WO2021213397A1 - 制动控制系统和方法 - Google Patents

制动控制系统和方法 Download PDF

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Publication number
WO2021213397A1
WO2021213397A1 PCT/CN2021/088473 CN2021088473W WO2021213397A1 WO 2021213397 A1 WO2021213397 A1 WO 2021213397A1 CN 2021088473 W CN2021088473 W CN 2021088473W WO 2021213397 A1 WO2021213397 A1 WO 2021213397A1
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WIPO (PCT)
Prior art keywords
module
vehicle
braking
meb
esp
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PCT/CN2021/088473
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English (en)
French (fr)
Inventor
范志超
魏宏
高通
杨振
许东春
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长城汽车股份有限公司
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Publication of WO2021213397A1 publication Critical patent/WO2021213397A1/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
    • 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
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems

Definitions

  • the present disclosure relates to the field of assisted driving of vehicles, and in particular, to a brake control system and method.
  • vehicle assist systems include lane keeping assist systems, automatic parking assist systems, brake assist systems, reversing assist systems, and driving assist systems.
  • MEB Machine Emergency Braking
  • the purpose of the present disclosure is to provide a reliable and practical brake control system and method.
  • the present disclosure provides a brake control system, which includes a distance sensor, a low-speed emergency brake MEB module, an electronic stability program ESP module, and an electronic parking brake EPB module.
  • the MEB module Respectively connected with the distance sensor, the ESP module and the EPB module.
  • the distance sensor is used to detect the distance of obstacles behind the vehicle
  • the ESP module is used to detect the speed of the vehicle
  • the MEB module is used to send an emergency braking instruction to the ESP module if it is determined that the vehicle is at risk of collision according to the obstacle distance; after the vehicle stops, send a continuous braking instruction to the ESP module ; After sending the continuous braking command, determine whether it is necessary to stop braking; if it is determined that the braking does not need to be stopped and reaches a predetermined time period, control the EPB module to perform electronic parking; if it is within the predetermined time period, determine To stop braking, send a stop braking instruction to the ESP module;
  • the ESP module is used to control the application of braking force to the vehicle to stop the vehicle if the emergency braking instruction is received; if the continuous braking instruction is received, control to continue to the vehicle The braking force is applied until the predetermined time period is reached or the braking stop instruction is received.
  • the ESP module when the MEB module is used to assist the vehicle's reversing conditions, after the vehicle is judged to be at a risk of collision and the vehicle is stopped, if there is no other situation that needs to stop the brake, the ESP module will be used for a predetermined period of time. The inside continues to apply braking force to the vehicle. During the predetermined period of time, the driver can take necessary measures to take over the vehicle. In this way, it can be avoided that the vehicle will not start or roll over and collide immediately after the reversing brake is stopped, thereby enhancing the safety of the vehicle when reversing.
  • the ESP module is used to maintain the pressure of the wheel cylinder by controlling the motor to continuously apply the braking force to the vehicle.
  • the brake control system further includes a body control module BCM and an automatic transmission control unit TCU, and the MEB module is respectively connected to the BCM and the TCU,
  • the BCM is used to detect whether the door of the vehicle has been opened
  • the MEB module is used to determine if the door of the vehicle has been opened within a predetermined period of time after sending the continuous braking instruction, and control the TCU to switch to P gear, and control the The EPB module performs electronic parking.
  • the door of the vehicle is opened as a condition for stopping the braking, and when the door is opened, the control is switched to P gear, and the electronic parking is controlled to be executed, so that when the driver opens the door and gets off the car , Can park the car automatically and safely, ensuring the safety of the vehicle.
  • the vehicle door is a vehicle door on the driver's side.
  • the brake control system further includes an automatic transmission control unit TCU, and the MEB module is connected to the TCU,
  • the TCU is used to detect the current gear of the vehicle
  • the MEB module is used to determine that braking needs to be stopped if the current gear of the vehicle is converted from the R gear to another gear within a predetermined time period after the continuous braking instruction is sent.
  • switching the gear of the vehicle from the R gear to other gears is used as a condition for stopping the braking, so that after the driver shifts gears, the requirements for normal driving of the vehicle are met.
  • the brake control system further includes an engine control module ECM, and the MEB module is connected to the ECM,
  • the ECM is used to detect the depth of the accelerator pedal of the vehicle
  • the MEB module is also configured to, within a predetermined period of time after sending the continuous braking instruction, if it is determined that the vehicle has no risk of collision according to the obstacle distance, and the depth of the accelerator pedal detected by the ECM indicates the When the accelerator pedal is depressed, it is determined that braking needs to be stopped.
  • the vehicle has no risk of collision and the accelerator pedal is depressed as the conditions for stopping the braking, so that when the risk of collision is eliminated and the driver has the willingness to reverse, the requirement for the vehicle to continue to reverse is met.
  • the brake control system further includes an engine control module ECM, and the MEB module is connected to the ECM,
  • the ECM is used to detect the depth of the accelerator pedal of the vehicle
  • the MEB module is further configured to determine that braking needs to be stopped if the depth of the accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined time period after the continuous braking instruction is sent.
  • the depth of the accelerator pedal is greater than the predetermined depth threshold as a condition for stopping the braking, so that when the driver has a strong reversing intention, the requirement for the vehicle to continue reversing is met.
  • the present disclosure also provides a brake control method, which is applied to a brake control system.
  • the brake control system includes a distance sensor, a low-speed emergency brake MEB module, an electronic stability program ESP module, and an electronic parking brake EPB module.
  • the MEB module is connected to the distance sensor, the ESP module, and the EPB module connection.
  • the method includes:
  • the distance sensor detects the distance of the obstacle behind the vehicle
  • the ESP module detects the speed of the vehicle
  • the MEB module sends an emergency braking instruction to the ESP module;
  • the ESP module controls to apply a braking force to the vehicle to stop the vehicle;
  • the MEB module After the vehicle stops, the MEB module sends a continuous braking instruction to the ESP module;
  • the MEB module After sending the continuous braking instruction, the MEB module determines whether braking needs to be stopped;
  • the MEB module controls the EPB module to perform electronic parking
  • the MEB module sends a braking stop instruction to the ESP module;
  • the ESP module controls to continue to apply a braking force to the vehicle until the predetermined time period is reached or the braking stop instruction is received.
  • control of the ESP module to continuously apply braking force to the vehicle includes:
  • the ESP module maintains the pressure of the wheel cylinder by controlling the motor to continuously apply braking force to the vehicle.
