CN110936935B - Brake assisting method and device for gradient starting, vehicle-mounted equipment and medium - Google Patents
Brake assisting method and device for gradient starting, vehicle-mounted equipment and medium Download PDFInfo
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- CN110936935B CN110936935B CN201911285702.8A CN201911285702A CN110936935B CN 110936935 B CN110936935 B CN 110936935B CN 201911285702 A CN201911285702 A CN 201911285702A CN 110936935 B CN110936935 B CN 110936935B
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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
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/06—Hill holder; Start aid systems on inclined road
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Abstract
The application discloses slope-started brake auxiliary method, with the help of can connect at any time in the vehicle, allow the mobile unit of built-in multinomial different slope start scene brake auxiliary opening condition, because slope start scene brake auxiliary opening condition can be set up by actual driver by oneself and obtain, thereby low-cost, convenient realization with the higher brake auxiliary function of driver's driving ability adaptation degree, and then avoided the appearance of swift current car phenomenon as far as, promoted the security of driving. The application also discloses brake auxiliary device, mobile unit and readable storage medium that slope starts simultaneously, has above-mentioned beneficial effect.
Description
Technical Field
The application relates to the technical field of automobile external functional components, in particular to a brake assisting method and device for gradient starting, vehicle-mounted equipment and a readable storage medium.
Background
When the vehicle is started, a driver generally puts the vehicle into a D gear (forward gear) first and then switches the vehicle from a brake pedal to an accelerator pedal to control the vehicle to run. However, if the starting environment of the vehicle is a slope scene, the vehicle can slide due to the action of gravity due to the time gap between the brake pedal and the accelerator pedal, and if the vehicle cannot be properly handled, the vehicle is likely to collide with other objects in the vehicle sliding process, so that the vehicle sliding process is very dangerous.
The prior art prevents the appearance of swift current car phenomenon through providing the brake auxiliary function for the slope scene, and then realizes promoting driving safety's purpose. The brake assist function is a function of maintaining pressure applied to the brake system even after the driver's foot leaves the brake pedal for a certain period of time, and the driver can prevent the occurrence of a rolling phenomenon by just stepping on the accelerator pedal in time during the period of time.
However, the above prior art generally requires a significant price, and often only can be built in the main control ECU when the vehicle is manufactured, and often only is a fixed time parameter, that is, all drivers of the vehicle are required to complete the switching from the brake pedal to the accelerator pedal within the time period (for example, within 3 seconds), otherwise, the vehicle slipping phenomenon still occurs. However, the driving abilities of different drivers are different, the requirement for the same duration is not reasonable, and the effect is not good.
Therefore, how to overcome the technical defects of the prior art is a problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a brake assisting method and device applied to gradient starting of vehicle-mounted equipment, corresponding vehicle-mounted equipment and a readable storage medium, and aims to provide a brake assisting mechanism with convenient and adjustable parameters, lower cost and higher adaptation degree with a driver.
In order to achieve the above object, the present application provides a gradient-activated brake assist method applied to a vehicle-mounted device, including:
acquiring current running state information of a target vehicle;
acquiring a current horizontal inclination angle of the target vehicle;
judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information;
and if so, controlling the brake system ECU to start the brake auxiliary function according to the preset brake auxiliary duration.
Optionally, obtaining the current horizontal inclination angle of the target vehicle includes:
acquiring a current horizontal inclination angle of the target vehicle through a horizontal sensor built in the vehicle-mounted equipment; wherein the in-vehicle apparatus maintains a connection with the target vehicle in a direction that coincides with a horizontal direction of the target vehicle.
Optionally, when the driving state information specifically includes gear shift information, driving speed, and operation information of an accelerator and a brake pedal, determining whether a preset slope starting scene brake auxiliary starting condition is met according to the horizontal inclination angle and the driving state information, including:
judging whether the current state is switched from the P gear to the D gear or not according to the gear switching information;
judging whether the accelerator pedal and the brake pedal are in a non-treaded state at present according to the operation information of the accelerator pedal and the brake pedal;
judging whether the horizontal inclination angle is larger than a preset inclination angle or not;
and if the current P gear is simultaneously switched to the D gear, the accelerator and the brake pedal are all trampled, and the horizontal inclination angle is larger than the condition of the preset inclination angle, judging that the auxiliary starting condition of the brake of the slope starting scene is met.
Optionally, before obtaining the current driving state information of the target vehicle, the method further includes:
acquiring identity information of the target vehicle;
inquiring to obtain target brake auxiliary parameters corresponding to the identity information; the vehicle-mounted equipment records the corresponding relation between each identity information and each brake auxiliary parameter, and each brake auxiliary parameter corresponds to a brake auxiliary starting condition of a slope starting scene;
correspondingly, acquiring the current running state information of the target vehicle, including:
determining the type of the parameter to be acquired according to the target brake auxiliary parameter;
and acquiring parameters corresponding to the types of the parameters to be acquired from the target vehicle to obtain target running state information.
