TW202300364A - Vehicle and method for avoiding brake failure via controlling brakes - Google Patents

Abstract

A vehicle controlling a brake for avoiding brake failure is provided. The vehicle includes at least one rotating device; at least one braking device; at least one processor; and a storage device. The storage device stores a plurality of instructions which, when executed by the at least one processor, cause the at least one processor to: receive at least one rotating parameter when the at least one braking device is applied based on a first braking parameter; determine based on the at least one rotating parameter whether to adjust the at least one braking device for using the at least one braking device to adjust the at least one rotating parameter based on a second braking parameter; receive an adjusting time during using the second braking parameter; and determine based on a comparison result between the adjusting time and a time threshold whether to adjust the at least one braking device for using the at least one braking device to adjust the at least one rotating parameter based on a third braking parameter, wherein the first braking parameter, the second braking parameter and the third braking parameter are different from each other.

Description

A vehicle that controls brakes to avoid brake failure

The invention relates to the technical field of vehicles, in particular, to a vehicle for controlling braking to avoid brake failure.

With the continuous improvement of living standards, vehicles such as cars have become more and more common in people's lives. The quickness of these means of transportation provides more convenience to people. Although many existing vehicles have brake anti-lock systems, continuous use of the brake device for braking results in long-term use of the brake anti-lock systems, which will still cause the anti-lock systems to fail, which is not conducive to traffic safety.

The present invention is made in view of the above problems, and provides a vehicle capable of effectively controlling brake failure.

In order to solve the above problems, the present invention provides a vehicle for controlling braking to avoid brake failure, the vehicle includes: at least one rotating device for moving the vehicle; at least one braking device, and the at least one rotating device coupled to adjust at least one rotation parameter of the at least one rotation device according to a first braking parameter; at least one processor; and a storage device coupled to the at least one processor and storing multiple instructions, the plurality of instructions, when executed by the at least one processor, cause the at least one processor to perform the following processing: when the at least one brake device is activated, obtain the at least one rotation parameter; according to the The at least one rotation parameter is used to determine whether to adjust the at least one braking device, so that the at least one braking device adjusts the at least one rotation parameter according to the second braking parameter; obtain an adjustment time when the second braking parameter is used ; Comparing the adjustment time with a time threshold; and judging whether to adjust the at least one braking device according to a comparison result between the adjustment time and the time threshold, so that the at least one braking device brakes according to a third parameter to adjust the at least one rotational parameter, wherein the first braking parameter, the second braking parameter and the third braking parameter are different from each other.

In a certain implementation manner, the time threshold may be a preset time value.

In a certain embodiment, the plurality of instructions, when executed by the at least one processor, cause the at least one processor to perform the following processing: receiving sensing parameters obtained from the sensing device for the vehicle; and adjusting the time threshold for using the third braking parameter according to the sensed parameter.

In a certain embodiment, the plurality of instructions, when executed by the at least one processor, cause the at least one processor to perform the following processing: receiving sensing parameters obtained from the sensing device for the vehicle; and generating respective fourth braking parameters of the at least one braking device according to the sensed parameters and the respective device positions of the at least one rotating device on the vehicle, at least one of the fourth braking parameters being at least The two are different from each other.

In a certain embodiment, the plurality of instructions, when executed by the at least one processor, cause the at least one processor to perform the following processing: receiving sensing parameters obtained from the sensing device for the vehicle; and adjusting the magnitude of the third braking parameter according to the sensing parameter, the first braking parameter and the second braking parameter are preset braking parameters.

In a certain embodiment, it includes: at least one driving device, coupled with at least one rotating device, drives the at least one rotating device to move the vehicle by rotating in a first direction, or drives the at least one rotating device to move the vehicle by rotating in a second direction to The at least one rotating device is decelerated, the first direction being opposite to the second direction.

In a certain embodiment, the plurality of instructions, when executed by the at least one processor, cause the at least one processor to perform the following processing: receiving sensing parameters obtained from the sensing device for the vehicle; determining whether the vehicle is driving on a flat surface based on the sensed parameters; and if the vehicle is not driving on the flat surface, when the at least one braking device is activated, the at least one driving device passes Rotation in the second direction decelerates the at least one rotating device.

In an embodiment, when the at least one processor is unable to obtain one of the at least one rotation parameter, the at least one braking device is activated to decelerate the vehicle.

In a certain embodiment, at least one of the brake release frequency and the duty ratio of the brake device is set according to the moving speed of the vehicle.

In a certain embodiment, when the moving speed is the first speed, the brake release frequency and the duty cycle are the first frequency and the first ratio; when the moving speed is the second speed, the The brake release frequency and the duty cycle are a second frequency and a second ratio; and when the first speed is greater than the second speed, the first frequency is greater than the second frequency and/or the The first ratio is greater than the second ratio.

In a certain embodiment, when the at least one processor cannot obtain one of the at least one rotation parameters, the movement of the vehicle is limited by a defined parameter.

In a certain embodiment, the limited parameter is a limited rotational speed of at least one driving device so as to limit the driving rotational speed of the at least one driving device from exceeding the limited rotational speed.

In a certain embodiment, the limited parameter is a limited power of the power source to limit the output power provided by the power source to the vehicle.

In a certain embodiment, when the at least one processor cannot obtain all of the at least one rotation parameter, the power source of the vehicle is turned off.

In an embodiment, when the at least one processor cannot obtain all of the at least one rotational parameter, then the stationary state is maintained when the vehicle is in the stationary state.

