CN112918443B - Brake control method, device, equipment and storage medium - Google Patents

Brake control method, device, equipment and storage medium Download PDF

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Publication number
CN112918443B
CN112918443B CN202110258527.4A CN202110258527A CN112918443B CN 112918443 B CN112918443 B CN 112918443B CN 202110258527 A CN202110258527 A CN 202110258527A CN 112918443 B CN112918443 B CN 112918443B
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vehicle
acceleration
braking
determining
distance
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CN112918443A (en
Inventor
王明卿
房丽爽
张鹏
刘丽
陈首刚
王聪
张惊寰
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FAW Jiefang Automotive Co Ltd
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FAW Jiefang Automotive Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • 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
    • B60T2201/03—Brake assistants

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a brake control method, a brake control device, brake control equipment and a storage medium, wherein the brake control comprises the following steps: judging whether to intervene in auxiliary braking in advance based on the vehicle information and the environment information; determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake; and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration. According to the technical scheme, whether auxiliary braking is involved in advance is judged by utilizing the vehicle information and the environment information, predictive comprehensive auxiliary braking is achieved, the deficiency and the hysteresis of active braking can be made up, and the driving safety of the vehicle is improved.

Description

Brake control method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a brake control method, a brake control device, brake control equipment and a storage medium.
Background
In recent years, as the number of automobiles increases year by year, the concern of vehicle safety is increased, and collision accidents caused by rear-end collisions account for more than 70% of total accidents, which not only seriously threatens the life and property safety of people, but also is a great challenge to the safety control of vehicles.
The conventional vehicles are all provided with an ABS (anti-lock brake system), but under an emergency special working condition, the vehicles cannot realize braking operation according to the intention of drivers due to the influence of factors such as large mass of the whole vehicles, slippery road surfaces, weather and the like, and when the safety distance of braking is exceeded, collision accidents are caused. With the rapid development of the internet of vehicles technology, various advanced driving assistance systems are developed at present, and the driving safety is improved to a great extent. However, the advanced auxiliary brake integrated control technology is still in the research stage, and the auxiliary brakes on the traditional commercial vehicle, including the retarder, the engine brake and the exhaust brake, are only in the simple integrated control stage, so that the deficiency and the hysteresis of the active brake cannot be well compensated.
Disclosure of Invention
The embodiment of the invention provides a brake control method, a brake control device, brake control equipment and a storage medium, which are used for making up for the deficiency and hysteresis of active braking and improving the driving safety of a vehicle.
In a first aspect, an embodiment of the present invention provides a brake control method, including:
judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information;
determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake;
and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration.
In a second aspect, an embodiment of the present invention further provides a brake control apparatus, including:
the judging module is used for judging whether to intervene auxiliary braking in advance or not based on the vehicle information and the environment information;
an acceleration determination module for determining a braking acceleration based on the vehicle information and/or the environmental information if it is determined that the auxiliary braking is intervened in advance;
and the brake control module is used for controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration.
In a third aspect, an embodiment of the present invention further provides a brake control apparatus, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement the brake control method as provided in the first aspect described above.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, on which one or more computer programs are stored, which when executed by a processor, implement the braking control method as provided in the first aspect above.
In the braking control method, apparatus, device and storage medium provided in the foregoing embodiments, the braking control includes: judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information; determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake; and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration. According to the technical scheme, whether auxiliary braking is involved in advance is judged by utilizing the vehicle information and the environment information, predictive comprehensive auxiliary braking is achieved, the deficiency and the hysteresis of active braking can be made up, and the driving safety of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of a braking control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another braking control method provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a brake control apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware structure of a brake control apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The traditional commercial vehicle is provided with an auxiliary braking or retarding braking system, so that the speed of the vehicle is controlled under an emergency special working condition, and the driving safety of the vehicle is ensured. For example, a retarder, an exhaust brake, an in-cylinder brake, and the like are disposed in a vehicle or an engine. The conventional vehicle adopts a braking scheme comprising: engine assisted braking, which in turn can be divided into two main forms, exhaust braking and in-cylinder braking, according to the technical category, and retarder braking. The engine plays an extremely important role in assisting braking of the vehicle as an important power source of the vehicle.
