CN117549866A

CN117549866A - Braking method and system based on millimeter wave radar

Info

Publication number: CN117549866A
Application number: CN202210929701.8A
Authority: CN
Inventors: 李泽
Original assignee: Lianyou Zhilian Technology Co ltd; Shenzhen Lan You Technology Co Ltd
Current assignee: Lianyou Zhilian Technology Co ltd; Shenzhen Lan You Technology Co Ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2024-02-13

Abstract

The invention discloses a braking method and a braking system based on millimeter wave radar, comprising the following steps: the braking system acquires sensing information through millimeter wave radar; when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state; the instrument panel and the display screen perform different operations according to different receiving conditions; the braking system performs different operations on the braking system according to different braking conditions; the braking system may be a rear service braking system. The vehicle is operated through the rear travel braking system, and the millimeter wave radar is used for sensing, so that collision accidents are avoided, and the active safety performance of the whole vehicle is improved.

Description

Braking method and system based on millimeter wave radar

Technical Field

The invention relates to the technical field of vehicles, in particular to a braking method and system based on millimeter wave radar.

Background

As the amount of vehicle maintenance continues to rise, the problem of vehicle collision becomes more pronounced. In a reversing scene, a vehicle at the rear side suddenly passes through, and the driver has a blind area in the visual field, so that the response time of the driver is insufficient, the collision accident of the vehicle is frequent, and the safety of the driver is influenced. The rear passing brake system can monitor other road users with the rear part being transversely close when the vehicle is reversed in real time, actively control the vehicle to brake when judging that the collision danger possibly occurs, avoid the occurrence of collision accidents and improve the active safety performance of the whole vehicle. The millimeter wave radar has strong anti-interference capability, is not affected by weather, has relatively low cost, and can be well adapted to a rear traveling brake system.

Disclosure of Invention

The invention mainly aims to provide a braking method and a braking system based on millimeter wave radar, aiming at the defect that a vehicle collision accident frequently occurs because a vehicle passes through a side rear part suddenly and is in a blind area of a driver's sight in the prior art.

In order to achieve the above object, the present invention provides a braking method based on millimeter wave radar, which is applied to a braking system including at least a rear-passing braking system RCTB, the braking method comprising the steps of:

the braking system acquires sensing information through millimeter wave radar;

when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state;

the instrument panel and the display screen perform different operations according to different receiving conditions;

the braking system performs different operations on the braking system according to different braking conditions;

the brake system at least comprises a drive-by-wire hydraulic brake system and a whole vehicle controller, and the sensing information at least comprises a target distance, a relative speed and a proximity angle.

In the braking method based on millimeter wave radar provided by the invention, the braking system at least comprises four running states of Off, passive, failure and Active, the Active at least comprises two running states of a Brake Request and a Brake Hold,

when the braking system meets the set condition, the braking system jumps from the current state to the corresponding state, including:

when the braking system is in an Off state, the P1 condition is met, and the braking system jumps to a Passive state;

when the braking system is in a Passive state, the P2 condition is met, and the braking system jumps to an Off state;

when the braking system is in a Passive state, the P3 condition is met, and the braking system jumps to an Active Brake Request state;

when the braking system is in an Active Brake Request state, the P4 condition is met, and the braking system jumps to a Passive state;

when the braking system is in an Active Brake Request state, the P5 condition is met, and the braking system jumps to an Active Brake Hold state;

when the braking system is in an Active state, the P6 condition is met, and the braking system jumps to a Passive state;

when the braking system is in an Active state, the P7 condition is met, and the braking system jumps to an Off state;

when the braking system is in an Active state, the P8 condition is met, and the braking system jumps to a Failure state;

when the braking system is in a Failure state, the P9 condition is met, and the braking system jumps to an Off state;

when the braking system is in a Failure state, the P10 condition is met, and the braking system jumps to a Passive state;

when the braking system is in a Passive state, the P11 condition is met, and the braking system jumps to a Failure state;

when the braking system is in an Off state, the P12 condition is met, and the braking system jumps to a Failure state;

when the braking system is in a Passive state, the ignition switch is electrified.