  • the brake control system further includes a body control module BCM and an automatic transmission control unit TCU, the MEB module is respectively connected to the BCM and the TCU, and the method further includes: the BCM detection station State whether the door of the vehicle has been opened;
  • the MEB module determines whether it is necessary to stop braking, including: within a predetermined period of time after the continuous braking instruction is sent, if the vehicle door has been opened, then the The MEB module determines that it needs to stop braking;
  • the method further includes: within a predetermined period of time after the continuous braking instruction is sent, it is determined that braking needs to be stopped, then the MEB module controls the TCU to switch to P gear, and controls the EPB module to perform electronic parking .
  • the vehicle door is a vehicle door on the driver's side.
  • the brake control system further includes an automatic transmission control unit TCU, the MEB module is connected to the TCU, and the method further includes:
  • the TCU detects the current gear of the vehicle
  • the MEB module determines whether braking needs to be stopped, including: within a predetermined period of time after the continuous braking instruction is sent, if the current gear of the vehicle is changed from R gear For other gears, the MEB module determines that braking needs to be stopped.
  • the brake control system further includes an engine control module ECM, and the MEB module is connected to the ECM, and the method further includes:
  • the ECM detects the depth of the accelerator pedal of the vehicle
  • the MEB module determines whether it is necessary to stop braking, including: within a predetermined period of time after the continuous braking instruction is sent, if it is determined that the vehicle is not There is a risk of collision, and the depth of the accelerator pedal detected by the ECM indicates that the accelerator pedal is depressed, then the MEB module determines that braking needs to be stopped.
  • the brake control system further includes an engine control module ECM, and the MEB module is connected to the ECM, and the method further includes:
  • the ECM detects the depth of the accelerator pedal of the vehicle
  • the MEB module determines whether braking needs to be stopped, including: within a predetermined period of time after the continuous braking instruction is sent, if the depth of the accelerator pedal detected by the ECM is greater than a predetermined If the depth threshold is higher, the MEB module determines that braking needs to be stopped.
  • the ESP module when the MEB module is used to assist the vehicle's reversing conditions, after the vehicle is judged to be at a risk of collision and the vehicle is stopped, if there is no other situation that needs to stop the brake, the ESP module will be used for a predetermined period of time. The inside continues to apply braking force to the vehicle. During the predetermined period of time, the driver can take necessary measures to take over the vehicle. In this way, it can be avoided that the vehicle will not start or roll over and collide immediately after the reversing brake is stopped, thereby enhancing the safety of the vehicle when reversing.
  • the electronic parking is automatically implemented after a predetermined period of time to avoid the loss of life of the braking system due to excessive braking time.
  • Fig. 1 is a structural block diagram of a brake control system provided by an exemplary embodiment
  • Fig. 2 is a structural block diagram of a brake control system provided by another exemplary embodiment
  • Fig. 3 is a flowchart of a brake control method provided by an exemplary embodiment
  • Fig. 4 is a flowchart of a brake control method provided by another exemplary embodiment.
  • the direction words used such as "front, rear” generally refer to the direction relative to the normal running of the vehicle.
  • Fig. 1 is a structural block diagram of a brake control system provided by an exemplary embodiment.
  • the brake control system 100 may include a distance sensor 10, a low-speed emergency braking MEB module 20, an electronic stability program (ESP) module 30, and an electronic parking brake (Electrical Park Brake, EPB) Module 40.
  • the MEB module 20 is connected to the distance sensor 10, the ESP module 30, and the EPB module 40, respectively.
  • the distance sensor 10 is used to detect the distance of an obstacle behind the vehicle.
  • the ESP module 30 is used to detect the speed of the vehicle.
  • the MEB module 20 is used to send an emergency braking instruction to the ESP module 30 if the vehicle is at risk of collision based on the distance of the obstacle; after the vehicle stops, send a continuous braking instruction to the ESP module 30; determine after sending the continuous braking instruction Whether it is necessary to stop the braking; if it is determined that it is not necessary to stop the braking and reaches the predetermined duration, the EPB module 40 is controlled to perform electronic parking; if it is determined within the predetermined duration that it is necessary to stop the braking, it will send the stop braking to the ESP module 30 instruction.
  • the ESP module 30 is used to control the application of braking force to the vehicle to stop the vehicle if an emergency braking command is received; if the continuous braking command is received, control to continue to apply the braking force to the vehicle until the predetermined duration is reached or the vehicle is received Stop the brake command.
  • the distance sensor 10 may be an ultrasonic sensor installed at the rear of the vehicle.
  • the distance sensor 10 may include multiple ultrasonic sensors, so that the determined obstacle position and distance are more accurate.
  • the ESP module 30 may detect the vehicle speed of the vehicle through various methods in the related art, for example, the vehicle speed may be detected through a wheel speed sensor.
  • the MEB module 20 may use a collision risk identification algorithm in related technologies to determine whether the vehicle has a collision risk.
  • the collision risk identification algorithm in the related art is well known to those skilled in the art, and will not be repeated here.
  • the MEB module 20 sends an emergency braking command to the ESP module 30 to stop the vehicle.
  • the vehicle will start on its own , It is very likely that the vehicle will continue to back up after a short stop. If the obstacle is not removed, the vehicle will still collide. That is, in the related art, the MEB module 20 only controls the vehicle to stop briefly. The inventor takes this into consideration, and in the solution of the present disclosure, it is proposed to keep braking after the vehicle is stopped until a predetermined time period is reached or a braking stop occurs, so as to ensure that the vehicle will not automatically start or roll.
  • the ESP module 30 controls the braking of the vehicle by controlling the motor to pressurize the wheel cylinders, when the ESP module 30 receives a continuous braking command, it can achieve continuous braking by controlling the motor to maintain the pressure of the wheel cylinders.
  • the ESP module when the MEB module is used to assist the vehicle's reversing conditions, after the vehicle is judged to be at a risk of collision and the vehicle is stopped, if there is no other situation that needs to stop the brake, the ESP module will be used for a predetermined period of time. The inside continues to apply braking force to the vehicle. During the predetermined period of time, the driver can take necessary measures to take over the vehicle. In this way, it can be avoided that the vehicle will not start or roll over and collide immediately after the reversing brake is stopped, thereby enhancing the safety of the vehicle when reversing.
  • the electronic parking is automatically implemented after a predetermined period of time to avoid the loss of life of the braking system due to excessive braking time.
  • Fig. 2 is a structural block diagram of a brake control system provided by another exemplary embodiment.