Optionally, the obtaining the identity information of the target vehicle includes:
accessing an OBD interface of the target vehicle;
sending a VIN code reading command to the target vehicle through the OBD interface;
and determining the identity information of the target vehicle according to the VIN code returned by the target vehicle.
Optionally, the sending a VIN code reading command to the target vehicle through the OBD interface includes:
and sequentially sending VIN code reading commands under different protocols to the target vehicle through the OBD interface, and stopping VIN code reading command sending operation under other protocols until the target vehicle returns the VIN code.
Optionally, the gradient-activated brake assist method further includes:
receiving input driver identity information;
selecting a target slope starting scene brake auxiliary starting condition corresponding to the driver identity information to replace a default slope starting scene brake auxiliary starting condition; the vehicle-mounted equipment records the corresponding relation between the identity information of each driver and the brake auxiliary starting condition of each slope starting scene.
In order to realize the above-mentioned purpose, this application still provides a brake auxiliary device that slope starts, is applied to the mobile unit, includes:
a driving state information acquisition unit for acquiring current driving state information of a target vehicle;
the horizontal inclination angle acquisition unit is used for acquiring the current horizontal inclination angle of the target vehicle;
the condition satisfaction judging unit is used for judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information;
and the brake assisting device comprises a preset duration starting unit used for controlling the brake system ECU to start the brake assisting function according to a preset brake assisting duration when the brake assisting starting condition of the slope starting scene is met.
Optionally, the horizontal tilt angle obtaining unit includes:
the horizontal inclination angle acquisition subunit is used for acquiring the current horizontal inclination angle of the target vehicle through a horizontal sensor arranged in the vehicle-mounted equipment; wherein the in-vehicle apparatus maintains a connection with the target vehicle in a direction that coincides with a horizontal direction of the target vehicle.
Optionally, when the driving state information specifically includes gear shifting information, driving speed, and operation information of an accelerator pedal and a brake pedal, the condition satisfaction determining unit includes:
the gear information representation state judgment subunit is used for judging whether the current gear is in a state of switching from the P gear to the D gear according to the gear switching information;
the accelerator and brake pedal operation information presentation state judgment subunit is used for judging whether the accelerator and brake pedal are in a state of not being stepped at present according to the accelerator and brake pedal operation information;
the slope scene judging subunit is used for judging whether the horizontal inclination angle is larger than a preset inclination angle or not;
and the condition satisfaction judging unit is used for judging that the slope starting scene brake auxiliary opening condition is satisfied when the current P gear is switched into the D gear, the accelerator and the brake pedal are all trampled and the horizontal inclination angle is greater than the preset inclination angle.
Optionally, the gradient-activated brake assist apparatus further comprises:
the vehicle identity information acquisition unit is used for acquiring the identity information of a target vehicle before acquiring the current running state information of the target vehicle;
the matched brake auxiliary parameter query unit is used for querying to obtain a target brake auxiliary parameter corresponding to the identity information; the vehicle-mounted equipment records the corresponding relation between each identity information and each brake auxiliary parameter, and each brake auxiliary parameter corresponds to a brake auxiliary starting condition of a slope starting scene;
correspondingly, the driving state information acquiring unit includes:
a parameter type determining subunit to be obtained, configured to determine the type of the parameter to be obtained according to the target brake auxiliary parameter;
and the target running state information acquisition subunit is used for acquiring parameters corresponding to the types of the parameters to be acquired from the target vehicle to obtain target running state information.
Optionally, the vehicle identity information acquiring unit includes:
the OBD interface access subunit is used for accessing an OBD interface of the target vehicle;
a VIN code reading command sending subunit, configured to send a VIN code reading command to the target vehicle through the OBD interface;
and the VIN code receiving and confirming subunit is used for determining the identity information of the target vehicle according to the VIN code returned by the target vehicle.
Optionally, the VIN code read command sending subunit includes:
and the multi-protocol reading command sequential sending module is used for sequentially sending VIN code reading commands under different protocols to the target vehicle through the OBD interface, and stopping VIN code reading command sending operation under other protocols until the target vehicle returns the VIN code.
Optionally, the brake assist apparatus further includes:
the driver identity information receiving unit is used for receiving input driver identity information;
the slope starting scene brake auxiliary starting condition replacing unit is used for replacing the default slope starting scene brake auxiliary starting condition by the target slope starting scene brake auxiliary starting condition corresponding to the identity information of the driver; the vehicle-mounted equipment records the corresponding relation between the identity information of each driver and the brake auxiliary starting condition of each slope starting scene.
In order to achieve the above object, the present application also provides an in-vehicle apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the grade activated brake assist method as described above when executing the computer program.
To achieve the above object, the present application further provides a readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the grade-activated brake assist method as described above.
The application provides a brake auxiliary method for slope start of mobile unit, includes: acquiring current running state information of a target vehicle; acquiring a current horizontal inclination angle of the target vehicle; judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information; and if so, controlling the brake system ECU to start the brake auxiliary function according to the preset brake auxiliary duration.