In the braking method based on millimeter wave radar provided by the invention, the instrument panel and the display screen perform different operations according to different receiving conditions, and the braking method comprises the following steps:

after the ignition switch is powered on, the instrument panel and the display screen perform self-learning for a certain time;

if the brake system state received by the instrument panel in n seconds is greater than or equal to m frames, the instrument panel displays different information according to the brake system state, and if the brake system state received by the instrument panel in n seconds is less than m frames, the instrument panel does not display a brake system icon;

if the state of the brake system received by the display screen within n seconds is greater than or equal to m frames, the display screen displays a switch of the brake system, and according to the on and off states of the brake system state display switch, if the state of the brake system received by the display screen within n seconds is less than m frames, the state is kept unchanged, and after the message is recovered, content updating is carried out according to the current brake system state.

In the millimeter wave radar-based braking method provided by the invention, the braking system performs different operations on the braking system according to different braking conditions, and the method comprises the following steps:

when a brake request activation signal of a brake system is received, the state of the brake system is Active, the cyclic redundancy check is passed, and the vehicle speed is smaller than a set speed, the brake-by-wire hydraulic brake system is required to brake according to the deceleration value requested by the brake system;

when a brake request inactive signal of the brake system is received, or the brake system state is a state except Active, or the cyclic redundancy check is failed, or the vehicle speed is greater than or equal to a set speed, the brake-by-wire hydraulic brake system does not need to respond to the deceleration request of the brake system;

when the brake-by-wire hydraulic brake system cannot respond to the brake request of the brake system, a signal which cannot respond to the brake system is required to be sent, and the brake system performs function degradation according to the signal;

when the function of the brake-by-wire hydraulic brake system is closed, a closing signal is required to be sent to the brake system, and the brake system performs function inhibition according to the signal.

In addition, in order to achieve the purpose, the invention also provides a braking system based on the millimeter wave radar, and the braking system comprises a sensing unit, a calculating unit, a control unit and an interaction unit.

In the braking system based on the millimeter wave radar provided by the invention, the sensing unit comprises a left rear millimeter wave radar and a right rear millimeter wave radar, and the left rear millimeter wave radar and the right rear millimeter wave radar are used for sensing the target distance, the relative speed and the approach angle of the vehicle at the rear side.

In the braking system based on the millimeter wave radar, the computing unit comprises a central computing module, an interface module, a storage module and an auxiliary circuit module, wherein the central computing module is used for taking charge of algorithm operation of the braking system and storing data.

In the millimeter wave radar-based braking system provided by the invention, the control unit comprises a drive-by-wire hydraulic braking system and a whole vehicle controller and is used for realizing longitudinal motion control of the vehicle.

In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the millimeter wave radar-based braking method as above.

The invention provides a braking method based on millimeter wave radar, which comprises the following steps: when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state; after the ignition switch is electrified, the instrument panel and the display screen perform different operations according to the number of frames of the brake system state transmitted in the set time; the braking system performs different operations on the braking system according to different braking conditions; the braking system may be a rear service braking system. The vehicle is operated through the rear travel braking system, and the millimeter wave radar is used for sensing, so that collision accidents are avoided, and the active safety performance of the whole vehicle is improved.

Drawings

For a clearer description of an embodiment of the invention or of a technical solution in the prior art, the drawings that are needed in the description of the embodiment or of the prior art will be briefly described, it being obvious that the drawings in the description below are only embodiments of the invention, and that other drawings can be obtained, without inventive effort, by a person skilled in the art from the drawings provided:

fig. 1 is a schematic diagram showing a brake system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a vehicle coordinate system of a braking system according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of millimeter wave radar distribution of a braking system according to an embodiment of the present invention.

