CN108177639B - Emergency braking system and method and electric car for electric car - Google Patents
Emergency braking system and method and electric car for electric car Download PDFInfo
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- CN108177639B CN108177639B CN201810026416.9A CN201810026416A CN108177639B CN 108177639 B CN108177639 B CN 108177639B CN 201810026416 A CN201810026416 A CN 201810026416A CN 108177639 B CN108177639 B CN 108177639B
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of emergency braking system for electric car and method and electric car, the emergency braking system includes full-vehicle control module, ESP emergency braking module, feedback emergency braking module and EPB emergency braking module；Full-vehicle control module is when occurring emergency braking condition, judge whether the brake actuator of electric car executes normally, if, it triggers ESP emergency braking module and carries out emergency braking, if it is not, full-vehicle control module also judges whether the battery status of electric car meets default feedback emergency braking condition, if, it triggers feedback emergency braking module and carries out regenerative braking, if it is not, triggering EPB emergency braking module carries out EPB braking.The present invention provides the complete decision scheme to emergency braking, can preferably be applied on electric car, to improve safety and the insensitivity of electric car, the user experience is improved spends.
Description
Technical field
The present invention relates to emergency brake of vehicle field more particularly to a kind of emergency braking systems and side for electric car
Method and electric car.
Background technique
Emergency braking refers to automobile in the process of moving in case of emergency, and driver steps on rapidly brake pedal suddenly,
The mode of braking for stopping vehicle in the shortest distance.Emergency braking has biggish damage to automobile and tire, or due to attachment coefficient
Variant to cause wigwag motion, turn around, lose orientation control or break away, especially wet-skid road surface may cause accident, only
Have in danger, can just use emergency braking.Therefore, particularly important to the decision scheme of emergency braking, it will have a direct impact on vehicle
Safety and insensitivity.
But at present because shortcoming is to the decision scheme of emergency braking, lead to the safety and the insensitivity that reduce vehicle,
And can not preferably it be applied on electric car.
Summary of the invention
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
The technical problem to be solved by the present invention is in order to overcome, the safety of vehicle and insensitivity are low in the prior art
Defect, a kind of emergency braking system for electric car and method and electric car are provided.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of emergency braking system for electric car, it is characterized in that, including full-vehicle control module, ESP (vehicle body electricity
Sub- systems stabilisation) emergency braking module, feedback emergency braking module and EPB (Electrical Park Brake, electronic parking)
Emergency braking module；
The full-vehicle control module is used for when emergency braking condition occurs, and judges that the braking of the electric car executes machine
Whether structure executes normally, if so, triggering the ESP emergency braking module carries out emergency braking, if it is not, the full-vehicle control module
It is also used to judge whether the battery status of electric car meets default feedback emergency braking condition, if so, it is tight to trigger the feedback
Anxious brake module carries out regenerative braking, if it is not, triggering the EPB emergency braking module carries out EPB braking.
Optionally, the full-vehicle control module includes emergency braking recognition unit, processing unit and control unit；
The emergency brake signal is sent to by the emergency braking recognition unit for receiving emergency brake signal
The processing unit, the emergency brake signal is for triggering the emergency braking condition；
The processing unit is used for when receiving the emergency brake signal, judges whether brake actuator executes just
Often, it is also used to judge whether the battery status of electric car meets default regenerative braking condition, and judging result is sent to
Control unit；
Described control unit is used to generate ESP triggering letter respectively according to the judging result received from the processing unit
Number, feedback emergency braking trigger signal or EPB trigger signal, and the ESP trigger signal is sent to the ESP and is promptly made
Dynamic model block, to trigger the ESP emergency braking module, or that the feedback emergency braking trigger signal is sent to the feedback is tight
The EPB trigger signal to trigger the feedback emergency braking module, or is sent to the EPB and promptly made by anxious brake module
Dynamic model block, to trigger the EPB emergency braking module.
Optionally, the ESP emergency braking module includes ESP controller, when described control unit generates ESP trigger signal
When, the ESP controller is used to receive the ESP trigger signal from described control unit, and controls the braking execution machine
Structure carries out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, is promptly made when described control unit generates feedback
When dynamic trigger signal, the electric machine controller is used to receive the feedback emergency braking trigger signal from described control unit, and
And the control motor carries out regenerative braking；
The EPB emergency braking module includes EPB controller and EPB executing agency, when described control unit generates EPB touching
When signalling, the EPB controller is used to receive the EPB trigger signal from described control unit, and controls the EPB and hold
Row mechanism carries out EPB braking.
Optionally, the brake actuator includes brake pedal, and the brake pedal is equipped with pressure sensor；
The pressure sensor is used to detect triggering pressure value when triggering the brake pedal, and the triggering is pressed
Force value is sent to the full-vehicle control module；
The full-vehicle control module is also used to whether the triggering pressure value that judgement receives is greater than or equal to preset pressure value,
If so, generating the emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, when the triggering pressure value is greater than or equal to the preset pressure value, the full-vehicle control module is also
It is greater than or equal to the duration of the preset pressure value for detecting the triggering pressure value, and judges the preset pressure
Whether the duration of value is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and sends
To the emergency braking recognition unit.
