CN108454594A - 具有多个制动踏板选择脱离模式的自动化车辆控制*** - Google Patents
具有多个制动踏板选择脱离模式的自动化车辆控制*** Download PDFInfo
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- B60—VEHICLES IN GENERAL
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- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W50/082—Selecting or switching between different modes of propelling
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
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- 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
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- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
公开了具有多个制动踏板选择脱离模式的自动化车辆控制***。一种用于自动化车辆的具有多个制动踏板选择脱离模式(30)的控制***,包括制动踏板(16)和控制器(32)。所述制动踏板(16)被用于基于踏板力(20)、下压持续时间(22)、以及踏板力(20)和下压持续时间(22)的组合中的一者检测多个踏板行为分类(18)。所述控制器(32)与制动踏板(16)通信。所述控制器(32)响应于所述制动踏板(16)正在根据第一行为分类(24)操作而将***(10)操作为第一模式(34),并且响应于所述制动踏板(16)正在根据与所述第一行为分类(24)不同的第二行为分类(26)操作而将***操作为第二模式(36)。
Description
技术领域
本公开大体涉及一种车辆控制***,并且更具体地涉及具有基于踏板力、下压持续时间、或踏板力和下压持续时间的组合选择的多个制动踏板选择脱离模式的***。
背景技术
已知控制主车辆相对于主车辆附近的其他车辆的速度的自适应巡航控制(ACC)***。然而,在主车辆的操作者当试着将他/她的脚保持在“准备”位置时意外地且难以察觉地(对于操作者)按压制动踏板的情况下,已经观察到ACC的意外脱离的实例。由于ACC已经意外脱离,所以当主车辆和主车辆前方的其他车辆之间的前后间隙意外地减小时,这可能导致操作者不愉快地感到惊讶的情况。
发明内容
根据一个实施例,提供了用于自动化车辆的具有多个制动踏板选择脱离模式的控制***。该***包括制动踏板和控制器。制动踏板被用于基于踏板力、下压持续时间、以及踏板力和下压持续时间的组合中的一者检测多个踏板行为分类。控制器与制动踏板通信。控制器响应于制动踏板正在根据第一行为分类操作而将***操作为第一模式,并且控制器响应于制动踏板正在根据与第一行为分类不同的第二行为分类操作而将***操作为第二模式。
阅读优选实施例的下列详细描述并参考各个附图,进一步的特征和优点将更加显而易见,优选实施例只是作为非限制性示例给出的。
附图说明
现在将参考各个附图通过示例的方式来描述本发明,其中:
图1是根据一个实施例的控制***的示图;以及
图2是根据一个实施例的图1的***的制动踏板的图示。
具体实施方式
图1示出控制***10的非限制性示例,例如主动巡航控制(ACC)***,下文称为***10。通常,***10被配置成或被适配成为自动化车辆(例如,主车辆12)提供脱离模式30的多个(即,几个)制动踏板选择实例。如本文所使用的,术语“自动化车辆”可应用于当本车辆12正以自动模式(即,完全自主模式)操作时的实例,其中主车辆12的人类操作者可几乎不用做指定目的地以便操作本车辆12以外的事情。然而,完全自动化不是必需的。构想到,当主车辆以巡航控制模式操作时本文公开的教导是有用的,其中自动化的程度或水平被限制为主车辆12的速度控制,并且人类操作者驾驶主车辆12。