In order to solve the above problems, the present invention also provides a method for controlling the braking of a vehicle to avoid brake failure, the method includes: when at least one braking device of the vehicle is activated with the first braking parameter, obtaining the At least one rotation parameter of at least one rotation device; according to the at least one rotation parameter, determine whether to adjust the at least one braking device, so that the at least one braking device adjusts the at least one rotation parameter according to the second braking parameter; obtain The adjustment time when the second braking parameter is used; comparing the adjustment time with a time threshold; and judging whether to adjust the at least one braking device according to the comparison result between the adjustment time and the time threshold, so that The at least one braking device adjusts the at least one rotational parameter according to a third braking parameter, wherein the first braking parameter, the second braking parameter and the third braking parameter are different from each other.

Through the above method, the vehicle can adjust different braking parameters according to the usage status and usage time of the braking device, so as to effectively control the braking to avoid braking failure.

Through the above method, the vehicle can adjust at least one rotation parameter according to the current road condition and the condition of the vehicle itself, so that the brake can be effectively controlled to avoid brake failure.

The following description contains specific information related to exemplary embodiments of the present invention. The drawings in this disclosure and their accompanying detailed description are exemplary embodiments only. However, the invention is not limited to such exemplary embodiments. Other variations and embodiments of the invention will occur to those skilled in the art. Unless otherwise stated, identical or corresponding elements in the figures may be indicated by identical or corresponding reference numerals. Furthermore, the drawings and illustrations in this disclosure are generally not drawn to scale and are not intended to correspond to actual relative dimensions.

For purposes of consistency and ease of understanding, like features (although in some instances they are not) have been labeled by reference numerals in the exemplary figures. However, features in different implementations may differ in other respects and therefore should not be narrowly limited to those shown in the drawings.

References to terms such as "at least one embodiment," "an embodiment," "a plurality of embodiments," "different embodiments," "some embodiments," "the present embodiment" are intended to refer to implementations of the invention so described. Modes may include a particular feature, structure or characteristic, but not every possible embodiment of the invention necessarily includes a particular feature, structure or characteristic. Furthermore, repeated use of the phrases "in one embodiment" and "in this embodiment" do not necessarily refer to the same embodiment, although they may. In addition, phrases such as "embodiments" are used in connection with "the present invention" and do not imply that all embodiments of the invention must include a particular feature, structure or characteristic, and should be understood as "at least some embodiments of the invention "includes said particular feature, structure or characteristic. The term "coupled" is defined as connected, whether directly or indirectly through intervening elements, and is not necessarily limited to a physical connection. When the term "comprising" is used, it means "including but not limited to", which expressly indicates the open inclusion or relationship of stated combinations, groups, series and equivalents.

Additionally, for purposes of explanation and not limitation, specific details such as functional entities, techniques, protocols, standards, etc., are set forth to provide an understanding of the described technologies. In other instances, detailed descriptions of well-known methods, techniques, systems, architectures, etc. are omitted so as not to obscure the illustrative description with unnecessary detail.

The terms "first", "second" and "third" in the description of the present invention and the above-mentioned drawings are used to distinguish different items, rather than to describe a specific order. Furthermore, the term "comprise", as well as any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but optionally also includes steps or modules that are not listed, or optionally It also includes other steps or modules inherent to these processes, methods, products or devices.

Those skilled in the art will immediately recognize that any arithmetic function or algorithm described in the present invention can be implemented by hardware, software or a combination of software and hardware. The modules corresponding to the described functions can be software, hardware, firmware or any combination thereof. A software implementation may include computer-executable instructions stored on a computer-readable medium such as memory or other types of storage. For example, one or more microprocessors or general-purpose computers with communication processing capabilities can be programmed with corresponding executable instructions and execute the described network functions or algorithms. Processors, microprocessors, or general-purpose computers can be formed by ASIC (Applications Specific Integrated Circuitry), programmable logic arrays, and/or using one or more digital signal processors (DSPs). Although several of the exemplary embodiments described in this specification are directed toward software installed and executed on computer hardware, alternative exemplary embodiments that implement firmware or hardware or a combination of hardware and software are also included in this specification. within the scope of the invention.

The storage device can be a computer-readable medium, including but not limited to random access memory RAM (Random Access Memory), read-only memory ROM (Read Only Memory), erasable programmable read-only memory EPROM (Erasable Programmable Read-Only Memory), Electrically Erasable Programmable Read-Only Memory EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, CD ROM (Compact Disc Read-Only Memory), magnetic box , magnetic tape, disk memory, or any other equivalent medium capable of storing computer readable instructions.

The coupling between the various devices of the present invention can adopt customized protocols or follow existing standards or de facto standards, including but not limited to Ethernet, IEEE 802.11 or IEEE 802.15 series, wireless USB or telecommunication standards (including but not limited to GSM (Global System for Mobile Communications, Global System for Mobile Communications), CDMA2000 (Code Division Multiple Access, Code Division Multiple Access technology), TD-SCDMA (Time Division-Synchronization Code Division Multiple Access, Time Division Synchronization Code Division Multiple Access technology), WiMAX (World Interoperability for Microwave Access, 3GPP-LTE (Long Term Evolution, long-term evolution technology) or TD-LTE (Time Division Long Term Evolution, time-division long-term evolution technology)). In addition, the various means of the present invention may also each comprise any device configured to transmit and/or store data to and receive data from a computer-readable medium. Furthermore, each device of the present invention may include a computer system interface that enables data to be stored on or received from the storage device. For example: each device of the present invention may include a chip set supporting a peripheral component connection (Peripheral Component Interconnect, PCI) and a high-speed peripheral component connection (Peripheral Component Interconnect Express, PCIe) bus protocol, a dedicated bus protocol, a universal serial bus (Universal Serial Bus, USB) protocol, I2C, or any other logical and physical structure that can be used to interconnect peer devices.

The brake anti-lock system referred to in the present invention includes but not limited to anti-lock brake system (Anti-Lock Brake System, ABS), electronic mechanical brake system (Electro Mechanical Brake System, EMS), electronic stability control (Electronic Stability Control, ESC) or any other equivalent device capable of adjusting the braking parameters of the braking device.