Fig. 4 is a schematic diagram showing a detection range of a brake system according to an embodiment of the present invention.

Fig. 5 is a schematic signal interaction diagram of a braking system according to an embodiment of the invention.

Fig. 6 is a schematic flow chart of a braking method based on millimeter wave radar according to an embodiment of the present invention.

Fig. 7 is a schematic diagram illustrating a braking system according to an embodiment of the invention.

Fig. 8 is a schematic diagram of a vehicle according to an embodiment of the invention.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Exemplary embodiments of the present invention are illustrated in the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In order to better understand the above technical solutions, the following detailed description will be made with reference to the accompanying drawings and specific embodiments, and it should be understood that specific features in the embodiments and examples of the present invention are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features in the embodiments and examples of the present invention may be combined with each other without conflict.

The brake system may be a rear service brake system RCTB.

As shown in fig. 1, in one embodiment, the rear service brake system is composed of a sensing unit q1, a calculating unit q2, a control unit q3, and an interaction unit q 4.

The definition of the whole vehicle coordinate system of the rear traveling brake system main vehicle is shown in fig. 2. The origin of coordinates is the center of the rear axle of the main car, the direction of the head of the main car is the X axis, the left side of the main car is the Y axis, and the Z axis is the vertical direction.

The distribution of the millimeter wave radars of the rear passing brake system is shown in fig. 3, and the sensing unit consists of a left rear millimeter wave radar p1 and a right rear millimeter wave radar p 2. The left rear millimeter wave radar p1 and the right rear millimeter wave radar p2 are used for sensing the target distance, the relative speed and the approach angle of the rear and side rear vehicles, and the vehicles can be trucks, automobiles, motorcycles and bicycles.

The detection range of the rear service brake system is shown in fig. 4. The detection range is a region in which the hatching portions (line C, line E, line D, line B intersect) are shown, and a region in which line L, line F, line K, and line B intersect. The line A is the extension line of the rear edge of the main vehicle. Line B is on the rear side of the host vehicle, parallel to and 18.0m from the rear edge of the host vehicle. The D line is parallel to the X axis of the main vehicle and tangent to the outermost edge of the left vehicle body of the main vehicle, and the left outermost edge does not comprise an outer rearview mirror. The K line is parallel to the X axis of the main vehicle and tangent to the outermost edge of the right vehicle body of the main vehicle, and the outermost edge of the right side does not contain an outer rearview mirror. The C line is on the left side of the main car, parallel to the D line and 40.0m from the D line. The L line is on the right side of the main car, parallel to the K line and 40.0m away. The E line is the projection line of the left rear millimeter wave radar horizontal FOV on the ground plane. The F line is the projection line of the right rear millimeter wave radar horizontal FOV on the ground plane. Lateral collision time TTC (time to collision) =y/Vy (Y: lateral distance of Tar Vehicle from Host Vehicle, vy: lateral relative velocity of Tar Vehicle from Host Vehicle).

The computing unit mainly comprises an interface module, a central computing module, a storage module, an auxiliary circuit module and the like, and is responsible for realizing algorithms such as environment perception, state decision and the like of a rear traveling brake system and running of bottom plate software-carried related drive, real-time system, middleware and the like.

The control unit consists of a drive-by-wire hydraulic braking system and a whole vehicle controller, and realizes longitudinal control of the vehicle.

The interaction module is used for a driver to start and set a rear traveling brake system and for various information interactions with the driver.