如本领域技术人员将意识到的,已知带有单一脱离模式的巡航控制***。就是说,已知只响应于操作(例如,敲击或按压)制动踏板是为了完全脱离巡航控制***的操作。这些已知的单一脱离模式巡航控制***响于制动踏板操作的典型动作是当分离时允许车辆在已知巡航控制***既不应用制动器也不应用加速器的情况下滑行。如下文将更详细地描述的,本文描述的***10具有多个脱离模式30的实例,其中一个可以是完全脱离,这是已知的巡航控制***的唯一选择。然而,本文描述的***10是基于先前技术的改进,因为***10具有一个或多个与完全脱离不同的替代的脱离模式。如下文中将更详细描述的,根据本文描述的方式,通过***10的制动踏板16的操作,脱离模式30中的哪一个被激活可以由主车辆的操作者14选择。
***10的刹车踏板16被监控,以基于、但不限于踏板力20、下压持续时间22、或踏板力20和下压持续时间22的组合检测或确定多个踏板行为分类18。就是说,通过操作者14向制动踏板16施加不同量或程度的踏板力20和/或不同时间间隔的下压持续时间22选择脱离模式30中的每一个,即,踏板力20和下压持续时间22两者可以被组合地使用以确定操作者14期望脱离模式30中的哪一个。
为了确定先前提到的不同量的踏板力20和/或不同时间间隔什么时候发生,***10可以包括与制动踏板16通信的控制器32。如本领域技术人员将认识到的,该通信可以通过导线或光缆,并且可以是模拟或数字信号的形式。控制器32可包括诸如微处理器的处理器(未具体示出)或其它控制电路,诸如模拟和/或数字控制电路,包括应当为本领域技术人员熟知的用于处理数据的专用集成电路(ASIC)。控制器32可包括用以存储一个或多个例程、阈值和所捕捉的数据的存储器(未具体示出),包括非易失性存储器,诸如电可擦除可编程只读存储器(EEPROM)。一个或多个例程可以由处理器执行以基于由控制器32接收的信号执行用于确定操作者14期望脱离模式30中的哪一个的步骤。
图2示出制动踏板16的机械方面的非限制性示例。在一个实施例中,制动踏板16可以包括向控制器32指示踏板偏转距离42的距离检测器40,由于作为制动踏板16的一部分的复位弹簧44的存在,该踏板偏差距离42可以指示踏板力20。替代地,制动踏板16可包括力检测器46,该力检测器46通过例如直接测量由复位弹簧44产生的复位力向控制器32指示踏板力20。替代地,踏板力可由制动踏板16的踏板部分28内的压力传感器(未示出)测量,或由常规汽车制动***的液压部分内的压力传感器(未示出)测量。
***10,或更具体地制动踏板16,还可以包括当制动踏板16被按压时向控制器32提供指示的致动开关48。致动开关48可以与用于用单一脱离模式脱离已知的巡航控制***的那些相同。控制器32然后可基于制动踏板16何时被按压(即,时间间隔有多长)的指示确定下压持续时间22。也构想到,来自距离检测器40和/或力检测器46的信号可被控制器32使用来通过将这些信号与适当的阈值相比较以确定下压持续时间22。
现在回到图1,控制器32可以响应于制动踏板16正在根据第一行为分类24操作而将***10操作为脱离模式30的第一模式34,并且控制器32可以响应于制动踏板16正在根据与第一行为分类24不同的第二行为分类26操作而将***10操作为脱离模式30的第二模式36。在一些方面,在加速器和制动器可由控制器32操作以维持主车辆12和位于主车辆12前方的其他车辆52之间的前后距离50的情况下,***10可以与自适应巡航控制***类似。本领域技术人员将意识到,取决于由主车辆12的驾驶员和/或速度选择的期望的纵向间隔,前后距离50可以变化。第一模式34可以表征为脱离加速控制同时维持减速控制。就是说,当在第一模式34中时,控制器32可以不命令主车辆12加速来跟上位于主车辆12前方的其他车辆52,而是可以命令减速(例如,减小的发动机功率和/或如果需要的话操作制动器)以避免距离其他车辆52太近。第二模式36可以表征为脱离加速控制和减速控制两者。
现在将描述用于选择脱离模式30的实例的踏板行为分类18的非限制性示例。第一行为分类24可由小于力阈值54的踏板力20表征,并且第二行为分类26可由不小于力阈值54的踏板力20表征。就是说,任何用小于力阈值54的力按压制动踏板16将被解释为意味着期望操作的第一模式34,并且用大于力阈值54的力按压制动踏板将被解释为意味着期望操作的第二模式36。
替代地,第一行为分类24可由小于持续时间阈值56的下压持续时间22表征,并且第二行为分类26可由不小于持续时间阈值的下压持续时间表征。换言之,任何以小于持续时间阈值56的时间间隔按压制动踏板16将被解释为意味着期望操作的第一模式34,并且以大于持续时间阈值56的时间间隔按压制动踏板将被解释为意味着期望操作的第二模式36。
替代地,第一行为分类24可由小于力阈值54的踏板力20和小于持续时间阈值56的下压持续时间22表征,并且第二行为分类26可由不小于力阈值54的踏板力20和不小于持续时间阈值56的下压持续时间22表征。就是说,任何用小于力阈值54的力结合小于持续时间阈值56的时间间隔按压制动踏板16将会被解释为意味着期望操作的第一模式34,并且用大于力阈值54的力按压制动踏板与在大于持续时间阈值56的时间间隔内按压制动踏板将会被解释为意味着期望操作的第二模式36。
认识到,其他替换方案是可能的。例如,第三行为分类可以是当超过了力阈值54,并且时间间隔小于持续时间阈值56,即,制动踏板16的简短但有力的操作。另一个替换方案是制动踏板的长时间持续时间但温和的操作,即,当踏板力20不超过力阈值54并且下压持续时间22大于持续时间阈值56。
因此,提供了带有多个制动踏板选择脱离模式的控制***(***10),用于***10的控制器32,以及操作***10的方法。脱离模式30的多个实例允许操作者14容易地定制***10的操作。并且,如果操作者14无意中简短且轻微地触摸制动踏板,***10可以不完全脱离因此前后距离50至少避免太近。
尽管已经根据本发明的优选实施例描述了本发明,但是并不旨在受限于此,而是仅受随后的权利要求书中所阐述的范围限制。
Claims (8)
1.一种用于自动化车辆的具有多个制动踏板选择脱离模式(30)的控制***(10),所述***(10)包括:
制动踏板(16),用于基于踏板力(20)、下压持续时间(22)、以及踏板力(20)和下压持续时间(22)的组合中的一者检测多个踏板行为分类(18);
控制器(32),与所述制动踏板(16)通信,其中所述控制器(32)响应于所述制动踏板(16)正在根据第一行为分类(24)操作而将所述***(10)操作为第一模式(34),并且响应于所述制动踏板(16)正在根据与所述第一行为分类(24)不同的第二行为分类(26)操作而将所述***操作为第二模式(36)。
2.根据权利要求1所述的***(10),其中所述制动踏板(16)包括距离检测器(40),所述距离检测器(40)向所述控制器(32)指示踏板偏转距离(42),所述踏板偏转距离(42)指示所述踏板力(20)。
3.根据权利要求1所述的***(10),其中所述制动踏板(16)包括向所述控制器(32)指示所述踏板力(20)的力检测器(46)。
4.根据权利要求1所述的***(10),其中所述制动踏板(16)包括向所述控制器(32)提供何时所述制动踏板(16)被按压的指示的致动开关(48),并且所述控制器(32)基于何时所述制动踏板(16)被按压的指示确定所述下压持续时间(22)。
5.根据权利要求1所述的***(10),其中所述第一行为分类(24)由小于力阈值(54)的所述踏板力(20)表征,并且所述第二行为分类(26)由不小于所述力阈值(54)的所述踏板力(20)表征。
6.根据权利要求1所述的***(10),其中所述第一行为分类(24)由小于持续时间阈值(56)的所述下压持续时间(22)表征,并且所述第二行为分类(26)由不小于所述持续时间阈值(56)的所述下压持续时间(22)表征。
7.根据权利要求1所述的***(10),其中所述第一行为分类(24)由小于力阈值(54)的所述踏板力(20)和小于持续时间阈值(56)的所述下压持续时间(22)表征,并且所述第二行为分类(26)由不小于所述力阈值(54)的所述踏板力(20)和不小于所述持续时间阈值(56)的所述下压持续时间(22)表征。
8.根据权利要求1所述的***(10),其中所述***(10)被表征为自适应巡航控制***(10),所述第一模式(34)由脱离加速控制同时维持减速控制表征,并且所述第二模式(36)由脱离加速控制和减速控制两者表征。
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