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Please refer to FIG. 1 , the present invention provides a vehicle 100 that controls braking to avoid brake failure. Fuel cell vehicles and the like are not limited here. The vehicle 100 includes at least one rotating device 10 , at least one braking device 20 , storage device 30 and at least one processor 40 .

At least one rotating device 10 is used to move the vehicle 100 , and in this embodiment, the rotating device 10 is a wheel of the vehicle 100 .

At least one braking device 20 is coupled to at least one rotating device 10 for adjusting at least one rotating parameter of at least one rotating device 10 according to a first braking parameter. In this embodiment, the rotational parameter is wheel speed. In one embodiment, the first braking parameter is a preset braking parameter of the at least one braking device 20 when the at least one braking device 20 is activated. In one embodiment, the preset braking parameter may be a braking parameter of the vehicle 100 under normal conditions. In this embodiment, when the vehicle 100 brakes under normal conditions, the at least one braking device 20 will continuously apply a braking force to the at least one rotating device 10 according to the preset braking parameters, so as to The vehicle 100 decelerates. In one embodiment, at least one braking device 20 may correspond to at least one rotating device 10 one-to-one. In another embodiment, at least one braking device 20 and at least one rotating device 10 can be two-to-one or many-to-one, so that a single braking device 20 can decelerate multiple rotating devices 10 at the same time.

The storage device 30 is coupled to at least one processor 40 and stores a plurality of instructions. Please refer to FIG. 1 and FIG. 2 in combination. When the plurality of instructions are executed by the at least one processor 40, the at least one processor 40 performs the following processes:

Step S101, when at least one brake device 20 is activated, at least one rotation parameter is obtained. In one embodiment, at least one processor 40 obtains at least one rotation parameter through at least one sensing device (not shown in the figure) coupled with at least one rotation device 10 . In this embodiment, at least one sensing device is a wheel speed sensor, so as to obtain each wheel speed of at least one rotating device 10 as the rotation parameter.

Step S102, according to the at least one rotation parameter, determine whether at least one brake device 20 needs to be adjusted, and when it is judged that at least one brake device 20 does not need to be adjusted, then enter step S103, and when it is judged that at least one brake device 20 needs to be adjusted, then Go to step S104. In one embodiment, at least one processor 40 judges whether at least one rotating device 10 has been locked or may be locked according to each wheel speed, and when it is determined that at least one rotating device 10 has been locked or may be locked, then Go to step S104. When it is judged that no rotating device 10 has been locked or may be locked, then go to step S103. In this embodiment, the determination of whether at least one rotating device 10 has been locked or is likely to be locked can be determined according to the speed of each wheel through at least one processor 40 through the anti-lock brake system built in the storage device 30 Whether any rotating device 10 has been locked or may be locked.

Step S103 , not adjusting at least one braking device 20 . When it is determined that no rotating device 10 has been locked or may be locked, at least one processor 40 will return to step S102 and continue to determine whether it is necessary to enter step S104.

Step S104, the at least one braking device 20 adjusts at least one rotation parameter according to the second braking parameter. In one embodiment, at least one processor 40 can adjust the corresponding braking device 20 for the rotating device 10 that has been locked or may be locked. In other words, at least one processor 40 may not adjust the braking device 20 corresponding to the rotating device 10 in normal operation. In one embodiment, the second braking parameter may be an anti-lock braking parameter of the at least one braking device 20 when the anti-lock braking system is activated. In one embodiment, the anti-lock braking parameter can be at least one of an anti-lock brake release frequency and an anti-lock duty cycle of the vehicle 100 activated by the anti-lock brake system. In one embodiment, the brake release is an actuation behavior of the anti-lock brake system. Therefore, the anti-lock brake release frequency is the actuation frequency of the anti-lock brake system, and the anti-lock duty cycle is the actuation duty cycle of the anti-lock brake system. In one embodiment, the anti-lock brake release frequency can be preset to 3 hertz (Hz). In this embodiment, the first braking parameter is continuous uninterrupted braking, and the second braking parameter is intermittent braking due to the release of the brake. Since the first braking parameter does not change periodically, there is no anti-lock brake release frequency, actuation cycle, and actuation duty cycle corresponding to the second braking parameter.

Step S105, obtaining the adjustment time when the second braking parameter is used. In one embodiment, the adjustment time can be used to adjust the actuation time of the braking device by the anti-lock brake system.

Step S106, comparing the adjusted time with a time threshold. In one embodiment, the time threshold may be a preset time value. In one embodiment, the preset time value is greater than the stopping time of the vehicle 100 on general roads. In one embodiment, the preset time value is less than the continuous operation time during which the anti-lock brake system can operate continuously without failure. In this embodiment, the braking time and the continuous operation time can be obtained through experimental testing, and are preset in the storage device 30 of the vehicle 100 . In one embodiment, the braking time may be 3 seconds. In one embodiment, the continuous action time may be 120 seconds. In one embodiment, the preset time value may be 15 seconds. In another embodiment, the time threshold may be a variable time value. In one embodiment, at least one processor 40 can detect different driving parameters of the vehicle 100 in different driving conditions through a sensing device, and then adjust the variable time value according to the driving parameters.

Step S107, according to the comparison result of the adjustment time and the time threshold, it is judged whether the at least one braking device 20 needs to be adjusted. When the braking device 20 is used, go to step S108. In one embodiment, when the adjustment time is greater than or equal to the time threshold, it is determined that at least one brake device 20 needs to be further adjusted. When the adjustment time has not exceeded the time threshold, it is determined that at least one brake device 20 does not need to be further adjusted. In this embodiment, since the brake anti-lock system can adjust the activation time of the second braking parameter of each corresponding braking device 20 according to the operating conditions of each rotating device 10, at least one processor 40 can also be used for different The braking device 20 respectively judges the adjustment time of the second braking parameter, and then judges the comparison result that each adjustment time is different from the time threshold.