The existing auxiliary braking scheme is in a simple comprehensive control stage and cannot well make up for the deficiency and the hysteresis of active braking.
Therefore, in view of the above problems, embodiments of the present invention provide a brake control method, apparatus, device, and storage medium, which determine whether to intervene in an auxiliary brake in advance through vehicle information and environmental information; determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake; and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration. Whether to intervene in the auxiliary braking in advance is judged by utilizing the vehicle information and the environment information, so that the comprehensive auxiliary braking with predictability is realized, the deficiency and the hysteresis of the active braking can be made up, and the driving safety of the vehicle is improved.
The following explains the braking control method provided by the present invention with reference to specific embodiments.
Fig. 1 is a flowchart of a braking control method provided in an embodiment of the present invention, where the method is suitable for use in a vehicle predictive auxiliary braking control of complex traffic, and the braking control method may be executed by a braking control device, and the braking control device may be implemented by hardware and/or software. The brake control device can be formed by two or more physical entities or can be formed by one physical entity, and is generally integrated in a whole vehicle control system and arranged on a vehicle. The vehicles include all vehicles currently passing on the market, for example: electric-only vehicles, hybrid vehicles, gasoline vehicles, diesel vehicles, and the like.
As shown in fig. 1, a braking control method provided in an embodiment of the present invention mainly includes the following steps:
and S11, judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information.
First, the structure of the vehicle part control system will be described. The information acquisition system and the braking system of the vehicle are respectively connected with a VCU of the whole vehicle controller, the VCU is a main controller of the whole vehicle system, and is used for bearing energy distribution, torque management, error diagnosis and the like of the whole power system, and the VCU is equivalent to the brain of the automobile. The VCU is connected to an Engine Control Unit (ECU), a Motor Control Unit (MCU), and a Battery Control System (BMS) through a Controller Area Network (CAN) data bus, and communicates with the Engine Control Unit (ECU), the Motor Control Unit (MCU), and the Battery Control Unit (BMS) through the CAN data bus to complete transmission of related Control parameters. And the ECU, the MCU and the BMS are respectively connected with the engine, the motor and the battery so as to realize the control of the engine, the motor and the battery according to the control instruction of the VCU.
In the present embodiment, the vehicle information may be understood as related information characterizing the vehicle traveling on the road. Further, the vehicle information includes vehicle information of the own vehicle and vehicle information of the preceding vehicle. The host vehicle is a currently driven vehicle, and the preceding vehicle is a vehicle traveling ahead of the host vehicle.
Furthermore, the vehicle information of the vehicle is mainly acquired by a vehicle-mounted sensor, and comprises the vehicle speed of the vehicle, the current acceleration of the vehicle, the rotating speed of an engine, a gear, the opening degree of an accelerator and the like. The information of the front vehicle is mainly acquired by a radar, a camera and the like arranged on the vehicle, and comprises information such as a first distance, a speed and an acceleration between the front vehicle and the vehicle.
The environment information refers to relevant information representing a road environment in which the vehicle is currently traveling. The environmental information is mainly collected by a fleet management module and mainly comprises information data such as the gradient, the curvature, the speed limit indication and the like of a plurality of meters ahead.
Whether to intervene auxiliary brake in advance is judged based on vehicle information and environmental information, and the method comprises the following steps: whether to intervene auxiliary braking in advance is judged based on the vehicle information, and whether to intervene auxiliary braking in advance is judged based on the environment information.
Further, the vehicle information includes a first distance between the host vehicle and a preceding vehicle; the environment information comprises a second distance between the vehicle and the front curve-shaped starting point; accordingly, determining an early intervention auxiliary brake, comprising: when the first distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance; or when the second distance is smaller than the preset safety distance, determining to intervene in the auxiliary brake in advance.
