CN113696863A - System and method for improving braking delay of intelligent driving vehicle - Google Patents
System and method for improving braking delay of intelligent driving vehicle Download PDFInfo
- Publication number
- CN113696863A CN113696863A CN202010429804.9A CN202010429804A CN113696863A CN 113696863 A CN113696863 A CN 113696863A CN 202010429804 A CN202010429804 A CN 202010429804A CN 113696863 A CN113696863 A CN 113696863A
- Authority
- CN
- China
- Prior art keywords
- braking
- vehicle
- safe
- smart
- driving vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims abstract description 8
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 claims abstract description 8
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims abstract description 8
- 230000000977 initiatory effect Effects 0.000 claims abstract description 7
- 238000007405 data analysis Methods 0.000 claims description 17
- 230000006872 improvement Effects 0.000 claims description 8
- 239000000126 substance Substances 0.000 claims 1
- 230000004044 response Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a method and a system for improving brake delay of an intelligent driving vehicle. The method comprises the following steps: detecting a braking environment of the smart-driving vehicle; judging whether to start an automatic braking mode according to a braking environment; sending a request for a drag torque to the motor and controlling the smart driving vehicle to perform drag braking when the automatic braking mode is started; and in the event that the automatic braking mode is initiated, simultaneously sending a braking request and initiating mechanical braking. The system comprises an ADAS module, a vehicle-mounted controller, an electronic brake control module and a motor; wherein the on-board controller is configured to, upon initiation of the automatic braking mode, send a tow-back torque request to the electric motor and control the smart drive vehicle to perform tow-back braking; and in the event that the automatic braking mode is initiated, simultaneously sending a braking request and initiating mechanical braking.
Description
Technical Field
The invention relates to the field of a whole vehicle system loaded with quick-response braking capability. More particularly, the present invention relates to a system and method for improving brake delay of an intelligent driving vehicle.
Background
The development of modern vehicle technology can be said to be a thousand miles a day. Multiple relevant policies are set for intelligent driving in multiple countries in the world, so that fusion of intelligent driving vehicles and the existing traffic system is promoted, and development of intelligent driving technology is encouraged. As an important component of intelligent driving Level 2, an Automatic Emergency Braking (AEB) system plays a great role in preventing vehicle collision, protecting pedestrians and drivers. With the rapid development of intelligent driving technology, more and more control rights of vehicles are given to vehicle-mounted control units in future, functions such as AEB display which have extremely high requirements on safety performance are of great importance, and braking in emergency directly relates to the safety of the whole vehicle, so that every point of safety promotion is worth spending effort on research. Because the traditional braking system has a certain time delay from the receiving of the braking signal to the generation of the braking effect and the generation of the braking force, the higher the vehicle speed is during braking, the greater the influence caused by the time delay is. As the speed of the response of the motor is far greater than that of a mechanical structure, the scheme sends a drag torque request to the motor by means of the motor of a hybrid power (pure electric) vehicle during braking, so that the torque of the motor acts on a transmission system to form torque opposite to the advancing direction, and meanwhile, the traditional mechanical braking system acts on the braking torque of the wheel through a brake caliper or a brake drum, so that the maximum braking capacity of the wheel is quickly realized, the braking efficiency is improved, and the collision in an emergency situation is avoided.
Disclosure of Invention
In view of the above, the present invention provides a system and method for improving the braking delay of an intelligent driving vehicle. The invention combines the intelligent driving field and a new braking mode in the new energy technology, provides a torque distribution strategy with a braking function in the intelligent driving vehicle, improves the emergency braking performance, recovers energy and improves the economy of the whole vehicle.
To achieve one or more of the above objects, the present invention provides the following technical solutions.
According to a first aspect of the present invention, there is provided a method for improving brake delay of a smart driving vehicle, comprising the steps of: detecting a braking environment of the smart-driving vehicle; judging whether an automatic braking mode is started or not according to the braking environment; in the case of initiating an automatic braking mode, sending a request for a tow-back torque to a motor and controlling the smart driving vehicle to perform tow-back braking; and in the event that the automatic braking mode is initiated, simultaneously sending a braking request and initiating mechanical braking.
The method according to an embodiment of the invention, wherein the method further comprises the steps of: and acquiring the front distance of the intelligent driving vehicle, and judging the safe distance of the intelligent driving vehicle according to the braking environment.
