, so that the condition of wheel locking caused by higher vehicle speed in the braking process is avoided, and the potential safety hazard caused by inertial collision is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle brake control, in particular to a vehicle brake control system and a vehicle brake control method.
Background
With the continuous improvement of new vehicle evaluation standards by national and industry evaluation institutions, technologies such as adaptive cruise control, automatic emergency braking and the like are continuously popularized and applied. And the problems of energy crisis, environmental pollution, greenhouse effect and the like are increasingly serious, so that new energy automobiles, particularly pure electric automobiles, become the necessary trend of automobile industry revolution. The pure electric vehicle has the advantages of energy conservation, environmental protection, economy, NVH (Noise, vibration, harshness, noise, vibration and harshness, NVH for short) quality, simple structure, strong dynamic property and the like, and is widely focused by scientific research institutions and enterprises. The electric vehicle uses a motor as a power source, when the situation that the road condition in front needs to be avoided occurs, if the vehicle cannot change the road, the vehicle needs to be actively braked to implement deceleration collision avoidance, and in the deceleration collision avoidance process, the relative distance, speed and azimuth angle between the vehicle and the obstacle in front need to be accurately measured through a radar. The estimation of braking distance and safety distance during deceleration braking are also of great importance.
The existing vehicle braking control system cannot select corresponding braking frequency and deceleration amplitude according to tire speed differences among different scenes and distances among two scenes, and cannot decelerate in stages, so that unstable vehicle bodies easily occur in the braking process, and potential safety hazards caused by inertial collision are increased.
For this purpose, a vehicle brake control system and method are proposed to solve the above-mentioned problems.
Disclosure of Invention
The present invention is directed to a vehicle brake control system and method, which solve the above-mentioned problems.
In order to achieve the above purpose, the present invention provides the following technical solutions: a vehicle brake control system and method includes the steps of:
receiving and storing information data to be used, and performing braking control on the vehicle based on the information data to be used;
monitoring the current scene state of the vehicle, monitoring the position, direction, speed, engine working state, residual mileage, running track, running time and oil quantity of the vehicle in real time, judging the current scene state of the vehicle and predicting the current wheel speed actual value through a wheel speed sensor;
predicting a target scene to be converted of the vehicle, and measuring the actual value of the current wheel speed;
selecting a proper threshold value according to the distance between the tire speed difference and the scene transition;
and acquiring a tire speed difference of the vehicle converted from the current scene to the target scene, and selecting a corresponding threshold value according to the speed difference.
By adopting the technical scheme, different threshold stages can be selected according to different tire speed differences, and staged selective deceleration is performed, so that the overall speed of the vehicle is adjusted, the vehicle body is stabilized, the condition of wheel locking caused by sudden braking due to higher vehicle speed is avoided, and the loss caused by inertial collision is reduced.
Preferably, the information data to be used comprises a speed difference threshold value, a braking frequency corresponding to the speed difference threshold value and a deceleration amplitude of single braking;
the braking control of the vehicle based on the information data to be used includes:
a speed difference threshold of the vehicle during a scene transition is preset,
acquiring actual values of the tire speed difference of the vehicle before and after the scene transition, matching the actual values of the speed difference to corresponding thresholds,
and selecting a corresponding braking mode based on the corresponding threshold value to perform braking control on the vehicle.
By adopting the technical scheme, proper braking frequency and deceleration amplitude can be selected according to different thresholds, so that a proper mode is selected to perform braking control on the vehicle, stability of the vehicle in scene conversion is ensured, and shaking caused by braking of the vehicle when the vehicle reaches a target scene to reach a predicted speed can be reduced.
Preferably, the selecting the corresponding braking mode based on the corresponding threshold value includes:
presetting a braking frequency and a speed reduction amplitude of single braking corresponding to a speed difference threshold value, wherein the speed difference threshold value is divided into three stages from high to low in sequence, and the actual speed difference value is the difference of the speeds of tires between a current scene and a target scene of a vehicle;
acquiring a current scene state of the vehicle by monitoring the related data, wherein the scene state comprises straight running, turning and parking, monitoring the surrounding environment, predicting a target scene of the vehicle, acquiring an actual value of a speed difference,
and matching the actual speed difference value to the speed difference threshold values of the three stages, judging the threshold stage to which the actual speed difference value belongs, positioning the speed stage, and selecting corresponding braking frequency and deceleration amplitude according to the stage and the path between the current scene of the vehicle and the target scene.