  • the brake control system 100 may also include a body control module (Body Control Module, BCM) 50 and an automatic transmission control unit (Transmission Control Unit, TCU) 60, and an MEB module 20 Connect to BCM 50 and TCU 60 respectively.
  • BCM Body Control Module
  • TCU Transmission Control Unit
  • the BCM 50 is used to detect whether the door of the vehicle has been opened.
  • the MEB module 20 is used to determine if the door of the vehicle has been opened within a predetermined period of time after sending the continuous braking command, and control the TCU 60 to switch to P gear, and control the EPB module 40 to perform electronic parking.
  • the BCM 50 can send the detected state of the door to the vehicle network, and the MEB module 20 obtains the state of whether the door is open from the vehicle network. If the door of the vehicle is opened, it can be considered that someone wants to get on or off the vehicle. At this time, it is not suitable to use the ESP module 30 to maintain the brake, so the control stops using the ESP module 30 to brake, and the vehicle is not suitable It is in the state of reversing, therefore, the vehicle can be controlled to switch to P gear and the electronic handbrake can be pulled up, and the vehicle can be switched to the parking state.
  • the door of the vehicle is opened as a condition for stopping the braking, and when the door is opened, the control is switched to P gear, and the electronic parking is controlled to be executed, so that when the driver opens the door and gets off the car , Can park the car automatically and safely, ensuring the safety of the vehicle.
  • the brake control system 100 may further include an automatic transmission control unit TCU 60.
  • the MEB module 20 is connected to the TCU 60.
  • TCU 60 is used to detect the current gear of the vehicle.
  • the MEB module 20 is used to determine that braking needs to be stopped if the current gear of the vehicle is changed from the R gear to another gear within a predetermined time period after the continuous braking command is sent.
  • the vehicle If the current gear of the vehicle is changed from the R gear to another gear, the vehicle is no longer in the reverse state, and it can be considered that the driver has taken over measures. At this time, there is no need to use the ESP module 30 to brake. Therefore, it is determined that braking needs to be stopped, and the ESP module 30 is controlled to stop braking.
  • switching the gear of the vehicle from the R gear to other gears is used as a condition for stopping the braking, so that after the driver shifts gears, the requirements for normal driving of the vehicle are met.
  • the brake control system 100 may further include an engine control module (Engine Control Module, ECM) 70, and the MEB module 20 is connected to the ECM 70.
  • ECM Engine Control Module
  • ECM 70 is used to detect the depth of the accelerator pedal of the vehicle.
  • the MEB module 20 is also used to determine that the vehicle has no risk of collision according to the distance of the obstacle and the depth of the accelerator pedal detected by the ECM 70 indicates that the accelerator pedal is depressed within a predetermined period of time after the continuous braking command is sent. brake.
  • the depth of the accelerator pedal reflects the degree to which the accelerator pedal is depressed. According to the depth of the accelerator pedal, it can be determined whether the accelerator pedal is depressed. If the accelerator pedal is depressed, it can be considered that the driver has taken over measures, and the driver wants to continue reversing, and the vehicle has no risk of collision at this time, so the braking can be stopped according to the driver’s wishes, and the MEB module 20 controls the ESP module 30 Stop braking.
  • the vehicle has no risk of collision and the accelerator pedal is depressed as the conditions for stopping the braking, so that when the risk of collision is eliminated and the driver has the willingness to reverse, the requirement for the vehicle to continue to reverse is met.
  • the brake control system 100 further includes an ECM 70, and the MEB module 20 is connected to the ECM 70.
  • ECM 70 is used to detect the depth of the accelerator pedal of the vehicle.
  • the MEB module 20 is also used for determining that the braking needs to be stopped if the depth of the accelerator pedal detected by the ECM is greater than a predetermined depth threshold within a predetermined time period after the continuous braking instruction is sent.
  • the depth of the accelerator pedal is greater than the predetermined depth threshold, it can be considered that the driver has taken over measures and has a strong willingness to reverse, indicating that the driver is still strong after the temporary braking reminder controlled by the MEB module 20 At this time, the willingness of the driver should be respected, and the ESP module 30 should be controlled to stop braking.
  • the predetermined depth threshold can be obtained based on experiment and experience.
  • the vehicle can travel slowly with the braking force, and if the traction force is less than or equal to the braking force, the vehicle can continue to remain stationary.
  • the depth of the accelerator pedal is greater than the predetermined depth threshold as a condition for stopping the braking, so that when the driver has a strong reversing intention, the requirement for the vehicle to continue reversing is met.
  • the present disclosure also provides a brake control method, which is applied to the brake control system 100.
  • Fig. 3 is a flowchart of a brake control method provided by an exemplary embodiment.
  • the brake control system 100 may include a distance sensor 10, an MEB module 20, an ESP module 30 and an EPB module 40.
  • the MEB module 20 is connected to the distance sensor 10, the ESP module 30, and the EPB module 40, respectively.
  • the method may include the following steps:
  • step S31 the distance sensor detects the distance of the obstacle behind the vehicle.
  • Step S32 the ESP module detects the speed of the vehicle.
  • step S33 if it is determined that the vehicle has a risk of collision based on the distance of the obstacle, the MEB module sends an emergency braking instruction to the ESP module.
  • step S34 if an emergency braking instruction is received, the ESP module controls to apply a braking force to the vehicle to stop the vehicle.
  • Step S35 After the vehicle stops, the MEB module sends a continuous braking instruction to the ESP module.
  • step S36 after sending the continuous braking instruction, the MEB module determines whether it is necessary to stop braking.
  • step S37 if it is determined that the braking does not need to be stopped and the predetermined time period is reached, the MEB module controls the EPB module to perform electronic parking.
  • step S38 if it is determined that braking needs to be stopped within the predetermined time period, the MEB module sends a braking stop instruction to the ESP module.
  • step S39 if a continuous braking instruction is received, the ESP module controls to continue to apply a braking force to the vehicle until a predetermined time period is reached or a braking stop instruction is received.
  • the ESP module when the MEB module is used to assist the vehicle's reversing conditions, after the vehicle is judged to be at a risk of collision and the vehicle is stopped, if there is no other situation that needs to stop the brake, the ESP module will be used for a predetermined period of time. The inside continues to apply braking force to the vehicle. During the predetermined period of time, the driver can take necessary measures to take over the vehicle. In this way, it can be avoided that the vehicle will not start or roll over and collide immediately after the reversing brake is stopped, thereby enhancing the safety of the vehicle when reversing.
  • the electronic parking is automatically implemented after a predetermined period of time to avoid the loss of life of the braking system due to excessive braking time.