The method according to another embodiment of the invention or any one of the above embodiments, wherein the method further comprises the steps of: and when the front vehicle distance is smaller than the safe vehicle distance, starting the automatic braking mode until the front vehicle distance is equal to the safe vehicle distance.
The method according to another embodiment of the invention or any one of the above embodiments, wherein the method further comprises the steps of: and acquiring the current deceleration of the intelligent driving vehicle, and judging the safe deceleration of the intelligent driving vehicle according to the braking environment.
The method according to another embodiment of the invention or any one of the above embodiments, wherein the method further comprises the steps of: when the current deceleration is less than the safe deceleration, the automatic braking mode is activated until the current deceleration is equal to the safe deceleration.
The method according to another embodiment of the invention or any one of the above embodiments, wherein the method further comprises the steps of: when the drag torque request is issued to the electric machine, a desired braking torque is calculated and sent to the electric motor.
The method according to another embodiment of the invention or any one of the above embodiments, wherein the method further comprises the steps of: the slip rate of the drive wheels of the smart-drive vehicle and the ABS state are monitored in real time, and if the ABS state is activated, the braking effectiveness is maximized.
A method according to another embodiment of the invention or any of the embodiments above, wherein the requested braking torque does not exceed a value at an ABS enabled time.
A method according to another embodiment of the invention or any of the embodiments above, wherein the automatic braking mode comprises an emergency braking mode.
According to a second aspect of the present invention, there is provided a smart driving vehicle brake delay improvement system, comprising an ADAS module, an onboard controller, an electronic brake control module and an electric motor; wherein the on-board controller is configured to send a tow-back torque request to the electric motor and control the smart drive vehicle to perform tow-back braking if the automatic braking mode is initiated; and
in the event that the automatic braking mode is initiated, a braking request is simultaneously sent to the electronic brake control module and mechanical braking is initiated.
The system according to an embodiment of the invention, wherein the ADAS module comprises at least one sensor, a data analysis unit and an alarm unit; wherein the at least one sensor is configured to detect a braking environment of the smart-driven vehicle; the data analysis unit is configured to determine whether to start an automatic braking mode according to the braking environment; the alarm unit is configured to perform an alarm prompt in case the automatic braking mode is activated.
A system according to another embodiment of the invention or any of the embodiments above, wherein the braking environment includes a preceding vehicle distance and a current deceleration of the smart-driven vehicle.
The system of another embodiment of the invention or any of the above embodiments, wherein the data analysis unit is further configured to determine a safe vehicle distance of the smart driving vehicle according to the braking environment, and when the front vehicle distance is smaller than the safe vehicle distance, the automatic braking mode is started until the front vehicle distance is equal to the safe vehicle distance.
The system according to another embodiment of the invention or any one of the above embodiments, wherein the data analysis unit is further configured to determine a safe deceleration of the smart-driven vehicle according to the braking environment, and when the current deceleration is less than the safe deceleration speed, the automatic braking mode is activated until the current deceleration is equal to the safe deceleration speed.
The system according to another embodiment of the invention or any one of the above embodiments, wherein the onboard controller is further configured to calculate a required braking torque according to information such as the safe deceleration, the current gear, the current deceleration, the braking pressure, etc., when the request for the drag torque is issued to the electric motor, and to transmit the required braking torque to the electric motor.
A system according to another embodiment of the invention or any of the embodiments above, wherein the system further comprises an ABS module configured to monitor in real time a slip rate of a driving wheel of the smart-driven vehicle and an ABS condition, and if the ABS condition is activated, brake effectiveness is maximized.
A system according to another embodiment of the invention or any of the embodiments above, wherein the requested braking torque does not exceed a value at an ABS enabled time.
A system according to another embodiment of the invention or any of the embodiments above, wherein the automatic braking mode comprises an emergency braking mode.
The main reference data of the system and the method for improving the braking delay of the intelligent driving vehicle are derived from the feedback of each sensor, and the feedback of the sensors has certain delay and error, so that the deviation of the calculation result is caused. In addition, since the reaction force of the motor and the braking force of the mechanical brake system are rapidly applied to the wheels, there is a possibility that an Antilock Brake System (ABS) may intervene, and the vehicle limits the request applied to the brake system when the ABS intervenes, thereby not affecting the safety of the vehicle.