Optionally, the EPB emergency braking module further includes the EPB for being arranged on the instrument board of the electric car
Emergency switch, the EPB emergency switch and the full-vehicle control module communicate to connect；
The EPB emergency switch is used for when receiving EPB pull up signal, the EPB pull up signal is sent to described
Full-vehicle control module, the full-vehicle control module for judge the lasting receiving time of the EPB pull up signal whether be greater than or
Continue receiving time equal to default EPB, if so, generating emergency brake signal, and is sent to the emergency braking recognition unit.
Optionally, the emergency braking system further includes the urgent system for being arranged on the instrument board of the electric car
Dynamic switch, the emergency stop switch and the emergency braking recognition unit communicate to connect；
The emergency stop switch is used for when receiving emergency brake signal, and the emergency brake signal is sent to institute
State emergency braking recognition unit.
Optionally, the emergency braking system further includes brake actuator detection module, the brake actuator inspection
It surveys module and the processing unit communicates to connect；
When the processing unit judges whether the brake actuator executes normal, the processing unit is for sending
Signal is detected to the brake actuator detection module, the brake actuator detection module is for receiving the detection
After signal, the execution state of the brake actuator is detected, and be sent to the processing unit, institute for state outcome is executed
It states processing unit and is also used to judge according to the execution state outcome received whether the brake actuator executes normally.
Optionally, when the brake pedal executes failure, remaining brake actuator is performed both by normal, the control is single
Member is for generating ESP trigger signal.
Optionally, the emergency braking system further includes battery status detection module, the battery status detection module with
The processing unit communication connection；
When the processing unit judges whether the battery status of the electric car meets default regenerative braking condition, institute
State current SOC (State of Charge, the charged shape of battery of the battery status detection module for detecting the electric car
State) value and current charge power, and it is respectively sent to the processing unit；
The battery status of the electric car includes the current SOC value of the battery of the electric car and the function that currently charges
Rate, the default regenerative braking condition includes that the current SOC value of battery is less than or equal to default SOC value, or, battery currently fills
Electrical power is greater than or equal to preset charged power.
Optionally, the full-vehicle control module is also used to the locking state by monitoring wheel to adjust carry out regenerative braking
When motor speed.
A kind of electric car, it is characterized in that, the electric car includes such as above-mentioned emergency braking system.
A kind of emergency braking method for electric car, it is characterized in that, comprising the following steps:
S1, when emergency braking condition occurs, full-vehicle control module judges that the brake actuator of the electric car is
It is no to execute normally, if so, executing step S21, if it is not, full-vehicle control module also judges whether the battery status of electric car meets
Default feedback emergency braking condition, if so, executing step S22, if it is not, executing step S23；
S21, triggering ESP emergency braking module carry out emergency braking；
S22, triggering feedback emergency braking module carry out regenerative braking；
S23, triggering EPB emergency braking module carry out EPB braking.
Optionally, the full-vehicle control module includes emergency braking recognition unit, processing unit and control unit；
Step S1The following steps are included:
S11, the emergency braking recognition unit receives emergency brake signal, and the emergency brake signal is sent to
Processing unit, the emergency brake signal is for triggering the emergency braking condition；
S12, the processing unit is when receiving the emergency brake signal, judge whether brake actuator executes normally,
Also judge whether the battery status of electric car meets default regenerative braking condition, and judging result is sent to control list
Member；
S13, described control unit according to the judging result received from the processing unit generate respectively ESP trigger signal,
The ESP trigger signal is sent to the ESP emergency braking module by feedback emergency braking trigger signal or EPB trigger signal
When, execute step S21, when the feedback emergency braking trigger signal is sent to the feedback emergency braking module, execute step
S22, when the EPB trigger signal is sent to the EPB emergency braking module, execute step S23。
Optionally, the ESP emergency braking module includes ESP controller, when described control unit generates ESP trigger signal
When, in step S21In, the ESP controller receives the ESP trigger signal from described control unit, and controls the braking
Executing agency carries out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, is promptly made when described control unit generates feedback
When dynamic trigger signal, in step S22In, the electric machine controller receives the feedback emergency braking triggering from described control unit
Signal, and control the motor and carry out regenerative braking；
The EPB emergency braking module includes EPB controller and EPB executing agency, when described control unit generates EPB touching
When signalling, in step S23In, the EPB controller receives the EPB trigger signal from described control unit, and controls institute
It states EPB executing agency and carries out EPB braking.
Optionally, the brake actuator includes brake pedal, is executing step S1Before, the emergency braking method
Further include:
S0, pressure sensor is set on the brake pedal, the pressure sensor detection triggers the brake pedal
When triggering pressure value, and the triggering pressure value is sent to the full-vehicle control module；
Full-vehicle control module also judges whether the triggering pressure value received is greater than or equal to preset pressure value, if so, raw
At the emergency brake signal, and it is sent to the emergency braking recognition unit.
Optionally, in step S0In, when the triggering pressure value is greater than or equal to the preset pressure value, full-vehicle control
Module also detects the triggering pressure value and is greater than or equal to the duration of the preset pressure value, and judges the default pressure
Whether the duration of force value is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and sends out
It send to the emergency braking recognition unit.
Optionally, the EPB emergency braking module further includes the EPB for being arranged on the instrument board of the electric car
Emergency switch is executing step S1Before, the emergency braking method further include:
S0, the EPB emergency switch is when receiving EPB pull up signal, the EPB pull up signal is sent to the vehicle
Control module, it is default that the full-vehicle control module judges whether the lasting receiving time of the EPB pull up signal is greater than or equal to
EPB continues receiving time, if so, generating emergency brake signal, and is sent to the emergency braking recognition unit.
Optionally, step S is being executed1Before, the emergency braking method further include:
S0, emergency stop switch is set on the instrument board of the electric car, emergency stop switch receives urgent system
When dynamic signal, the emergency brake signal is sent to the emergency braking recognition unit.
Optionally, in step S12In, when the processing unit judges whether the brake actuator executes normal, institute
It states processing unit and sends detection signal to brake actuator detection module, the brake actuator detection module receives institute
After stating detection signal, the execution state of the brake actuator is detected, and be sent to the processing for state outcome is executed
Unit, the processing unit judge whether the brake actuator executes just also according to the execution state outcome received
Often.
Optionally, in step S13In, when the brake pedal executes failure, remaining brake actuator is performed both by normally
When, described control unit generates ESP trigger signal.
Optionally, in step S12In, when the processing unit judge the electric car battery status whether meet it is pre-
If when regenerative braking condition, battery status detection module detects the current SOC value and current charging of the battery of the electric car
Power, and it is respectively sent to the processing unit；
The battery status of the electric car includes the current SOC value of the battery of the electric car and the function that currently charges
Rate, the default regenerative braking condition includes that the current SOC value of battery is less than or equal to default SOC value, or, battery currently fills
Electrical power is greater than or equal to preset charged power.
Optionally, in step S22In, the full-vehicle control module is adjusted back by detecting the locking state of wheel
Motor speed when feedback braking.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Apply example.
The positive effect of the present invention is that:
The present invention provides the complete decision scheme to emergency brake of vehicle, can preferably be applied on electric car, thus
Safety and the insensitivity of electric car are improved, the user experience is improved spends.
Detailed description of the invention
After the detailed description for reading embodiment of the disclosure in conjunction with the following drawings, it better understood when of the invention
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar appended drawing reference.
Fig. 1 is the structural schematic diagram of the emergency braking system for electric car of present pre-ferred embodiments.
Fig. 2 is the flow chart of the emergency braking method for electric car of present pre-ferred embodiments.
Description of symbols:
Full-vehicle control module 1
Emergency braking recognition unit 11
Processing unit 12
ESP emergency braking module 2
Feedback emergency braking module 3
EPB emergency braking module 4
Brake actuator detection module 6
Battery status detection module 7
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of emergency braking system for electric car, the emergency braking system
It is set on electric car, the electric car includes executing executing agency, and the brake actuator includes brake pedal, institute
Brake pedal is stated equipped with pressure sensor, the emergency braking system includes full-vehicle control module 1, ESP emergency braking module
2, feedback emergency braking module 3, EPB emergency braking module 4, emergency stop switch 5, brake actuator detection module 6 and electricity
Pond state detection module 7, full-vehicle control module 1 include emergency braking recognition unit 11, processing unit 12 and control unit 13,
ESP emergency braking module 2 includes ESP controller 21, and feedback emergency braking module 3 includes electric machine controller 31 and motor 32, EPB
Emergency braking module 4 includes EPB emergency switch 41, EPB controller 42 and EPB executing agency 43, in the present embodiment, vehicle control
Molding block 1 is VCU (Vehicle control unit, control unit for vehicle).
Specifically, EPB emergency switch 41 and emergency stop switch 5 are respectively arranged on the instrument board of the electric car,
But it is not limited specifically, position is set, can be adjusted according to the actual situation.The pressure sensor and full-vehicle control
Module 1 communicates to connect, and emergency braking recognition unit 11 and emergency stop switch 5 communicate to connect, EPB emergency switch 41 and vehicle control
Molding block 1 communicates to connect, and processing unit 12 is communicated with brake actuator detection module 6 and battery status detection module 7 respectively
Connection, control unit 13 are communicated to connect with ESP controller 21, electric machine controller 31 and EPB controller 42 respectively.
The mode that can be intended to there are many identification emergency braking shows 4 kinds of modes in the present embodiment in detail below, but
Its mode is not limited specifically, the modes such as speech recognition also can be used, and can be adjusted according to the actual situation.
The mode that the first identification emergency braking is intended to: when the pressure sensor triggers the brake pedal for detecting
Triggering pressure value, i.e., triggering pressure value when vehicle user tramples the brake pedal, and the triggering pressure value is sent out
It send to full-vehicle control module 1, full-vehicle control module 1 is for judging whether the triggering pressure value received is greater than or equal to default pressure
Force value if so, generating emergency brake signal, and is sent to emergency braking recognition unit 11, and the emergency brake signal is used for
Trigger the emergency braking condition.
The mode that second of identification emergency braking is intended to: when the triggering pressure value is greater than or equal to the preset pressure value
When, full-vehicle control module 1 is also used to detect the duration that the triggering pressure value is greater than or equal to the preset pressure value, i.e.,
Vehicle user continuously tramples the duration of the brake pedal with certain dynamics, and judges holding for the preset pressure value
Whether the continuous time is greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and is sent to urgent
Brake recognition unit 11.
The mode that the third identification emergency braking is intended to: EPB emergency switch 41 is used for when receiving EPB pull up signal,
When i.e. vehicle user pulls up EPB emergency switch 41, the EPB pull up signal is sent to full-vehicle control module 1, full-vehicle control mould
Block 1 is used to judge that the lasting receiving time (i.e. user pull up EPB emergency switch duration) of the EPB pull up signal to be
It is no to continue receiving time more than or equal to default EPB, if so, generating emergency brake signal, and it is sent to emergency braking identification
Unit 11.
The mode that 4th kind of identification emergency braking is intended to: emergency stop switch 5 is used for when receiving emergency brake signal,
When i.e. vehicle user triggers emergency stop switch 5, the emergency brake signal is sent to emergency braking recognition unit 11.
In the present embodiment, above-mentioned all preset values can be adjusted and set according to the actual situation, in the present embodiment
Its numerical value is not limited specifically.
Emergency braking recognition unit 11 is for when receiving the emergency brake signal, that is, occurring the emergency braking condition
When, the emergency brake signal is sent to processing unit 12.
Processing unit 12 is used for when receiving the emergency brake signal, judges whether brake actuator executes just
Often, if so, the first judging result is sent to control unit 13, if it is not, being also used to judge the battery status of the electric car
Whether satisfaction presets regenerative braking condition, and the second judging result is sent to control unit 13.
In the present embodiment, when processing unit 12 judges whether brake actuator executes normal, processing unit 12 is used
In sending detection signal to brake actuator detection module 6, brake actuator detection module 6 is for receiving the detection
After signal, the execution state of the brake actuator of the electric car is detected, and be sent to processing for state outcome is executed
Unit 12, the brake actuator include a variety of arrestment mechanisms such as hydraulic brake mechanism, electronic air brake mechanism, and processing is single
Member 12 is also used to judge according to the execution state outcome received whether the brake actuator executes normally.
In the present embodiment, when processing unit 12 judges whether the battery status of the electric car meets default feedback system
When dynamic condition, battery status detection module 7 is used to detect the current SOC value of the battery of the electric car and the function that currently charges
Rate, and it is respectively sent to processing unit 12, the battery status of the electric car includes working as the battery of the electric car
Preceding SOC value and current charge power, the default regenerative braking condition include the current SOC value of battery less than or equal to default
SOC value, or, the current charge power of battery is greater than or equal to preset charged power.
Specifically, when control unit 13 receives first judging result, the ESP trigger signal is generated, and will
The ESP trigger signal is sent to ESP controller 21, and ESP controller 21 is controlled for receiving the ESP trigger signal
The brake actuator carries out emergency braking.
In the present embodiment, when the brake pedal executes failure, but remaining brake actuator is performed both by normal,
First judging result is sent to control unit 13 by processing unit 12, and control unit 13 generates ESP trigger signal.It considers
If the execution failure of brake actuator is only failed by the signal transmission sensor of brake pedal and caused, and remaining braking is held
Row mechanism can still work normally, then carry out emergency braking by ESP controller, excellent in principle since brake safe rank is higher
Most safe and reliable mode is first selected to carry out emergency braking.
When control unit 13 receives second judging result, if second judging result is when being, described in generation
Feedback emergency braking trigger signal, and the feedback emergency braking trigger signal is sent to electric machine controller 31, motor control
Device 31 processed controls motor 32 and carries out regenerative braking for receiving the feedback emergency braking trigger signal.
In the present embodiment, feedback emergency braking also known as regenerates emergency braking, refers to that electric car is released in damped condition
The excess energy of releasing is translated into electric energy by generator and is stored in battery, for vehicle driving later, without
It is to become heat-energy losses to fall.
Full-vehicle control module 1 is also used to the motor 3 when the locking state by monitoring wheel carries out regenerative braking to adjust
Revolving speed.
In the present embodiment, regenerative braking analog ABS (Antilock Brake System, anti-blocking brake system)
Strategy, ABS strategy are to undergo the brake pressure for tending to locking wheel circularly under emergency braking operating condition to keep-subtract
It is small-to increase process, and the sliding ratio control for tending to locking wheel in range, is made near the peak adhesion coefficient sliding ratio
Wheel keeps the frictional force with ground, and insensitivity can be improved.
When control unit 13 receives second judging result, if second judging result is no, described in generation
EPB trigger signal, and the EPB trigger signal is sent to EPB controller 42, EPB controller 42 is used for from described in reception
EPB trigger signal, and control EPB executing agency 43 and carry out EPB braking.
The present embodiment also provides a kind of electric car, and the electric car includes as above-mentioned for the urgent of electric car
Braking system.
As shown in Fig. 2, the present embodiment also provides a kind of emergency braking method for electric car, the emergency braking side
Method realized using such as above-mentioned emergency braking system, the emergency braking method the following steps are included:
In this step, 4 kinds of modes can be shown in detail below, but simultaneously there are many mode that identification emergency braking is intended to
Its mode is not limited specifically, the modes such as speech recognition also can be used, and can be adjusted according to the actual situation.
The mode that the first identification emergency braking is intended to: triggering pressure when pressure sensor detection triggering brake pedal
Value, i.e. vehicle user trample the triggering pressure value when brake pedal, and the triggering pressure value is sent to vehicle control
Whether molding block, the triggering pressure value that the judgement of full-vehicle control module receives are greater than or equal to preset pressure value, if so, generating tight
Anxious brake signal, and it is sent to emergency braking recognition unit, the emergency brake signal is for triggering the emergency braking shape
State.
The mode that second of identification emergency braking is intended to: when the triggering pressure value is greater than or equal to the preset pressure value
When, full-vehicle control module also detects the duration that the triggering pressure value is greater than or equal to the preset pressure value, i.e. vehicle
User continuously tramples the duration of the brake pedal with certain dynamics, and judge the preset pressure value it is lasting when
Between whether be greater than or equal to the preset pressure duration, if so, generating the emergency brake signal, and be sent to emergency braking
Recognition unit.
The mode that the third identification emergency braking is intended to: when EPB emergency switch receives EPB pull up signal, i.e., vehicle is used
When family pulls up EPB emergency switch, the EPB pull up signal is sent to full-vehicle control module, described in the judgement of full-vehicle control module
It is pre- whether the lasting receiving time (i.e. user pull up EPB emergency switch duration) of EPB pull up signal is greater than or equal to
If EPB continues receiving time, if so, generating emergency brake signal, and it is sent to emergency braking recognition unit.
The mode that 4th kind of identification emergency braking is intended to: when emergency stop switch receives emergency brake signal, i.e. vehicle
When user triggers emergency stop switch, the emergency brake signal is sent to emergency braking recognition unit.
In the present embodiment, above-mentioned all preset values can be adjusted and set according to the actual situation, in the present embodiment
Its numerical value is not limited specifically.
In this step, when emergency braking recognition unit receives the emergency brake signal, that is, the urgent system occurs
When dynamic state, the emergency brake signal is sent to processing unit.
Step 102 judges whether brake actuator executes normally, if so, step 103 is executed, if it is not, executing step
104。
In this step, when processing unit receives the emergency brake signal, judge whether brake actuator executes
Normally, if so, the first judging result is sent to control unit, and step 103 is executed, if it is not, executing step 104.
In this step, when processing unit judges whether brake actuator executes normal, processing unit sends detection
Signal is to brake actuator detection module, after brake actuator detection module receives the detection signal, described in detection
The execution state of the brake actuator of electric car, and it is sent to processing unit by state outcome is executed, processing unit is also
Judge whether the brake actuator executes normally according to the execution state outcome received.
In this step, when control unit receives first judging result, the ESP trigger signal is generated, and
The ESP trigger signal is sent to ESP controller, ESP controller receives the ESP trigger signal, and controls the system
Dynamic executing agency carries out emergency braking.
In the present embodiment, when the brake pedal executes failure, but remaining brake actuator is performed both by normal,
First judging result is sent to control unit by processing unit, and control unit generates ESP trigger signal.If in view of system
The execution failure of dynamic executing agency is only failed by the signal transmission sensor of brake pedal and is caused, and remaining brake actuator
It can still work normally, then emergency braking be carried out by ESP controller, since brake safe rank is higher, preferential selection in principle
Most safe and reliable mode carries out emergency braking.
Step 104 judges whether battery status meets default feedback emergency braking condition, if so, step 105 is executed, if
It is no, execute step 106.
In this step, when processing unit judges whether the battery status of the electric car meets default regenerative braking item
When part, battery status detection module detect the battery of the electric car current SOC value and current charge power, and respectively
It is sent to processing unit, the battery status of the electric car includes the current SOC value of the battery of the electric car and current
Charge power, the default regenerative braking condition include that the current SOC value of battery is less than or equal to default SOC value, or, battery
Current charge power is greater than or equal to preset charged power.
In this step, control unit generates feedback emergency braking trigger signal, and the feedback emergency braking is touched
Signalling is sent to electric machine controller, and electric machine controller receives the feedback emergency braking trigger signal, and control motor into
Row regenerative braking.
In the present embodiment, feedback emergency braking also known as regenerates emergency braking, refers to that electric car is released in damped condition
The excess energy of releasing is translated into electric energy by generator and is stored in battery, for vehicle driving later, without
It is to become heat-energy losses to fall.
In this step, full-vehicle control module also by monitor wheel locking state come adjust carry out regenerative braking when
The revolving speed of motor.
In the present embodiment, regenerative braking analog ABS strategy, ABS strategy are to make to tend to locking under emergency braking operating condition
The brake pressure of wheel circularly undergoes holding-reduction-increase process, and the sliding ratio for tending to locking wheel is controlled
Near the peak adhesion coefficient sliding ratio in range, so that wheel is kept the frictional force with ground, insensitivity can be improved.
In this step, control unit generates EPB trigger signal, and the EPB trigger signal is sent to EPB control
Device, EPB controller control EPB executing agency and carry out EPB braking from the reception EPB trigger signal.
The present embodiment provides the complete decision schemes to emergency brake of vehicle, can preferably be applied on electric car, from
And safety and the insensitivity of electric car are improved, the user experience is improved spends.
Although for simplify explain the above method is illustrated to and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some movements can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Movement concomitantly occurs.
Offer is to make any person skilled in the art all and can make or use this public affairs to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to other variants without departing from the spirit or scope of the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (23)
1. a kind of emergency braking system for electric car, which is characterized in that including full-vehicle control module, ESP emergency braking
Module, feedback emergency braking module and EPB emergency braking module；
The full-vehicle control module is used for when emergency braking condition occurs, and judges that the brake actuator of the electric car is
It is no to execute normally, if so, triggering the ESP emergency braking module carries out emergency braking, if it is not, the full-vehicle control module is also used
In judging whether the battery status of electric car meets default feedback emergency braking condition, promptly made if so, triggering the feedback
Dynamic model block carries out regenerative braking, if it is not, triggering the EPB emergency braking module carries out EPB braking.
2. emergency braking system as described in claim 1, which is characterized in that the full-vehicle control module includes that emergency braking is known
Other unit, processing unit and control unit；
The emergency brake signal is sent to described by the emergency braking recognition unit for receiving emergency brake signal
Processing unit, the emergency brake signal is for triggering the emergency braking condition；
The processing unit is used for when receiving the emergency brake signal, judges whether brake actuator executes normally,
It is also used to judge whether the battery status of electric car meets default regenerative braking condition, and judging result is sent to control
Unit；
Described control unit is used to generate ESP trigger signal respectively according to the judging result received from the processing unit, return
Emergency braking trigger signal or EPB trigger signal are presented, and the ESP trigger signal is sent to the ESP emergency braking mould
The feedback emergency braking trigger signal to trigger the ESP emergency braking module, or is sent to the feedback and promptly made by block
The EPB trigger signal to trigger the feedback emergency braking module, or is sent to the EPB emergency braking mould by dynamic model block
Block, to trigger the EPB emergency braking module.
3. emergency braking system as claimed in claim 2, which is characterized in that the ESP emergency braking module includes ESP control
Device, when described control unit generates ESP trigger signal, the ESP controller is used to receive the ESP from described control unit
Trigger signal, and control the brake actuator and carry out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generates feedback emergency braking touching
When signalling, the electric machine controller is used to receive the feedback emergency braking trigger signal from described control unit, and controls
It makes the motor and carries out regenerative braking；
The EPB emergency braking module includes EPB controller and EPB executing agency, when described control unit generates EPB triggering letter
Number when, the EPB controller is used to receive the EPB trigger signal from described control unit, and controls the EPB and execute machine
Structure carries out EPB braking.
4. emergency braking system as claimed in claim 3, which is characterized in that the brake actuator includes brake pedal,
The brake pedal is equipped with pressure sensor；
The pressure sensor is used to detect the triggering pressure value when triggering brake pedal, and by the triggering pressure value
It is sent to the full-vehicle control module；
The full-vehicle control module is also used to whether the triggering pressure value that judgement receives is greater than or equal to preset pressure value, if
It is to generate the emergency brake signal, and be sent to the emergency braking recognition unit.
5. emergency braking system as claimed in claim 4, which is characterized in that described in being greater than or equal to when the triggering pressure value
When preset pressure value, the full-vehicle control module is also used to detect the triggering pressure value more than or equal to the preset pressure value
Duration, and judge whether the duration of the preset pressure value is greater than or equal to the preset pressure duration, if
It is to generate the emergency brake signal, and be sent to the emergency braking recognition unit.
6. emergency braking system as claimed in claim 3, which is characterized in that the EPB emergency braking module further includes being used for
EPB emergency switch on the instrument board of the electric car is set, and the EPB emergency switch and the full-vehicle control module are logical
Letter connection；
The EPB emergency switch is used for when receiving EPB pull up signal, and the EPB pull up signal is sent to the vehicle
Control module, the full-vehicle control module is for judging whether the lasting receiving time of the EPB pull up signal is greater than or equal to
Default EPB continues receiving time, if so, generating emergency brake signal, and is sent to the emergency braking recognition unit.