  • the brake control system further includes BCM and TCU, and the MEB module is connected to the BCM and TCU respectively.
  • the method also includes: the BCM detects whether the door of the vehicle has been opened.
  • step S36 may include: within a predetermined period of time after the continuous braking command is sent, if the door of the vehicle has been opened, the MEB module determines that it is necessary Stop braking.
  • the method further includes: within a predetermined period of time after the continuous braking instruction is sent, it is determined that braking needs to be stopped, then the MEB module controls the TCU to switch to the P gear, and controls the EPB module to perform electronic parking.
  • the door of the vehicle is opened as a condition for stopping the braking, and when the door is opened, the control is switched to P gear, and the electronic parking is controlled to be executed, so that when the driver opens the door and gets off the car , Can park the car automatically and safely, ensuring the safety of the vehicle.
  • the brake control system may also include a TCU, and the MEB module is connected to the TCU.
  • the method may further include: the TCU detects the current gear of the vehicle.
  • step S36 may include: within a predetermined period of time after the continuous braking instruction is sent, if the current gear of the vehicle is changed from R gear to another Gear, the MEB module determines that it needs to stop braking.
  • switching the gear of the vehicle from the R gear to other gears is used as a condition for stopping the braking, so that after the driver shifts gears, the requirements for normal driving of the vehicle are met.
  • the brake control system further includes an ECM
  • the MEB module is connected to the ECM.
  • the method may further include: the ECM detects the depth of the accelerator pedal of the vehicle.
  • step S36 may include: within a predetermined period of time after the continuous braking instruction is sent, if it is determined that the vehicle has no risk of collision according to the distance of the obstacle, and The depth of the accelerator pedal detected by the ECM indicates that the accelerator pedal is depressed, and the MEB module determines that braking needs to be stopped.
  • the vehicle has no risk of collision and the accelerator pedal is depressed as the conditions for stopping the braking, so that when the risk of collision is eliminated and the driver has the willingness to reverse, the requirement for the vehicle to continue to reverse is met.
  • the brake control system further includes an ECM
  • the MEB module is connected to the ECM.
  • the method may further include: ECM detecting the depth of the accelerator pedal of the vehicle.
  • step S36 may include: within a predetermined period of time after the continuous braking command is sent, if the depth of the accelerator pedal detected by the ECM is greater than the predetermined depth Threshold, the MEB module determines that it needs to stop braking.
  • the depth of the accelerator pedal is greater than the predetermined depth threshold as a condition for stopping the braking, so that when the driver has a strong reversing intention, the requirement for the vehicle to continue reversing is met.
