WO2017129091A1 - 电动汽车的防碰撞系统及其控制方法及电动汽车 - Google Patents

电动汽车的防碰撞系统及其控制方法及电动汽车 Download PDF

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Publication number
WO2017129091A1
WO2017129091A1 PCT/CN2017/072206 CN2017072206W WO2017129091A1 WO 2017129091 A1 WO2017129091 A1 WO 2017129091A1 CN 2017072206 W CN2017072206 W CN 2017072206W WO 2017129091 A1 WO2017129091 A1 WO 2017129091A1
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WIPO (PCT)
Prior art keywords
vehicle
wheel
speed
host vehicle
collision
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PCT/CN2017/072206
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English (en)
French (fr)
Inventor
廉玉波
凌和平
陈伟强
熊焱飞
姜龙
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比亚迪股份有限公司
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Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2017129091A1 publication Critical patent/WO2017129091A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the technical field of automobiles, and particularly relates to an anti-collision system for electric vehicles, a control method thereof and an electric vehicle.
  • some of the related technologies can warn the driver when the vehicle is about to collide with the vehicle in front, so that the driver can be reminded to pay attention to deceleration and avoid rear-end collision. This has improved driving safety to a certain extent. However, if the driver does not take a slowdown, it is usually possible to have a rear-end collision.
  • the hydraulic brake system can be controlled to perform automatic braking. However, the structure of the hydraulic brake system itself is complicated, and the hydraulic brake system has a slow response and cost. High, lagging braking is sometimes not enough to ensure safe driving.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent.
  • the anti-collision system of the electric vehicle can effectively prevent the vehicle from rear-end collision, has the advantages of fast braking response speed and short braking distance, thereby ensuring vehicle safety, and the anti-collision system has the advantages of simple structure and low cost.
  • Another object of the present invention is to provide a method of controlling an anti-collision system for an electric vehicle.
  • Still another object of the present invention is to provide an electric vehicle.
  • an embodiment of the first aspect of the present invention discloses an anti-collision system for an electric vehicle, comprising: a vehicle speed detecting device for detecting a host vehicle speed and a front vehicle speed; a distance detecting device for detecting a first relative distance between the host vehicle and the preceding vehicle; a wheel motor brake device disposed on the host vehicle, the wheel motor brake device including a wheel brake motor for receiving Applying a braking force to the wheel to apply feedback braking to the host vehicle during an emergency braking signal; a vehicle controller for using the host vehicle at a vehicle speed greater than a predetermined vehicle speed and the first relative distance When less than the predetermined distance, the collision time is determined according to the host vehicle speed, the front vehicle speed, and the first relative distance, and when the collision time is less than the predetermined time, an alarm signal is sent to the driver of the host vehicle and/or The wheel motor brake device transmits the emergency brake signal.
  • the wheel motor brake device further includes: a motor controller connected to the wheel brake motor and the vehicle controller, respectively, for receiving the emergency system sent from the vehicle controller
  • the driving signal drives the wheel brake motor to perform feedback braking on the vehicle according to the emergency braking signal.
  • the wheel motor brake device further includes: a transmission that is respectively coupled to a wheel of the electric vehicle and the wheel brake motor to apply the wheel brake motor to the wheel through the transmission Braking force.
  • the wheel motor brake device is a plurality of, and the plurality of wheel motor brake devices are in one-to-one correspondence with a plurality of wheels of the vehicle.
  • the wheel brake motor is a wheel motor or a hub motor.
  • the predetermined time includes a first predetermined time and a second predetermined time, the first predetermined time being greater than the second predetermined time.
  • the vehicle controller is configured to determine whether the collision time is less than the first predetermined time and greater than the second predetermined time when the host vehicle speed is greater than a predetermined vehicle speed and the first relative distance is less than a predetermined distance. If yes, generating the alarm signal and transmitting the alarm signal to a driver of the host vehicle, if the collision time is less than the second predetermined time, generating the alarm signal and issuing the warning to the driver of the host vehicle The alarm signal is sent, and the emergency brake signal is sent to the wheel motor brake device.
  • the vehicle controller is further configured to: obtain an actual slip ratio of the tire according to the vehicle speed and the wheel speed; determine the wheel according to the actual slip ratio of the tire and the predetermined tire slip ratio a target rotational speed; determining the braking torque according to the wheel target rotational speed, and generating the emergency braking signal according to the braking torque.
  • the vehicle speed detecting device is further configured to detect a rear vehicle speed
  • the distance detecting device is further configured to detect a second relative distance between the host vehicle and the rear vehicle
  • the vehicle controller further uses When the rear vehicle speed is greater than the predetermined vehicle speed and the second relative distance is less than the predetermined distance, the collision time is determined according to the host vehicle speed, the rear vehicle speed, and the second relative distance, and the collision time is less than At the scheduled time, an alarm signal is sent to the rear vehicle.
  • the anti-collision system of the electric vehicle when it is determined that the host vehicle is about to have a rear-end collision with the preceding vehicle, an alarm can be issued to the driver, and even the vehicle can be automatically braked, thereby preventing the vehicle from colliding with the preceding vehicle, thereby ensuring Driving safety.
  • a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative The structure is simple and the cost is low.
  • An embodiment of the second aspect of the present invention discloses a control method of an anti-collision system for an electric vehicle, comprising the steps of: detecting a host vehicle speed and a front vehicle speed; detecting a first relative distance between the host vehicle and the preceding vehicle; When the host vehicle speed is greater than a predetermined vehicle speed and the first relative distance is less than a predetermined distance, determining a collision time according to the host vehicle speed, the front vehicle speed, and the first relative distance; when the collision time is less than a predetermined time Sending an alarm signal to the driver of the host vehicle and/or transmitting an emergency brake signal to the wheel motor brake device, so that the wheel motor brake device applies a braking force to the wheel to perform feedback braking on the host vehicle.