In particular, the baseAnd judging whether to intervene auxiliary braking in advance according to the vehicle information. The current speed of the vehicle is set as V0The current acceleration is a0The current speed of the front vehicle is VfAcceleration of afThe first distance between the vehicle and the front vehicle is S0If the safe distance is set to be S, when the first distance between the vehicle and the front vehicle is S0And if the safety distance S is larger than or equal to the safety distance S, the vehicle is indicated to have no collision risk with the front vehicle at the moment, and the auxiliary braking is not required to be intervened. When the first distance S between the vehicle and the front vehicle0When the safety distance S is less than the safety distance S, the vehicle is in collision with a front vehicle at the moment, and auxiliary braking needs to be intervened.
Specifically, whether the auxiliary brake needs to be intervened in advance is determined according to the environmental information. The following description will take a typical curved road condition as an example. Suppose that the front S of the vehicle is monitored1The road information is firstly reconstructed to record the starting point position of the curved road shape and the maximum curvature value C of the curved road shape. Then, according to the circular motion driving rule, calculating a safe vehicle speed threshold value Vmax＝sqrt(aymaxC); wherein, aymaxIs the maximum lateral acceleration value. When the second distance S1 between the vehicle and the front curve road-shaped starting point is greater than or equal to the safe distance S, the vehicle does not have the risk of side turning at the moment, and the intervention of auxiliary braking is not needed; when the second distance S1 between the vehicle and the starting point of the front curved road shape is smaller than the safe distance S, the vehicle is indicated to have the risk of side turning at the moment, and the intervention of auxiliary braking is needed.
S12, in the case that the auxiliary brake is determined to be intervened in advance, determining the braking acceleration based on the vehicle information and/or the environment information.
In one embodiment, determining a braking acceleration based on the vehicle information comprises: when the first distance is smaller than a preset safety distance and the second distance is larger than or equal to the preset safety distance, calculating a first acceleration based on the vehicle information and a first preset formula; determining the first acceleration as the braking acceleration.
Further, determining a first acceleration based on the vehicle information includes: a first acceleration is determined based on a ratio of a squared difference of the speed of the host vehicle and the speed of the preceding vehicle to the first distance.
Specifically, according to a first distance S between the vehicle and the front vehicle0The current speed V of the vehicle0And the current speed V of the front vehiclefThe first acceleration am1 (V) is the first acceleration (V) for estimating the vehicle speed of the vehicle decreasing to the front vehicle speed within the safe distance0 2-Vf 2)/(2×S0)。
In one embodiment, determining a braking acceleration based on the environmental information comprises: when the second distance is smaller than a preset safety distance and the first distance is larger than or equal to the preset safety distance, calculating a second acceleration based on the environment information and a second preset formula; determining the second acceleration as the braking acceleration.
Further, determining a second acceleration based on the environmental information includes: determining a safe vehicle speed threshold value based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape; and determining a second acceleration based on the ratio of the square difference of the speed of the vehicle and the safe vehicle speed threshold value to the second distance.
Specifically, the road information is reconstructed, and the position of the starting point of the curved road shape and the maximum curvature value C of the curved road shape are recorded. Then, according to the circular motion driving rule, calculating a safe vehicle speed threshold value Vmax＝sqrt(aymaxC); wherein, aymaxIs the maximum lateral acceleration value. According to the second distance S1 between the host vehicle and the starting point of the front curve road shape, the current speed V of the host vehicle0And a safe vehicle speed threshold value VmaxThe second acceleration am2 (V) for estimating the vehicle speed of the vehicle falling to the safe vehicle speed within the safe distance is0 2-Vmax 2)/(2×S1)。
In one embodiment, determining a braking acceleration based on the vehicle information and the environmental information includes: when the first distance is smaller than a preset safety distance and the second distance is smaller than the preset safety distance, determining a first acceleration based on the vehicle information and determining a second acceleration based on the environment information; determining the first acceleration as a braking acceleration when the first acceleration is greater than the second acceleration; when the second acceleration is greater than the first acceleration, the first acceleration is determined as a braking acceleration.