  • Fig. 4 is a flowchart of a brake control method provided by another exemplary embodiment.
  • the driver engages in R gear and the brake control system 100 is activated.
  • the MEB module determines that the vehicle is at risk of collision, it sends an emergency braking command to the ESP module, and the ESP module controls the vehicle to stop.
  • the MEB module then sends a continuous braking command, and the ESP module controls the continuous braking of the vehicle.
  • the EPB module can be controlled to pull up the electronic handbrake, perform electronic parking, and exit the brake control system;
  • the TCU will switch to P gear, the EPB module will execute electronic parking and exit the brake control system;
  • the ESP module controls to stop the vehicle and exit the brake control system
  • the ESP module controls to stop braking The vehicle, exit the brake control system.

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

一种制动控制系统和方法，制动控制系统包括距离传感器（10）、MEB模块（20）、ESP模块（30）以及EPB模块（40）。MEB模块（20）用于若根据障碍物距离判定车辆有碰撞风险，则向ESP模块（30）发送紧急制动指令；在车辆停止后，向ESP模块（30）发送持续制动指令；在发送持续制动指令之后判断是否需要停止制动；若判定不需要停止制动并达到预定时长，则控制EPB模块（40）执行电子驻车；若在预定时长之内，判定需要停止制动，则向ESP发送停止制动指令。ESP用于若接收到紧急制动指令，则控制向车辆施加制动力，以使车辆停止；若接收到持续制动指令，则控制持续向车辆施加制动力，直至达到预定时长或接收到停止制动指令。这样，能够避免车辆在利用MEB模块（20）倒车刹停后不会马上自行起步或溜车导致碰撞。

Description

制动控制系统和方法
相关申请的交叉引用
本申请请求2020年04月22日提交的，申请号为202010323973.4的中国专利申请的优先权，出于所有目的，上述申请的全部内容通过引用整体并入本文。
技术领域
本公开涉及车辆的辅助驾驶领域，具体地，涉及一种制动控制系统和方法。
背景技术
目前，随着电子及通信技术的迅猛发展以及车辆保有量的急剧增加，车辆中出现了较多的辅助系统，使得车辆越来越智能化。常用的车辆辅助系统包括车道保持辅助系统、自动泊车辅助系统、刹车辅助系统、倒车辅助系统和行车辅助系统等。
为保证低速驾驶低速泊车的安全性，在一些车辆当中配置有低速紧急制动(Maneuver Emergency Braking，MEB)功能。利用该功能能够在车辆进行倒车时对车辆进行辅助控制。具体地，在车辆倒车过程中，若MEB模块判定车辆有碰撞风险，则会自动控制车辆制动，这样就避免了车辆倒车时因驾驶员的疏忽而导致的车辆碰撞，在一定程度上保证了驾驶安全性。
发明内容
本公开的目的是提供一种可靠且实用的制动控制系统和方法。
为了实现上述目的，本公开提供一种制动控制系统，该制动控制系统包 括：距离传感器、低速紧急制动MEB模块、电子稳定程序ESP模块以及电子驻车制动EPB模块，所述MEB模块分别与所述距离传感器、所述ESP模块以及所述EPB模块连接。
所述距离传感器用于检测车辆后方的障碍物距离；
所述ESP模块用于检测所述车辆的车速；
所述MEB模块用于若根据所述障碍物距离判定所述车辆有碰撞风险，则向所述ESP模块发送紧急制动指令；在所述车辆停止后，向所述ESP模块发送持续制动指令；在发送所述持续制动指令之后判断是否需要停止制动；若判定不需要停止制动并达到预定时长，则控制所述EPB模块执行电子驻车；若在所述预定时长之内，判定需要停止制动，则向所述ESP模块发送停止制动指令；
所述ESP模块用于若接收到所述紧急制动指令，则控制向所述车辆施加制动力，以使所述车辆停止；若接收到所述持续制动指令，则控制持续向所述车辆施加制动力，直至达到所述预定时长或接收到所述停止制动指令。
通过上述技术方案，在利用MEB模块对车辆的倒车工况进行辅助控制时，在判定车辆有碰撞风险而刹停车辆后，如果不发生需要停止制动的其他情况，则ESP模块会在预定时长内持续向车辆施加制动力。该预定时长中，驾驶员可以采取必要的措施以对车辆进行接管。这样，能够避免车辆在倒车刹停后不会因马上自行起步或溜车而发生碰撞，增强了车辆倒车时的安全性。
可选地，所述ESP模块用于通过控制马达保持轮缸的压力持续向所述车辆施加制动力。
可选地，所述制动控制系统还包括车身控制模块BCM和自动变速箱控制单元TCU，所述MEB模块分别与所述BCM、所述TCU连接，
所述BCM用于检测所述车辆的车门是否已打开；
所述MEB模块用于在发送所述持续制动指令之后的预定时长之内，若 所述车辆的车门已打开，则判定需要停止制动，并控制所述TCU转换为P挡，控制所述EPB模块执行电子驻车。
该实施例中，将车辆的车门已打开作为需要停止制动的条件，并且，在车门已打开时，控制转换为P挡，并控制执行电子驻车，使得在驾驶员开门下车的情况下，能够自动、安全地驻车，保证了车辆的安全性。
可选地，所述车门为驾驶员侧的车门。
可选地，所述制动控制系统还包括自动变速箱控制单元TCU，所述MEB模块与所述TCU连接，
所述TCU用于检测所述车辆的当前挡位；
所述MEB模块用于在发送所述持续制动指令之后的预定时长之内，若所述车辆的当前挡位由R挡转换为其他挡位，则判定需要停止制动。
该实施例中，将车辆的挡位由R挡转换为其他挡位作为需要停止制动的条件，使得在驾驶员换挡以后，满足对车辆正常行驶的要求。
可选地，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，
所述ECM用于检测所述车辆的加速踏板的深度；
所述MEB模块还用于在发送所述持续制动指令之后的预定时长之内，若根据所述障碍物距离确定所述车辆没有碰撞风险，且所述ECM检测的加速踏板的深度指示所述加速踏板被踩下，则判定需要停止制动。
该实施例中，将车辆没有碰撞风险和加速踏板被踩下作为需要停止制动的条件，使得在排除碰撞风险且驾驶员有倒车意愿时，满足对车辆继续倒车的要求。
可选地，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，
所述ECM用于检测所述车辆的加速踏板的深度；
所述MEB模块还用于在发送所述持续制动指令之后的预定时长之内，若所述ECM检测的加速踏板的深度大于预定的深度阈值，则判定需要停止制动。
该实施例中，将加速踏板的深度大于预定的深度阈值作为需要停止制动的条件，使得在驾驶员有强烈的倒车意愿时，满足对车辆继续倒车的要求。