7. emergency braking system as claimed in claim 3, which is characterized in that the emergency braking system further includes for being arranged
Emergency stop switch on the instrument board of the electric car, the emergency stop switch and the emergency braking recognition unit
Communication connection；
The emergency stop switch is used for when receiving emergency brake signal, the emergency brake signal is sent to described tight
Anxious braking recognition unit.
8. emergency braking system as claimed in claim 4, which is characterized in that the emergency braking system further includes that braking executes
Mechanism detection module, the brake actuator detection module and the processing unit communicate to connect；
When the processing unit judges whether the brake actuator executes normal, the processing unit is for sending detection
Signal is to the brake actuator detection module, and the brake actuator detection module is for receiving the detection signal
Afterwards, the execution state of the brake actuator is detected, and is sent to the processing unit, the place for state outcome is executed
Reason unit is also used to judge according to the execution state outcome received whether the brake actuator executes normally.
9. emergency braking system as claimed in claim 8, which is characterized in that when the brake pedal executes failure, remaining is made
When dynamic executing agency is performed both by normal, described control unit is for generating ESP trigger signal.
10. emergency braking system as claimed in claim 3, which is characterized in that the emergency braking system further includes battery shape
State detection module, the battery status detection module and the processing unit communicate to connect；
When the processing unit judges whether the battery status of the electric car meets default regenerative braking condition, the electricity
The current SOC value of battery of the pond state detection module for detecting the electric car and current charge power, and send out respectively
It send to the processing unit；
The battery status of the electric car include the battery of the electric car current SOC value and current charge power, institute
It states the current SOC value that default regenerative braking condition includes battery and is less than or equal to default SOC value, or, the current charging function of battery
Rate is greater than or equal to preset charged power.
11. emergency braking system as claimed in claim 3, which is characterized in that the full-vehicle control module is also used to pass through prison
The locking state of measuring car wheel carries out motor speed when regenerative braking to adjust.
12. a kind of electric car, which is characterized in that the electric car includes as described in any one of claim 1~11
Emergency braking system.
13. a kind of emergency braking method for electric car, which comprises the following steps:
S1, when emergency braking condition occurs, full-vehicle control module judges whether the brake actuator of the electric car executes
Normally, if so, executing step S21, preset back if it is not, full-vehicle control module also judges whether the battery status of electric car meets
Emergency braking condition is presented, if so, executing step S22, if it is not, executing step S23；
S21, triggering ESP emergency braking module carry out emergency braking；
S22, triggering feedback emergency braking module carry out regenerative braking；
S23, triggering EPB emergency braking module carry out EPB braking.
14. emergency braking method as claimed in claim 13, which is characterized in that the full-vehicle control module includes emergency braking
Recognition unit, processing unit and control unit；
Step S1The following steps are included:
S11, the emergency braking recognition unit receives emergency brake signal, and the emergency brake signal is sent to processing
Unit, the emergency brake signal is for triggering the emergency braking condition；
S12, the processing unit is when receiving the emergency brake signal, judge whether brake actuator executes normally, also sentence
Whether the battery status of power-off electrical automobile meets default regenerative braking condition, and judging result is sent to control unit；
S13, described control unit ESP trigger signal, feedback generated according to the judging result received from the processing unit respectively
Emergency braking trigger signal or EPB trigger signal are held when the ESP trigger signal is sent to the ESP emergency braking module
Row step S21, when the feedback emergency braking trigger signal is sent to the feedback emergency braking module, execute step S22,
When the EPB trigger signal is sent to the EPB emergency braking module, step S is executed23。
15. emergency braking method as claimed in claim 14, which is characterized in that the ESP emergency braking module includes ESP control
Device processed, when described control unit generates ESP trigger signal, in step S21In, the ESP controller connects from described control unit
The ESP trigger signal is received, and controls the brake actuator and carries out emergency braking；
The feedback emergency braking module includes electric machine controller and motor, when described control unit generates feedback emergency braking touching
When signalling, in step S22In, the electric machine controller receives the feedback emergency braking trigger signal from described control unit,
And it controls the motor and carries out regenerative braking；
The EPB emergency braking module includes EPB controller and EPB executing agency, when described control unit generates EPB triggering letter
Number when, in step S23In, the EPB controller receives the EPB trigger signal from described control unit, and described in control
EPB executing agency carries out EPB braking.
16. emergency braking method as claimed in claim 15, which is characterized in that the brake actuator includes that braking is stepped on
Plate is executing step S1Before, the emergency braking method further include:
S0, pressure sensor is set on the brake pedal, the pressure sensor detection triggers the touching when brake pedal
Pressure value is sent out, and the triggering pressure value is sent to the full-vehicle control module；
Full-vehicle control module also judges whether the triggering pressure value received is greater than or equal to preset pressure value, if so, generating institute
Emergency brake signal is stated, and is sent to the emergency braking recognition unit.
17. emergency braking method as claimed in claim 16, which is characterized in that in step S0In, when the triggering pressure value is big
When the preset pressure value, full-vehicle control module also detects the triggering pressure value more than or equal to the default pressure
The duration of force value, and judge the preset pressure value duration whether more than or equal to preset pressure continue when
Between, if so, generating the emergency brake signal, and it is sent to the emergency braking recognition unit.
18. emergency braking method as claimed in claim 15, which is characterized in that the EPB emergency braking module further includes using
In the EPB emergency switch on the instrument board that the electric car is arranged in, step S is being executed1Before, the emergency braking method
Further include:
S0, the EPB emergency switch is when receiving EPB pull up signal, the EPB pull up signal is sent to the full-vehicle control
Module, the full-vehicle control module judge whether the lasting receiving time of the EPB pull up signal is greater than or equal to default EPB and holds
Continuous receiving time, if so, generating emergency brake signal, and is sent to the emergency braking recognition unit.
19. emergency braking method as claimed in claim 15, which is characterized in that executing step S1Before, the emergency braking
Method further include:
S0, emergency stop switch is set on the instrument board of the electric car, emergency stop switch receives emergency brake signal
When, the emergency brake signal is sent to the emergency braking recognition unit.
20. emergency braking method as claimed in claim 16, which is characterized in that in step S12In, when the processing unit is sentenced
When whether the brake actuator that breaks executes normal, the processing unit sends detection signal to brake actuator and detects mould
Block detects the execution shape of the brake actuator after the brake actuator detection module receives the detection signal
State, and it is sent to the processing unit by state outcome is executed, the processing unit is also according to the execution state knot received
Fruit judges whether the brake actuator executes normally.
21. emergency braking method as claimed in claim 20, which is characterized in that in step S13In, when the brake pedal is held
Row failure, when remaining brake actuator is performed both by normal, described control unit generates ESP trigger signal.
22. emergency braking method as claimed in claim 15, which is characterized in that in step S12In, when the processing unit is sentenced
When whether the battery status of the electric car of breaking meets default regenerative braking condition, battery status detection module detects the electricity
The current SOC value of the battery of electrical automobile and current charge power, and it is respectively sent to the processing unit；
The battery status of the electric car include the battery of the electric car current SOC value and current charge power, institute
It states the current SOC value that default regenerative braking condition includes battery and is less than or equal to default SOC value, or, the current charging function of battery
Rate is greater than or equal to preset charged power.
23. emergency braking method as claimed in claim 15, which is characterized in that in step S22In, the full-vehicle control module
Motor speed when progress regenerative braking is adjusted by detecting the locking state of wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810026416.9A CN108177639B (en) | 2018-01-11 | 2018-01-11 | Emergency braking system and method and electric car for electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810026416.9A CN108177639B (en) | 2018-01-11 | 2018-01-11 | Emergency braking system and method and electric car for electric car |
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| Publication Number | Publication Date |
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| CN108177639B true CN108177639B (en) | 2019-10-15 |
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| CN110271523A (en) * | 2019-06-26 | 2019-09-24 | 奇瑞商用车（安徽）有限公司 | A kind of more redundant emergency brake methods of automobile |
| IT201900012480A1 (en) * | 2019-07-22 | 2021-01-22 | Faiveley Transport Italia Spa | Electro-pneumatic control system for service braking, for at least one railway vehicle |
| CN110733488B (en) * | 2019-10-29 | 2021-11-23 | 宝能(广州)汽车研究院有限公司 | Vehicle and emergency braking control method and device thereof |
| CN111137267A (en) * | 2020-01-06 | 2020-05-12 | 恒大新能源汽车科技(广东)有限公司 | Vehicle braking system and method |
| CN111959470B (en) * | 2020-08-11 | 2021-06-18 | 安徽江淮汽车集团股份有限公司 | Electric vehicle braking method, electric vehicle and readable storage medium |
| CN113291302A (en) * | 2021-05-20 | 2021-08-24 | 东风柳州汽车有限公司 | Vehicle longitudinal safety control method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6523912B1 (en) * | 2001-11-08 | 2003-02-25 | Ford Global Technologies, Inc. | Autonomous emergency braking system |
| CN203332092U (en) * | 2013-06-09 | 2013-12-11 | 北京汽车股份有限公司 | Dynamic braking control device and vehicle |
| CN105196993A (en) * | 2015-10-12 | 2015-12-30 | 中国第一汽车股份有限公司 | Emergency braking method achieved through electrical park brake |
| CN107487309A (en) * | 2016-07-11 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Braking method and brake apparatus |
| CN106347332B (en) * | 2016-08-30 | 2019-10-22 | 北汽福田汽车股份有限公司 | For the controller of vehicle collision protection, method, system and vehicle |
| CN106904079A (en) * | 2017-02-27 | 2017-06-30 | 中国第汽车股份有限公司 | A kind of regenerating brake control method of pure electric automobile |
| CN106864447B (en) * | 2017-03-07 | 2019-05-10 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
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