Furthermore, when the first distance is smaller than the preset safe distance and the second distance is smaller than the preset safe distance, it indicates that the vehicle is close to the front vehicle, and may collide with the front vehicle, and the front of the vehicle has a curved road shape, so that there is a risk of rollover. At this time, the acceleration having the larger absolute value of the first acceleration sum is selected as the braking acceleration.
And S13, controlling the vehicle brake system to execute corresponding brake operation based on the brake acceleration.
In this embodiment, controlling the vehicle braking system to perform a corresponding braking operation based on the braking acceleration includes: calculating a braking torque based on the braking acceleration; determining respective output values of the retarder, an engine braking system and an exhaust braking system based on a characteristic chart of the retarder, the engine braking system and the exhaust braking system, the braking torque and a preset priority; and controlling the retarder, the engine braking system and the exhaust braking system to execute braking operation according to respective numerical values.
Specifically, a vehicle dynamics equation is established, the required braking torque is inversely calculated according to the braking acceleration, and control values of the retarder, the engine brake and the exhaust brake are output according to the priority order of the retarder, the engine brake and the exhaust brake according to a characteristic chart of the retarder, the engine brake and the retarder brake. Taking the embodiment of the invention as an example, setting the retarder control with priority, starting the engine brake when 80% of the control capability of the retarder is insufficient, and starting the exhaust brake when the engine brake capability exceeds 80% and the retarder capability also exceeds 80%, wherein the engine brake capability, the retarder brake capability and the exhaust brake capability all play roles at the moment.
Further, after controlling the vehicle braking system to perform a corresponding braking operation based on the braking acceleration, the method further comprises: and when the braking operation fails to brake the vehicle, generating an alarm prompt for prompting a driver to participate in braking control.
Specifically, when the capabilities of controlling the retarder, the engine braking system and the exhaust braking system reach 100%, if the braking force of the vehicle is still insufficient, an alarm is started to give an alarm to prompt a driver to participate in braking control.
In a brake control method provided in an embodiment of the present invention, the brake control includes: judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information; in the case of determining an early intervention auxiliary brake, determining a braking acceleration on the basis of the vehicle information and/or the environmental information; and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration. According to the technical scheme, whether auxiliary braking is involved in advance is judged by utilizing the vehicle information and the environment information, predictive comprehensive auxiliary braking is achieved, the deficiency and the hysteresis of active braking can be made up, and the driving safety of the vehicle is improved.
In an application example, fig. 2 is a flowchart of another braking control method provided by the embodiment of the present invention, and as shown in fig. 2, the another braking control method provided by the embodiment of the present invention mainly includes the following steps:
1. and (6) data acquisition. The data to be collected mainly includes three types, namely vehicle information of the vehicle, vehicle information of the front vehicle and environmental information. The vehicle information of the vehicle is mainly acquired by a vehicle-mounted sensor and comprises the current speed of the vehicle, the acceleration of the vehicle, the rotating speed of an engine, a gear, the opening degree of an accelerator and the like. The vehicle information is mainly collected by a radar, a camera and the like arranged on the vehicle, and comprises information such as a first distance between a front vehicle and the vehicle, a front vehicle speed, a front vehicle acceleration and the like. The environmental information is mainly collected by a fleet management module and mainly comprises information data such as the gradient, curvature and speed limit indication of a plurality of meters ahead.