本公开还提供一种制动控制方法，应用于制动控制系统。所述制动控制系统包括：距离传感器、低速紧急制动MEB模块、电子稳定程序ESP模块以及电子驻车制动EPB模块，所述MEB模块分别与所述距离传感器、所述ESP模块以及所述EPB模块连接。所述方法包括：
所述距离传感器检测车辆后方的障碍物距离；
所述ESP模块检测所述车辆的车速；
若根据所述障碍物距离判定所述车辆有碰撞风险，则所述MEB模块向所述ESP模块发送紧急制动指令；
若接收到所述紧急制动指令，则所述ESP模块控制向所述车辆施加制动力，以使所述车辆停止；
在所述车辆停止后，所述MEB模块向所述ESP模块发送持续制动指令；
在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动；
若判定不需要停止制动并达到预定时长，则所述MEB模块控制所述EPB模块执行电子驻车；
若在所述预定时长之内，判定需要停止制动，则所述MEB模块向所述ESP模块发送停止制动指令；
若接收到所述持续制动指令，则所述ESP模块控制持续向所述车辆施加制动力，直至达到所述预定时长或接收到所述停止制动指令。
可选地，所述ESP模块控制持续向所述车辆施加制动力，包括：
所述ESP模块通过控制马达保持轮缸的压力持续向所述车辆施加制动 力。
可选地，所述制动控制系统还包括车身控制模块BCM和自动变速箱控制单元TCU，所述MEB模块分别与所述BCM、所述TCU连接，所述方法还包括：所述BCM检测所述车辆的车门是否已打开；
在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述车辆的车门已打开，则所述MEB模块判定需要停止制动；
所述方法还包括：在发送所述持续制动指令之后的预定时长之内，判定需要停止制动，则所述MEB模块控制所述TCU转换为P挡，控制所述EPB模块执行电子驻车。
可选地，所述车门为驾驶员侧的车门。
可选地，所述制动控制系统还包括自动变速箱控制单元TCU，所述MEB模块与所述TCU连接，所述方法还包括：
所述TCU检测所述车辆的当前挡位；
在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述车辆的当前挡位由R挡转换为其他挡位，则所述MEB模块判定需要停止制动。
可选地，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，所述方法还包括：
所述ECM检测所述车辆的加速踏板的深度；
在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若根据所述障碍物距离确定所述车辆没有碰撞风险，且所述ECM检测的加速踏板的深度指示所述加速踏板被踩下，则所述MEB模块判定需要停止制动。
可选地，所述制动控制系统还包括发动机控制模块ECM，所述MEB模 块与所述ECM连接，所述方法还包括：
所述ECM检测所述车辆的加速踏板的深度；
在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述ECM检测的加速踏板的深度大于预定的深度阈值，则所述MEB模块判定需要停止制动。
通过上述技术方案，在利用MEB模块对车辆的倒车工况进行辅助控制时，在判定车辆有碰撞风险而刹停车辆后，如果不发生需要停止制动的其他情况，则ESP模块会在预定时长内持续向车辆施加制动力。该预定时长中，驾驶员可以采取必要的措施以对车辆进行接管。这样，能够避免车辆在倒车刹停后不会因马上自行起步或溜车而发生碰撞，增强了车辆倒车时的安全性。并且，在预定时长之后自动实施电子驻车，避免制动系统因持续制动时间过长而导致的寿命的损耗。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是一示例性实施例提供的制动控制系统的结构框图；
图2是另一示例性实施例提供的制动控制系统的结构框图；
图3是一示例性实施例提供的制动控制方法的流程图；
图4是另一示例性实施例提供的制动控制方法的流程图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是， 此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如“前、后”通常是指相对于车辆正常行驶时的方向。
图1是一示例性实施例提供的制动控制系统的结构框图。如图1所示，制动控制系统100可以包括距离传感器10、低速紧急制动MEB模块20、电子稳定程序(Electronic Stability Program，ESP)模块30以及电子驻车制动(Electrical Park Brake，EPB)模块40。MEB模块20分别与距离传感器10、ESP模块30以及EPB模块40连接。
距离传感器10用于检测车辆后方的障碍物距离。ESP模块30用于检测车辆的车速。
MEB模块20用于若根据障碍物距离判定车辆有碰撞风险，则向ESP模块30发送紧急制动指令；在车辆停止后，向ESP模块30发送持续制动指令；在发送持续制动指令之后判断是否需要停止制动；若判定不需要停止制动并达到预定时长，则控制EPB模块40执行电子驻车；若在预定时长之内，判定需要停止制动，则向ESP模块30发送停止制动指令。
ESP模块30用于若接收到紧急制动指令，则控制向车辆施加制动力，以使车辆停止；若接收到持续制动指令，则控制持续向车辆施加制动力，直至达到预定时长或接收到停止制动指令。
其中，距离传感器10可以是安装在车辆后方的超声波传感器。距离传感器10可以包括多个超声波传感器，这样所确定的障碍物位置和距离更加精确。ESP模块30可以通过相关技术中的多种方法来检测车辆的车速，例如，通过轮速传感器来检测车速。
MEB模块20可以采用相关技术中的碰撞风险识别算法来判断车辆是否有碰撞风险。相关技术中的碰撞风险识别算法为本领域技术人员所公知，此处不再赘述。
在相关技术中，若判定车辆有碰撞风险，则MEB模块20向ESP模块30发送紧急制动指令以使车辆停止，此时，如果驾驶员不马上踩下制动踏板进行接管，车辆会自行起步，则很有可能车辆在短暂的停止之后又继续后退，如果障碍物没有排除的话，车辆仍然会发生碰撞。也就是，在相关技术中，MEB模块20仅控制车辆短暂地停止。发明人正是考虑到这一点，在本公开的方案中，提出在车辆停止后继续保持制动，直到达到预定时长或有停止制动的情况发生，以保证车辆不会自动起步或溜车。
由于ESP模块30控制制动车辆时是通过控制马达给轮缸增压来实现的，当ESP模块30接收到持续制动指令时，可以通过控制马达保持轮缸的压力来实现持续的制动。
通过上述技术方案，在利用MEB模块对车辆的倒车工况进行辅助控制时，在判定车辆有碰撞风险而刹停车辆后，如果不发生需要停止制动的其他情况，则ESP模块会在预定时长内持续向车辆施加制动力。该预定时长中，驾驶员可以采取必要的措施以对车辆进行接管。这样，能够避免车辆在倒车刹停后不会因马上自行起步或溜车而发生碰撞，增强了车辆倒车时的安全性。并且，在预定时长之后自动实施电子驻车，避免制动系统因持续制动时间过长而导致的寿命的损耗。
图2是另一示例性实施例提供的制动控制系统的结构框图。如图2所示，在图1的基础上，制动控制系统100还可以包括车身控制模块(Body Control Module，BCM)50和自动变速箱控制单元(Transmission Control Unit，TCU)60，MEB模块20分别与BCM 50、TCU 60连接。
BCM 50用于检测车辆的车门是否已打开。MEB模块20用于在发送持续制动指令之后的预定时长之内，若车辆的车门已打开，则判定需要停止制动，并控制TCU 60转换为P挡，控制EPB模块40执行电子驻车。