According to the slope-started brake auxiliary method provided by the application, the application can be connected to the vehicle at any time by means of the vehicle-mounted equipment which is allowed to embed a plurality of slope-started scene brake auxiliary starting conditions, and the slope-started scene brake auxiliary starting conditions can be set by an actual driver, so that the brake auxiliary function which is higher in adaptability to the driving capacity of the driver is realized conveniently and quickly at low cost, the phenomenon of vehicle sliding is avoided as far as possible, and the driving safety is improved. This application still provides a brake auxiliary device, mobile unit and readable storage medium that slope starts simultaneously, has above-mentioned beneficial effect, no longer gives unnecessary details here.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a gradient-initiated brake assist method applied to an onboard device according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for determining whether a preset slope-starting scene brake auxiliary starting condition is met according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of another gradient-activated brake assist method applied to an onboard device according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a method for acquiring vehicle identity information according to an embodiment of the present disclosure;
FIG. 5 is a flowchart of a method for changing default parameters according to different drivers according to an embodiment of the present disclosure;
FIG. 6 is a flowchart illustrating a specific gradient-activated brake assist method according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a gradient-activated brake assist device applied to an on-vehicle device according to an embodiment of the present application.
Detailed Description
The application aims to provide a brake assisting method and device applied to gradient starting of vehicle-mounted equipment, corresponding vehicle-mounted equipment and a readable storage medium, and aims to provide a brake assisting mechanism with convenient and adjustable parameters, lower cost and higher adaptation degree with a driver.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Referring to fig. 1, fig. 1 is a flowchart of a gradient-activated brake assist method applied to a vehicle-mounted device according to an embodiment of the present application, where the method includes the following steps:
s101: acquiring current running state information of a target vehicle;
this step is intended to acquire the current running state information of the target vehicle by the in-vehicle apparatus. Before this step, the in-vehicle device has previously established a connection with an Electronic Control Unit (ECU) of the target vehicle, and thus has the capability of acquiring the current form state information of the target vehicle from the ECU.
Specifically, when the on-board device is an OBD device, the on-board device can be accessed to the target vehicle through an OBD interface of the target vehicle, so that the on-board device has the capability of communicating with an electronic control unit of the target vehicle.
The OBD is called On-Board Diagnostic in English, and named as an On-Board Diagnostic system in Chinese, the On-Board equipment provided by the application is connected into a vehicle through an OBD interface On the vehicle and supplies power to the On-Board equipment through the OBD interface (a No. 16 pin in the interface is a power line, a No. 4 pin is a ground wire, and a No. 5 pin in the interface is a signal ground wire).
The purpose of the driving state information acquired in this step is to determine whether or not the current driving state of the target vehicle satisfies the condition for activating the brake assist function. Only according to the description of the application scenario of starting the brake assist function in the background art section of the present application, it can be found that the information may include whether the vehicle is in a starting state, whether the vehicle is in a process of switching from a brake pedal to an accelerator pedal, and the like, and the information may be determined according to the state information of a lower layer, for example, whether the vehicle is in the starting state may be determined by gear switching information, and may also be determined by a speed change trend.
S102: acquiring a current horizontal inclination angle of a target vehicle;
the method comprises the steps that the current horizontal inclination angle of a target vehicle is obtained through vehicle-mounted equipment, and the horizontal inclination angle is used for judging whether the target vehicle is in a slope scene currently. The method comprises the following steps of taking a horizontal sensor as an example, wherein the horizontal sensor is suitable for measuring and obtaining the sensor of the horizontal inclination angle, and two schemes can be obtained according to whether the same or similar sensors which can be used for obtaining the horizontal inclination angle are installed on a target vehicle:
firstly, the vehicle-mounted equipment acquires the horizontal inclination angle from a horizontal sensor mounted on a target vehicle (corresponding to the situation that the vehicle is provided with the horizontal sensor);
secondly, the vehicle-mounted device acquires the horizontal tilt angle from a built-in horizontal sensor (corresponding to the situation that a similar horizontal sensor is not installed on the vehicle), and in order to acquire the horizontal tilt angle, the vehicle-mounted device needs to be connected with the target vehicle in a direction consistent with the horizontal direction of the target vehicle, namely, the vehicle-mounted device and the target vehicle are at the same horizontal angle.
Furthermore, even if the vehicle is safe and provided with similar level sensors, the vehicle-mounted equipment with the built-in level sensors can be selected, and a more accurate horizontal inclination angle can be obtained through bidirectional verification or an average value calculation mode.
S103: judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information, if so, executing S104, otherwise, executing S105;
the vehicle-mounted equipment is internally provided with the slope starting scene brake auxiliary starting condition in advance, and the condition can comprise specific parameters with variable quantities according to actual conditions. The vehicle-mounted equipment can predict the brake auxiliary starting conditions of a plurality of different gradient starting scenes so as to adapt to the driving habits and the driving abilities of different drivers, can also be respectively formulated corresponding to actual scenes with large differences, and is not specifically limited here. Meanwhile, the slope-starting scene brake auxiliary starting conditions can be stored in the vehicle-mounted device in various ways, for example, the slope-starting scene brake auxiliary starting conditions can be transmitted to the vehicle-mounted device from a computer or a mobile phone through bluetooth, or can be recorded and imported into the vehicle-mounted device through a file in a specific format through a USB, and also can be stored in a fixed network disk when the vehicle-mounted device has networking downloading capability, and the vehicle-mounted device can synchronize the conditions stored in the network disk to the storage space of the vehicle-mounted device periodically, so that the most appropriate way can be selected according to actual conditions.
On the basis of S101 and S102, the present step is directed to determining whether a preset gradient start scene brake assist on condition is satisfied according to the horizontal tilt angle and the driving state information. The horizontal inclination angle is used for judging whether the vehicle is in a slope scene at present, the running state information is used for judging the rest part, and the horizontal inclination angle and the running state information form various parameters required by the auxiliary starting condition of the brake in the slope starting scene.
S104: controlling a brake system ECU to start a brake auxiliary function according to a preset brake auxiliary duration;
this step is established on the basis that the judgment result of S103 is that the preset gradient start scene brake assist opening condition is satisfied, which indicates that the current parameters of the target vehicle have reached the preset gradient start scene brake assist opening condition, and therefore the brake system ECU, which controls the target vehicle by the vehicle-mounted device, starts the brake assist function according to the preset brake assist duration. Namely, each condition that the brake assistance starting condition of the slope starting scene is met corresponds to one brake assistance duration, for example, condition 1 corresponds to 5 seconds, and condition 2 corresponds to 7 seconds, so that the brake assistance starting condition can be better adapted to different vehicle types, different road conditions and driving habits and driving abilities of different drivers. Taking 7 seconds as an example, it is described that the braking system will provide a braking pressure of at most 7 seconds after the user's foot leaves the brake pedal, and the vehicle can be prevented from rolling by completing the switching to the accelerator pedal within 7 seconds.
The brake system ECU described herein is an electronic control unit in each functional part of the vehicle that is responsible for brake-related operations.
Furthermore, if the target vehicle originally has a similar brake auxiliary function, the original brake auxiliary function of the vehicle can be shielded by the vehicle-mounted equipment in order to prevent conflict with the function provided by the vehicle-mounted equipment. If the original brake auxiliary function is adopted, the vehicle-mounted equipment is not required to be connected.
S105: no treatment is done.
This step is based on the fact that the determination result of S103 is that the preset slope-starting scene brake assist opening condition is not satisfied, which indicates that the current driving state of the target vehicle is not in the set scene and opening condition, and therefore no processing is performed.
According to the slope-started brake auxiliary method provided by the embodiment, the vehicle-mounted equipment which can be connected to the vehicle at any time and allows a plurality of different slope-started scene brake auxiliary starting conditions to be built in is used, and the slope-started scene brake auxiliary starting conditions can be set by an actual driver, so that the brake auxiliary function which is higher in adaptability to the driving ability of the driver is realized conveniently and quickly at low cost, the phenomenon of vehicle sliding is avoided as much as possible, and the driving safety is improved.
In order to facilitate understanding of the process of how the driving state information and the horizontal inclination angle in the above embodiment meet the opening condition, the present application further provides a flowchart of a specific method for determining whether a preset slope-based scene brake auxiliary opening condition is met, with reference to fig. 2, where the driving state information in this embodiment includes: the method comprises the following steps of obtaining gear switching information and stepping state information of a brake pedal and an accelerator pedal, namely whether the gear switching information and the stepping state information of the brake pedal are in a starting state and a pedal switching state correspondingly, and specifically comprises the following steps:
s201: judging whether the current state is switched from the P gear to the D gear or not according to the gear switching information;
and if the parking gear is switched to the forward gear, the current state of starting the vehicle is indicated, and the vehicle is about to be started.
S202: judging whether the accelerator pedal and the brake pedal are in a non-treaded state at present according to the operation information of the accelerator pedal and the brake pedal;
if the brake pedal and the accelerator pedal are not stepped, the pedal switching in the starting process is shown, and the phenomenon of vehicle sliding happens in the process.
S203: judging whether the horizontal inclination angle is larger than a preset inclination angle or not;
and if the acquired horizontal inclination angle is larger than the preset inclination angle, indicating that the vehicle is in a preset gradient scene.
S204: and judging that the brake auxiliary starting condition of the slope starting scene is met.
When the results of the three judgments of S201, S202 and S203 are all yes (that is, the current state is a state of switching from the parking gear to the forward gear, neither the brake pedal nor the accelerator pedal is stepped, and whether the horizontal inclination angle is larger than the preset inclination angle), the preset slope starting scene brake auxiliary starting condition is met. That is, the brake assist on condition of the set gradient start scene in the present embodiment includes the above three parameters.
Example two
On the basis of the above embodiment, in order to adapt to different vehicles, the same vehicle-mounted device can function on different vehicles, in this embodiment, the slope starting scene brake auxiliary starting condition corresponding to each different vehicle is recorded in the vehicle-mounted device, and the vehicle-mounted device is guided by adding a vehicle identity recognition mechanism to select the slope starting scene brake auxiliary starting condition corresponding to the accessed vehicle identity as the criterion. Referring to fig. 3, another method for assisting braking by gradient actuation for a vehicle-mounted device includes the following steps:
s301: acquiring identity information of a target vehicle;
this step is intended to acquire model information of a vehicle actually connected by the in-vehicle device.
The vehicle type information of each vehicle is usually recorded in the electronic control system of each vehicle, so that the vehicle-mounted equipment needs to establish communication with the electronic control system of the corresponding vehicle and acquire the content capable of identifying the vehicle type information from the communication.
One implementation, including but not limited to, may be seen in the flow chart shown in FIG. 3:
s401: accessing an OBD interface of a target vehicle;
s402: sending a VIN code reading command to a target vehicle through an OBD interface;
s403: and determining the vehicle type information of the target vehicle according to the VIN code returned by the target vehicle.
Specifically, the VIN code reading command may be sent to a main control ECU of the target vehicle, the main control ECU is the uppermost electronic control unit of each vehicle, and the brake system ECU exists as a lower control unit of the main control ECU, so that the main control ECU records the most comprehensive information of the vehicle. The VIN is called Vehicle Identification Number in english, and the name in chinese is a Vehicle Identification code, which contains contents capable of analyzing Vehicle Identification information. For example, when the returned VIN code is specifically WDD2210222a253260, it can be analyzed that the brand of the vehicle is BENZ (BENZ) and the model is S350, and the vehicle identification information is used in the subsequent step to determine which gradient-activated scene brake assist opening condition corresponds to.
Further, considering that different vehicles may perform internal communication based on different protocols (common protocols include CAN, KWP, ISO9141, PWM, and VPW), in a case where the communication protocol adopted by the target vehicle is not determined, a mode of sequentially sending VIN code reading commands in different protocols to the master ECU through the OBD interface until the master ECU returns a VIN code to stop VIN code reading command sending operations in other protocols may be adopted to try one by one.
S302: inquiring to obtain target brake auxiliary parameters corresponding to the identity information;
the vehicle-mounted equipment records the corresponding relation between each identity information and each brake auxiliary parameter, and each brake auxiliary parameter corresponds to a slope starting scene brake auxiliary starting condition.
S303: determining the type of the parameter to be acquired according to the target brake auxiliary parameter;
on the basis of S302, this step is intended to determine the type of parameters to be acquired corresponding to the gradient start scene brake assist on condition according to the target brake assist parameter, such as shift range switching information and pedal depression information in the embodiment shown in fig. 2.
S304: acquiring parameters corresponding to the types of the parameters to be acquired from a target vehicle to obtain target running state information;
on the basis of S303, this step is intended to acquire a parameter corresponding to the type of the parameter to be acquired from the target vehicle, so as to constitute target running state information for determining whether or not the gradient start scene brake assist on condition is satisfied.
S305: acquiring a current horizontal inclination angle of a target vehicle;
s306: judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information;
s307: controlling a brake system ECU to start a brake auxiliary function according to a preset brake auxiliary duration;
s308: no treatment is done.
On the basis of the above embodiment, in this embodiment, by adding a vehicle type identification mechanism and correspondingly adding a target brake auxiliary parameter corresponding to each identity information in the vehicle-mounted device, the vehicle-mounted device can be applied to vehicles of more vehicle types, and a convenient, timely and effective gradient-started brake auxiliary scheme is provided for vehicles without vehicle type limitation.
Further, for the same vehicle, the vehicle-mounted device can also store brake auxiliary parameters corresponding to different drivers, so that the slope starting scene brake auxiliary starting condition matched with the driving habit and capacity of each driver is stored. In the actual use process, the switching can be realized by the scheme of the flow chart shown in fig. 5:
s501: receiving input driver identity information;
the input of the driver identity information can be input to the vehicle-mounted device in various modes, for example, the vehicle-mounted device which also starts Bluetooth is input to the mobile phone through Bluetooth, the vehicle-mounted device can also be input through an external keyboard, the vehicle-mounted device can also be informed of the slope starting scene brake auxiliary starting condition of which driver should be selected currently only by pressing different physical keys in a mode that the identity information of different drivers is bound to different physical keys on the vehicle-mounted device.
S502: and replacing the default slope starting scene brake auxiliary starting condition with the target slope starting scene brake auxiliary starting condition corresponding to the identity information of the driver.
On the basis of S501, this step provides a way to implement conditional replacement, which can also be implemented in a way to raise priority.
In order to deepen understanding of the present solution, the present application further combines with a specific application scenario, and a specific flowchart as shown in fig. 6 shows more detailed and specific implementation steps of an example of an external OBD device:
as shown in fig. 6, the external OBD device has a USB transmission module or a bluetooth module, and may transmit the set parameters through a bluetooth or UBS interface.
One of the realization modes through Bluetooth is as follows: open the bluetooth function of this external OBD equipment to be connected to the APP of user's having opened bluetooth function, connect the success back, demonstrate at the APP end that the parameter car owner that supports the setting can dispose, start the brake when why the gear is supplementary for example the vehicle gear, what start-up brake is supplementary when the vehicle place slope reaches, auxiliary brake longest time etc.. The method comprises the steps that a vehicle owner selects and sets corresponding parameters according to the actual condition of the vehicle owner, after the parameters are determined, the APP forms a configuration file with the currently set parameters, the configuration file comprises the parameters set by the vehicle owner, then the parameter configuration file is sent to the external OBD device through a Bluetooth or USB interface, a special data receiving module is arranged in the external OBD device, after file data sent by the APP are received, the data are stored in the parameter configuration file of the external OBD device, and the power failure cannot be lost.
1. After the parameters are set, the external OBD equipment is inserted on an OBD interface of the automobile and is powered by the OBD, the No. 16 pin is a power line, the No. 4 pin is a ground wire, and the No. 5 pin is a signal ground wire;
2. after the external OBD equipment is electrified, a gradient starting brake auxiliary program in the device can be automatically called, and the whole gradient starting auxiliary parameter monitoring operation is started;
3. firstly, an external OBD device sends a VIN code reading command to a vehicle to obtain a current vehicle type (the vehicle type is used to play a role in identity information, and the VIN code of each vehicle is unique) (because the protocol of the vehicle cannot be confirmed at first, the VIN code reading command of each protocol is sent in sequence until the vehicle returns the VIN code information, the common protocol comprises CAN, KWP, ISO9141, PWM and VPW, communication parameters and commands of each protocol are different and are written in a lower computer program, for example, communication pins of the CAN protocol are 6 and 14, the baud rate is 500K, and the VIN code reading command is 0x0807df 0209020000000000);
4. the vehicle returns the VIN code through the reply command, and the specific vehicle type can be analyzed from the 17-byte VIN code, for example, the VIN code is WDD2210222a253260, which indicates that the brand of the vehicle is BENZ (BENZ), and the model is S350;
5. then reading a parameter configuration file in the external OBD equipment to obtain each parameter of the slope starting assistance;
6. and according to the current vehicle type such as S350, the diagnosis information of the engine, the wave box, the ABS and the brake system ECU is searched in the diagnosis protocol table. Acquiring a protocol type, a system filter ID, a baud rate, a communication pin, a system entry command, a data reading command and the like;
7. the following description will be given by taking as an example that the parameter setting is that the gear is changed from other gears to D gear or R gear, the vehicle is at a gradient of more than 10 degrees, and the maximum time 15S for assisting the start and braking is realized under the condition that neither the accelerator nor the brake pedal is operated:
8. the engine ECU will return the current vehicle ignition status to the device via reply data, such as reply 0X62060103, and analyze according to an algorithm, such as Y ═ X. Resolving that the current vehicle speed is 3 km/h;
9. then, acquiring and analyzing current gear information of the vehicle from the wave box ECU by the same method, and comparing the record with the gear recorded last time, such as the last time is P gear and the current time is D gear, acquiring a throttle angle from the engine ECU, judging whether an accelerator pedal is operated or not from the throttle angle, and reading the current state of a brake pedal from the brake system ECU whether the brake pedal is operated or not;
10. then, acquiring the angle between the current vehicle and the horizontal direction from a horizontal sensor in the external OBD equipment to judge the gradient of the vehicle, so that the external OBD equipment is required to be consistent with the horizontal direction of the vehicle when being installed, wherein the horizontal sensor belongs to one of angle sensors and is used for measuring the levelness of a carrier, namely an inclination angle sensor, and is often called a gradienter or an inclinometer in engineering;
11. then, judging in real time through all the acquired data to see whether parameter conditions for starting the auxiliary brake are met;
12. if the condition is not met, the processing is not carried out, if the condition is met, for example, the vehicle speed is 0km/h, the gear is switched from the P gear to the D gear, the current brake pedal and the current accelerator pedal are not operated, and the gradient of the current vehicle is 15 degrees;
13. when the conditions are met, the external OBD equipment sends a command for starting braking force, such as 0x2f0a08FF, to the braking system, and the braking system ECU provides braking force to the vehicle after receiving the command;
14. after the braking force assistance is started, the external OBD device starts timing, circularly reads the data and judges in real time, if the conditions are not met, for example, the accelerator pedal is pressed down, the external OBD device immediately sends a command to a braking system ECU to cancel the braking force of the vehicle, such as 0x2f0a0800, and cancels timing;
15. if the timing time reaches 15S, the auxiliary braking time is released, the vehicle owner is reminded by voice, then a command is sent to the brake system ECU to cancel the braking force of the vehicle, such as 0x2f0a0800, and the auxiliary operation is finished;
16. all parameters can be read and judged circularly and ceaselessly, so that the slope starting auxiliary can be immediately controlled according to the state change of the vehicle in real time until a STOP key on the external OBD equipment is pressed or the device is pulled down from an OBD interface.
Because the situation is complicated and cannot be illustrated by a list, a person skilled in the art can realize that many examples exist according to the basic method principle provided by the application and the practical situation, and the protection scope of the application should be protected without enough inventive work.
Referring to fig. 7, fig. 7 is a block diagram illustrating a gradient-activated brake assist device applied to a vehicle-mounted device according to an embodiment of the present disclosure, where the device may include:
a driving state information acquiring unit 100 for acquiring current driving state information of a target vehicle;
a horizontal inclination angle obtaining unit 200 for obtaining a current horizontal inclination angle of the target vehicle;
the condition satisfaction judging unit 300 is configured to judge whether a preset slope starting scene brake auxiliary starting condition is satisfied according to the horizontal inclination angle and the driving state information;
and the starting unit 400 according to a preset duration is used for controlling the braking system ECU to start the braking auxiliary function according to the preset braking auxiliary duration when the braking auxiliary starting condition of the slope starting scene is met.
The horizontal inclination angle obtaining unit 200 may include:
the horizontal inclination angle acquisition subunit is used for acquiring the current horizontal inclination angle of the target vehicle through a horizontal sensor built in the vehicle-mounted equipment; wherein the in-vehicle apparatus maintains the connection with the target vehicle in a direction that coincides with the horizontal direction of the target vehicle.
When the driving state information specifically includes gear shift information, a driving speed, and operation information of an accelerator pedal and a brake pedal, the condition satisfaction determining unit 300 may include:
the gear information representation state judgment subunit is used for judging whether the current gear is in a state of switching from the P gear to the D gear according to the gear switching information;
the accelerator and brake pedal operation information representation state judgment subunit is used for judging whether the accelerator and brake pedal are in a state of not being stepped at present according to the operation information of the accelerator and brake pedal;
the slope scene judging subunit is used for judging whether the horizontal inclination angle is larger than a preset inclination angle or not;
and the condition satisfaction judging unit is used for judging that the brake auxiliary opening condition of the slope starting scene is satisfied when the current P gear is switched into the D gear, the accelerator and the brake pedal are all trampled and the horizontal inclination angle is larger than the preset inclination angle.
Further, the gradient actuated brake assist device may further include:
the vehicle identity information acquisition unit is used for acquiring the identity information of the target vehicle before acquiring the current running state information of the target vehicle;
the matched brake auxiliary parameter query unit is used for querying to obtain a target brake auxiliary parameter corresponding to the identity information; the vehicle-mounted equipment records the corresponding relation between each identity information and each brake auxiliary parameter, and each brake auxiliary parameter corresponds to a brake auxiliary starting condition of a gradient starting scene;
correspondingly, the driving state information obtaining unit 100 may include:
the to-be-acquired parameter type determining subunit is used for determining the type of the to-be-acquired parameter according to the target brake auxiliary parameter;
and the target running state information acquisition subunit is used for acquiring parameters corresponding to the types of the parameters to be acquired from the target vehicle to obtain the target running state information.
Wherein the vehicle identification information acquisition unit may include:
the OBD interface access subunit is used for accessing an OBD interface of the target vehicle;
the VIN code reading command sending subunit is used for sending the VIN code reading command to the target vehicle through the OBD interface;
and the VIN code receiving and confirming subunit is used for determining the identity information of the target vehicle according to the VIN code returned by the target vehicle.
The VIN code read command sending subunit may include:
and the multi-protocol reading command sequential sending module is used for sequentially sending VIN code reading commands under different protocols to the target vehicle through the OBD interface, and stopping VIN code reading command sending operation under other protocols until the VIN code is returned by the target vehicle.
Further, the brake assist apparatus may further include:
the driver identity information receiving unit is used for receiving input driver identity information;
the slope starting scene brake auxiliary starting condition replacing unit is used for replacing the default slope starting scene brake auxiliary starting condition by the target slope starting scene brake auxiliary starting condition corresponding to the identity information of the driver; the vehicle-mounted equipment records the corresponding relation between the identity information of each driver and the brake auxiliary starting condition of each slope starting scene.
The present embodiment exists as an apparatus embodiment corresponding to the above method embodiment, and has all the beneficial effects of the method embodiment, and details are not repeated here.
Based on the foregoing embodiment, the present application further provides an on-board device, where the on-board device may include a memory and a processor, where the memory stores a computer program, and the processor calls the computer program in the memory to implement the steps provided in the foregoing embodiment. Of course, the vehicle-mounted device may further include various necessary network interfaces, power supplies, other components, and the like. Specifically, the vehicle-mounted device may be a vehicle-mounted external OBD device.
The present application also provides a readable storage medium, on which a computer program is stored, which when executed by an execution terminal or processor can implement the steps provided by the above-mentioned embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made in the present invention without departing from the principles of the invention, and these changes and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A brake auxiliary method for slope starting is characterized in that the brake auxiliary method is applied to vehicle-mounted equipment and comprises the following steps:
acquiring current running state information of a target vehicle;
acquiring a current horizontal inclination angle of the target vehicle;
judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information;
if so, controlling the brake system ECU to start the brake auxiliary function according to the preset brake auxiliary duration;
the brake assisting method for slope starting further comprises the following steps:
receiving input driver identity information;
selecting a target slope starting scene brake auxiliary starting condition corresponding to the driver identity information to replace a default slope starting scene brake auxiliary starting condition; the vehicle-mounted equipment records the corresponding relation between the identity information of each driver and the brake auxiliary starting condition of each slope starting scene.