The first aspect of the smart-driving vehicle brake delay improvement system and method according to the present invention has advantages in that: the solution is to send a request for a drag torque to the electric motor, in case of starting the automatic braking mode, by means of the electric motor of the electric vehicle or hybrid vehicle, such that its torque acts on the driveline forming a torque opposite to the forward direction, while a braking request is sent to the conventional mechanical braking system and the mechanical braking is started, the braking torque acting on the wheels via the braking device. The single braking of the traditional mechanical braking system is replaced by the sum of the back-dragging torque generated by the motor and the braking force generated by the braking system, so that the maximum braking capacity of the wheel is quickly realized, the braking time delay is reduced, the braking efficiency is improved, and the collision in emergency is avoided.
The second aspect of the smart-driving vehicle brake delay improvement system and method according to the present invention is advantageous in that: the braking method comprises the intervention of an anti-lock braking system (ABS), so that the locking risk in the process of dragging the vehicle backwards is avoided, and the driving safety is improved.
The invention patent named as 'an automatic driving and intelligent auxiliary driving oriented automobile brake-by-wire control system and control method thereof' relative to the application number CN201910551688.5 of the system and method for improving the brake delay of the intelligent driving vehicle according to the invention has a great difference from the scheme in the calculation method, and the effect generated by the original brake system is not considered when the torque distribution scheme is calculated.
The control strategy of the system and the method for improving the braking delay of the intelligent driving vehicle is greatly different from that of an invention patent with the application number of CN201811101742.8 and named as ADAS system, a control method, a device and a network device, and the patent only states that the control method is formed according to the deviation of a specified route and an actual route, the control is macroscopic global control, and the system and the method are not suitable for scenes with higher accuracy and high real-time requirement.
The invention relates to a brake delay improvement system and method of an intelligent driving vehicle, which is greatly different from the scheme of an invention patent with the application number of CN201810243184.2 named as 'automobile torque distribution method, device and system'.
Drawings
The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. The drawings comprise:
FIG. 1 is a schematic block diagram of a smart-driven vehicle braking delay improvement system 100 according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a braking system response according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram of a method 200 for improving brake delay of a smart-driven vehicle according to an embodiment of the present invention.
Detailed Description
In this specification, the invention is described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Words such as "comprising" and "comprises" mean that, in addition to having elements or steps which are directly and unequivocally stated in the description and the claims, the solution of the invention does not exclude other elements or steps which are not directly or unequivocally stated. Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.
The present invention is described below with reference to flowchart illustrations, block diagrams, and/or flow diagrams of methods and systems according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block and/or flow diagram block or blocks.
These computer program instructions may be loaded onto a computer or other programmable data processor to cause a series of operational steps to be performed on the computer or other programmable processor to produce a computer implemented process such that the instructions which execute on the computer or other programmable processor provide steps for implementing the functions or acts specified in the flowchart and/or block diagram block or blocks. It should also be noted that, in some alternative implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
Referring now to FIG. 1, FIG. 1 is a schematic block diagram of a smart-driving vehicle braking delay improvement system 100, according to an embodiment of the present invention. The latency improvement system 100 includes an ADAS module 110, an onboard controller 120, an electronic brake control module 140, and an electric motor 130. The system 100 may implement distributed electronic system control of the intelligent driving vehicle, motor control management of the intelligent driving vehicle, and connection and communication of each sensor and the like through a Local Interconnect Network (LIN) bus, a Controller Area Network (CAN) bus, hardware, and the like.