其中，BCM 50可以将检测的车门状态发送到整车网络上，MEB模块 20从整车网络上获取到车门是否打开的状态。若车辆的车门已打开，可以认为有人想要上车或下车，此时，不适合再利用ESP模块30来保持制动，因此控制停止利用ESP模块30来制动，并且，车辆也不适合处于倒车的状态，因此，可以控制车辆转换为P挡并拉起电子手刹，车辆转换为驻车状态。
另外，还可以仅考虑驾驶员侧的车门是否打开，而不考虑其他车门是否打开。这样，减少了参考信号的来源，简化了控制策略。
该实施例中，将车辆的车门已打开作为需要停止制动的条件，并且，在车门已打开时，控制转换为P挡，并控制执行电子驻车，使得在驾驶员开门下车的情况下，能够自动、安全地驻车，保证了车辆的安全性。
在又一实施例中，如图2所示，制动控制系统100还可以包括自动变速箱控制单元TCU 60。MEB模块20与TCU 60连接。
TCU 60用于检测车辆的当前挡位。MEB模块20用于在发送持续制动指令之后的预定时长之内，若车辆的当前挡位由R挡转换为其他挡位，则判定需要停止制动。
若车辆的当前挡位由R挡转换为其他挡位，则车辆已不处于倒车状态，并且，可以认为驾驶员已经采取了接管措施，此时就不需要再利用ESP模块30来制动了，因此，判定需要停止制动，控制ESP模块30停止制动。
该实施例中，将车辆的挡位由R挡转换为其他挡位作为需要停止制动的条件，使得在驾驶员换挡以后，满足对车辆正常行驶的要求。
在又一实施例中，如图2所示，制动控制系统100还可以包括发动机控制模块(Engine Control Module，ECM)70，MEB模块20与ECM 70连接。
ECM 70用于检测车辆的加速踏板的深度。MEB模块20还用于在发送持续制动指令之后的预定时长之内，若根据障碍物距离确定车辆没有碰撞风险，且ECM 70检测的加速踏板的深度指示加速踏板被踩下，则判定需要停止制动。
其中，加速踏板的深度反映了加速踏板被踩下的程度。根据加速踏板的深度可以确定加速踏板是否被踩下。若加速踏板被踩下，则可以认为驾驶员已经采取接管措施，并且驾驶员想要继续倒车，而此时车辆没有碰撞风险，因此可以按照驾驶员的意愿停止制动，MEB模块20控制ESP模块30停止制动。
该实施例中，将车辆没有碰撞风险和加速踏板被踩下作为需要停止制动的条件，使得在排除碰撞风险且驾驶员有倒车意愿时，满足对车辆继续倒车的要求。
在又一实施例中，如图2所示，制动控制系统100还包括ECM 70，MEB模块20与ECM 70连接。
ECM 70用于检测车辆的加速踏板的深度。MEB模块20还用于在发送持续制动指令之后的预定时长之内，若ECM检测的加速踏板的深度大于预定的深度阈值，则判定需要停止制动。
其中，加速踏板的深度大于预定的深度阈值时，可以认为驾驶员已经作出接管措施，并有较强的倒车意愿，说明驾驶员在被MEB模块20控制的暂时性刹车提醒之后，仍然有较强的倒车意愿，此时应该尊重驾驶员的意愿，控制ESP模块30停止制动。预定的深度阈值可以根据试验和经验获得。
当加速踏板的深度小于预定的深度阈值时，若牵引力大于制动力，则车辆可以伴随着制动力缓慢行驶，若牵引力小于或等于制动力，则车辆可以继续保持静止。
该实施例中，将加速踏板的深度大于预定的深度阈值作为需要停止制动的条件，使得在驾驶员有强烈的倒车意愿时，满足对车辆继续倒车的要求。
本公开还提供一种制动控制方法，应用于制动控制系统100。图3是一示例性实施例提供的制动控制方法的流程图。制动控制系统100可以包括距离传感器10、MEB模块20、ESP模块30以及EPB模块40。MEB模块20 分别与距离传感器10、ESP模块30以及EPB模块40连接。如图3所示，该方法可以包括以下步骤：
步骤S31，距离传感器检测车辆后方的障碍物距离。
步骤S32，ESP模块检测车辆的车速。
步骤S33，若根据障碍物距离判定车辆有碰撞风险，则MEB模块向ESP模块发送紧急制动指令。
步骤S34，若接收到紧急制动指令，则ESP模块控制向车辆施加制动力，以使车辆停止。
步骤S35，在车辆停止后，MEB模块向ESP模块发送持续制动指令。
步骤S36，在发送持续制动指令之后，MEB模块判断是否需要停止制动。
步骤S37，若判定不需要停止制动并达到预定时长，则MEB模块控制EPB模块执行电子驻车。
步骤S38，若在预定时长之内，判定需要停止制动，则MEB模块向ESP模块发送停止制动指令。
步骤S39，若接收到持续制动指令，则ESP模块控制持续向车辆施加制动力，直至达到预定时长或接收到停止制动指令。
通过上述技术方案，在利用MEB模块对车辆的倒车工况进行辅助控制时，在判定车辆有碰撞风险而刹停车辆后，如果不发生需要停止制动的其他情况，则ESP模块会在预定时长内持续向车辆施加制动力。该预定时长中，驾驶员可以采取必要的措施以对车辆进行接管。这样，能够避免车辆在倒车刹停后不会因马上自行起步或溜车而发生碰撞，增强了车辆倒车时的安全性。并且，在预定时长之后自动实施电子驻车，避免制动系统因持续制动时间过长而导致的寿命的损耗。
可选地，制动控制系统还包括BCM和TCU，MEB模块分别与BCM、TCU连接。该方法还包括：BCM检测车辆的车门是否已打开。
在发送持续制动指令之后，MEB模块判断是否需要停止制动的步骤(步骤S36)可以包括：在发送持续制动指令之后的预定时长之内，若车辆的车门已打开，则MEB模块判定需要停止制动。
该方法还包括：在发送持续制动指令之后的预定时长之内，判定需要停止制动，则MEB模块控制TCU转换为P挡，控制EPB模块执行电子驻车。
该实施例中，将车辆的车门已打开作为需要停止制动的条件，并且，在车门已打开时，控制转换为P挡，并控制执行电子驻车，使得在驾驶员开门下车的情况下，能够自动、安全地驻车，保证了车辆的安全性。
可选地，制动控制系统还可以包括TCU，MEB模块与TCU连接。该方法还可以包括：TCU检测车辆的当前挡位。
在发送持续制动指令之后，MEB模块判断是否需要停止制动的步骤(步骤S36)可以包括：在发送持续制动指令之后的预定时长之内，若车辆的当前挡位由R挡转换为其他挡位，则MEB模块判定需要停止制动。
该实施例中，将车辆的挡位由R挡转换为其他挡位作为需要停止制动的条件，使得在驾驶员换挡以后，满足对车辆正常行驶的要求。
可选地，制动控制系统还包括ECM，MEB模块与ECM连接。该方法还可以包括：ECM检测车辆的加速踏板的深度。
在发送持续制动指令之后，MEB模块判断是否需要停止制动的步骤(步骤S36)可以包括：在发送持续制动指令之后的预定时长之内，若根据障碍物距离确定车辆没有碰撞风险，且ECM检测的加速踏板的深度指示加速踏板被踩下，则MEB模块判定需要停止制动。
该实施例中，将车辆没有碰撞风险和加速踏板被踩下作为需要停止制动的条件，使得在排除碰撞风险且驾驶员有倒车意愿时，满足对车辆继续倒车的要求。
可选地，制动控制系统还包括ECM，MEB模块与ECM连接。该方法 还可以包括：ECM检测车辆的加速踏板的深度。
在发送持续制动指令之后，MEB模块判断是否需要停止制动的步骤(步骤S36)可以包括：在发送持续制动指令之后的预定时长之内，若ECM检测的加速踏板的深度大于预定的深度阈值，则MEB模块判定需要停止制动。
该实施例中，将加速踏板的深度大于预定的深度阈值作为需要停止制动的条件，使得在驾驶员有强烈的倒车意愿时，满足对车辆继续倒车的要求。
关于上述方法的实施例中，其中各个步骤执行操作的具体方式已经在有关该系统的实施例中进行了详细描述，此处将不做详细阐述说明。
图4是另一示例性实施例提供的制动控制方法的流程图。如图4所示，当车辆点火上电后，驾驶员挂入R挡，制动控制系统100激活。若MEB模块判定车辆有碰撞风险，则向ESP模块发送紧急制动指令，ESP模块控制刹停车辆。MEB模块再发送持续制动指令，ESP模块控制持续地制动车辆。
若持续制动达到三分钟(预定时长)时可以控制EPB模块拉起电子手刹，执行电子驻车，退出制动控制系统；