By adopting the technical scheme, the threshold stage to which the actual value of the speed difference belongs can be judged, the speed stage of the speed difference is positioned, and the corresponding braking frequency and the corresponding deceleration amplitude are selected according to the stage and the path between the current scene of the vehicle and the target scene.
Preferably, the three stages are respectively high speed, medium speed and low speed, the corresponding braking frequency and the amplitude reduction speed are set according to the height of the stages, in the same stage, the amplitude reduction speed is inversely related to the braking frequency, the braking frequency is positively related to the stage of the wheel speed threshold, the types of the braking frequency are more, generally less and the types of the amplitude reduction are small, generally more and more.
Through adopting above-mentioned technical scheme, divide into a plurality of braking frequency and damping speed, can be according to the better stability of keeping the vehicle when braking the vehicle of distance between two scenes, reduce because the too close and braking of target scene, the condition that takes place the wheel and lock suddenly.
Preferably, the acquiring the actual value of the speed difference includes:
acquiring the actual value of the wheel speed under the current situation of the vehicle,
the distance of the vehicle to the target scene location is detected,
the wheel speed predicted value required by the vehicle at the target scene is preset,
a tire speed difference is calculated for the vehicle from the present scene to the target scene.
By adopting the technical scheme, the speed of the vehicle and the braking mode required by the vehicle to reach the target scene can be better known by acquiring the actual value of the speed difference.
Preferably, the preset speed difference threshold is divided into two cases, including the same scene and different scenes, different speed difference thresholds are set for tires at the same position according to different scenes, and different speed difference thresholds are set for tires at different positions according to the same scene.
Through adopting above-mentioned technical scheme, set up solitary threshold value to the wheel speed, carry out solitary monitoring, can be better know the speed of vehicle, make things convenient for follow-up matching to go out suitable braking mode.
Preferably, the predicting the target scene of the vehicle to be converted includes:
selecting a corresponding speed difference threshold value according to the moving speed of the obstacle and the actual value of the current wheel speed, and monitoring the environmental range around the vehicle;
the environment range is divided into a safety distance range and a braking distance range, the braking range is within the safety range, the safety distance range refers to a distance without braking, and the braking range refers to a range with braking required after an obstacle enters;
the target scene of the vehicle is predicted jointly according to the route guidance of the vehicle when running, the navigation route displayed on the map, the position of the vehicle and the traffic light situation in front.
By adopting the technical scheme, the obstacle around the vehicle starts to be monitored when the obstacle enters the safety range, and the distance of the obstacle entering the braking range is predicted according to the current speed, so that braking control is performed in advance, and the potential safety hazard is reduced.
Preferably, the distance is divided into three types, namely long, medium and short,
when the distance is long, a braking mode with more braking frequency and small deceleration amplitude is adopted,
when the journey is in the middle, a braking mode with common braking frequency and common deceleration amplitude is selected,
when the road length is short, a braking mode with small braking frequency and large deceleration amplitude is selected.
By adopting the technical scheme, the proper braking mode is selected according to the type of the journey, so that the stability of the vehicle in braking can be effectively ensured.
A vehicle brake control system comprising:
the monitoring module is used for monitoring the position and the moving speed of the obstacle in the current scene of the vehicle and the surrounding environment range of the vehicle and outputting the position and the moving speed through signals;
the prediction module is used for jointly predicting a target scene of the vehicle according to the route guidance of the current running of the vehicle, the navigation route displayed on the map and the position of the vehicle;
the judging module comprises a receiving unit, a preset unit, a calculating unit and a matching unit, and is used for matching the speed difference between two scenes with a threshold value and judging a braking mode required by the vehicle;
and the execution module is configured to be connected with the matching unit, receive and respond to the braking mode transmitted by the matching unit, and perform braking control on the vehicle according to the braking mode.
By adopting the technical scheme, a proper braking mode is selected between the scene conversion of the vehicle through the prediction module and the judging module, and the stability of the vehicle in braking is maintained under the condition that the vehicle reaches the target scene and is ensured to be safe.