The ADAS module 110 according to the present embodiment comprises at least one sensor 111, a data analysis unit 112 and an alarm unit 113. Among them, the sensor 111 is configured to detect a braking environment of the smart driving vehicle, such as a vehicle position, a distance from a preceding vehicle or an obstacle, a speed and deceleration of the vehicle, and the like, and transmit the detected information to the data analysis unit 112. The data analysis unit 112 is configured to determine a safe vehicle distance of the smart driving vehicle based on the braking environment information provided by the sensor 111. When the front vehicle separation of the vehicle is less than the system safe separation, the data analysis unit 112 will initiate an automatic braking mode (including but not limited to an emergency braking mode) until the front vehicle separation of the vehicle is equal to the safe separation, and then turn off the automatic braking mode. The data analysis unit 112 may be further configured to determine a safe deceleration of the smart-driven vehicle based on the braking environment information provided by the sensor 111. The data analysis unit 112 will also initiate an automatic braking mode (including but not limited to an emergency braking mode) when the current deceleration of the vehicle is less than the safe deceleration, and will turn off the automatic braking mode until the current deceleration of the vehicle equals the safe deceleration. The alarm unit 113 may be configured to perform an alarm alert in case of activating the automatic braking mode, and may further display an alarm alert message on an alarm display or a vehicle control panel.
The on-board controller 120 may be configured to send a request for a drag torque to the motor in case of starting the automatic braking mode, and may calculate a required braking torque according to braking environment information such as a safe deceleration, a current gear, a current deceleration, a braking pressure, etc. of the vehicle fed back by the sensor 111, and send the required braking torque to the motor 130 and control the smart driving vehicle to perform drag braking. The on-board controller 120 may be further configured to simultaneously send a braking request to the electronic brake control module 140 and initiate mechanical braking if the autobraking mode is initiated.
The smart driving vehicle brake delay improving system 100 according to an embodiment of the present invention may further include an ABS module. The ABS module may be configured to monitor a slip rate of a driving wheel of the smart driving vehicle and an ABS state in real time, and automatically control a magnitude of a braking force so that the wheel is not locked, thereby being in a state of rolling while slipping (e.g., a slip rate of about 20%) to ensure that an adhesion of the wheel to the ground is at a maximum. If the ABS condition is activated, braking effectiveness is maximized. Furthermore, the value of the required braking torque should not exceed the value at the ABS enabled time.
Referring now to FIG. 2, FIG. 2 is a schematic illustration of a braking system response according to an embodiment of the present invention. The automatic braking process of a vehicle is generally divided into the following phases: in the first stage, a vehicle-mounted controller sends a braking request to an electronic braking module; in the second stage, the electronic braking module responds in a delayed manner; in the third stage, the braking effectiveness is gradually established; in the fourth phase, the vehicle is continuously braked with the maximum braking capacity.
In the implementation of these several phases, the time consumed by the electronic brake module response (typically around 200 ms) and the establishment of braking effectiveness (typically around 500 ms) has a great influence on the overall braking effectiveness. If the response time is too long, the braking effect will be greatly reduced, resulting in a vehicle collision. According to the method, as the motor has extremely quick torque response (response time is about millisecond level) from receiving the drag torque request sent by the vehicle-mounted controller, the scheme provides a motor torque response strategy under the automatic braking condition as shown in figure 1, so that double braking force response of the motor drag torque and a mechanical braking system is realized, the maximum braking force effect is realized by acceleration, the braking distance is reduced, and the aim of avoiding or slowing down collision is fulfilled
A conventional mechanical braking process is shown as a, b in fig. 2. First, the on-board controller of the vehicle is at t0And sending a braking request to the electronic braking module at any moment, receiving the braking request by the electronic braking module after a certain time delay, and starting to establish braking force after another time delay. After another delay, the braking force is then t1The moment causes the wheel to decelerate. With a delay from the transmission of the braking signal to the generation of the braking effect, e.g. t in fig. 20-t1As shown, this delay may come from the response of conventional mechanical structures, brake pressureBuild-up, elimination of brake disc (drum) clearance, etc., and this delay is only possible to reduce and not possible to eliminate. Secondly, the process from the generation of the braking effect to the maximum is t1-t2This is shown as b and c in FIG. 2. The technical scheme of the invention aims to solve the problem that in the delay time process, the torque control strategy is optimized, the braking effect is increased in a short time, and the maximum response time delta t (namely t) of braking is realized2-t0) Foreshortening (as shown by d in figure 2).
Referring now to FIG. 3, FIG. 3 is a schematic flow diagram of a method 200 for improving brake delay of a smart-driven vehicle according to an embodiment of the present invention. As shown, in step S301, the braking environment of the smart driving vehicle is detected by a sensor. In step S302, the data analysis unit determines whether the automatic braking mode is activated according to the braking environment. In step S303, the data analysis unit determines a safe deceleration of the vehicle.