2. Planning the current speed of the vehicle to be V according to the traffic information0The current acceleration is a0The current speed of the front vehicle is VfAcceleration of afThe first distance between the vehicle and the front vehicle is S0If the safe distance is set to be S, when the vehicle is drivenA first distance S from the front vehicle0And when the distance is greater than or equal to the safe distance S, the vehicle is not in collision risk with the front vehicle at the moment, and the auxiliary braking is not needed to be intervened. When the first distance S between the vehicle and the front vehicle0If the distance is less than the safe distance S, the vehicle is in danger of colliding with the front vehicle at the moment, and auxiliary braking needs to be intervened. According to a first distance S between the vehicle and the front vehicle0The current speed V of the vehicle0And the current speed V of the front vehiclefThe first acceleration am1 (V) is the first acceleration (V) for estimating the vehicle speed of the vehicle decreasing to the front vehicle speed within the safe distance0 2-Vf 2)/(2×S0)。
3. Planning according to the road information. The module decides whether to intervene in advance for auxiliary braking according to the environmental information. The following description will take a typical curved road condition as an example. Suppose that the front S of the vehicle is monitored1The road information needs to be reconstructed first, and the starting point position of the curved road shape and the maximum curvature value C of the curved road shape are recorded. Then, according to the circular motion driving rule, calculating a safe vehicle speed threshold value Vmax＝sqrt(aymaxC); wherein, aymaxIs the maximum lateral acceleration value. When the second distance S1 between the vehicle and the front curve road-shaped starting point is greater than or equal to the safe distance S, the vehicle does not have the risk of side turning at the moment, and the intervention of auxiliary braking is not needed; when the second distance S1 between the vehicle and the starting point of the front curved road shape is smaller than the safe distance S, the vehicle is indicated to have the risk of side turning at the moment, and the intervention of auxiliary braking is needed. According to the second distance S1 between the host vehicle and the starting point of the front curve road shape, the current speed V of the host vehicle0And a safe vehicle speed threshold VmaxThe second acceleration am2 (V) for estimating the vehicle speed of the vehicle within the safe distance to the safe vehicle speed0 2-Vmax 2)/(2×S1)。
4. And planning the target acceleration.
And (3) integrating the first acceleration and the second acceleration in the steps 2 and 3, and selecting the acceleration with a larger absolute value as the braking acceleration.
5. And calculating target auxiliary braking.
And (4) establishing a vehicle dynamics equation, reversely calculating the required braking torque according to the braking acceleration in the step (4), and outputting control values of the retarder, the engine brake and the exhaust brake according to the priority order of the retarder, the engine brake and the exhaust brake according to the characteristic chart of the retarder, the engine brake and the retarder brake. Taking the embodiment of the invention as an example, setting retarder control preferentially, starting engine braking when 80% of the control capacity of the retarder is insufficient, and starting exhaust braking when the engine braking capacity exceeds 80% and the retarder capacity exceeds 80%, wherein the engine braking capacity, the retarder braking capacity and the exhaust braking all play roles at the moment. When the capacities of the three parts are all 100 percent, if the braking force of the vehicle is still insufficient, the alarm is started to give an alarm to prompt a driver to participate in the braking control.
Fig. 3 is a schematic structural diagram of a brake control device provided in an embodiment of the present invention, where the method is applicable to a vehicle predictive auxiliary brake control situation of complex traffic, and the brake control device may be implemented by hardware and/or software. The brake control device can be formed by two or more physical entities or one physical entity, and is generally integrated in a vehicle control system and arranged on a vehicle. The vehicles include all vehicles currently passing on the market, for example: electric-only vehicles, hybrid vehicles, gasoline vehicles, diesel vehicles, and the like.
As shown in fig. 3, a brake control apparatus provided in an embodiment of the present invention mainly includes: a determination module 31, an acceleration determination module 32 and a brake control module 33.
The judging module 31 is used for judging whether to intervene in the auxiliary braking in advance based on the vehicle information and the environment information;
an acceleration determination module 32 for determining a braking acceleration based on the vehicle information and/or the environmental information if it is determined that the auxiliary braking is intervened in advance;
and the brake control module 33 is used for controlling the vehicle brake system to execute corresponding brake operation based on the brake acceleration.
An embodiment of the present invention provides a brake control apparatus, where the brake control is configured to perform: judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information; determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake; and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration. According to the technical scheme, whether auxiliary braking is involved in advance is judged by utilizing the vehicle information and the environment information, predictive comprehensive auxiliary braking is achieved, the deficiency and the hysteresis of active braking can be made up, and the driving safety of the vehicle is improved.