Preferably, the receiving unit is configured to be connected to the monitoring module, to receive and respond to the current scene of the vehicle and the position and the moving speed of the obstacle in the surrounding environment range of the vehicle transmitted by the monitoring module,
the presetting unit is used for presetting speed difference thresholds of the vehicle under different scenes, and corresponding braking frequency and deceleration amplitude under the thresholds,
the computing unit is configured to be connected with the receiving unit and the prediction module, receive and respond to the wheel speed between the vehicle scene transitions transmitted by the receiving unit and the prediction module, obtain the speed difference of the vehicle tyre between the two scenes according to the two wheel speeds,
the matching unit is configured to be connected with the computing unit and the preset unit, receive and respond to the speed difference transmitted by the computing unit and the preset speed difference threshold value, select a corresponding threshold stage according to the speed difference, select a corresponding braking mode according to the stage and output the braking mode.
By adopting the technical scheme, the threshold value of the speed of the vehicle is judged, and the corresponding braking mode is selected according to the threshold value and combining the distance between two scenes.
Compared with the prior art, the invention has the beneficial effects that:
1. different threshold stages can be selected according to different tire speed differences, and staged selective speed reduction is performed, so that the overall speed of the vehicle is adjusted, the vehicle body is stabilized, the condition of wheel locking caused by sudden braking due to higher vehicle speed is avoided, and the loss caused by inertial collision is reduced;
2. the method has the advantages that the proper braking frequency and the proper speed reduction amplitude can be selected according to different thresholds, so that the proper mode is selected to perform braking control on the vehicle, the stability of the vehicle in scene conversion is ensured, the condition that the vehicle reaches a target scene to reach a predicted speed is ensured, and meanwhile, the shaking of the vehicle caused by braking is reduced;
3. the device is divided into a plurality of braking frequencies and a width reduction speed, so that the stability of the vehicle when the vehicle is braked can be better kept according to the distance between two scenes, and the situation that the wheels are suddenly locked due to braking caused by too close distance to a target scene is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of the method of the present invention;
fig. 2 is a block diagram of the system architecture of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a monitoring module; 2. a prediction module; 3. a judgment module; 31. a receiving unit; 32. a preset unit; 33. a calculation unit; 34. a matching unit; 4. and executing the module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 2, the present invention provides a vehicle brake control system and method.
A vehicle brake control method includes the following steps.
S1, receiving and storing information data to be used, and performing braking control on the vehicle based on the information data to be used, wherein the information data to be used comprises a speed difference threshold value, a braking frequency corresponding to the speed difference threshold value and a speed reduction amplitude of single braking, the speed difference threshold value of the vehicle in the scene conversion process is preset, the braking frequency corresponding to the speed difference threshold value and the speed reduction amplitude of single braking are set, the threshold value is matched with an actual value of the speed difference, and the corresponding braking frequency is selected to control the vehicle.
a. The method comprises the steps of presetting braking frequency and the speed reduction amplitude of single braking corresponding to a speed difference threshold value, dividing the speed difference threshold value into three stages from high to low in sequence, wherein the three stages are respectively high speed, medium speed and low speed, the corresponding braking frequency and the amplitude reduction speed are set according to the height of the stages, the amplitude reduction speed and the braking frequency in the same stage are in negative correlation, the braking frequency and the stage of the wheel speed threshold value are in positive correlation, the speed difference is the speed difference between a current scene of a vehicle and a target scene, the speed difference is divided into a plurality of braking frequencies and the amplitude reduction speeds, the stability of the vehicle when the vehicle is braked can be better kept according to the distance between the two scenes, and the situation that the vehicle is braked due to too close distance from the target scene, and sudden locking of the wheel occurs is reduced.
b. Matching the obtained actual speed difference value with a threshold value, selecting a corresponding braking frequency and a corresponding deceleration amplitude under the threshold value of the actual speed difference value, selecting a proper braking frequency and a proper deceleration amplitude according to the distance between a current scene of the vehicle and a target scene, executing the mode instruction on the vehicle, obtaining the current scene state of the vehicle by monitoring related data, wherein the scene state comprises straight running, turning, parking and the like, monitoring the surrounding environment, predicting the target scene of the vehicle, calculating the actual speed difference value, matching the actual speed difference value with the speed difference threshold values of three stages, judging the threshold stage to which the actual speed difference value belongs, positioning the speed stage of the actual speed difference value, judging the stage of the actual speed difference value, and selecting the corresponding braking frequency and the corresponding deceleration amplitude according to the stage.