若持续制动未达到三分钟时，车门已打开，则TCU转换为P挡，EPB模块执行电子驻车，退出制动控制系统；
若持续制动未达到三分钟时，车门未打开，驾驶员挂入了非R挡(R挡之外的其他挡)，则ESP模块控制停止制动车辆，退出制动控制系统；
若持续制动未达到三分钟时，车门未打开，驾驶员并未换挡，碰撞风险消除，则ESP模块持续制动，若加速踏板被踩下，则ESP模块控制停止制动车辆，退出制动控制系统；
若持续制动未达到三分钟时，车门未打开，驾驶员并未换挡，碰撞风险仍然存在，但加速踏板被踩下的深度大于等于70％(深度阈值)，则ESP模块控制停止制动车辆，退出制动控制系统。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限 于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (14)

  1. 一种制动控制系统，包括：距离传感器、低速紧急制动MEB模块、电子稳定程序ESP模块以及电子驻车制动EPB模块，所述MEB模块分别与所述距离传感器、所述ESP模块以及所述EPB模块连接，其特征在于，
    所述距离传感器用于检测车辆后方的障碍物距离；
    所述ESP模块用于检测所述车辆的车速；
    所述MEB模块用于若根据所述障碍物距离判定所述车辆有碰撞风险，则向所述ESP模块发送紧急制动指令；在所述车辆停止后，向所述ESP模块发送持续制动指令；在发送所述持续制动指令之后判断是否需要停止制动；若判定不需要停止制动并达到预定时长，则控制所述EPB模块执行电子驻车；若在所述预定时长之内，判定需要停止制动，则向所述ESP模块发送停止制动指令；
    所述ESP模块用于若接收到所述紧急制动指令，则控制向所述车辆施加制动力，以使所述车辆停止；若接收到所述持续制动指令，则控制持续向所述车辆施加制动力，直至达到所述预定时长或接收到所述停止制动指令。
  2. 根据权利要求1所述的制动控制系统，其特征在于，所述ESP模块用于通过控制马达保持轮缸的压力持续向所述车辆施加制动力。
  3. 根据权利要求1或2所述的制动控制系统，其特征在于，所述制动控制系统还包括车身控制模块BCM和自动变速箱控制单元TCU，所述MEB模块分别与所述BCM、所述TCU连接，
    所述BCM用于检测所述车辆的车门是否已打开；
    所述MEB模块用于在发送所述持续制动指令之后的预定时长之内，若所述车辆的车门已打开，则判定需要停止制动，并控制所述TCU转换为P 挡，控制所述EPB模块执行电子驻车。
  4. 根据权利要求3所述的制动控制系统，其特征在于，所述车门为驾驶员侧的车门。
  5. 根据权利要求1或2所述的制动控制系统，其特征在于，所述制动控制系统还包括自动变速箱控制单元TCU，所述MEB模块与所述TCU连接，
    所述TCU用于检测所述车辆的当前挡位；
    所述MEB模块用于在发送所述持续制动指令之后的预定时长之内，若所述车辆的当前挡位由R挡转换为其他挡位，则判定需要停止制动。
  6. 根据权利要求1或2所述的制动控制系统，其特征在于，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，
    所述ECM用于检测所述车辆的加速踏板的深度；
    所述MEB模块还用于在发送所述持续制动指令之后的预定时长之内，若根据所述障碍物距离确定所述车辆没有碰撞风险，且所述ECM检测的加速踏板的深度指示所述加速踏板被踩下，则判定需要停止制动。
  7. 根据权利要求1或2所述的制动控制系统，其特征在于，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，
    所述ECM用于检测所述车辆的加速踏板的深度；
    所述MEB模块还用于在发送所述持续制动指令之后的预定时长之内，若所述ECM检测的加速踏板的深度大于预定的深度阈值，则判定需要停止制动。
  8. 一种制动控制方法，应用于制动控制系统，所述制动控制系统包括：距离传感器、低速紧急制动MEB模块、电子稳定程序ESP模块以及电子驻车制动EPB模块，所述MEB模块分别与所述距离传感器、所述ESP模块以及所述EPB模块连接，其特征在于，所述方法包括：
    所述距离传感器检测车辆后方的障碍物距离；
    所述ESP模块检测所述车辆的车速；
    若根据所述障碍物距离判定所述车辆有碰撞风险，则所述MEB模块向所述ESP模块发送紧急制动指令；
    若接收到所述紧急制动指令，则所述ESP模块控制向所述车辆施加制动力，以使所述车辆停止；
    在所述车辆停止后，所述MEB模块向所述ESP模块发送持续制动指令；
    在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动；
    若判定不需要停止制动并达到预定时长，则所述MEB模块控制所述EPB模块执行电子驻车；
    若在所述预定时长之内，判定需要停止制动，则所述MEB模块向所述ESP模块发送停止制动指令；
    若接收到所述持续制动指令，则所述ESP模块控制持续向所述车辆施加制动力，直至达到所述预定时长或接收到所述停止制动指令。
  9. 根据权利要求8所述的制动控制方法，其特征在于，所述ESP模块控制持续向所述车辆施加制动力，包括：
    所述ESP模块通过控制马达保持轮缸的压力持续向所述车辆施加制动力。
  10. 根据权利要求8或9所述的制动控制方法，其特征在于，所述制动 控制系统还包括车身控制模块BCM和自动变速箱控制单元TCU，所述MEB模块分别与所述BCM、所述TCU连接，所述方法还包括：所述BCM检测所述车辆的车门是否已打开；
    在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述车辆的车门已打开，则所述MEB模块判定需要停止制动；
    所述方法还包括：在发送所述持续制动指令之后的预定时长之内，判定需要停止制动，则所述MEB模块控制所述TCU转换为P挡，控制所述EPB模块执行电子驻车。
  11. 根据权利要求10所述的制动控制方法，其特征在于，所述车门为驾驶员侧的车门。
  12. 根据权利要求8或9所述的制动控制方法，其特征在于，所述制动控制系统还包括自动变速箱控制单元TCU，所述MEB模块与所述TCU连接，所述方法还包括：
    所述TCU检测所述车辆的当前挡位；
    在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述车辆的当前挡位由R挡转换为其他挡位，则所述MEB模块判定需要停止制动。
  13. 根据权利要求8或9所述的制动控制方法，其特征在于，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，所述方法还包括：
    所述ECM检测所述车辆的加速踏板的深度；
    在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若根据所述障碍物距离确定所述车辆没有碰撞风险，且所述ECM检测的加速踏板的深度指示所述加速踏板被踩下，则所述MEB模块判定需要停止制动。
  14. 根据权利要求8或9所述的制动控制方法，其特征在于，所述制动控制系统还包括发动机控制模块ECM，所述MEB模块与所述ECM连接，所述方法还包括：
    所述ECM检测所述车辆的加速踏板的深度；
    在发送所述持续制动指令之后，所述MEB模块判断是否需要停止制动，包括：在发送所述持续制动指令之后的预定时长之内，若所述ECM检测的加速踏板的深度大于预定的深度阈值，则所述MEB模块判定需要停止制动。
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