CN118182415A - Emergency braking method and system for brake pedal failure - Google Patents

Emergency braking method and system for brake pedal failure Download PDF

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Publication number
CN118182415A
CN118182415A CN202410430090.1A CN202410430090A CN118182415A CN 118182415 A CN118182415 A CN 118182415A CN 202410430090 A CN202410430090 A CN 202410430090A CN 118182415 A CN118182415 A CN 118182415A
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CN
China
Prior art keywords
braking
state
driver
brake
brake pedal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410430090.1A
Other languages
Chinese (zh)
Inventor
何承坤
张俊智
张峻峰
张俊伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN202410430090.1A priority Critical patent/CN118182415A/en
Publication of CN118182415A publication Critical patent/CN118182415A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

The application provides an emergency braking method and system for a brake pedal failure, wherein the method comprises the following steps: acquiring a brake pedal state of the brake-by-wire system and an operating state of the electronic parking brake system; determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system; when the driver is in an emergency state, determining a driving braking requirement and a parking braking requirement of the driver according to the operation state of the electronic parking braking system; and controlling an active actuator of the brake system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero. According to the technical scheme provided by the application, when serious faults such as locking of the brake pedal occur, the service braking is implemented by comprehensive processing such as the electronic parking brake button and the state recognition of the driver without depending on the stroke of the brake pedal, so that the service safety performance of the vehicle is improved.