Different speed difference thresholds are set for tires at the same position in different scenes, different speed difference thresholds are set for tires at different positions in the same scene, the speed difference thresholds of corresponding tires are matched according to the current speed difference, different braking frequencies and speed reduction amplitudes are selected, the types of the braking frequencies are divided into more, more general and less, the types of the speed reduction amplitudes are divided into less, general and more, a proper threshold stage is selected according to the threshold matched with the speed difference, proper braking frequencies and speed reduction amplitudes are selected according to the wheel speed of a vehicle in the current scene and the distance from the wheel speed of the vehicle to a target scene, the speed of the vehicle in the same scene is reduced in the threshold stage, the speed of the different tires in the same braking scene is enabled to be in the speed required by the target scene, the stability of a vehicle body can be ensured, the condition that the wheels are locked due to the fact that the wheels are too close to the target scene is reduced, the loss caused by inertia collision is reduced, the wheel speed of the different tires in the same scene is obtained, the distance between the wheel speed of the vehicle and the target scene is predicted, the speed of the vehicle is calculated from the scene to the wheel speed of the target scene which is required to be converted, and the speed difference between the required speed of the vehicle in the same scene is selected according to the speed of the speed required speed difference between the speed of the vehicle and the target scene.
The method can select proper braking frequency and deceleration amplitude according to different thresholds, so that a proper mode is selected to perform braking control on the vehicle, stability of the vehicle in scene conversion is guaranteed, and shaking caused by braking of the vehicle when the vehicle reaches a target scene to reach a predicted speed is reduced.
In actual use, if the current situation scene is straight and the target scene is turning, the wheel speed sensor is adopted to monitor the actual value VS of the wheel speed of the vehicle in the current situation scene, the distance L from the vehicle to the position of the target scene is detected, the wheel speed predicted value VY required by the vehicle at the target scene is preset, for example, the target scene is parking, the wheel speed predicted value required at the target scene is 0km/h at the moment, the tire speed difference of the vehicle converted from the current situation scene to the target scene is calculated, and the calculation expression is as follows: Δv= |vs-vy|, where Δv is a tire speed difference of the vehicle converted from the present scene to the target scene.
If the current situation scene is straight running and the target scene is parking, the tire speed difference of the vehicle is obtained from the current situation scene to the target scene, the corresponding threshold value is selected according to the speed difference, so that the corresponding braking frequency and the speed reduction amplitude are selected, when the current situation scene of the vehicle is that the wheel speed of the vehicle is 40km/h when the vehicle is straight on an urban street, the target scene is that the road junction is entered, the wheel speed of the vehicle is 20km/h after the vehicle enters the target scene, the speed difference between the current situation scene and the target scene is 20km/h at the moment, the wheel speed threshold value range of the preset medium speed stage is 15km/h-40km/h, the corresponding braking frequency is 5 times, 2 times and 1 time, the speed reduction amplitude corresponding to the braking frequency is 4km/h, 10km/h and 20km/h respectively, the speed difference of the vehicle is in a medium speed stage, the selectable braking frequency and the deceleration amplitude are three, and then a proper braking mode is selected according to the distance between the current scene and the target scene, the length of the distance is equally divided into three types, namely long, medium and short, when the path is long, the braking mode with more braking frequency and small deceleration amplitude is adopted, when the path is medium, the braking mode with general braking frequency and general deceleration amplitude is selected, and when the path is short, the braking mode with less braking frequency and large deceleration amplitude is selected, so that the vehicle body can be stabilized in advance according to the speed of the vehicle and the distance from the target scene, and the loss caused by inertia collision due to sudden braking is reduced.
S2, monitoring the current scene state of the vehicle, monitoring the position, the direction, the speed, the working state of the engine, the residual mileage, the running track, the running time and the oil quantity of the vehicle in real time, judging the current scene state of the vehicle, and predicting the current wheel speed actual value through a wheel speed sensor.