As shown in fig. 1, the millimeter wave radar is connected to the computing unit through the CAN interface, and the sensing unit inputs obstacle information to the computing unit. The hydraulic brake system by wire (ESP) and the Vehicle Control Unit (VCU) are connected to the computing unit via the CAN, the control unit inputs the Vehicle Speed, the accelerator pedal position Accelerator Pedal Position, the lateral acceleration Ax, the longitudinal acceleration Ay, the Yaw angle Yaw, the Ignition switch state ignation Status, the Gear state Status, the ESP fault state ESP Failure Status, the VCU fault state VCU Failure Status, the ESP operating state ESP Working Status, the Vehicle stationary state Vehicle Standstill, the ESP switch state ESP Off, and the computing unit outputs the RCTB brake request RCTB Brake Request, the RCTB function state RCTB Function Status, and the RCTB brake deceleration RCTB Brake Request Value for achieving longitudinal control. The instrument panel, the display screen, the buzzer and the display screen soft keys are inserted into the computing unit through the CAN, the display screen soft keys input Switch information RCTB Switch to the computing unit, and the computing unit outputs RCTB function state RCTB Function Status for information prompt and alarm prompt.

The input and output signals required for the rear service brake function are shown in fig. 5.

The display screen, the instrument panel and the display screen soft key signals can be used as the input of the computing unit and the output of the computing unit, and the buzzer can only be used as the output of the computing unit.

Under the condition of determining the hardware system architecture, the core design of the functional logic of the rear traveling brake system is related to the system logic state machine and the algorithm design in each state machine state, and the functions finally presented by different state machine designs and control algorithm designs have certain differences.

Fig. 6 is a schematic flow chart of a braking method based on millimeter wave radar according to an embodiment of the present invention, where in the braking method based on millimeter wave radar includes:

step S10, a braking system acquires sensing information through a millimeter wave radar;

step S20, when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state;

step S30, the instrument panel and the display screen perform different operations according to different receiving conditions;

step S40, the braking system performs different operations on the braking system according to different braking conditions;

the braking system may be a rear-traveling braking system RCTB to which the braking method is applied, and the braking system may include a hydraulic-by-wire braking system and a hydraulic-by-wire braking system, and the sensing information includes at least a target distance, a relative speed, and a proximity angle.

Further, the rear service brake system state machine and its jump condition are shown in fig. 7, and the rear service brake system includes 4 operation states: off, passive, failure fault, active, wherein Active includes two operating states, the Brake Request and the Brake Hold.

RCTB Off: when the IGN powered down device is disconnected from the power source or the RCTB switch automobile switch is turned off, the RCTB rear cross target braking function is turned off. The RCTB system output RCTB Function Status =off, RCTB Brake Request =no request, RCTB Brake Request Value =0 m/s2.

RCTB Passive: the RCTB function is in a standby state when no fault occurs, IGN is powered on and the RCTB switch is turned on, but the activation condition is not satisfied. The RCTB system output RCTB Function Status =passive, RCTB Brake Request =no request, RCTB Brake Request Value =0 m/s2.

RCTB Active: when the RCTB function is in the standby state and the activation condition is satisfied, the RCTB function is activated, at which time the RCTB realizes the vehicle longitudinal control. The RCTB system output RCTB Function Status =active, RCTB Brake Request =request, RCTB Brake Request Value (RCTB braking deceleration-6 to 0m/s 2).

RCTB Failure: when the RCTB switch is turned on, the RCTB-related fault causes the RCTB function to be unavailable. The RCTB system output RCTB Function Status =failure, RCTB Brake Request =no request, RCTB Brake Request Value =0 m/s2.

State machine priority: off > Failure > Passive > Active.

when the brake system is in the Off state, the P12 condition is satisfied, and the brake system jumps to the Failure state.

In one embodiment, P1 is satisfied when the system is in the Off state, and the system jumps to the Passive state. IGN power-on Ignition status=on, and RCTB function is on.

The RCTB function is on: the driver turns on the RCTB Switch through the display screen key Switch (RCTB switch=on), or at the end of the last power cycle, the system internally records that the RCTB Switch is on and the current cycle driver does not turn off the RCTB Switch (RCTB switch+.off).

When the system is in the Passive state, P2 is satisfied and the system jumps to the Off state. IGN power down (Ignition status=off), or RCTB function is turned off.