Wherein according to the vehicle dynamics formula:
wherein
Is the rolling resistance,
For air resistance,
Is the resistance of the ramp,
For accelerating resistance,
Is the rotational mass coefficient.
Equation (2) minus equation (1), i.e., the deceleration change, the difference is caused by the drag torque of the driving motor and the braking system action (the electronic braking module does not yet exert the braking action at the initial time), so the braking force generated at the initial time is:
wherein
The one-to-one correspondence relationship between the braking pressure and the deceleration can be obtained through tests for the deceleration generated by the braking system in real time.
The required braking torque may be calculated by the following equation:
wherein
For the required braking torque,
Is the transmission ratio of the speed changer,
Is mainly composed ofThe transmission ratio of the reducer,
Is the wheel radius.
The required braking torque is sent to the motor at the maximum torque change rate required for ensuring the running stability of the vehicle, and the motor is ensured to quickly respond to the torque request, so that the vehicle is quickly braked. The onboard controller simultaneously sends a deceleration request to the electronic control module, which starts to operate, with the final effect shown as d in fig. 2.
In step S303, the magnitude of the braking torque is adjusted in real time according to the current deceleration fed back by the sensor and the interpolation of the safe deceleration fed back by the data analysis unit as the input of the closed-loop control (step S305), and the actual deceleration of the vehicle is gradually increased to the safe deceleration (steps S305 and S306) until the automatic braking is finished (step S308) as the electronic control module is gradually activated.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.
Claims (18)
1. An intelligent driving vehicle brake delay improving method is characterized by comprising the following steps:
detecting a braking environment of the smart-driving vehicle;
judging whether an automatic braking mode is started or not according to the braking environment;
in the case of initiating an automatic braking mode, sending a request for a tow-back torque to a motor and controlling the smart driving vehicle to perform tow-back braking; and
in the case of the automatic braking mode being activated, a braking request is sent and the mechanical braking is activated at the same time.
2. The method of claim 1, further comprising the steps of:
and acquiring the front distance of the intelligent driving vehicle, and judging the safe distance of the intelligent driving vehicle according to the braking environment.
3. The method of claim 2, further comprising the steps of:
and when the front vehicle distance is smaller than the safe vehicle distance, starting the automatic braking mode until the front vehicle distance is equal to the safe vehicle distance.
4. The method of claim 1, further comprising the steps of:
and acquiring the current deceleration of the intelligent driving vehicle, and judging the safe deceleration of the intelligent driving vehicle according to the braking environment.
5. The method of claim 4, further comprising the steps of:
when the current deceleration is less than the safe deceleration, the automatic braking mode is activated until the current deceleration is equal to the safe deceleration.
6. The method according to claim 3 or 5, characterized in that the method further comprises the steps of:
when the drag torque request is issued to the electric machine, a desired braking torque is calculated and sent to the electric motor.
7. The method of claim 6, further comprising the steps of:
the slip rate of the drive wheels of the smart-drive vehicle and the ABS state are monitored in real time, and if the ABS state is activated, the braking effectiveness is maximized.
8. The method of claim 7, wherein the desired braking torque does not exceed the value at the ABS enabled time.
9. The method of claim 8, wherein the automatic braking mode comprises an emergency braking mode.
10. An intelligent driving vehicle brake delay improvement system is characterized by comprising an ADAS module, a vehicle-mounted controller, an electronic brake control module and a motor;
wherein the on-board controller is configured to,
in the case of initiating an automatic braking mode, sending a request for a tow-back torque to a motor and controlling the smart driving vehicle to perform tow-back braking; and
in the event that an automatic braking mode is initiated, a braking request is simultaneously sent to the electronic brake control module and mechanical braking is initiated.
11. The system of claim 10, wherein the ADAS module comprises at least one sensor, a data analysis unit, and an alarm unit; wherein the content of the first and second substances,
the at least one sensor is configured to detect a braking environment of the smart-driven vehicle;
the data analysis unit is configured to determine whether to start an automatic braking mode according to the braking environment;
the alarm unit is configured to perform an alarm prompt in case the automatic braking mode is activated.
12. The system of claim 11, wherein the braking environment includes a preceding vehicle distance and a current deceleration of the smart driving vehicle.