In one embodiment, the vehicle information includes a first distance between the host vehicle and a preceding vehicle; the environment information comprises a second distance between the vehicle and the front curve-shaped starting point;
accordingly, determining an early intervention auxiliary brake, comprising:
when the first distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance; or the like, or a combination thereof,
and when the second distance is smaller than a preset safety distance, determining to intervene in the auxiliary brake in advance.
In one embodiment, determining the braking acceleration based on the vehicle information and the environment information includes:
when the first distance is smaller than a preset safety distance and the second distance is smaller than the preset safety distance, determining a first acceleration based on the vehicle information and determining a second acceleration based on the environment information;
determining the first acceleration as a braking acceleration when the first acceleration is greater than the second acceleration;
determining the first acceleration as a braking acceleration when the second acceleration is greater than the first acceleration.
In one embodiment, determining the first acceleration based on the vehicle information includes:
a first acceleration is determined based on a ratio of a squared difference of the speed of the host vehicle and the speed of the preceding vehicle to the first distance.
In one embodiment, determining the second acceleration based on the environmental information includes:
determining a safe vehicle speed threshold value based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape;
and determining a second acceleration based on the ratio of the square difference of the speed of the vehicle and the safe vehicle speed threshold value to the second distance.
In one embodiment, controlling the vehicle brake system to perform a corresponding braking operation based on the braking acceleration includes:
calculating a braking torque based on the braking acceleration;
determining respective output values of the retarder, an engine braking system and an exhaust braking system based on a characteristic chart of the retarder, the engine braking system and the exhaust braking system, the braking torque and a preset priority;
and controlling the retarder, the engine braking system and the exhaust braking system to execute braking operation according to respective numerical values.
In one embodiment, after controlling the vehicle braking system to perform the corresponding braking operation based on the braking acceleration, the method further includes:
and when the braking operation fails to brake the vehicle, generating an alarm prompt for prompting a driver to participate in braking control.
The brake control device provided by the embodiment of the invention can execute the brake control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 4 is a schematic diagram of a hardware structure of a brake control apparatus according to an embodiment of the present invention, and as shown in fig. 4, the apparatus includes a processor 401, a memory 402, an input device 403, and an output device 404; the number of the processors 401 in the device may be one or more, and one processor 401 is taken as an example in fig. 4; the processor 401, the memory 402, the input device 403 and the output device 404 in the apparatus may be connected by a bus or other means, which is exemplified in fig. 4.
The memory 402 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the braking control method in the embodiment of the present invention (for example, the modules in the braking control apparatus shown in fig. 3 include the determining module 31, the acceleration determining module 32, and the braking control module 33). The processor 401 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 402, that is, implements the brake control method described above.
The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 402 may further include memory located remotely from the processor 401, which may be connected to the devices over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And, when the one or more programs included in the above-described apparatus are executed by the one or more processors 401, the programs perform the following operations:
judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information;
determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake;
and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration.
The input device 403 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 404 may include a display device such as a display screen.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processing apparatus, implements a braking control method provided by an embodiment of the present invention, where the method includes:
judging whether to intervene in auxiliary braking in advance based on the vehicle information and the environment information;
determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake;
and controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also execute the relevant operations in the braking control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the brake control device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (6)

1. A brake control method characterized by comprising:
judging whether to intervene auxiliary braking in advance based on the vehicle information and the environment information;
determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary brake;
controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration;
wherein the vehicle information includes a first distance between the host vehicle and a preceding vehicle; the environment information comprises a second distance between the vehicle and the front curve-shaped starting point;
accordingly, determining an early intervention auxiliary brake, comprising:
when the first distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance; or the like, or, alternatively,
when the second distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance;
wherein the determining a braking acceleration based on the vehicle information and/or the environmental information comprises:
when the first distance is smaller than a preset safety distance and the second distance is smaller than the preset safety distance, determining a first acceleration based on the vehicle information and determining a second acceleration based on the environment information;
determining the first acceleration as a braking acceleration when the absolute value of the first acceleration is greater than the absolute value of the second acceleration;
determining the second acceleration as a braking acceleration when the absolute value of the second acceleration is greater than the absolute value of the first acceleration;
wherein determining a first acceleration based on the vehicle information comprises:
determining a first acceleration based on a ratio of a squared difference of the speed of the vehicle and the speed of the vehicle ahead to the first distance;
wherein determining a second acceleration based on the environmental information comprises:
determining a safe vehicle speed threshold value based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape; determining a second acceleration based on a ratio of a squared difference of the vehicle speed and the safe vehicle speed threshold to the second distance;
wherein the determining a safe vehicle speed threshold based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape comprises:
reconstructing road information, recording the starting point position of the curved road shape and the maximum curvature value C of the curved road shape, and calculating the safe vehicle speed threshold value V according to the circular motion driving rulemax＝sqrt(aymaxC); wherein, aymaxIs the maximum lateral acceleration value.