The RCTB function is off: the driver turns off the RCTB Switch (RCTB switch=off) through the display screen key Switch, or at the end of the last power cycle, the system records internally that the RCTB Switch is off and the driver does not turn on the RCTB Switch for this cycle (RCTB switch+.on).

When the system is in the Passive state, P3 is satisfied and the system jumps to the Active (Brake Request) state. P3, the Speed of the main car is less than 15km/h and greater than 0km/h (0 km/h < Vehicle Speed < 15km/h, here, meter Speed), the Speed of the target car is greater than 3.6km/h and less than 60km/h, the main car is in a reverse Gear state (Gear status=R Gear), the target car approaches from the side of the main car, the absolute value of the absolute Speed direction of the target car and the Y-axis angle of the main car are less than 30 DEG, the related target is in a detection area (shown in fig. 4), at least one of an 'in point' or 'out point' is positioned in a 'vertical braking distance threshold' and a 'vertical braking forward distance threshold' (shown in fig. 8), the transverse collision time TTC is less than 1.1S, the opening degree of an accelerator pedal is less than or equal to 75% (Accelerator Pedal Position is less than or equal to 75%), the ESP is in an operating state (ESP Working Status =Available) capable of carrying out corresponding braking, and the time from the last braking request is over 20S.

The definition of the brake vertical distance threshold for the rear service brake system is shown in fig. 8. The "vertical brake distance threshold" and "vertical brake forward distance threshold" define the area in which activation of the RCTB brake request is allowed. Vertical braking distance threshold: extending to the rear of the vehicle by 1.0m from the rear edge of the main vehicle. Vertical braking forward distance threshold: extending 0.5m from the rear edge of the host vehicle toward the front of the host vehicle. When the RCTB enters the corresponding level of active state, the vertical brake distance threshold, the vertical brake forward distance threshold, will be correspondingly extended to prevent instability of the brake signal (vertical brake distance extended by 1.0m, vertical brake forward distance threshold extended by 1.0 m). The target vehicle speed direction and the extension line of the side edge of the vehicle body (as shown in fig. 4, the D line and the K line) have one intersection point respectively, and the point closer to the target vehicle in the two intersection points is called an "in point", and the point farther from the target vehicle is called an "out point".

When the system is in Active (Brake Request) state, P4 is satisfied and the system jumps to the Passive state. P4: the Speed of the main Vehicle is greater than 17km/h (Vehicle Speed > 17km/h refers to the instrument Speed herein), or the Speed of the target Vehicle is less than or equal to 3.6km/h or greater than or equal to 60km/h, or the main Vehicle is not in a reverse Gear state (Gear Status +.Rgear), or the absolute value of the absolute Speed direction and the Y-axis clamping angle of the main Vehicle is greater than or equal to 30 degrees, or the related target is not in a detection area (shown in fig. 4), or neither the 'in point' nor the 'out point' is located within a 'vertical braking distance threshold' and a 'vertical braking forward distance threshold' (shown in fig. 8), or the transverse collision time is greater than 1.1s, or the ESP is in an operating state ESP Working Status =unavaille where corresponding braking is not possible.

When the system is in Active (Brake Request) state, P5 is satisfied and the system jumps to Active (Brake Hold) state. P5: the host vehicle is in a Standstill state (Vehicle Standstill =standstill).

When the system is in Active (Brake Hold) state, P6 is satisfied and the system jumps to the Passive state. P6: the main vehicle brake is kept over 2s, or the accelerator pedal opening is more than 75% (Accelerator Pedal Position > 75%), or the ESP is in an operating state ESP Working Status =unavailable where the corresponding brake is not possible.

When the system is in the Active state, P7 is satisfied and the system jumps to the Off state. P7: IGN power down (Ignition status=off), or RCTB function is turned off.

When the system is in the Active state, P8 is satisfied, and the system jumps to the Failure state. P8: the RCTB system detects faults affecting the function of the RCTB (including ESP Failure Status =fault, VCU Failure Status =fault).