In actual use, the running direction of the vehicle at the intersection is determined through map navigation, whether the vehicle is running or not is judged according to the current position of the vehicle and the working state of the engine, when the initial speed of the vehicle is 0, the current scene of the vehicle is stopped, when the average speed of the vehicle is stable, the vehicle is in a straight running state, when the speed of the vehicle is unstable, the vehicle is converted into a target scene, the scene state of the vehicle is monitored together through GPS, bluetooth and other technologies, the vehicle can be monitored better, the state of the vehicle is monitored in real time, and the next step of the vehicle is predicted conveniently.
S3, predicting a target scene to be converted of the vehicle according to surrounding obstacle conditions under the scene state, measuring a current wheel speed actual value, selecting a corresponding speed difference threshold value according to the moving speed of the obstacle and the current wheel speed actual value, and monitoring the environment range around the vehicle, wherein the environment range is divided into a safe distance range and a braking distance range, the braking range is within the safe range, the safe distance range refers to a distance without braking, and the braking range refers to a range with braking after the obstacle enters.
In actual use, assuming that the current scene of the vehicle is straight running, when the situation that organisms exist around the vehicle and enter a safe distance is detected, the moving speed V of the organisms is monitored and recorded, the intersection point of the moving distance of the organisms and the distance of the vehicle is acquired, the moving track of the organisms is predicted according to the moving trend of the organisms, the moving track of the vehicle is judged according to the running direction of the vehicle, a navigation line and the like, the intersection point of the moving track of the vehicle and the moving track of the organisms is recorded as P, the moving speed of the organisms is recorded, the time difference delta t1 of the organisms reaching the point P from the monitored position is predicted according to the moving speed of the organisms, the time difference delta t2 of the vehicle reaching the point P is predicted according to the wheel speed of the vehicle, when delta t1 is not equal to delta t2, the vehicle can pass the point P before or after the organisms, braking is not needed at this moment, the vehicle can reach the point P in the same time, the moment, the vehicle can be braked is assumed to be required, the threshold value of the speed difference of the speed of the vehicle from the target scene is obtained, the corresponding to the threshold value is selected, the threshold value of the speed difference of the speed of the vehicle reaching the point P is reduced, the vehicle can be the actual braking range is reduced according to the threshold value, the speed of the threshold value, the situation that the corresponding to the speed of the vehicle can be reached at the speed of the vehicle is reduced, and the speed of the vehicle can reach the obstacle is in a certain situation, and the actual situation is reduced, and the speed is the threshold value is the situation is in accordance with the threshold value, and the situation is in the situation of the speed is can be reached.
The obstacle around the vehicle starts to be monitored when the obstacle enters a safety range, and the distance of the obstacle entering a braking range is predicted according to the current speed, so that braking control is performed in advance, and potential safety hazards are reduced.
S4, predicting the state of a target scene to be converted by the vehicle, and predicting the target scene of the vehicle together according to the current driving route guidance of the vehicle, the navigation route displayed on the map, the position of the vehicle, the traffic light situation in front and the like.
In actual use, the position of the vehicle, the driving route guidance and the navigation route on the map are monitored by predicting the distance between the vehicle and the next intersection, so that the target scene to be converted by the vehicle is judged to be continuous straight running, turning or stopping;
s5, obtaining a tire speed difference of the vehicle converted from the current scene to the target scene, and selecting a corresponding threshold value according to the speed difference; and selecting proper braking frequency and deceleration amplitude according to the selected speed difference threshold value and the distance between the current scene of the vehicle and the target scene, and executing the braking instruction on the vehicle.
According to different tire speed differences, different threshold stages can be selected for staged selective speed reduction, so that the overall speed of the vehicle is adjusted, the vehicle body is stabilized, the condition of wheel locking caused by sudden braking due to high vehicle speed is avoided, and the loss caused by inertial collision is reduced.