Description

Emergency braking method and system for brake pedal failure
Technical Field
The application relates to the field of automobile braking systems and intelligent chassis, in particular to an emergency braking method and system for a brake pedal failure.
Background
In recent years, brake-by-wire systems such as a brake-by-wire system, an electronic mechanical brake system (EMB), a service brake system of a power motor and the like are increasingly widely applied, and the problem of failure and failure is becoming one of the hot spots of research and development in the automotive academy and the industry. As the most basic and critical system for vehicle safety, failure of the brake-by-wire system is widely appreciated. The brake-by-wire system has a plurality of schemes related to the braking force control unit, and the related fault failure problem is solved well. However, for serious failure of the brake pedal, for example, jamming caused by external foreign matters, how to ensure smooth implementation of the braking force is still a problem to be solved.
Disclosure of Invention
The application provides an emergency braking method and an emergency braking system for a brake pedal failure, which aim to at least solve the technical problem that the smooth implementation of braking force cannot be ensured when the brake pedal fails seriously.
An embodiment of a first aspect of the present application proposes an emergency braking method for a brake pedal failure, the method comprising:
acquiring a brake pedal state of the brake-by-wire system and an operating state of the electronic parking brake system;
Determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system;
when the driver is in an emergency state, determining a driving braking requirement and a parking braking requirement of the driver according to the operation state of the electronic parking braking system;
And controlling an active actuator of a brake-by-wire system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero.
Preferably, the determining whether the driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system includes:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
Further, the identifying, based on the audio signal and/or the video signal of the whole vehicle cabin and the brake pedal state, that the driver is sending a brake request includes:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
Further, the determining the driver service brake demand and the parking brake demand according to the operation state of the electronic parking brake system includes:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
Further, the method further comprises:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
An embodiment of a second aspect of the present application proposes an emergency braking system for use in the event of a brake pedal failure, comprising:
The acquisition module is used for acquiring the brake pedal state of the brake-by-wire system and the operation state of the electronic parking brake system;
The first determining module is used for determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system;
the second determining module is used for determining the service braking requirement and the parking braking requirement of the driver according to the operation state of the electronic parking braking system when the driver is in an emergency state;
And the first braking module is used for controlling an active actuator of the braking system to output a driving braking moment according to the driving braking demand, braking the vehicle, and outputting a parking braking moment according to the parking braking demand when the vehicle speed is reduced to zero.
Preferably, the first determining module is further configured to:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
Further, the first determining module is further configured to:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
Further, the second determining module is further configured to:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
Further, the system further comprises: a second brake module;
The second braking module is used for:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
The application provides an emergency braking method and system for a brake pedal failure, wherein the method comprises the following steps: acquiring a brake pedal state of the brake-by-wire system and an operating state of the electronic parking brake system; determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system; when the driver is in an emergency state, determining a driving braking requirement and a parking braking requirement of the driver according to the operation state of the electronic parking braking system; and controlling an active actuator of a brake-by-wire system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero. According to the technical scheme provided by the application, when serious faults such as locking of the brake pedal occur, the service braking is implemented by comprehensive processing such as the electronic parking brake button and the state recognition of the driver without depending on the stroke of the brake pedal, so that the service safety performance of the vehicle is improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of an emergency braking method for use in the event of a brake pedal failure, according to one embodiment of the present application;
FIG. 2 is a first flowchart of a driver in emergency status recognition process provided in accordance with one embodiment of the present application;
FIG. 3 is a second flow chart of a driver in emergency status recognition process provided in accordance with one embodiment of the present application;
FIG. 4 is a detailed flow chart of a method for emergency braking in the event of a brake pedal failure, according to one embodiment of the present application;
FIG. 5 is a first block diagram of an emergency braking system for use in the event of a brake pedal failure, according to one embodiment of the present application;
fig. 6 is a second block diagram of an emergency braking system for use in the event of a brake pedal failure, according to one embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The application provides an emergency braking method and system for a brake pedal failure, wherein the method comprises the following steps: acquiring a brake pedal state of the brake-by-wire system and an operating state of the electronic parking brake system; determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system; when the driver is in an emergency state, determining a driving braking requirement and a parking braking requirement of the driver according to the operation state of the electronic parking braking system; and controlling an active actuator of a brake-by-wire system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero. According to the technical scheme provided by the application, when serious faults such as locking of the brake pedal occur, the service braking is implemented by comprehensive processing such as the electronic parking brake button and the state recognition of the driver without depending on the stroke of the brake pedal, so that the service safety performance of the vehicle is improved.
An emergency braking method and system for a brake pedal failure according to an embodiment of the present application will be described below with reference to the accompanying drawings.