When the system is in Failure state, P9 is satisfied and the system jumps to Off state. P9: IGN power down (Ignition status=off), or RCTB function is turned off.

When the system is in Failure state, P10 is satisfied and the system jumps to the Passive state. P10: the RCTB system did not detect a fault affecting the function of the RCTB (including ESP Failure Status =failure, VCU Failure Status =failure).

When the system is in the Passive state, P11 is satisfied, and the system jumps to the Failure state. P11: the RCTB system detects faults affecting the function of the RCTB (including ESP Failure Status =fault, VCU Failure Status =fault).

When the system is in Off state, P12 is satisfied and the system jumps to Failure state. P12: IGN powers up (Ignition status=on) and the RCTB function is on, and the RCTB system detects faults affecting the RCTB function (including ESP Failure Status =fault, VCU Failure Status =fault).

In one embodiment, after IGN is powered up, the dashboard begins to learn itself for 5 seconds, receives 2 frames or more than 2 frames RCTB Function Status within 5 seconds, and considers the vehicle to have an RCTB system. After learning that the vehicle has the RCTB system, the dashboard displays different information according to RCTB Function Status.

After the IGN is powered on, the display screen starts to learn for 5 seconds, and when 2 frames or more RCTB Function Status frames are received in 5 seconds, the vehicle is considered to have an RCTB system. After learning that the vehicle has the RCTB system, the display screen displays the switch of the RCTB, and displays the on and off of the switch according to RCTB Function Status.

The interaction with the display screen is only under the ON power.

When the driver operates the display screen soft key to turn on the RCTB Switch, the display screen transmits RCTB switch=on, and the RCTB system receives 3 frames to be considered valid.

The display screen displays on or off the display screen soft keys through the receiving RCTB Function Status. The display screen is turned off when receiving RCTB Function Status =off. The display screen is turned on when receiving RCTB Function Status =passive or RCTB Function Status =active. The last state is kept unchanged when the display screen receives RCTB Function Status =failure.

When the display screen receives less than 2 frames RCTB Function Status within 5 seconds, the last state is kept unchanged, and after the message is recovered, the display screen is updated according to RCTB Function Status content.

The RCTB system memorizes the RCTB switch state after the whole vehicle is powered down. And the first power up defaults to on.

The dashboard displays different information according to RCTB Function Status: RCTB Function Status =off, the dashboard does not display the RCTB function icon, RCTB Function Status =passive, the dashboard RCTB function icon displays off-white, RCTB Function Status =active, the dashboard RCTB function icon displays yellow and blinks at 2HZ, RCTB Function Status =failure, and the dashboard RCTB function icon displays red.

When the dashboard receives less than 2 frames RCTB Function Status within 5 seconds, the dashboard RCTB function icon is not displayed.

The buzzer sounds according to RCTB Function Status, and when RCTB Function Status =active is received, the buzzer sounds a 2HZ "drop" sound prompt, and when RCTB Function Status ++active is received, the buzzer stops.

In one embodiment, the RCTB is 4000ms for a maximum sustained brake request time.

In the same power-up cycle, the interval between two adjacent brake request activations (from the end of the first brake request to the start of the second brake request) must exceed 20s.

The ESP needs to brake at the RCTB requested deceleration value (RCTB Brake Request Value) when the following condition is satisfied: an RCTB brake request activation signal (RCTB Brake Request =request) is received and the state of the RCTB is Active (RCTB Function Status =active) and the CRC check passes and the Vehicle Speed < 15km/h.

The ESP need not respond to the deceleration request of the RCTB when the following conditions are satisfied: the receipt of the RCTB brake request inactive signal (RCTB Brake Request =no request), or the state inactive (RCTB Function Status +.active) of the RCTB, or the CRC check failed, or the Vehicle Speed was not less than 15km/h.

When the ESP cannot respond to the braking request of the RCTB, ESP Working Status =unavailable needs to be sent to the RCTB system, which performs a functional degradation according to this signal.