13. The system of claim 12, wherein the data analysis unit is further configured to determine a safe vehicle distance of the smart driving vehicle based on the braking environment, and when the front vehicle distance is less than the safe vehicle distance, the automatic braking mode is enabled until the front vehicle distance is equal to the safe vehicle distance.
14. The system of claim 12, wherein the data analysis unit is further configured to determine a safe deceleration of the smart-driven vehicle based on the braking environment, and when the current deceleration is less than the safe deceleration speed, the automatic braking mode is initiated until the current deceleration is equal to the safe deceleration.
15. The system of claim 13 or 14, wherein the onboard controller is further configured to calculate a required braking torque based on information of the safe deceleration, current gear, current deceleration, braking pressure, etc., and to send the required braking torque to the electric motor when the request for drag torque is issued to the electric motor.
16. The system of claim 15, further comprising an ABS module configured to monitor slip rate of a drive wheel of the smart-drive vehicle and ABS status in real time, and if the ABS status is activated, brake effectiveness to a maximum.
17. The system of claim 16, wherein the desired braking torque does not exceed the value at the ABS enabled time.
18. The system of claim 17, wherein the automatic braking mode comprises an emergency braking mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429804.9A CN113696863A (en) | 2020-05-20 | 2020-05-20 | System and method for improving braking delay of intelligent driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429804.9A CN113696863A (en) | 2020-05-20 | 2020-05-20 | System and method for improving braking delay of intelligent driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113696863A true CN113696863A (en) | 2021-11-26 |
Family
ID=78645525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010429804.9A Pending CN113696863A (en) | 2020-05-20 | 2020-05-20 | System and method for improving braking delay of intelligent driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113696863A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407856A (en) * | 2022-02-14 | 2022-04-29 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114889567A (en) * | 2022-06-29 | 2022-08-12 | 重庆长安新能源汽车科技有限公司 | Automobile auxiliary parking control method, system, equipment, medium and program |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717714A (en) * | 2012-06-08 | 2012-10-10 | 北京汽车新能源汽车有限公司 | Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal) |
| CN104924913A (en) * | 2014-03-18 | 2015-09-23 | 通用汽车环球科技运作有限责任公司 | Normalizing deceleration of a vehicle having a regenerative braking system |
| CN105313864A (en) * | 2015-11-11 | 2016-02-10 | 吉林大学 | Commercial automobile semitrailer braking force distribution method based on feedback control |
| CN105911989A (en) * | 2016-04-28 | 2016-08-31 | 财团法人车辆研究测试中心 | Combined type automatic auxiliary driving decision system and method |
| CN108860125A (en) * | 2017-08-30 | 2018-11-23 | 长城汽车股份有限公司 | A kind of emergency braking control method, device and ECU |
| CN108859781A (en) * | 2018-06-19 | 2018-11-23 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle braking deceleration closed-loop control device and control method |
| CN108909710A (en) * | 2018-04-25 | 2018-11-30 | 江苏大学 | It is a kind of to overtake other vehicles the driving assistance method and system of operating condition applied to piggybacking |
| CN109318877A (en) * | 2018-09-11 | 2019-02-12 | 南京金龙新能源汽车研究院有限公司 | A kind of working method for the security system carrying out active brake using regenerative braking |
| CN109572695A (en) * | 2018-11-08 | 2019-04-05 | 湖南汽车工程职业学院 | A kind of autonomous driving vehicle Car following control method and system |
| CN110395276A (en) * | 2019-06-26 | 2019-11-01 | 北京全路通信信号研究设计院集团有限公司 | A kind of control method and system detecting vehicle braking force |
| CN111055825A (en) * | 2019-12-26 | 2020-04-24 | 上海擎度汽车科技有限公司 | Redundant dynamic braking backup scheme for electronic parking system |
-
2020
- 2020-05-20 CN CN202010429804.9A patent/CN113696863A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717714A (en) * | 2012-06-08 | 2012-10-10 | 北京汽车新能源汽车有限公司 | Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal) |