Example 1
Fig. 1 is a flowchart of an emergency braking method for a brake pedal failure according to an embodiment of the present application, as shown in fig. 1, the method includes:
Step 1: the brake pedal state of the brake-by-wire system and the operating state of the electronic parking brake system are acquired.
Step 2: and determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system.
In an embodiment of the present disclosure, the step 2 specifically includes:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
It should be noted that, when the driver is identified as being in an emergency state and the electronic parking brake system is in an active state, the driver service brake demand is fixed to the maximum service brake request.
Further, when the driver is identified to be in an emergency state and the electronic parking brake system is in an activated state, the driving brake requirement of the driver is in a proportional relation with a switch of the electronic parking brake system, and the maximum driving brake requirement of the electronic parking brake switch corresponds to the maximum driving brake requirement.
Further, the identifying, based on the audio signal and/or the video signal of the whole vehicle cabin and the brake pedal state, that the driver is sending a brake request includes:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
It should be noted that, as shown in fig. 2, if the operation state of the electronic parking brake system is an activated state and the activation time is greater than the first threshold time, the driver is in an emergency state specifically includes;
s200, acquiring a brake pedal stroke and an electronic parking brake system state.
S201, judging whether the stroke of a brake pedal exceeds a first pedal threshold value, and judging that the brake pedal is not seriously blocked if the stroke exceeds the first pedal threshold value, and entering S204; if the pedal first threshold is not exceeded, the brake pedal is considered to be at risk of seizing, and the process proceeds to S202.
S202, judging whether a driver operates an electronic parking brake button or not, and activating an electronic parking brake system. The activation then proceeds to S203; if not, it cannot be determined whether the driver is released from the emergency brake, and the driver is in a non-emergency state in S204.
S203, judging whether the activation time of the electronic parking brake exceeds a first time threshold. Exceeding the first threshold of time, the surface is normally requested by the driver, and the driver emergency state can be entered S205; if the time first threshold is not exceeded, the driver is judged to be operating by mistake, and the non-emergency state of the driver is entered S204.
S204, driver non-emergency state.
S205, driver emergency state.
It should be noted that, as shown in fig. 3, if the operation state of the electronic parking brake system is an activated state and it is identified that the driver is sending a brake request based on the audio signal and/or the video signal of the vehicle cabin and the brake pedal state, the driver is in an emergency state specifically includes:
A200 acquires a brake pedal stroke and an electronic parking brake system state.
A201, judging whether the travel of a brake pedal exceeds a pedal first threshold value, and if so, considering that the brake pedal is not seriously stuck, and the brake is not influenced, and entering a non-emergency state of a driver A205; if the first pedal threshold is not exceeded, the brake pedal is considered to be at risk of seizing, and a202 is entered.
A202, judging whether a driver operates an electronic parking brake button, activating an electronic parking brake system, and entering A203 when the electronic parking brake system is activated; if not, it cannot be determined whether the driver is released from the emergency brake, and the non-emergency state of the driver is entered in a 205.
A203, judging whether the audio and video signals identify that the driver requests braking, if yes, entering an emergency state of the driver in A206; if not, A204 is entered.
A204, judging whether the activation time of the electronic parking brake exceeds a first time threshold value, and entering an emergency state of the driver in A206 if the activation time exceeds the first time threshold value; if the time first threshold is not exceeded, the driver is judged to be in misoperation, and the non-emergency state of the driver is entered into A205.
A205. Driver non-emergency status.
A206. driver emergency status.
Step 3: and when the driver is in an emergency state, determining the driving braking requirement and the parking braking requirement of the driver according to the operation state of the electronic parking braking system.
In an embodiment of the present disclosure, the step 3 specifically includes:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
Step 4: and controlling an active actuator of a brake-by-wire system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero.
It should be noted that, according to the service braking requirement, the master cylinder motor in the brake-by-wire hydraulic braking system, the EMB motor in the electromechanical braking system or the power motor in the power motor service braking system are controlled, and other actuating mechanisms for providing braking force in a wire control manner.
In an embodiment of the disclosure, the method further comprises:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
A detailed description will be given of an emergency braking method for a failure of a brake pedal according to an embodiment of the present disclosure, as shown in fig. 4:
S100, determining the state of a brake pedal of the brake-by-wire system through a brake pedal stroke sensor.
S101, determining the operation state of the electronic parking brake system through a button sensor of the electronic parking brake system.
S102, determining the state of a driver according to the state of a brake pedal, the state of an electronic parking brake system and the like.
S104, judging whether the driver is in an emergency state, otherwise returning to S102, and if so, entering S105.
S105, determining the service braking requirement and the parking braking requirement of a driver according to the state of the electronic parking braking system.
S106, judging whether the vehicle speed is zero, if so, entering S109 and S110, and implementing parking braking; if not, the control line controls the active actuator of the braking system to implement service braking in S107 and S108.
S107, controlling an active actuator of the actuating system by a control line.
S108, outputting the driving braking moment.
S109, controlling the parking actuator.
S110, outputting parking braking moment.
In summary, according to the emergency braking method for the failure of the brake pedal provided by the embodiment, when the brake pedal is blocked and the like and fails seriously, the driver's braking request cannot be identified through the brake pedal stroke, the driver's braking request is identified again through the identification of the state of the electronic parking system, the state of the driver and the like without depending on the brake pedal stroke, so that the braking safety of the vehicle is ensured.
Example two
Fig. 5 is a block diagram of an emergency braking system for a brake pedal failure according to an embodiment of the present application, and as shown in fig. 5, the system includes:
An acquisition module 100 for acquiring a brake pedal state of the brake-by-wire system and an operation state of the electronic parking brake system;
A first determining module 200 for determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system;
A second determining module 300, configured to determine a driver service braking requirement and a parking braking requirement according to an operation state of the electronic parking braking system when the driver is in an emergency state;
The first braking module 400 is configured to control the active actuator of the brake-by-wire system to output a service braking torque according to the service braking demand, brake the vehicle, and output a parking braking torque according to the parking braking demand when the vehicle speed decreases to zero.
In the embodiment of the present disclosure, the first determining module 200 is further configured to:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
In the embodiment of the present disclosure, the first determining module 200 is further configured to:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
In an embodiment of the present disclosure, the second determining module 300 is further configured to:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
In an embodiment of the present disclosure, as shown in fig. 6, the system further includes: a second brake module 500;
the second braking module 500 is configured to:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
In summary, the emergency braking system for the failure of the brake pedal provided by the embodiment does not depend on the stroke of the brake pedal to identify the braking requirement of the driver, fully utilizes the independent working characteristic of the brake-by-wire system actuator, and improves the driving safety under serious failure modes such as the locking of the brake pedal.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A method for emergency braking in the event of a brake pedal failure, the method comprising:
acquiring a brake pedal state of the brake-by-wire system and an operating state of the electronic parking brake system;
Determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system;
when the driver is in an emergency state, determining a driving braking requirement and a parking braking requirement of the driver according to the operation state of the electronic parking braking system;
And controlling an active actuator of a brake-by-wire system to output a driving braking moment according to the driving braking requirement, braking the vehicle, and outputting a parking braking moment according to the parking braking requirement when the vehicle speed is reduced to zero.
2. The method of claim 1, wherein the determining whether the driver is in an emergency state based on the brake pedal state and an operating state of the electronic parking brake system comprises:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
3. The method of claim 2, wherein the identifying that the driver is issuing a brake request based on the vehicle cabin audio signal and/or video signal and the brake pedal status comprises:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
4. A method according to claim 3, wherein said determining driver service and parking brake demand from an operating state of said electronic parking brake system comprises:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
5. The method of claim 4, wherein the method further comprises:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
6. An emergency braking system for use in the event of a brake pedal failure, the system comprising:
The acquisition module is used for acquiring the brake pedal state of the brake-by-wire system and the operation state of the electronic parking brake system;
The first determining module is used for determining whether a driver is in an emergency state according to the brake pedal state and the operation state of the electronic parking brake system;
the second determining module is used for determining the service braking requirement and the parking braking requirement of the driver according to the operation state of the electronic parking braking system when the driver is in an emergency state;
And the first braking module is used for controlling an active actuator of the braking system to output a driving braking moment according to the driving braking demand, braking the vehicle, and outputting a parking braking moment according to the parking braking demand when the vehicle speed is reduced to zero.
7. The system of claim 6, wherein the first determination module is further to:
When the brake pedal fluctuates within a preset range,
If the operation state of the electronic parking brake system is an activated state and the activation time is greater than a first threshold time, the driver is in an emergency state;
And if the operation state of the electronic parking brake system is an activated state and the driver is identified to be sending out a brake request based on the audio signal and/or the video signal of the whole car cabin and the brake pedal state, the driver is in an emergency state.
8. The system of claim 7, wherein the first determination module is further to:
And when the words related to braking are identified based on the whole car cabin audio signal, judging that the driver is sending a braking request, wherein the words related to braking comprise: braking and stopping;
And judging that the driver is sending a braking request when the brake pedal state is identified to be the right foot of the driver based on the whole car cabin video signal.
9. The system of claim 8, wherein the second determination module is further to:
When the operation state of the electronic parking brake system is an activated state and the vehicle speed is zero, determining that a driver has a parking brake requirement;
and when the operation state of the electronic parking brake system is an activated state and the vehicle speed is greater than zero, determining that the driver has a service brake requirement.
10. The system of claim 9, wherein the system further comprises: a second brake module;
The second braking module is used for:
When the automatic emergency stop system of the vehicle works, the automatic emergency stop system of the vehicle is connected with an active actuator of the brake-by-wire system;
When the automatic emergency stop system of the vehicle exits from working, the active actuator of the brake-by-wire system is controlled according to the service braking requirement.
CN202410430090.1A 2024-04-10 2024-04-10 Emergency braking method and system for brake pedal failure Pending CN118182415A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410430090.1A CN118182415A (en) 2024-04-10 2024-04-10 Emergency braking method and system for brake pedal failure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410430090.1A CN118182415A (en) 2024-04-10 2024-04-10 Emergency braking method and system for brake pedal failure

Publications (1)

Publication Number Publication Date
CN118182415A true CN118182415A (en) 2024-06-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202410430090.1A Pending CN118182415A (en) 2024-04-10 2024-04-10 Emergency braking method and system for brake pedal failure

Country Status (1)

Country Link
CN (1) CN118182415A (en)

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