When the ESP function is turned Off, it is necessary to send ESP off=off to the RCTB system, which performs function suppression based on this signal.

ESP needs to arbitrate the brake requests of the different ECU nodes.

When the VCU receives the RCTB brake request activation signal (RCTB Brake Request =request) and has no CRC check error, the torque output needs to be reduced to 0NM within 500 ms. An RCTB brake request deactivation signal (RCTB Brake Request =no request) is received without a response.

The rear walk-through brake function has a safety level of QM.

Based on the mode, the vehicle is operated through the rear travel braking system, the millimeter wave radar is used for sensing, the occurrence of collision accidents is avoided, and the active safety performance of the whole vehicle is improved.

The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program can realize the following steps when being executed by a braking system;

the braking system acquires sensing information through millimeter wave radar; when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state; the instrument panel and the display screen perform different operations according to different receiving conditions; the braking system performs different operations on the braking system according to different braking conditions; the braking system may be a rear service braking system.

The computer readable storage medium may include: u disk, mobile hard disk, ROM (Read-Only Memory) > RAM (Random Access Memory, RAM), magnetic disk or optical disk, etc.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in accordance with embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

Claims

1. A millimeter wave radar-based braking method, characterized in that the braking method is applied to a braking system comprising at least a rear-passing braking system RCTB, the braking method comprising the steps of:

the braking system acquires sensing information through a millimeter wave radar;

2. The millimeter wave radar-based braking method of claim 1, wherein the braking system comprises at least four operating states of Off, passive, failure and Active, the Active comprises at least two operating states of Brake Request and Brake Hold,

and when the braking system meets the set condition, the braking system jumps to a corresponding state from the current state, and the method comprises the following steps:

3. The millimeter wave radar-based braking method of claim 2, wherein the instrument panel and the display screen perform different operations according to different receiving conditions, comprising:

if the brake system state received by the instrument panel within n seconds is greater than or equal to m frames, the instrument panel displays different information according to the brake system state, and if the brake system state received by the instrument panel within n seconds is less than m frames, the instrument panel does not display a brake system icon;

and if the state of the braking system received by the display screen within n seconds is greater than or equal to m frames, the display screen displays a switch of the braking system and displays the switch on and off according to the state of the braking system, and if the state of the braking system received by the display screen within n seconds is less than m frames, the state is kept unchanged, and after the message is recovered, content updating is carried out according to the current state of the braking system.

4. The millimeter wave radar-based braking method of claim 2, wherein the braking system operates differently according to different braking conditions, comprising:

when a brake request activation signal of the brake system is received, the state of the brake system is Active, the cyclic redundancy check is passed, and the vehicle speed is smaller than a set speed, the brake-by-wire hydraulic brake system is required to brake according to the deceleration value requested by the brake system;

5. The braking system based on the millimeter wave radar is characterized by comprising a sensing unit, a calculating unit, a control unit and an interaction unit.

6. The millimeter wave radar-based brake system according to claim 5, wherein the sensing unit includes a left rear millimeter wave radar and a right rear millimeter wave radar for sensing a target distance, a relative speed, and a proximity angle of the rear-side vehicle.

7. The millimeter wave radar-based braking system of claim 5, wherein the computing unit comprises a central computing module, an interface module, a storage module, and an auxiliary circuit module, the central computing module being configured to be responsible for algorithmic operation of the braking system and also to store data.

8. The millimeter wave radar-based braking system of claim 5, wherein the control unit comprises a hydraulic brake-by-wire system and a vehicle controller for effecting longitudinal motion control of the vehicle.

9. The millimeter wave radar-based braking system of claim 5, wherein the interactive unit comprises vehicle display soft keys, a buzzer, a display screen, and an instrument panel for driver switching, setting the braking system status information, and alert presentation.

10. A computer readable storage medium, characterized in that it has stored thereon a data processing program which, when executed by a brake system, implements the method according to any of claims 1 to 4.