2. The method of claim 1, wherein controlling a vehicle braking system to perform a corresponding braking operation based on the braking acceleration comprises:
calculating a braking torque based on the braking acceleration;
determining respective output values of the retarder, an engine braking system and an exhaust braking system based on a characteristic chart of the retarder, the engine braking system and the exhaust braking system, the braking torque and a preset priority;
and controlling the retarder, the engine braking system and the exhaust braking system to execute braking operation according to respective numerical values.
3. The method of claim 1, further comprising, after controlling a vehicle braking system to perform a respective braking operation based on the braking acceleration:
and when the vehicle is not braked by the braking operation, generating an alarm prompt which is used for prompting a driver to participate in braking control.
4. A brake control apparatus, characterized by comprising:
the judging module is used for judging whether to intervene auxiliary braking in advance or not based on the vehicle information and the environment information;
an acceleration determination module for determining a braking acceleration based on the vehicle information and/or the environmental information in case of determining an early intervention auxiliary braking;
the brake control module is used for controlling a vehicle brake system to execute corresponding brake operation based on the brake acceleration;
wherein the vehicle information includes a first distance between the host vehicle and a preceding vehicle; the environment information comprises a second distance between the vehicle and the front curve-shaped starting point;
accordingly, determining an early intervention auxiliary brake, comprising:
when the first distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance; or the like, or, alternatively,
when the second distance is smaller than a preset safety distance, determining to intervene in auxiliary braking in advance;
wherein the determining a braking acceleration based on the vehicle information and the environmental information comprises:
when the first distance is smaller than a preset safety distance and the second distance is smaller than the preset safety distance, determining a first acceleration based on the vehicle information and determining a second acceleration based on the environment information;
determining the first acceleration as a braking acceleration when the absolute value of the first acceleration is greater than the absolute value of the second acceleration;
determining the second acceleration as a braking acceleration when the absolute value of the second acceleration is greater than the absolute value of the first acceleration;
wherein determining a first acceleration based on the vehicle information comprises:
determining a first acceleration based on a ratio of a squared difference of the speed of the vehicle and the speed of the vehicle ahead to the first distance;
wherein determining a second acceleration based on the environmental information comprises:
determining a safe vehicle speed threshold value based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape; determining a second acceleration based on a ratio of a squared difference of the vehicle speed and the safe vehicle speed threshold to the second distance;
wherein the determining a safe vehicle speed threshold based on the starting point of the front curved road shape and the maximum curvature of the front curved road shape comprises:
reconstructing road information, recording the starting point position of the curved road shape and the maximum curvature value C of the curved road shape, and calculating the safe vehicle speed threshold value V according to the circular motion driving rulemax＝sqrt(aymaxC); wherein, aymaxIs the maximum lateral acceleration value.
5. A brake control apparatus, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement the brake control method according to any one of claims 1 to 3.
6. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a brake control method according to any one of claims 1-3.
CN202110258527.4A 2021-03-09 2021-03-09 Brake control method, device, equipment and storage medium Active CN112918443B (en)

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