| CN104924913A (en) * | 2014-03-18 | 2015-09-23 | 通用汽车环球科技运作有限责任公司 | Normalizing deceleration of a vehicle having a regenerative braking system |
| CN105313864A (en) * | 2015-11-11 | 2016-02-10 | 吉林大学 | Commercial automobile semitrailer braking force distribution method based on feedback control |
| CN105911989A (en) * | 2016-04-28 | 2016-08-31 | 财团法人车辆研究测试中心 | Combined type automatic auxiliary driving decision system and method |
| CN108860125A (en) * | 2017-08-30 | 2018-11-23 | 长城汽车股份有限公司 | A kind of emergency braking control method, device and ECU |
| CN108909710A (en) * | 2018-04-25 | 2018-11-30 | 江苏大学 | It is a kind of to overtake other vehicles the driving assistance method and system of operating condition applied to piggybacking |
| CN108859781A (en) * | 2018-06-19 | 2018-11-23 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle braking deceleration closed-loop control device and control method |
| CN109318877A (en) * | 2018-09-11 | 2019-02-12 | 南京金龙新能源汽车研究院有限公司 | A kind of working method for the security system carrying out active brake using regenerative braking |
| CN109572695A (en) * | 2018-11-08 | 2019-04-05 | 湖南汽车工程职业学院 | A kind of autonomous driving vehicle Car following control method and system |
| CN110395276A (en) * | 2019-06-26 | 2019-11-01 | 北京全路通信信号研究设计院集团有限公司 | A kind of control method and system detecting vehicle braking force |
| CN111055825A (en) * | 2019-12-26 | 2020-04-24 | 上海擎度汽车科技有限公司 | Redundant dynamic braking backup scheme for electronic parking system |
Non-Patent Citations (1)
| Title |
|---|
| 连级三: "《电传动机车概论》", 31 December 2021, 成都：西南交通大学出版社, pages: 47 - 49 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407856A (en) * | 2022-02-14 | 2022-04-29 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114407856B (en) * | 2022-02-14 | 2023-08-18 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114889567A (en) * | 2022-06-29 | 2022-08-12 | 重庆长安新能源汽车科技有限公司 | Automobile auxiliary parking control method, system, equipment, medium and program |
| CN114889567B (en) * | 2022-06-29 | 2023-05-23 | 重庆长安新能源汽车科技有限公司 | Automobile auxiliary parking control method, system, equipment, medium and program |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107010028B (en) | Anti-collision system and control method of electric automobile and electric automobile | |
| US10239526B2 (en) | Adaptive cruise control system | |
| KR102173984B1 (en) | Apparatus for controlling brake of autonomous driving vehicle | |
| US9956959B2 (en) | Method for controlling a delay device of a vehicle | |
| JP4254936B2 (en) | Vehicle alarm generator | |
| CN109017736B (en) | Electric brake compensation control method and device and automobile | |
| CN108025651A (en) | Electric vehicle with the braking system and method for braking system, controller and computer program | |
| US20100280726A1 (en) | Prevention of a rear crash during an automatic braking intervention by a vehicle safety system | |
| CN113400944B (en) | Brake recovery method and device for autonomous vehicle, vehicle and storage medium | |
| JP6515040B2 (en) | Vehicle control device | |
| US20220258708A1 (en) | Method and apparatus for braking a utility vehicle with an electric drive | |
| CN106926709B (en) | Braking energy recovery device and method and light electric vehicle | |
| US9393938B2 (en) | Vehicular brake control apparatus | |
| CN113696863A (en) | System and method for improving braking delay of intelligent driving vehicle | |
| JP7494739B2 (en) | Vehicle control device | |
| CN108545071B (en) | Regenerative braking control method for cooperative control of hydraulic braking and electric braking | |
| CN114537345A (en) | Braking method, braking system and vehicle | |
| US20110202215A1 (en) | Method and device for operating a hybrid drive of a vehicle | |
| US11691520B2 (en) | System for an electrically driven vehicle, vehicle having same and method for same | |
| EP4063982A1 (en) | Parking control method and device, vehicle control unit, and new-energy vehicle | |
| CN114148324B (en) | Cruise control method and device for vehicle, vehicle and storage medium | |
| JP2005343248A (en) | Parking assist brake controlling device | |
| KR102446142B1 (en) | Apparatus for controlling brake of autonomous driving vehicle | |
| CN115071445A (en) | New energy vehicle crawling control method and system | |
| CN114312349A (en) | Pure electric vehicle slow speed driving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |