CN112519768A - 一种车辆紧急制动方法 - Google Patents

一种车辆紧急制动方法 Download PDF

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CN112519768A
CN112519768A CN202011457871.8A CN202011457871A CN112519768A CN 112519768 A CN112519768 A CN 112519768A CN 202011457871 A CN202011457871 A CN 202011457871A CN 112519768 A CN112519768 A CN 112519768A
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任志鸿
宫庆伟
武贝贝
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Dayun Automobile Co Ltd
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

一种车辆紧急制动方法，涉及新能源汽车领域，解决现有驾驶车辆过程中，在视野盲区出现障碍物时无法及时收到提示信息，造成人员及车辆伤害等问题，VCU接收到PAS发送的障碍物距离较近后，VCU向MCU发送请求0扭矩的信号，同时向ESC和IC发送误启动制动请求激活信号；ESC执行误启动请求驻车预夹紧并反馈状态，车速降到零之前踩加速踏板不会输出扭矩；在车速降到零之后，前方障碍物仍在碰撞风险范围之内，用户仍有意强制行进，VCU强制限速到3km/h以下，VCU向ESC发送取消误启动请求激活指令，ESC不会执行误启动，VCU按用户的意图向MCU输出扭矩请求信号；IC接收到VCU的误启动请求信号，进行提示。

Description

一种车辆紧急制动方法
技术领域
本发明涉及新能源汽车领域，具体涉及一种车辆紧急制动方法。
背景技术
车辆在行驶及停车过程当障碍物出现在视野盲区时，驾驶员无法判断此时车辆是否处于安全状态，目前车辆仅适用车辆雷达***(PAS)做出提示音并无法再距离较近之做出相应的主动保护，其驾驶人员无法准确判断是否继续行驶会发生碰撞风险，而且严重浪费了PAS高精度的功能。而此发明通过传感器进行适当提示及执行某些车辆机制可有效地避免车辆对人员及建筑与车辆本身的伤害。
发明内容
本发明为解决现有驾驶车辆过程中，在视野盲区出现障碍物时无法及时收到提示信息，造成人员及车辆伤害等问题，提供一种车辆紧急制动方法。
一种车辆紧急制动方法，该方法由以下步骤实现：
步骤一、所述VCU判断车速在0-10km/h时，并收到PAS发送的障碍物的小于等于35cm的碰撞风险信号；
步骤二、VCU接收到PAS发送的障碍物距离信号后，VCU向MCU发送请求0扭矩的信号，同时向ESC和IC发送误启动制动请求激活信号；
步骤三、所述ESC执行误启动请求驻车预夹紧，并向VCU反馈夹紧状态，车速降到零之前踩加速踏板不输出扭矩；在车速降到零之后，用户仍要强制行进，则VCU强制限速到3km/h以下，VCU向ESC发送取消误启动请求激活指令，ESC不执行误启动，VCU按用户的意图向MCU输出扭矩请求信号；
所述IC接收到VCU的误启动请求信号，在人机交互界面显示提示信息。
本发明的有益效果：本发明主要解决大运汽车驰虎EM6车型驾驶员不慎操作车辆造成人员及车辆伤害问题。
附图说明
图1为本发明所述的一种车辆紧急制动方法的误启动框图；
图2为本发明所述的一种车辆紧急制动方法的误启动状态原理图。
具体实施方式
结合图1和图2说明本实施方式，一种车辆紧急制动方法，结合图1，误启动框图，整车控制器(VCU)接收车PAS的障碍物距离信号，加速踏板信号，制动踏板信号，电池管理***(BMS)电池电量SOC，电子汽车稳定控制***(ESC)的车速信号，换挡器(GSM)的档位信号以及电子驻车***EPB状态信号；
所述VCU判断车速在(0-10)km/h时，并收到PAS发送的障碍物的小于等于35cm(即有碰撞风险)的信号；VCU接收到PAS发送的障碍物距离较近后，VCU向电机控制器(MCU)发送请求0扭矩的信号，同时向ESC和IC发送误启动制动请求激活信号；
所述ESC执行误启动请求驻车预夹紧并向VCU反馈状态，车速降到零之前踩加速踏板不会输出扭矩；在车速降到零之后，如前方障碍物仍在碰撞风险范围之内，用户仍有意强制行进(即加速踏板回零后再次被踩下)，VCU强制限速到3km/h(待标定)以下，VCU向ESC发送取消误启动请求激活指令，ESC不会执行误启动，VCU按用户的意图向MCU输出扭矩请求信号；
所述组合仪表(IC)接收到VCU的误启动请求信号，在人机交互界面提示：距离障碍物较近可能会发生碰撞。
车辆进入误启动状态应同时满足下述条件(车辆从正常状态进入误启动状态或车辆从强制行进状态进入误启动状态)；
挡位为D挡或R挡；整车处于可行驶状态；车速10km/h以下；整车行进方向上车辆与障碍物距离≤35cm(TBD)；整车无三级及以上故障；EPB无效。
进入强制行进状态应同时满足下述条件；
挡位为D挡或R挡；整车Ready(处于可行驶状态)；因误启动制动车速降到零；加速踏板回零后再次被踩下，且开度大于0％；整车行进方向上车辆与障碍物距离≤35cm(TBD)；整车无三级及以上故障；EPB无效。
退出误启动状态应满足下述任一条件即可(车辆从误启动状态到正常状态或从强制行进状态到正常状态)。
挡位为N挡或P挡；整车非Ready(处于不可行驶状态)；车速10km/h以上；整车行进方向上车辆与障碍物距离＞35cm(TBD)；车辆向远离障碍物的方向行驶；EPB有效；整车有三级及以上故障。

Claims (4)

1.一种车辆紧急制动方法，其特征是：该方法由以下步骤实现：
步骤一、VCU判断车速在0-10km/h时，并收到PAS发送的障碍物的小于等于35cm的碰撞风险信号；
步骤二、VCU接收到PAS发送的障碍物距离信号后，VCU向MCU发送请求0扭矩的信号，同时向ESC和IC发送误启动制动请求激活信号；
步骤三、所述ESC执行误启动请求驻车预夹紧，并向VCU反馈夹紧状态，车速降到零之前踩加速踏板不输出扭矩；在车速降到零之后，用户仍要强制行进，则VCU强制限速到3km/h以下，VCU向ESC发送取消误启动请求激活指令，ESC不执行误启动，VCU按用户的意图向MCU输出扭矩请求信号；
IC接收到VCU的误启动请求信号，在人机交互界面显示提示信息。
2.根据权利要求1所述的一种车辆紧急制动方法，其特征在于：进入误启动状态应同时满足下述条件：
挡位为D挡或R挡；整车Ready；车速10km/h以下；整车行进方向上车辆与障碍物距离≤35cm；整车无三级及以上故障；EPB无效。
3.根据权利要求1所述的一种车辆紧急制动方法，其特征在于：进入强制行进状态应同时满足下述条件：
挡位为D挡或R挡；整车处于准备状态；因误启动制动车速降到零；加速踏板回零后再次被踩下，且开度大于0％；整车行进方向上车辆与障碍物距离≤35cm；整车无三级及以上故障；EPB无效。
4.根据权利要求1所述的一种车辆紧急制动方法，其特征在于：退出误启动状态需要满足下述任意一种条件：
挡位为N挡或P挡；整车非Ready；车速10km/h以上；整车行进方向上车辆与障碍物距离＞35cm；车辆向远离障碍物的方向行驶；EPB有效；整车有三级及以上故障。
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Cited By (1)

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CN113071484A (zh) * 2021-05-07 2021-07-06 恒大新能源汽车投资控股集团有限公司 一种档位控制方法、装置及电子设备

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CN106042924A (zh) * 2016-05-27 2016-10-26 樊美平 汽车防误踩加速踏板控制***及控制方法
CN109969171A (zh) * 2017-12-26 2019-07-05 罗伯特·博世有限公司 车库模式控制单元、控制***和控制方法
CN111891122A (zh) * 2019-05-05 2020-11-06 上海博泰悦臻电子设备制造有限公司 基于车辆位置的限速方法、装置及车辆

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012095717A2 (en) * 2011-01-12 2012-07-19 Toyota Jidosha Kabushiki Kaisha Travel support apparatus
CN105667495A (zh) * 2016-03-21 2016-06-15 福建省汽车工业集团云度新能源汽车股份有限公司 一种防误踩的电动汽车油门踏板控制方法及***
CN106042924A (zh) * 2016-05-27 2016-10-26 樊美平 汽车防误踩加速踏板控制***及控制方法
CN109969171A (zh) * 2017-12-26 2019-07-05 罗伯特·博世有限公司 车库模式控制单元、控制***和控制方法
CN111891122A (zh) * 2019-05-05 2020-11-06 上海博泰悦臻电子设备制造有限公司 基于车辆位置的限速方法、装置及车辆

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113071484A (zh) * 2021-05-07 2021-07-06 恒大新能源汽车投资控股集团有限公司 一种档位控制方法、装置及电子设备

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