  • the predetermined time includes a first predetermined time and a second predetermined time, the first predetermined time being greater than the second predetermined time. And when the collision time is less than a predetermined time, sending an alarm signal to a driver of the host vehicle and/or transmitting the emergency brake signal to the wheel motor brake device, so that the wheel motor brake device applies the wheel to the wheel Powering to perform feedback braking on the host vehicle, including: determining whether the collision time is less than the first a predetermined time and greater than the second predetermined time, if yes, generating the alarm signal and issuing the alarm signal to a driver of the host vehicle; if the collision time is less than the second predetermined time, generating the The alarm signal signals the alarm to the driver of the host vehicle and transmits the emergency brake signal to the wheel motor brake device.
  • control method of the anti-collision system of the electric vehicle further includes: obtaining an actual slip ratio of the tire according to the vehicle speed and the wheel speed; and determining an actual slip ratio and the predetermined tire slip ratio according to the tire. Determining a wheel target speed; determining the braking torque according to the wheel target speed, and generating the emergency braking signal according to the braking torque.
  • the determining the braking torque according to the host vehicle speed, the wheel speed, and the predetermined tire slip ratio is: determining the braking torque to maintain the actual slip ratio of the tire during braking The predetermined tire slip ratio.
  • control method of the anti-collision system of the electric vehicle further includes: detecting a rear vehicle speed; detecting and detecting a second relative distance between the host vehicle and the rear vehicle; and when the rear vehicle speed is greater than a predetermined vehicle speed
  • the collision time is determined according to the host vehicle speed, the rear vehicle speed, and the second relative distance, and when the collision time is less than the predetermined time, an alarm signal is sent to the rear vehicle.
  • the control method of the anti-collision system of the electric vehicle when it is determined that the host vehicle is about to have a rear-end collision with the preceding vehicle, an alarm can be issued to the driver, and even the vehicle can be automatically braked, thereby avoiding occurrence of the vehicle and the preceding vehicle. Rear-end, to ensure safe driving. Further, a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative The structure is simple and the cost is low.
  • An embodiment of the third aspect of the invention discloses an electric vehicle.
  • the electric vehicle may include: an anti-collision system of an electric vehicle according to an embodiment of the first aspect of the present invention.
  • an electric vehicle includes a computer readable storage medium having stored therein executable code for performing an electric vehicle according to the second aspect of the present invention when the executable code is executed Control method for the auxiliary brake system.
  • a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative
  • the structure is simple and the cost is low.
  • FIG. 1 is a block diagram showing the structure of an anti-collision system for an electric vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an anti-collision system of an electric vehicle according to an embodiment of the present invention
  • FIG. 3 is a flow chart of a method of controlling an anti-collision system of an electric vehicle according to an embodiment of the present invention.
  • an anti-collision system 100 for an electric vehicle according to an embodiment of the present invention includes a vehicle speed detecting device 110, a distance detecting device 120, a wheel motor braking device 130, and a vehicle controller 140.
  • the vehicle speed detecting device 110 is configured to detect a host vehicle speed and a preceding vehicle speed.
  • the distance detecting device 120 is for detecting a first relative distance between the host vehicle and the preceding vehicle.
  • the wheel motor brake device 130 is disposed on a host vehicle, and the wheel motor brake device 130 includes a wheel brake motor 131 for applying a braking force to the wheel upon receiving the emergency brake signal to the vehicle Perform feedback braking.
  • the vehicle controller 140 is configured to determine a collision time according to the host vehicle speed, the front vehicle speed, and the first relative distance when the host vehicle speed is greater than the predetermined vehicle speed and the first relative distance is less than the predetermined distance, and when the collision time is less than the predetermined time, An alarm signal is sent to the driver of the host vehicle and/or an emergency brake signal is sent to the wheel motor brake.
  • the host vehicle refers to the vehicle
  • the front vehicle refers to the vehicle in front of the host vehicle.
  • the vehicle speed detecting device 110 is, for example, a vehicle speed sensor provided on the host vehicle to monitor the vehicle speed V 1 of the host vehicle and the vehicle speed V 2 of the preceding vehicle in real time.
  • the distance detecting device 120 is, for example, a radar or laser ranging device disposed on a host vehicle to monitor the distance between the host vehicle and the preceding vehicle (ie, the first relative distance) in real time.
  • the wheel brake motor 131 is a wheel motor or a hub motor. That is, the wheel brake motor 131 may be a wheel motor or a hub motor.
  • the wheel motor brake device 130 includes a wheel brake motor 131 and a motor controller 133, and of course, a transmission 132.
  • the wheel brake motor 131 is connected to the wheel through the transmission 132, and the wheel brake motor 131 is used to apply a braking force to the wheel through the transmission 132.
  • the motor controller 133 is connected to the wheel brake motor 131 and the vehicle controller 140, respectively, to receive an emergency brake signal transmitted from the vehicle controller 140, and drives the wheel brake motor 131 to feed back the vehicle according to the emergency brake signal. brake.
  • the wheel brake motor 131 performs feedback braking on the vehicle, which means that the wheel brake motor 131 generates a braking force opposite to the traveling direction of the vehicle, thereby achieving the purpose of braking, and the wheel brake motor 131 is in the process of performing feedback braking.
  • the energy of the feedback brake can be converted into electric energy for power generation to charge the power battery when the power battery needs to be charged to recover energy through the power battery, thereby reducing the energy consumption of the whole vehicle.
  • the vehicle includes four wheels, namely, a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel, a left front wheel motor brake device 130-1 corresponding to the left front wheel, and a right front wheel corresponding to the right front wheel.
  • the wheel brake motor 131 is a wheel motor or a hub motor. That is, the wheel brake motor 131 may be a wheel motor or a hub motor.
  • the risk level of the impending collision may be determined based on the determined collision time, and then different operations may be performed according to different risk levels. For example, when the risk level is relatively low, the driver can be prompted to pay attention to deceleration to avoid collision with the vehicle in front. When the risk level is relatively high, the driver can be prompted to pay attention to the deceleration while automatically braking the vehicle to avoid The vehicle in front collided.
  • the predetermined time includes a first predetermined time and a second predetermined time, the first predetermined time being greater than the second predetermined time
  • the vehicle controller 140 is configured to: when the host vehicle speed is greater than the predetermined vehicle speed and the first relative distance is less than the predetermined distance Determining whether the collision time is less than the first predetermined time and greater than the second predetermined time. If yes, generating an alarm signal and sending an alarm signal to the driver of the host vehicle. If the collision time is less than the second predetermined time, generating an alarm signal and generating an alarm signal The driver of the host vehicle issues an alarm signal and sends an emergency brake signal to the wheel motor brakes.
  • L 1 is the first relative distance between the host vehicle and the preceding vehicle
  • V 1 is the host vehicle speed
  • V 2 is the forward vehicle speed. If t 1 ⁇ 0 seconds, it means that V 2 is greater than V 1 , that is, the vehicle speed ahead is higher than the speed of the host vehicle, and there is no collision; if t 1 > 0 seconds, the vehicle speed of the front vehicle is lower than that of the host vehicle, and collision may occur. Danger.
  • the predetermined vehicle speed may be set to 80 km/h
  • the predetermined distance is 10 m
  • the first predetermined time is 2 s
  • the second predetermined time is 1 s.
  • V 1 is greater than 80 km/h (ie, predetermined vehicle speed)
  • L 1 is less than 10 m (ie, a predetermined distance)
  • t 1 is less than 2 s (ie, the first predetermined time)
  • the vehicle controller 140 determines that the host vehicle is likely Collided with the vehicle in front.
  • the vehicle controller 140 sends an alarm signal to the driver of the host vehicle through the CAN network, and further alerts the driver to the driving distance and driving safety through the alarm signal.
  • the vehicle controller 140 determines that the host vehicle is about to have a rear-end collision with the preceding vehicle.
  • the vehicle controller 140 sends an emergency braking signal to the wheel motor braking device 130, and the wheel motor braking device 130 applies a braking force to the wheel to achieve the purpose of automatic braking, thereby preventing the host vehicle from colliding with the preceding vehicle and improving driving.
  • Safety When V 1 is greater than 80 km/h, and L 1 is less than 10 m, and t 1 is less than 1 s, the vehicle controller 140 determines that the host vehicle is about to have a rear-end collision with the preceding vehicle.
  • the vehicle controller 140 sends an emergency braking signal to the wheel motor braking device 130, and the wheel motor braking device 130 applies a braking force to the wheel to achieve the purpose of automatic braking, thereby preventing the host vehicle from colliding with the preceding vehicle and improving driving.
  • Safety When V 1 is greater than 80 km/h, and L 1 is less than 10 m, and t 1 is less than 1
  • the vehicle controller 140 may determine the braking torque according to the host vehicle speed, the wheel speed, and the predetermined tire slip ratio, and generate the above according to the braking torque.
  • the emergency braking signal specifically includes: obtaining the actual slip ratio of the tire according to the vehicle speed and the wheel speed; The slip ratio and the predetermined tire slip rate determine the wheel target speed; the braking torque is determined according to the wheel target speed, and the emergency braking signal is generated according to the braking torque.
  • the maximum braking torque in the case of a high-speed running process and a rear-end collision with the preceding vehicle, in order to reduce the braking distance, it is necessary to determine the maximum braking torque.
  • embodiments of the present invention can determine this maximum braking torque based on the host vehicle speed, wheel speed, and predetermined tire slip rate.
  • the actual slip ratio of the tire is obtained by the following formula:
  • S is the actual slip ratio of the tire
  • V is the vehicle speed
  • u is the wheel speed
  • the wheel when the actual slip ratio S of the tire is about 20%, the wheel can obtain the maximum braking force at this time, and therefore, for example, the tire slip ratio of 20% can be set as the predetermined tire slip ratio.
  • the vehicle controller 140 calculates the actual slip ratio S of the tire in real time, and then determines the maximum braking torque according to the actual slip ratio S of the tire and the predetermined tire slip ratio, etc., and then the wheel motor braking device 130 according to the maximum braking.
  • the torque applies a braking force to the wheel, so that the actual slip ratio S of the tire during the emergency braking is always maintained at the predetermined tire slip ratio or the closer to the predetermined tire slip ratio, for example, the actual slip ratio S of the tire is maintained at 20 About %, so as to achieve the effect of fast braking, reduce the braking distance and ensure the safety of the vehicle.
  • the anti-collision system of the electric vehicle when it is determined that the host vehicle is about to have a rear-end collision with the preceding vehicle, an alarm can be issued to the driver, and even the vehicle can be automatically braked, thereby preventing the vehicle from colliding with the preceding vehicle, thereby ensuring Driving safety.
  • a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative The structure is simple and the cost is low.
  • the vehicle speed detecting device 110 is further configured to detect a rear vehicle speed
  • the distance detecting device 120 is further configured to detect a second relative distance between the host vehicle and the rear vehicle
  • the vehicle controller 140 further uses When the vehicle speed in the rear vehicle is greater than the predetermined vehicle speed and the second relative distance is less than the predetermined distance, the collision time is determined according to the vehicle speed, the rear vehicle speed, and the second relative distance, and when the collision time is less than the predetermined time, the warning signal is sent to the rear vehicle. .
  • the predetermined vehicle speed may be set to 80 km/h, the predetermined distance is 10 m, the first predetermined time is 2 s, and the second predetermined time is 1 s. Then, when V 3 is greater than 80 km/h (ie, predetermined vehicle speed), L 2 is less than 10 m (ie, predetermined distance), and t 2 is less than 2 s (ie, the first predetermined time), the vehicle controller 140 determines that the rear vehicle is likely Collided with the host vehicle. The vehicle controller 140 issues an alarm signal to the rear vehicle.
  • the vehicle controller 140 determines that the rear vehicle will have a rear-end collision with the host vehicle. At the same time that the vehicle controller 140 issues an alarm signal, the rear taillights and the emergency warning lights are turned on to warn the rear owner that there is a danger of rear-end collision between the two vehicles. Thereby avoiding rear-end collision between the vehicle and the host vehicle. Further improve driving safety.
  • the method further includes: determining whether the power battery meets the charging condition, for example, when the power battery is insufficient, and passing the wheel
  • the motor braking device 130 collects the energy generated by the braking, converts it into electric energy, and charges the power battery to realize energy recovery, thereby improving the cruising range of the electric vehicle and avoiding waste of energy.
  • FIG. 3 is a flow chart of a method of controlling an anti-collision system of an electric vehicle according to an embodiment of the present invention.
  • the anti-collision system of the electric vehicle is the anti-collision system of the electric vehicle described in the above embodiment.
  • a method for controlling an anti-collision system for an electric vehicle includes the following steps:
  • S302 Detect a first relative distance between the host vehicle and the preceding vehicle.
  • S303 When the host vehicle vehicle speed is greater than a predetermined vehicle speed and the first relative distance is less than a predetermined distance, determining a collision time according to the host vehicle vehicle speed, the front vehicle speed, and the first relative distance.
  • S304 when the collision time is less than the predetermined time, send an alarm signal to the driver of the host vehicle and/or send the emergency brake signal to the wheel motor brake device, so that the wheel motor brake device applies the wheel to the wheel. Power to brake back to the host vehicle.
  • the predetermined time includes a first predetermined time and a second predetermined time, wherein the first predetermined time is greater than the second predetermined time, and when the collision time is less than the predetermined time, an alarm is issued to the driver of the host vehicle Transmitting and/or transmitting the emergency brake signal to the wheel motor brake device, such that the wheel motor brake device applies a braking force to the wheel to perform feedback braking on the host vehicle, including: determining the collision time Whether it is less than the first predetermined time and greater than the second predetermined time, if yes, generating the alarm signal and issuing the alarm signal to a driver of the host vehicle; if the collision time is less than the second predetermined At time, the alarm signal is generated and sent to the driver of the host vehicle, and the emergency brake signal is sent to the wheel motor brake device.
  • control method of the anti-collision system of the electric vehicle further includes: obtaining an actual slip ratio of the tire according to the vehicle speed and the wheel speed; and determining the actual slip ratio according to the tire and the predetermined
  • the tire slip ratio determines a wheel target speed; the braking torque is determined according to the wheel target speed, and the emergency braking signal is generated according to the braking torque.
  • control method further includes: detecting a rear vehicle speed; detecting a second relative distance between the host vehicle and the rear vehicle; when the rear vehicle speed is greater than a predetermined vehicle speed and the second relative distance is less than a predetermined distance, according to The host vehicle speed, the rear vehicle speed, and the second relative distance determine a collision time, and when the collision time is less than a predetermined time, an alarm signal is sent to the rear vehicle.
  • the control method of the anti-collision system of the electric vehicle when it is determined that the host vehicle is about to have a rear-end collision with the preceding vehicle, an alarm can be issued to the driver, and even the vehicle can be automatically braked, thereby avoiding occurrence of the vehicle and the preceding vehicle. Rear-end, to ensure safe driving. Further, a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative The structure is simple and the cost is low.
  • an electric vehicle comprising: the anti-collision system of the electric vehicle according to any one of the above embodiments.
  • the vehicle judges that the host vehicle is going to have a rear-end collision with the preceding vehicle, it can issue an alarm to the driver and even control the automatic braking of the vehicle, thereby preventing the vehicle from colliding with the preceding vehicle and ensuring driving safety.
  • a method of applying a braking force to a wheel by a wheel motor or a hub motor or the like is compared with a hydraulic brake in the related art, and has a brake response speed advantage and a wheel motor or a hub motor has a relative The structure is simple and the cost is low.
  • the description with reference to the terms “one embodiment”, “some embodiments”, “example”, “specific example”, or “some examples” and the like means a specific feature described in connection with the embodiment or example.
  • a structure, material or feature is included in at least one embodiment or example of the invention.
  • the terms “first” and “second” are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.

Abstract

一种电动汽车的防碰撞系统，包括：车速检测装置（110）；车距检测装置（120）；设置在宿主车辆上的车轮电机制动装置（130），车轮电机制动装置（130）包括车轮制动电机（131），车轮电机制动装置（130）用于在接收到紧急制动信号时向车轮施加制动力以对宿主车辆进行回馈制动；整车控制器（140），用于在宿主车辆车速大于预定车速且第一相对距离小于预定距离时，根据宿主车辆车速、前方车辆车速和第一相对距离确定碰撞时间，并在碰撞时间小于预定时间时，向车轮电机制动装置（130）发送紧急制动信号，以及一种电动汽车的防碰撞控制方法及电动汽车。

Description

电动汽车的防碰撞系统及其控制方法及电动汽车 技术领域
本发明涉及汽车技术领域，特别涉及一种电动汽车的防碰撞系统及其控制方法及电动汽车。
背景技术
目前，相关技术中有一些可以在车辆将要与前方车辆发生追尾时，对驾驶员进行预警，从而可以提醒驾驶员注意减速，避免发生追尾。这在一定程度上提升了行车安全。但是，如果驾驶员没有采取减速，则通常还是可能发生追尾。另外，还有一些相关技术，在判断出将要与前车发生追尾时，可以控制液压制动系统进行自动制动，然而液压制动系统本身的结构较为复杂，并且液压制动系统响应慢、成本高，滞后的制动有时还是不足以保证行车安全。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明的一个目的在于提出一种电动汽车的防碰撞系统。该电动汽车的防碰撞系统可以有效防止车辆发生追尾，具有制动响应速度快、制动距离短的优点，从而可以保证车辆安全，另外，该防碰撞系统具有结构简单、成本低的优点。
本发明的另一个目的在于提出一种电动汽车的防碰撞系统的控制方法。
本发明的再一个目的在于提出一种电动汽车。
为了实现上述目的，本发明的第一方面的实施例公开了一种电动汽车的防碰撞系统，包括：车速检测装置，用于检测宿主车辆车速和前方车辆车速；车距检测装置，用于检测宿主车辆与前方车辆之间的第一相对距离；设置在宿主车辆上的车轮电机制动装置，所述车轮电机制动装置包括车轮制动电机，所述车轮电机制动装置用于在接收到紧急制动信号时向车轮施加制动力，以对所述宿主车辆进行回馈制动；整车控制器，所述整车控制器用于在所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，根据所述宿主车辆车速、前方车辆车速和所述第一相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向所述车轮电机制动装置发送所述紧急制动信号。
在一实施例中，车轮电机制动装置还包括：电机控制器，电机控制器分别与车轮制动电机和整车控制器相连，用于接收来自所述整车控制器发送的所述紧急制动信号，并根据紧急制动信号驱动所述车轮制动电机对车辆进行回馈制动。
在一实施例中，所述车轮电机制动装置还包括：变速器，所述变速器分别与电动汽车的车轮和所述车轮制动电机连接以使所述车轮制动电机通过所述变速器向车轮施加制动力。
在一实施例中，所述车轮电机制动装置为多个，多个所述车轮电机制动装置一一对应于车辆的多个车轮。
在一实施例中，所述车轮制动电机为轮边电机或轮毂电机。
在一实施例中，所述预定时间包括第一预定时间和第二预定时间，所述第一预定时间大于所述第二预定时间。所述整车控制器用于在所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，判断所述碰撞时间是否小于所述第一预定时间且大于所述第二预定时间，如果是，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，如果所述碰撞时间小于所述第二预定时间，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，以及向所述车轮电机制动装置发送所述紧急制动信号。
在一实施例中，所述整车控制器还用于：根据所述宿主车辆车速和车轮转速得到车胎实际滑移率；根据所述车胎实际滑移率和所述预定车胎滑移率确定车轮目标转速；根据所述车轮目标转速确定所述制动力矩，并根据所述制动力矩生成所述紧急制动信号。
在一实施例中，所述车速检测装置还用于检测后方车辆车速，所述车距检测装置还用于检测宿主车辆与后方车辆之间的第二相对距离，所述整车控制器还用于在所述后方车辆车速大于预定车速且所述第二相对距离小于预定距离时，根据所述宿主车辆车速、后方车辆车速和所述第二相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向后方车辆发出报警信号。根据本发明实施例的电动汽车的防碰撞系统，当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
本发明第二方面的实施例公开了一种电动汽车的防碰撞系统的控制方法，包括以下步骤：检测宿主车辆车速和前方车辆车速；检测宿主车辆与前方车辆之间的第一相对距离；当所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，根据所述宿主车辆车速、前方车辆车速和所述第一相对距离确定碰撞时间；当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送紧急制动信号，以便所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动。
在一实施例中，所述预定时间包括第一预定时间和第二预定时间，所述第一预定时间大于所述第二预定时间。所述当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送所述紧急制动信号，以便所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动，包括：判断所述碰撞时间是否小于所述第一 预定时间且大于所述第二预定时间，如果是，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号；如果所述碰撞时间小于所述第二预定时间，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，以及向所述车轮电机制动装置发送所述紧急制动信号。