A vehicle brake control system comprising:
the monitoring module 1 is used for monitoring the position and the moving speed of the obstacle in the current scene of the vehicle and the surrounding environment range of the vehicle and outputting the position and the moving speed through signals;
a prediction module 2 for predicting a target scene of the vehicle together according to a route guidance that the vehicle is currently traveling, a navigation route displayed on a map, and a position of the vehicle;
the judging module 3 comprises a receiving unit 31, a preset unit 32, a calculating unit 33 and a matching unit 34, and is used for matching the speed difference between two scenes with a threshold value, judging the braking mode required by the vehicle,
the receiving unit 31 is configured to be connected to the monitoring module 1, to receive and respond to the current scene of the vehicle and the position and moving speed of the obstacle in the surrounding environment range of the vehicle transmitted by the monitoring module 1,
the preset unit 32 is configured to preset a speed difference threshold value of the vehicle in different situations, and a braking frequency and a deceleration amplitude corresponding to the threshold value,
the calculation unit 33 is configured to be connected to the receiving unit 31 and the prediction module 2, to receive and respond to the wheel speed between the vehicle scene transitions transmitted by the receiving unit 31 and the prediction module 2, to derive the speed difference of the vehicle tires between the two scenes from the two wheel speeds,
the matching unit 34 is configured to be connected with the calculating unit 33 and the preset unit 32, and receive and respond to the speed difference transmitted by the calculating unit 33 and the preset unit 32 and the preset speed difference threshold, select a corresponding threshold stage according to the speed difference, select a corresponding braking mode according to the stage, and output the braking mode;
judging a threshold value of the speed of the vehicle, and selecting a corresponding braking mode according to the threshold value and combining the distance between two scenes;
the execution module 4 is configured to be connected to the matching unit 34, receive and respond to the braking mode transmitted by the matching unit 34, and perform braking control on the vehicle according to the braking mode.
And selecting a proper braking mode for the vehicle between scene transitions through the prediction module and the judgment module, and keeping the stability of the vehicle in braking under the condition that the vehicle reaches a target scene and is safe.
According to the invention, different threshold stages can be selected according to different tire speed differences, so that corresponding braking frequency and deceleration amplitude are selected, selective deceleration is carried out in stages according to the speed differences, braking force is judged according to wheel speed and distance, thus speed is regulated, a vehicle body is stabilized, the condition of wheel locking caused by higher vehicle speed can be avoided, and loss caused by inertial collision is reduced.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A vehicle brake control method characterized by: the method comprises the following steps:
receiving and storing information data to be used, and performing braking control on the vehicle based on the information data to be used;
the information data to be used comprises a speed difference threshold value, a braking frequency corresponding to the speed difference threshold value and a speed reduction amplitude of single braking;
the braking control of the vehicle based on the information data to be used includes:
presetting a speed difference threshold value of a vehicle in a scene conversion process, wherein the speed difference threshold value is divided into two cases, including a same scene and different scenes, setting different speed difference threshold values for tires in the same position according to different scenes, and setting different speed difference threshold values for tires in different positions according to the same scene;
acquiring actual values of the tire speed difference of the vehicle before and after the scene transition, matching the actual values of the speed difference to corresponding thresholds,
selecting a corresponding braking mode based on a corresponding threshold value to perform braking control on the vehicle;
the selecting the corresponding braking mode based on the corresponding threshold value comprises the following steps:
presetting a braking frequency and a speed reduction amplitude of single braking corresponding to a speed difference threshold value, wherein the speed difference threshold value is divided into three stages from high to low in sequence, and the actual speed difference value is the difference of the speeds of tires between a current scene and a target scene of a vehicle;
acquiring a current scene state of the vehicle by monitoring the related data, wherein the scene state comprises straight running, turning and parking, monitoring the surrounding environment, predicting a target scene of the vehicle, acquiring an actual value of a speed difference,
matching the actual speed difference value to the speed difference threshold values of three stages, judging the threshold stage to which the actual speed difference value belongs, positioning the speed stage of the speed difference value, selecting corresponding braking frequency and deceleration amplitude according to the stage and the path between the current scene of the vehicle and the target scene, and executing the braking mode instruction on the vehicle;
monitoring the current scene state of the vehicle, monitoring the position, direction, speed, engine working state, residual mileage, running track, running time and oil quantity of the vehicle in real time, judging the current scene state of the vehicle and predicting the current wheel speed actual value through a wheel speed sensor;
predicting a target scene to be converted of the vehicle, and measuring the actual value of the current wheel speed;
selecting a proper threshold value according to the distance between the tire speed difference and the scene transition;
and acquiring a tire speed difference of the vehicle converted from the current scene to the target scene, and selecting a corresponding threshold value according to the speed difference.
2. The vehicle brake control method according to claim 1, characterized in that: the three stages are respectively high speed, medium speed and low speed;
setting corresponding braking frequency and amplitude reduction speed according to the height of the stage, wherein the amplitude reduction speed in the same stage is inversely related to the braking frequency, and the braking frequency is positively related to the stage of the wheel speed threshold;
the types of braking frequencies are classified into more, generally and less, and the types of deceleration ranges are classified into small, generally and large.
3. The vehicle brake control method according to claim 1, characterized in that: the acquiring the actual value of the speed difference comprises the following steps:
acquiring the actual value of the wheel speed under the current situation of the vehicle,
the distance of the vehicle to the target scene location is detected,
the wheel speed predicted value required by the vehicle at the target scene is preset,
a tire speed difference is calculated for the vehicle from the present scene to the target scene.
4. The vehicle brake control method according to claim 1, characterized in that: the predicting a target scene of an impending transition of a vehicle includes:
selecting a corresponding speed difference threshold value according to the moving speed of the obstacle and the actual value of the current wheel speed, and monitoring the environmental range around the vehicle;
the environment range is divided into a safety distance range and a braking distance range, the braking range is within the safety range, the safety distance range refers to a distance without braking, and the braking range refers to a range with braking required after an obstacle enters;
the target scene of the vehicle is predicted jointly according to the route guidance of the vehicle when running, the navigation route displayed on the map, the position of the vehicle and the traffic light situation in front.
5. The vehicle brake control method according to claim 1, characterized in that: the distance is divided into three types, namely long, medium and short,
when the distance is long, a braking mode with more braking frequency and small deceleration amplitude is adopted,
when the journey is in the middle, a braking mode with common braking frequency and common deceleration amplitude is selected,
when the road length is short, a braking mode with small braking frequency and large deceleration amplitude is selected.
6. A vehicle brake control system applied to the vehicle brake control method according to any one of claims 1 to 5, characterized by comprising:
the monitoring module (1) is used for monitoring the position and the moving speed of the obstacle in the current scene of the vehicle and the surrounding environment range of the vehicle and outputting the position and the moving speed through signals;
a prediction module (2) for predicting a target scene of the vehicle together according to a route guidance of the vehicle when traveling, a navigation route displayed on a map, and a position of the vehicle;
the judging module (3) comprises a receiving unit (31), a preset unit (32), a calculating unit (33) and a matching unit (34) and is used for matching the speed difference between two scenes with a threshold value and judging a braking mode required by the vehicle;
and the execution module (4) is configured to be connected with the matching unit (34), receive and respond to the braking mode transmitted by the matching unit (34), and perform braking control on the vehicle according to the braking mode.
7. A vehicle brake control system according to claim 6, wherein: the receiving unit (31) is configured to be connected with the monitoring module (1), receive and respond to the current situation scene of the vehicle and the position and the moving speed of the obstacle in the surrounding environment range of the vehicle transmitted by the monitoring module (1),
the presetting unit (32) is used for presetting speed difference thresholds of the vehicle under different scenes, and corresponding braking frequency and deceleration amplitude under the thresholds,
the computing unit (33) is configured to be connected with the receiving unit (31) and the prediction module (2), receive and respond to the wheel speed between the vehicle scene transitions transmitted by the receiving unit (31) and the prediction module (2), obtain the speed difference of the vehicle tyre between the two scenes according to the two wheel speeds,
the matching unit (34) is configured to be connected with the computing unit (33) and the preset unit (32), receive and respond to the speed difference transmitted by the computing unit (33) and the preset unit (32) and a preset speed difference threshold value, select a corresponding threshold value stage according to the speed difference, select a corresponding braking mode according to the stage and output.
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| CN111813099A (en) * | 2019-03-25 | 2020-10-23 | 广州汽车集团股份有限公司 | Driving control method and device for unmanned vehicle, computer equipment and vehicle |
| CN113386743A (en) * | 2021-07-12 | 2021-09-14 | 无锡太机脑智能科技有限公司 | Detection and processing method for speed runaway of unmanned small special vehicle |
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| CN111813099A (en) * | 2019-03-25 | 2020-10-23 | 广州汽车集团股份有限公司 | Driving control method and device for unmanned vehicle, computer equipment and vehicle |
| CN113386743A (en) * | 2021-07-12 | 2021-09-14 | 无锡太机脑智能科技有限公司 | Detection and processing method for speed runaway of unmanned small special vehicle |
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