In step S108, the at least one braking device 20 adjusts at least one rotational parameter according to the third braking parameter. In one embodiment, the third braking parameter may be a fail-safe braking parameter. In one embodiment, the fail-safe braking parameter can be at least one of a fail-safe brake release frequency and a fail-safe duty cycle to prevent the fail-safe brake anti-lock system of the vehicle 100 from being disabled due to continuous actuation. In one embodiment, the anti-failure braking release frequency is the actuation frequency when the anti-lock braking system operates according to the third braking parameter, and the anti-failure duty cycle is when the anti-lock braking system operates according to the third braking parameter The duty cycle of the action. In one embodiment, the anti-failure brake release frequency may be lower than the anti-lock brake release frequency, and the anti-failure duty cycle is further smaller than the anti-lock duty cycle, so as to reduce the actuation of the at least one brake device 20 as a whole , to avoid brake failure. In other words, the third braking parameter is smaller than the second braking parameter.

Wherein, the first braking parameter, the second braking parameter and the third braking parameter are different from each other.

It can be understood that, through the above method, the vehicle 100 can adjust different braking parameters according to the usage status and usage time of the braking device, so as to effectively control the braking to avoid braking failure.

Further, please refer to FIG. 1 and FIG. 3 in combination, when a plurality of instructions are executed by at least one processor 40, at least one processor 40 performs the following processing:

Step S201, receiving sensing parameters obtained from the sensing device for the vehicle 100; and

Step S202, adjusting the time threshold for using the third braking parameter according to the sensing parameter.

It can be understood that the sensing parameter can be the moving speed of the vehicle 100, the current weight of the vehicle 100, the tilt angle of the rotating device 10, the direction of the steering wheel of the vehicle 100 or a combination thereof, wherein the moving speed , the current weight, the tilt angle, the direction of the steering wheel and other information can be obtained through the sensing device, which is not limited herein. In one embodiment, the sensing device may be a six-axis sensing device. In one embodiment, the six-axis sensing device may include a three-axis accelerometer and a three-axis gyroscope.

In a specific embodiment, when the sensing device detects that the vehicle 100 is heavily loaded, it means that the vehicle 100 needs a long time to complete braking, and the time can be increased based on the sensing parameters detected by the sensing device. Threshold, to prevent the third braking parameter from being overused, causing the vehicle 100 to over-extend the braking time; on the contrary, when the sensing device detects that the vehicle has a light load, it can be detected based on the sensing device. The sensing parameter decreases the time threshold.

In another specific embodiment, when the sensing device detects that the moving speed of the vehicle 100 is faster, it means that the vehicle 100 needs a longer time to complete the braking, then the sensor can be detected based on the sensing device. parameter increases the time threshold to prevent the third braking parameter from being overused, causing the vehicle 100 to extend the braking time excessively; The sensing parameter detected by the sensing device is reduced by the time threshold.

According to the above method, the time threshold can be flexibly adjusted, so that at least one braking device 20 can be flexibly used according to the current state of the vehicle, thereby effectively preventing the failure of the braking system without excessively affecting the braking time.

Further, in another embodiment, please refer to FIG. 1 and FIG. 4 in combination, when a plurality of instructions are executed by at least one processor 40, at least one processor 40 performs the following processing:

Step S301, receiving sensing parameters obtained from the sensing device for the vehicle 100; and

Step S302, according to the sensing parameters and the respective device positions of the at least one rotating device 10 on the vehicle 100, generate respective fourth braking parameters of the at least one braking device 20, at least two of the at least one fourth braking parameters are different from each other .

It can be understood that the sensing parameter can be the inclination angle of the rotating device 10 , the direction of the steering wheel or a combination thereof. When the vehicle 100 tilts or turns, at least one rotating device 10 will have different frictional forces with the road surface due to their respective positions on the vehicle 100 , causing at least one rotating device 10 to be in contact with at least one braking device 20 The environmental factors faced at startup are not the same. In this way, the processor 40 can further adjust the third braking parameter according to the device position of each rotating device 10 and the tilting condition or steering condition of the vehicle 100, so that each braking device 20 can generate different fourth braking parameters for adjustment. Different rotating devices 10 . For example: when the available friction force of the front wheels on the road surface is greater than that of the rear wheels due to the inclination of the vehicle 100, the brake release frequency and the braking force for the front wheels can be further reduced when the third braking parameter is activated. At least one of the empty ratios. In addition, at least one of the brake release frequency and the duty cycle for the rear wheels can be further increased when the third brake parameter is activated. In a specific embodiment, since each fourth braking parameter is generated based on the third braking parameter, the purpose is still to prevent the anti-lock braking system from becoming invalid due to overuse, so each fourth braking parameter still needs to be less than The second braking parameter.

It can be understood that when the vehicle 100 has two wheels, the fourth braking parameters of the two wheels are different from each other; when the vehicle 100 has three wheels, the braking parameters of the three wheels may be different from each other, or The braking parameters of the two wheels may be the same but different from the braking parameters of the other wheel; when the vehicle 100 has four wheels, the braking parameters of the four wheels may be different from each other, the braking parameters of the two wheels may be the same but Different from the braking parameters of the other two wheels, or the same braking parameters of the three wheels but different from the braking parameters of the other wheel.

According to the above manner, the corresponding fourth braking parameter can be generated based on the state of each wheel, and furthermore, the braking device 20 can be adjusted accordingly according to the state of each wheel, thereby effectively preventing failure of the braking system.

Further, in another embodiment, please refer to FIG. 1 and FIG. 5 in combination, when a plurality of instructions are executed by at least one processor 40, at least one processor 40 performs the following processing:

Step S401, receiving sensing parameters obtained from the sensing device for the vehicle 100; and

Step S402 , adjusting the magnitude of the third braking parameter according to the sensing parameter, and the first braking parameter and the second braking parameter are both preset braking parameters. In this embodiment, the first braking parameter can be the preset braking parameter of the vehicle 100 under normal conditions, and the second braking parameter can be the at least one braking device 20 when the anti-lock brake system is activated. Preset braking parameters.

In this embodiment, the sensing parameter can be the moving speed of the vehicle 100, the current weight of the vehicle 100, the tilt angle of the rotating device 10, the direction of the steering wheel of the vehicle 100 or a combination thereof, wherein, Information such as the moving speed, the current weight, the inclination angle, and the direction of the steering wheel can be obtained through the sensing device, which is not limited herein.

It can be understood that when the sensing device detects that the moving speed is fast, it means that it takes a long time to complete the braking. Therefore, when the third braking parameter is activated, in order to avoid prolonging the braking time, the value of the third braking parameter can be slightly increased without exceeding the second braking parameter, so as to avoid excessively affecting the braking time. , can still effectively control the brakes to avoid failure of the brake system to ensure safety. On the contrary, if the moving speed is slow, the current weight is light, or the vehicle is traveling on an uphill section, the value of the third braking parameter can be further reduced.

In one embodiment, the vehicle 100 further includes at least one driving device, coupled with at least one rotating device 10, driving the at least one rotating device 10 to move the vehicle 100 by rotating in a first direction, or driving the vehicle 100 by rotating in a second direction. Rotating to decelerate at least one rotating device 10, the first direction is opposite to the second direction. In one embodiment, if the first direction is clockwise rotation, the second direction is counterclockwise rotation. Therefore, when the driving device rotates clockwise to drive the vehicle 100 to move forward, the driving device can be changed to rotate counterclockwise to offset the rotating device 10 driving the vehicle 100 to move forward. force, thereby achieving the effect of reducing the forward moving speed of the vehicle 100.

It can be understood that the driving device is a driving motor. The at least one rotating device 10 may be coupled one-to-one or multiple-to-one with the drive motor. The driving motor can provide decelerating power to reduce the usage of the braking device 20 , thereby reducing the usage of the anti-lock brake system. Therefore, through the combined use of the driving motor, the time threshold and the value of the third braking parameter can be further adjusted. In one embodiment, the driving device can also directly serve as the braking device 20 of the vehicle 100 to assist the vehicle 100 to decelerate.

In one embodiment, on uneven road surfaces, in addition to providing braking force through the braking device 20, the deceleration effect of the vehicle 100 itself can be enhanced by reversing the driving motor until the vehicle acceleration drops to is zero or the vehicle becomes stationary, that is, the dynamic braking effect of the reverse rotation of the driving motor is released. In one embodiment, whether the vehicle 100 is driving on an uneven road can be determined through a sensing parameter of a sensing device. In this embodiment, the sensing device can be a three-axis sensor to sense the movement of the vehicle 100 in different directions.

In one embodiment, when the vehicle 100 has at least one driving device, please refer to FIG. 1 and FIG. 6 in combination, when a plurality of instructions are executed by at least one processor 40, at least one processor 40 performs the following processing:

Step S501 , receiving sensing parameters obtained from the sensing device for the vehicle 100 .

Step S502, according to the sensing parameter, determine whether the vehicle 100 is driving on a flat surface. In one embodiment, the flat surface is a flat road surface.

Step S503 , if the vehicle 100 is not driving on a flat surface, when at least one braking device 20 is activated, at least one driving device rotates in a second direction to decelerate at least one rotating device 10 .

In this embodiment, the sensing device may be a three-axis sensor. Certainly, in other implementation manners, the sensing device may also be other sensors, which is not limited here.

Further, in another embodiment, when the at least one processor 40 fails to obtain one of the at least one rotation parameter, at least one braking device 20 is activated to forcibly decelerate the vehicle 100 . In one embodiment, when a sensing device cannot sense the rotation parameter of the rotation device 10, the sensing device cannot transmit the rotation parameter to the processor 40, so the processor 40 cannot obtain the rotation parameter. In one embodiment, when the sensing device successfully senses the rotation parameter of the rotating device 10, but the sensing device cannot transmit the rotation due to a connection transmission problem with the processor 40 When the parameter is given to the processor 40, the processor 40 cannot obtain the rotation parameter. In one embodiment, when the sensing device successfully senses the data, and the sensing device successfully transmits the data to the processor 40, the processor 40 refers to the driving condition of the vehicle 100 , when it is determined that the data is not the rotation parameter of the rotation device, the processor 40 may determine that the rotation parameter cannot be obtained. For example, when the vehicle 100 is in a stationary state, if one of the at least one sensing device provides a value other than 0, the processor 40 may determine that the value is not a rotation parameter, and determine that it cannot Get the corresponding rotation parameters.

It can be understood that when at least one processor 40 cannot obtain one of the at least one rotational parameter, when a sudden state needs to be braked, if the vehicle speed is too fast, it may happen that the anti-lock braking system cannot be activated in time and accurately. Therefore, through the above method, at least one braking device 20 is activated to decelerate the vehicle 100 in advance, and after the speed drops to a certain level, even if the above situation occurs, the vehicle can be braked in time to avoid accidents. Therefore, no matter whether the sensing device can normally sense the rotation parameter or not, as long as the processor 40 cannot receive the rotation parameter correctly, the moving speed needs to be adjusted correspondingly.

Further, in another embodiment, the processor 40 can set the brake release frequency and duty cycle of the corresponding braking device 20 for the rotating device 10 for which the rotating parameter cannot be obtained according to the moving speed of the vehicle 100 at least one of the Since the processor 40 cannot obtain the rotation parameter and cannot determine whether to activate the anti-lock braking system, the processor 40 can directly replace the anti-lock braking system by adjusting the braking parameter. In one embodiment, when the moving speed of the vehicle 100 is faster, the required braking time is longer, so a higher braking parameter is required to ensure the completion of the braking. In an embodiment, the higher braking parameter can be determined based on the corresponding braking parameter of the anti-lock braking system. For example: since the anti-lock brake system cannot be used, the corresponding duty cycle must be smaller than the preset duty cycle, but can be determined according to the anti-lock duty cycle corresponding to the anti-lock brake system. The movement speed is adjusted for the duty ratio.

Specifically, when the moving speed is the first speed, the brake release frequency and the duty cycle are respectively the first frequency and the first ratio; when the moving speed is the second speed, the brake release frequency and the duty cycle are respectively the second frequency With the second ratio, when the first speed is greater than the second speed, the first frequency is greater than the second frequency and/or the first ratio is greater than the second ratio. In one embodiment, both the first frequency and the second frequency are lower than the preset brake release frequency of the first braking parameter. In one embodiment, both the first ratio and the second ratio are smaller than the preset duty cycle of the first braking parameter.

It can be understood that if the set braking parameter is the brake release frequency, the first frequency is greater than the second frequency; if the set braking parameter is the duty cycle, the first ratio is greater than the second ratio; if the set braking parameter is the brake release frequency and the duty ratio, at least one of the brake release frequency and the duty ratio satisfies the above conditions, and the other can be the former equal to or greater than the latter, for example, the first frequency is greater than the second frequency, and the first ratio is greater than or equal to the second ratio, or for the first frequency to be greater than or equal to the second frequency, the first ratio is greater than the second ratio.

It can be understood that when the vehicle speed is fast, the time required for braking is relatively long, so a relatively high brake release frequency and duty cycle are required. In addition, when the vehicle speed is low, the time required for braking is short, so a relatively low brake release frequency and duty cycle can be used. In this way, when the processor 40 directly controls the braking parameters to replace the anti-lock braking system, under the dynamic adjustment of the braking device, accidents can be avoided.

Further, in another embodiment, when the at least one processor 40 cannot obtain one of the at least one rotation parameter, the movement of the vehicle 100 is limited by a limited parameter. Wherein, the limited parameter may be the limited rotational speed of at least one driving device to limit the driving rotational speed of at least one driving device to not exceed the limited rotational speed. Of course, the limited parameter may also be the limited power of the power source to limit the output of the power source to the vehicle 100 power. In one embodiment, the power source may be an engine power or electric motor power.

It can be understood that when at least one processor 40 cannot obtain at least one of the rotation parameters, it means that the anti-lock braking system cannot be activated normally. The vehicle speed of the vehicle 100 is reduced in advance, so as to avoid accidents when the anti-lock brake system cannot operate normally due to excessive moving speed and untimely braking, thereby effectively ensuring safety.

In another embodiment, when the at least one processor 40 cannot obtain all of the at least one rotation parameter, the power source of the vehicle 100 is turned off.

It can be understood that when at least one processor 40 cannot obtain all the rotation parameters, it means that the anti-lock brake system cannot be used at all. In this way, in order to avoid accidents, the power source of the vehicle 100 is turned off, for example, no power is supplied to the motor. 1. Turn off the output power of the battery (for example, control voltage, current or PWM) or stop the power output of the gasoline engine, so that the vehicle 100 stops slowly, so as to avoid accidents and the like.

In yet another embodiment, when the at least one processor 40 cannot obtain all of the at least one rotational parameter, then the vehicle 100 maintains the stationary state when the vehicle 100 is in the stationary state.

It can be understood that, through the above method, when at least one processor 40 is found to be unable to obtain at least one rotation parameter during the start-up process of the vehicle 100, it means that there is an abnormality in the vehicle 100. At this time, in the vehicle 100 When in a stationary state, the static state of the vehicle 100 can be maintained, that is, the parking brake can be maintained without releasing the parking brake. In this way, the vehicle 100 can be prevented from running and causing accidents. In one embodiment, the stationary state is a parking brake state.

Hereinafter, please refer to FIG. 1 and FIG. 7 together, and further describe specific embodiments when at least one processor 40 cannot obtain at least one of at least one rotation parameter.

Step S10, the vehicle 100 is started.

Step S11, start detection. In one embodiment, the sensing device of the vehicle 100 starts sensing the rotating device 10 to obtain the rotating parameters of the rotating device 10 . In this embodiment, since the vehicle 100 has just started, the rotation parameter is 0.

Step S12, judging whether the processor 40 has unreceived rotation parameters, when the processor 40 has the unreceived rotation parameters, then enter step S13; when the processor 40 has received all the rotation parameters , then go to step S17. In this embodiment, when the processor 40 has the unreceived rotation parameter, it means that the brake anti-lock system corresponding to the rotation device that has not received the unreceived rotation parameter cannot work normally, so go to step S13 . In another embodiment, since the vehicle 100 has just started, the rotation parameter is zero. If the at least one rotation parameter received by the processor 40 has a value other than 0, the processor 40 may also judge that the rotation parameter is abnormal, so that the anti-lock brake system cannot operate normally, and enters the Step S13.

Step S13, the fault light is displayed, and then go to step S14. In this embodiment, the user of the vehicle 100 is alerted through the display of the fault light.

Step S14, judging whether the processor 40 has not received all the rotation parameters, if it is judged that all the rotation parameters have not been received, then enter step S15; when it is judged that not all the rotation parameters have not been received, then enter step S16 .

In step S15, the engine power is stopped, that is, the vehicle 100 is stopped. In one embodiment, if the vehicle 100 is in a stationary state, the stationary state is maintained. In one embodiment, if the vehicle 100 has a moving speed not equal to 0, the output of the engine power is stopped, and the vehicle 100 is forced to reduce the moving speed to 0 due to friction between the vehicle 100 and the road surface.

In step S16, the engine power is reduced, that is, the speed of the vehicle 100 is reduced. In one embodiment, if the vehicle 100 is in the static state or the vehicle 100 has a moving speed not equal to 0, then a limit parameter is used to limit the movement of the vehicle, so as to avoid exceeding the limit parameter during its subsequent movement. limit.

Step S17 , standby detection, that is, during the running of the vehicle 100 , continuously detect the rotation parameter. In one embodiment, when the braking device is not used while the vehicle 100 is running, it is the standby time of the braking device, and the processor 40 will continue to try to obtain the rotation parameter at this time.

Step S18, judging whether the processor 40 has unreceived rotation parameters, when the processor 40 has the unreceived rotation parameters, then return to step S13; when the processor 40 has received all the rotation parameters parameter, go to step S19.

Step S19 , detection in operation, that is, to detect the vehicle 100 when the vehicle 100 is provided with a braking signal (from step S190 ). In one embodiment, when the braking device 20 adjusts the rotation parameter of the at least one rotation device 10 with the first braking parameter, the processor 40 still continuously senses the rotation parameter.

Step S20, judging whether the processor 40 has unreceived rotation parameters, when the processor 40 has the unreceived rotation parameters, then return to step S13; when the processor 40 has received all the rotation parameters parameters, go to step S21.

Step S21, detecting the activation time, that is, detecting the braking parameters when the anti-lock brake system starts to activate. In one embodiment, when the braking device 20 adjusts the rotation parameter of the at least one rotation device 10 with the second braking parameter, the processor 40 still continuously senses the rotation parameter. During this operating time, the processor 40 will continue to judge whether there is any unreceived rotation parameter, so as to decide whether to enter step S13.

Step S22, judging whether the actuation time exceeds the time threshold, if it is judged that the actuation time exceeds the time threshold, go to step S23; if it is judged that the actuation time does not exceed the time threshold, go to step S24. In one embodiment, when the braking device 20 adjusts the rotation parameter of the at least one rotation device 10 with the second braking parameter, the processor 40 confirms that the second braking parameter is used to adjust the time that is the braking prevention. The action time of the locking system. Therefore, the processor 40 can compare the adjusted time with the time threshold.

Step S23, reducing the actuation frequency, for example, reducing at least one of the brake release frequency and the duty cycle. In one embodiment, since the actuation time exceeds the time threshold, the processor may use a third braking parameter lower than the second braking parameter to avoid failure of the braking device.

In step S24, it is judged whether the action is over, that is, it is judged whether the braking signal of the vehicle 100 is over. If it is judged that the braking signal is over, then return to step S17; if it is judged that the braking signal is not over, then return to step S19. In one embodiment, when the braking device 20 stops decelerating the rotating device 10, it returns to step S17, and at this time, the processor 40 continues to judge whether all the rotating parameters are received. When the braking device 20 continues to decelerate the rotating device 10 , return to step S19 , the processor 40 will continue to check whether the actuating time exceeds the time threshold in addition to continuously judging whether all the rotating parameters have been received.

It can be understood that, through the implementation of the present invention, when the vehicle 100 is in different operating states, it will continue to detect through the wheel speed sensor as the sensing device, and determine whether the processor 40 has received all the rotation parameters to effectively avoid accidents when the rotation parameters cannot be obtained normally. That is, when driving under the situation that the anti-lock brake system cannot be activated normally, accidents can still be effectively avoided.

Please refer to FIG. 1 and FIG. 8 together. The present invention also provides a method for controlling the braking device 20 of the vehicle 100 to avoid brake failure. The method includes:

Step S601 , when at least one braking device 20 of the vehicle 100 is activated with a first braking parameter, at least one rotation parameter of at least one rotation device of the vehicle is obtained. In one embodiment, at least one processor 40 obtains at least one rotation parameter through at least one sensing device coupled to at least one rotation device 10 . In one embodiment, the first braking parameter is a preset braking parameter of the at least one braking device 20 when the at least one braking device 20 is activated.

Step S602, according to the at least one rotation parameter, determine whether to adjust at least one brake device, if it is determined that at least one brake device does not need to be adjusted, then go to step S603, if it is judged that at least one brake device needs to be adjusted, then go to step S604. In one embodiment, at least one processor 40 judges whether at least one rotating device 10 has been locked or may be locked according to various rotation parameters, and when it is determined that at least one rotating device 10 has been locked or may be locked, then Go to step S604. When it is judged that no rotating device 10 has been locked or may be locked, go to step S603.

Step S603 , not adjusting at least one brake device 20 . When it is determined that no rotating device 10 has been locked or may be locked, at least one processor 40 will return to step S602 and continue to determine whether it is necessary to enter step S604.

Step S604, the at least one braking device 20 adjusts at least one rotation parameter according to the second braking parameter. In one embodiment, the at least one processor 40 can adjust the corresponding braking device 20 for the rotating device 10 that has been locked or may be locked. In one embodiment, the second braking parameter may be an anti-lock braking parameter of the at least one braking device 20 when the anti-lock braking system is activated.

Step S605, obtaining the adjustment time when the second braking parameter is used. In one embodiment, the adjustment time can be used to adjust the actuation time of the braking device by the anti-lock brake system.

Step S606, comparing the adjusted time with a time threshold. In one embodiment, the time threshold may be a preset time value. In another embodiment, the time threshold may be a variable time value.

Step S607, according to the comparison result of the adjustment time and the time threshold, it is judged whether the at least one brake device needs to be adjusted, if it is judged that the at least one brake device does not need to be adjusted, then enter step S605, when it is judged that the at least one brake device needs to be adjusted , enter step S608. In one embodiment, when the adjustment time is equal to or greater than the time threshold, it is determined that the at least one brake device 20 needs to be further adjusted. When the adjustment time has not exceeded the time threshold, it is determined that the at least one brake device 20 does not need to be further adjusted.

Step S608, the at least one braking device adjusts at least one rotation parameter according to the third braking parameter. In one embodiment, the third braking parameter may be a fail-safe braking parameter.

Wherein, the first braking parameter, the second braking parameter and the third braking parameter are different from each other.

Through the above method, the vehicle can adjust different braking parameters according to the usage status and usage time of the braking device, so as to effectively control the braking to avoid braking failure.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

In summary, the present invention meets the requirements of an invention patent, and a patent application is filed according to law. However, what is described above is only a preferred embodiment of the present invention, and all equivalent modifications or changes made by those who are familiar with the technology of this case in accordance with the creative spirit of this case should be included in the scope of the following patent application.

100: Transportation 10: Turning device 20:Brake device 30: storage device 40: Processor S101-S108: Steps S201-S202: Steps S301-S302: Steps S401-S402: Steps S501-S503: Steps S10-S24, S190: Steps S601-S608: Steps

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only For some embodiments of the application, those skilled in the art can also obtain other drawings based on these drawings without making creative efforts.

FIG. 1 is a block diagram of a vehicle for controlling braking to avoid brake failure according to an embodiment of the present invention.

FIG. 2 is a flowchart of a process executed by a processor in a vehicle of an embodiment.

3 is a flowchart of a process executed by a processor in a vehicle of another embodiment.

FIG. 4 is a flowchart of a process executed by a processor in a vehicle according to yet another embodiment.

FIG. 5 is a flowchart of a process executed by a processor in a vehicle according to yet another embodiment.

FIG. 6 is a flowchart of a process executed by a processor in a vehicle according to yet another embodiment.

FIG. 7 is a flowchart of a specific process performed by a processor in a vehicle.

FIG. 8 is a flow chart of the method for controlling the brakes of vehicles to avoid brake failure according to the present invention.

S101-S108: Steps

Claims (8)

A vehicle for controlling braking to avoid brake failure, the vehicle comprising: at least one turning device for moving the vehicle; at least one braking device, coupled to the at least one rotating device, for adjusting at least one rotational parameter of the at least one rotating device according to a first braking parameter; at least one processor; and a storage device coupled to the at least one processor and storing a plurality of instructions that, when executed by the at least one processor, cause the at least one processor to: obtaining the at least one rotation parameter when the at least one brake device is activated; judging whether to adjust the at least one braking device according to the at least one rotation parameter, so that the at least one braking device adjusts the at least one rotation parameter according to a second braking parameter; Obtain an adjustment time when the second braking parameter is used; comparing the adjusted time to a time threshold; and According to the comparison result between the adjustment time and the time threshold, it is judged whether to adjust the at least one braking device, so that the at least one braking device adjusts the at least one rotation parameter according to a third braking parameter, wherein the first braking parameter, the The second braking parameter and the third braking parameter are different from each other. The vehicle as claimed in claim 1, wherein the time threshold can be a preset time value. The vehicle of claim 1, wherein the plurality of instructions, when executed by the at least one processor, cause the at least one processor to: receiving a sensing parameter obtained from a sensing device for the vehicle; and The time threshold for using the third braking parameter is adjusted according to the sensing parameter. The vehicle of claim 1, wherein the plurality of instructions, when executed by the at least one processor, cause the at least one processor to: receiving a sensing parameter obtained from a sensing device for the vehicle; and A fourth braking parameter of the at least one braking device is generated according to the sensing parameter and a respective device position of the at least one rotating device on the vehicle, wherein at least two of the at least one fourth braking parameter are mutually Are not the same. The vehicle of claim 1, wherein the plurality of instructions, when executed by the at least one processor, cause the at least one processor to: receiving a sensing parameter obtained from a sensing device for the vehicle; and According to the sensing parameter, the magnitude of the third braking parameter is adjusted, wherein both the first braking parameter and the second braking parameter are preset braking parameters. The means of transportation as described in claim 1, further comprising: at least one driving device, coupled to the at least one rotating device, drives the at least one rotating device to move the vehicle by rotating in a first direction, or decelerates the at least one rotating device by rotating in a second direction, Wherein the first direction is opposite to the second direction. The vehicle of claim 6, wherein the plurality of instructions, when executed by the at least one processor, cause the at least one processor to: receiving a sensing parameter obtained from a sensing device for the vehicle; determining whether the vehicle is driving on a flat surface according to the sensing parameter; and If the vehicle is not driving on the flat surface, when the at least one braking device is activated, the at least one driving device decelerates the at least one rotating device through rotation in the second direction. A method of preventing brake failure of a vehicle comprising: obtaining at least one rotational parameter of at least one rotational device of the vehicle when at least one braking device of the vehicle is actuated with a first braking parameter; judging whether to adjust the at least one braking device according to the at least one rotation parameter, so that the at least one braking device adjusts the at least one rotation parameter according to a second braking parameter; Obtain an adjustment time when the second braking parameter is used; comparing the adjusted time to a time threshold; and According to the comparison result between the adjustment time and the time threshold, it is judged whether to adjust the at least one braking device, so that the at least one braking device adjusts the at least one rotation parameter according to a third braking parameter, wherein the first braking parameter, the The second braking parameter and the third braking parameter are different from each other.

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