在一实施例中，电动汽车的防碰撞系统的控制方法还包括：根据所述宿主车辆车速和车轮转速得到车胎实际滑移率；根据所述车胎实际滑移率和所述预定车胎滑移率确定车轮目标转速；根据所述车轮目标转速确定所述制动力矩，并根据所述制动力矩生成所述紧急制动信号。
在一实施例中，所述根据所述宿主车辆车速、车轮转速和预定车胎滑移率确定制动力矩的方式是：确定所述制动力矩以使制动过程中车胎实际滑移率保持在所述预定车胎滑移率。
在一实施例中，电动汽车的防碰撞系统的控制方法，还包括：检测后方车辆车速；检测检测宿主车辆与后方车辆之间的第二相对距离；当所述后方车辆车速大于预定车速且所述第二相对距离小于预定距离时，根据所述宿主车辆车速、后方车辆车速和所述第二相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向后方车辆发出报警信号。
根据本发明实施例的电动汽车的防碰撞系统的控制方法，当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
本发明第三方面的实施例公开了一种电动汽车。该电动汽车可包括：根据本发明第一方面的实施例所述的电动汽车的防碰撞系统。
在一实施例中，电动汽车包括计算机可读存储介质，所述存储介质中存储有可执行的代码，当所述可执行的代码被运行时，执行根据本发明第二方面所述电动汽车的辅助制动系统的控制方法。
该车辆当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
附图说明
图1是根据本发明一个实施例的电动汽车的防碰撞系统的结构框图；
图2是根据本发明一个实施例的电动汽车的防碰撞系统的示意图；以及
图3是根据本发明一个实施例的电动汽车的防碰撞系统的控制方法的流程图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
以下结合附图描述根据本发明实施例的电动汽车的防碰撞系统及其控制方法及电动汽车。
图1是根据本发明一个实施例的电动汽车的防碰撞系统的结构框图。如图1所示，根据本发明一个实施例的电动汽车的防碰撞系统100，包括：车速检测装置110、车距检测装置120、车轮电机制动装置130以及整车控制器140。
具体地，结合图2所示，车速检测装置110用于检测宿主车辆车速和前方车辆车速。车距检测装置120用于检测宿主车辆与前方车辆之间的第一相对距离。车轮电机制动装置130设置在宿主车辆上，车轮电机制动装置130包括车轮制动电机131，车轮电机制动装置130用于在接收到紧急制动信号时向车轮施加制动力，以对车辆进行回馈制动。整车控制器140用于在宿主车辆车速大于预定车速且第一相对距离小于预定距离时，根据宿主车辆车速、前方车辆车速和第一相对距离确定碰撞时间，并在碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送紧急制动信号。
其中，宿主车辆指本车，前方车辆指宿主车辆前方的车辆。车速检测装置110例如为设置在宿主车辆上的车速传感器，以实时监测宿主车辆的车速V1以及前方车辆的车速V2。车距检测装置120例如为设置在宿主车辆上的雷达或者激光测距装置，以实时监测宿主车辆与前方车辆之间的距离(即第一相对距离)。车轮制动电机131为轮边电机或轮毂电机。即：车轮制动电机131可以是轮边电机，也可以是轮毂电机。
作为一个具体的示例，如图2所示，车轮电机制动装置130包括：车轮制动电机131和电机控制器133，当然，还可包括变速器132。其中，车轮制动电机131通过变速器132与车轮相连，车轮制动电机131用于通过变速器132向车轮施加制动力。电机控制器133分别与车轮制动电机131和整车控制器140相连，以接收来自整车控制器140发送的紧急制动信号，并根据紧急制动信号驱动车轮制动电机131对车辆进行回馈制动。其中，车轮制动电机131对车辆进行回馈制动是指使车轮制动电机131产生与车辆行驶方向相反的制动力，从而达到制动的目的，并且车轮制动电机131在进行回馈制动的过程中可将回馈制动的能量转化为电能进行发电，以在动力电池需要充电时对动力电池充电以通过动力电池进行能量回收，从而可降低整车的能耗。
车轮电机制动装置130为多个，多个车轮电机制动装置130一一对应于车辆的多个车轮。如图2所示，车辆包括4个车轮，即：左前车轮、右前车轮、左后车轮和右后车轮，对应于左前车轮的左前车轮电机制动装置130-1、对应于右前车轮的右前车轮电机制动装置130-2、对应于左后车轮的左后车轮电机制动装置130-3、对应于右后车轮的右后车轮电机制动装置130-4。再次结合图2所示，车轮制动电机131为轮边电机或轮毂电机。即：车轮制动电机131可以是轮边电机，也可以是轮毂电机。
在本发明的一个实施例中，可以根据确定出的碰撞时间确定即将发生碰撞的风险等级，然后根据不同的风险等级执行不同的操作。例如：风险等级相对较低时，可以提示驾驶员注意减速，以避免与前方车辆发生碰撞，风险等级相对较高时，可以提示驾驶员注意减速的同时，对车辆进行自动制动，以避免与前方车辆发生碰撞。
具体而言，预定时间包括第一预定时间和第二预定时间，第一预定时间大于第二预定时间，整车控制器140用于在宿主车辆车速大于预定车速且第一相对距离小于预定距离时，判断碰撞时间是否小于第一预定时间且大于第二预定时间，如果是，则生成报警信号并向宿主车辆的驾驶员发出报警信号，如果碰撞时间小于第二预定时间，则生成报警信号并向宿主车辆的驾驶员发出报警信号，以及向车轮电机制动装置发送紧急制动信号。
例如：宿主车辆与前方车辆发生碰撞的碰撞时间是t1＝L1/(V1-V2)。其中，L1是宿主车辆与前方车辆之间的第一相对距离，V1是宿主车辆车速，V2是前方车辆车速。若t1≤0秒，说明V2大于V1，即前方车辆车速比宿主车辆车速高，不会发生碰撞；若t1>0秒，则前方车辆车速比宿主车辆车速低，有可能发生碰撞危险。
例如，可设预定车速为80km/h，预定距离为10m，第一预定时间为2s，第二预定时间为1s。则当V1大于80km/h(即：预定车速)，且L1小于10m(即：预定距离)，t1小于2s(即第一预定时间)时，整车控制器140判断宿主车辆有可能与前方车辆发生碰撞。整车控制器140通过CAN网络向宿主车辆的驾驶员发出报警信号，进而，通过报警信号提醒驾驶员注意行车距离和行驶安全。
当V1大于80km/h，且L1小于10m，t1小于1s时，整车控制器140判断宿主车辆将要与前方车辆发生追尾。整车控制器140给车轮电机制动装置130发出紧急制动信号，车轮电机制动装置130向车轮施加制动力，达到自动制动的目的，进而防着宿主车辆与前方车辆发生追尾，提升行车安全。
当判定出宿主车辆在高速行驶过程中即将与前方车辆发生追尾时，整车控制器140可以根据宿主车辆车速、车轮转速和预定车胎滑移率确定制动力矩，并根据制动力矩生成上述的紧急制动信号，具体包括：根据宿主车辆车速和车轮转速得到车胎实际滑移率；根据车胎实 际滑移率和所述预定车胎滑移率确定车轮目标转速；根据车轮目标转速确定制动力矩，并根据制动力矩生成紧急制动信号。
具体地说，高速行驶过程且将要与前方车辆发生追尾时，为了减小制动距离，需要确定最大的制动力矩。而本发明的实施例可以根据宿主车辆车速、车轮转速和预定车胎滑移率确定出这个最大的制动力矩。首先，通过如下公式得到车胎实际滑移率，该公式为：
S＝(V-u)/V×100％，
其中，S为车胎实际滑移率，V为车速、u为车轮转速。
根据试验，当车胎实际滑移率S为20％左右时，此时车轮可以获得最大的制动力，因此，例如可将车胎滑移率20％设为预定车胎滑移率。整车控制器140实时计算车胎实际滑移率S，然后根据车胎实际滑移率S和预定车胎滑移率等确定出最大的制动力矩，然后车轮电机制动装置130根据该最大的制动力矩向车轮施加制动力，使紧急制动过程中车胎实际滑移率S始终保持在预定车胎滑移率或者是与预定车胎滑移率越近接越好，例如车胎实际滑移率S保持在20％左右，从而达到快速制动的效果，减小制动距离，保证车辆安全。
根据本发明实施例的电动汽车的防碰撞系统，当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
在本发明的一个实施例中，车速检测装置110还用于检测后方车辆车速，车距检测装置120还用于检测宿主车辆与后方车辆之间的第二相对距离，整车控制器140还用于在后方车辆车速大于预定车速且第二相对距离小于预定距离时，根据宿主车辆车速、后方车辆车速和第二相对距离确定碰撞时间，并在碰撞时间小于预定时间时，向后方车辆发出报警信号。
具体地说，后方车辆与宿主车辆发生碰撞的时间是t2＝L2/(V3-V1)，L2是第二相对距离，V3是后方车辆车速。若t2≤0s，说明V1大于V3，即宿主车辆车速比后方车辆速度大，不会发生碰撞，若t2>0s，说明V1小于V3，即宿主车辆车速比后方车辆速度小，有可能发生碰撞。
例如，可设预定车速为80km/h，预定距离为10m，第一预定时间为2s，第二预定时间为1s。则当V3大于80km/h(即：预定车速)，L2小于10m(即：预定距离)，且t2小于2s(即：第一预定时间)，整车控制器140判断后方车辆有可能与宿主车辆发生碰撞。整车控制器140向后方车辆发出报警信号。
当V2大于80km/h，L2小于10m，且t2小于1s，整车控制器140判断后方车辆将与宿主车辆发生追尾。整车控制器140发出报警信号的同时，打开车辆后尾灯与紧急告警灯，警告 后方车主，两车距离过近有追尾危险。从而避免后方车辆与宿主车辆发生追尾。进一步提升行车安全。
在本发明的一个实施例中，在通过车轮电机制动装置130对车辆采取紧急制动的过程中，还包括：判断动力电池是否满足充电条件，例如动力电池的电量不足时，还可以通过车轮电机制动装置130收集制动产生的能量，转换为电能后为动力电池充电，实现能量回收，进而可以提升电动汽车的续航里程，并避免能源的浪费。
图3是根据本发明一个实施例的电动汽车的防碰撞系统的控制方法的流程图。
需要说明的是，在本发明实施例的电动汽车的防碰撞系统的控制方法中，电动汽车的防碰撞系统为上述实施例所述的电动汽车的防碰撞系统。
如图3所示，根据本发明一个实施例的电动汽车的防碰撞系统的控制方法，包括以下步骤：
S301：检测宿主车辆车速和前方车辆车速。
S302：检测宿主车辆与前方车辆之间的第一相对距离。
S303：当所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，根据所述宿主车辆车速、前方车辆车速和所述第一相对距离确定碰撞时间。
S304：当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送所述紧急制动信号，以便所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动。
进一步地，预定时间包括第一预定时间和第二预定时间，所述第一预定时间大于所述第二预定时间，所述当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送所述紧急制动信号，以便所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动，包括：判断所述碰撞时间是否小于所述第一预定时间且大于所述第二预定时间，如果是，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号；如果所述碰撞时间小于所述第二预定时间，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，以及向所述车轮电机制动装置发送所述紧急制动信号。
在本发明的一个实施例中，电动汽车的防碰撞系统的控制方法，还包括：根据所述宿主车辆车速和车轮转速得到车胎实际滑移率；根据所述车胎实际滑移率和所述预定车胎滑移率确定车轮目标转速；根据所述车轮目标转速确定所述制动力矩，并根据所述制动力矩生成所述紧急制动信号。
进一步地，该控制方法还包括：检测后方车辆车速；检测宿主车辆与后方车辆之间的第二相对距离；当所述后方车辆车速大于预定车速且所述第二相对距离小于预定距离时，根据 所述宿主车辆车速、后方车辆车速和所述第二相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向后方车辆发出报警信号。
根据本发明实施例的电动汽车的防碰撞系统的控制方法，当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
需要说明的是，本发明实施例的电动汽车的防碰撞系统的控制方法的具体实现方式请参见本发明实施例的电动汽车的防碰撞系统的具体实现方式，为了减少冗余，此处不做赘述。
在本发明的实施例中，进一步公开了一种电动汽车，包括：根据上述任意一个实施例所述的电动汽车的防碰撞系统。该车辆当判断出宿主车辆将要与前方车辆发生追尾时，可以向驾驶员发出报警，甚至控制车辆自动制动，从而避免车辆与前方车辆发生追尾，保证行车安全。此外，通过如轮边电机或轮毂电机等对车轮施加制动力的方式相比于相关技术中的通过液压制动的方式，具有制动响应速度快的优点且轮边电机或轮毂电机等具有相对结构简单、成本低的优点。
另外，根据本发明实施例的电动汽车的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (14)

  1. 一种电动汽车的防碰撞系统，其特征在于，所述系统包括：
    车速检测装置，用于检测宿主车辆车速和前方车辆车速；
    车距检测装置，用于检测宿主车辆与前方车辆之间的第一相对距离；
    整车控制器，所述整车控制器用于在所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，根据所述宿主车辆车速、前方车辆车速和所述第一相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送所述紧急制动信号；
    设置在宿主车辆上的车轮电机制动装置，所述车轮电机制动装置包括车轮制动电机，所述车轮电机制动装置用于在接收到紧急制动信号时通过车轮制动电机对所述宿主车辆进行回馈制动。
  2. 根据权利要求1所述的电动汽车的防碰撞系统，其特征在于，所述车轮电机制动装置还包括：
    电机控制器，所述电机控制器分别与所述车轮制动电机和所述整车控制器相连，用于接收来自所述整车控制器发送的所述紧急制动信号，并根据所述紧急制动信号驱动所述车轮制动电机对车辆进行回馈制动。
  3. 根据权利要求1或2所述的电动汽车的防碰撞系统，其特征在于，所述车轮电机制动装置为多个，多个所述车轮电机制动装置一一对应于车辆的多个车轮。
  4. 根据权利要求1到3中任意一项所述的电动汽车的防碰撞系统，其特征在于，所述车轮制动电机为轮边电机或轮毂电机。
  5. 根据权利要求1到4中任意一项所述的电动汽车的防碰撞系统，其特征在于，所述预定时间包括第一预定时间和第二预定时间，所述第一预定时间大于所述第二预定时间，
    所述整车控制器用于在所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，判断所述碰撞时间是否小于所述第一预定时间且大于所述第二预定时间，如果是，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，如果所述碰撞时间小于所述第二预定时间，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，以及向所述车轮电机制动装置发送所述紧急制动信号。
  6. 根据权利要求1到5中任意一项所述的电动汽车的防碰撞系统，其特征在于，所述整车控制器还用于：
    根据所述宿主车辆车速和车轮转速得到车胎实际滑移率；
    根据所述车胎实际滑移率和所述预定车胎滑移率确定车轮目标转速；
    根据所述车轮目标转速确定所述制动力矩，并根据所述制动力矩生成所述紧急制动信号。
  7. 根据权利要求1到6中任意一项所述的电动汽车的防碰撞系统，其特征在于，所述车速检测装置还用于检测后方车辆车速，所述车距检测装置还用于检测宿主车辆与后方车辆之间的第二相对距离，所述整车控制器还用于在所述后方车辆车速大于预定车速且所述第二相对距离小于预定距离时，根据所述宿主车辆车速、后方车辆车速和所述第二相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向后方车辆发出报警信号。
  8. 一种电动汽车的防碰撞系统的控制方法，其特征在于，所述方法包括以下步骤：
    检测宿主车辆车速和前方车辆车速；
    检测宿主车辆与前方车辆之间的第一相对距离；
    当所述宿主车辆车速大于预定车速且所述第一相对距离小于预定距离时，根据所述宿主车辆车速、前方车辆车速和所述第一相对距离确定碰撞时间；
    当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送紧急制动信号，以使所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动。
  9. 根据权利要求8所述的电动汽车的防碰撞系统的控制方法，其特征在于，所述预定时间包括第一预定时间和第二预定时间，所述第一预定时间大于所述第二预定时间，
    所述当所述碰撞时间小于预定时间时，向宿主车辆的驾驶员发出报警信号和/或向车轮电机制动装置发送所述紧急制动信号，以便所述车轮电机制动装置向车轮施加制动力，以对所述宿主车辆进行回馈制动，包括：
    判断所述碰撞时间是否小于所述第一预定时间且大于所述第二预定时间，如果是，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号；
    如果所述碰撞时间小于所述第二预定时间，则生成所述报警信号并向宿主车辆的驾驶员发出所述报警信号，以及向所述车轮电机制动装置发送所述紧急制动信号。
  10. 根据权利要求8或9所述的电动汽车的防碰撞系统的控制方法，其特征在于，还包括：
    根据所述宿主车辆车速和车轮转速得到车胎实际滑移率；
    根据所述车胎实际滑移率和所述预定车胎滑移率确定车轮目标转速；
    根据所述车轮目标转速确定所述制动力矩，并根据所述制动力矩生成所述紧急制动信号。
  11. 根据权利要求10所述的电动汽车的防碰撞系统的控制方法，其特征在于，所述根据所述宿主车辆车速、车轮转速和预定车胎滑移率确定制动力矩的方式是：
    确定所述制动力矩以使制动过程中车胎实际滑移率保持在所述预定车胎滑移率。
  12. 根据权利要求8到11中任意一项所述的电动汽车的防碰撞系统的控制方法，其特征在于，还包括：
    检测后方车辆车速；
    检测宿主车辆与后方车辆之间的第二相对距离；
    当所述后方车辆车速大于预定车速且所述第二相对距离小于预定距离时，根据所述宿主车辆车速、后方车辆车速和所述第二相对距离确定碰撞时间，并在所述碰撞时间小于预定时间时，向后方车辆发出报警信号。
  13. 一种电动汽车，其特征在于，所述汽车包括：根据权利要求1-7中任一项所述的电动汽车的防碰撞系统。
  14. 一种电动汽车，包括计算机可读存储介质，其特征在于，所述存储介质中存储有可执行的代码，当所述可执行的代码被运行时，执行权利要求8到12中任意一项所述的方法。
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