2. The brake assist method of claim 1, wherein acquiring a current horizontal inclination of the target vehicle via a level sensor comprises:
acquiring a current horizontal inclination angle of the target vehicle through a horizontal sensor built in the vehicle-mounted equipment; wherein the in-vehicle apparatus maintains a connection with the target vehicle in a direction that coincides with a horizontal direction of the target vehicle.
3. The brake assist method according to claim 1, wherein when the driving state information specifically includes shift switching information, a driving speed, and operation information of an accelerator pedal and a brake pedal, determining whether a preset gradient start scene brake assist start condition is satisfied according to the horizontal tilt angle and the driving state information includes:
judging whether the current state is switched from the P gear to the D gear or not according to the gear switching information;
judging whether the accelerator pedal and the brake pedal are in a non-treaded state at present according to the operation information of the accelerator pedal and the brake pedal;
judging whether the horizontal inclination angle is larger than a preset inclination angle or not;
and if the current P gear is simultaneously switched to the D gear, the accelerator and the brake pedal are not trampled, and the horizontal inclination angle is larger than the condition of the preset inclination angle, judging that the auxiliary starting condition of the brake of the slope starting scene is met.
4. The brake assist method according to claim 1, further comprising, before acquiring the current running state information of the target vehicle:
acquiring identity information of the target vehicle;
inquiring to obtain target brake auxiliary parameters corresponding to the identity information; the vehicle-mounted equipment records the corresponding relation between each identity information and each brake auxiliary parameter, and each brake auxiliary parameter corresponds to a brake auxiliary starting condition of a slope starting scene;
correspondingly, acquiring the current running state information of the target vehicle, including:
determining the type of the parameter to be acquired according to the target brake auxiliary parameter;
and acquiring parameters corresponding to the types of the parameters to be acquired from the target vehicle to obtain target running state information.
5. The brake assist method of claim 4, wherein obtaining identity information of the target vehicle comprises:
accessing an on-board diagnostic system (OBD) interface of the target vehicle;
sending a VIN code reading command to the target vehicle through the OBD interface;
and determining the identity information of the target vehicle according to the VIN code returned by the target vehicle.
6. The brake assist method of claim 5, wherein sending a VIN code read command to the target vehicle over the OBD interface comprises:
and sequentially sending VIN code reading commands under different protocols to the target vehicle through the OBD interface, and stopping VIN code reading command sending operation under other protocols until the target vehicle returns the VIN code.
7. A brake auxiliary device that slope starts, its characterized in that is applied to mobile unit, includes:
a driving state information acquisition unit for acquiring current driving state information of a target vehicle;
the horizontal inclination angle acquisition unit is used for acquiring the current horizontal inclination angle of the target vehicle;
the condition satisfaction judging unit is used for judging whether a preset slope starting scene brake auxiliary starting condition is met or not according to the horizontal inclination angle and the running state information;
the brake assisting device comprises a starting unit according to preset duration, a control unit and a control unit, wherein the starting unit is used for controlling a brake system ECU to start a brake assisting function according to preset brake assisting duration when the brake assisting starting condition of the slope starting scene is met;
wherein, this brake auxiliary device still includes:
the driver identity information receiving unit is used for receiving input driver identity information;
the slope starting scene brake auxiliary starting condition replacing unit is used for replacing the default slope starting scene brake auxiliary starting condition by the target slope starting scene brake auxiliary starting condition corresponding to the identity information of the driver; the vehicle-mounted equipment records the corresponding relation between the identity information of each driver and the brake auxiliary starting condition of each slope starting scene.
8. An in-vehicle apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the grade activated brake assist method according to any one of claims 1 to 6 when executing the computer program.
9. A readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the gradient-activated brake assistance method according to any one of claims 1 to 6.
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| CN201911285702.8A CN110936935B (en) | 2019-12-13 | 2019-12-13 | Brake assisting method and device for gradient starting, vehicle-mounted equipment and medium |
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| CN201911285702.8A CN110936935B (en) | 2019-12-13 | 2019-12-13 | Brake assisting method and device for gradient starting, vehicle-mounted equipment and medium |
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| US8579765B2 (en) * | 2009-12-09 | 2013-11-12 | Ford Global Technologies, Llc | Hybrid electric vehicle hold function |
| TW201321232A (en) * | 2011-11-25 | 2013-06-01 | Hon Hai Prec Ind Co Ltd | Brake control system and method of an auto-wheelchair |
| CN105416087B (en) * | 2015-11-26 | 2017-09-29 | 安徽江淮汽车集团股份有限公司 | A kind of electric automobile hill start assistance method |
| CN108099909B (en) * | 2017-11-30 | 2020-04-14 | 中车唐山机车车辆有限公司 | Method, system and device for controlling vehicle starting |
| CN109591622B (en) * | 2018-12-18 | 2021-08-06 | 中国第一汽车股份有限公司 | Pure electric vehicle parking and starting control method and control system thereof |
| CN110466525B (en) * | 2019-09-23 | 2021-07-30 | 安徽江淮汽车集团股份有限公司 | Uphill auxiliary control method, device, equipment and storage medium |
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