CN114103999A - Emergency braking control method, device, equipment and storage medium - Google Patents
Emergency braking control method, device, equipment and storage medium Download PDFInfo
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- CN114103999A CN114103999A CN202111461207.5A CN202111461207A CN114103999A CN 114103999 A CN114103999 A CN 114103999A CN 202111461207 A CN202111461207 A CN 202111461207A CN 114103999 A CN114103999 A CN 114103999A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims description 36
- 238000004590 computer program Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 5
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Transmission Device (AREA)
- Regulating Braking Force (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The application provides an emergency braking control method, an emergency braking control device, computer equipment and a computer readable storage medium, wherein after the situation that a vehicle does not react when a conventional braking operation is carried out is determined, whether emergency braking is allowed to be started or not is determined according to the power supply quantity of a gearbox; if the emergency brake is allowed to be started, the gearbox is controlled to brake according to the working condition of the vehicle, the vehicle can be stopped in time under the condition that both the foot brake and the hand brake are out of order, and the situation that the vehicle continues to run under the condition that the brake cannot be performed is avoided, so that great potential safety hazards are avoided.
Description
Technical Field
The present disclosure relates to the field of automotive braking control technologies, and in particular, to an emergency braking control method, an emergency braking control device, a computer device, and a computer-readable storage medium.
Background
At present, automatic driving or unmanned vehicles use sensors to monitor electronic controller data and environmental information to determine the current working condition, and judge whether braking is needed according to the current working condition, if the current working condition needs braking, the pressure of a wheel cylinder is controlled by a foot brake function to brake, or a brake shoe or a brake caliper is controlled by an electronic hand brake function to perform emergency braking, if the foot brake function and the electronic hand brake function can not work normally or fail, the vehicle can not perform emergency braking and stop, and the vehicle is very dangerous when the vehicle can not perform braking. It is therefore desirable to provide a method of providing emergency braking to stop a vehicle in a timely manner when both the service brake function and the electronic hand brake function fail.
Disclosure of Invention
The application mainly aims to provide an emergency braking control method, an emergency braking control device, computer equipment and a computer readable storage medium, and aims to solve the technical problem that emergency braking cannot be performed to stop when a foot brake and an electronic hand brake are in failure.
In a first aspect, the present application provides an emergency braking control method, the method comprising the steps of:
after determining that the vehicle does not react when performing the conventional braking operation, determining whether to allow the emergency brake to be started according to the power supply amount of the gearbox;
and if the emergency brake is allowed to be started, controlling the gearbox to brake according to the working condition of the vehicle.
In some embodiments, controlling the transmission to brake based on vehicle operating conditions comprises:
determining whether the vehicle speed is less than a preset vehicle speed or not and whether the rotating speed of an output shaft of the gearbox is less than a preset rotating speed or not;
if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, controlling the gearbox to be engaged into a corresponding gear to decelerate according to the direction of the vehicle speed;
and if the vehicle speed is less than the preset vehicle speed and the rotating speed of the output shaft of the gearbox is less than the preset rotating speed, controlling the gearbox to be engaged in the P gear.
In some embodiments, the controlling the gearbox to be engaged into the corresponding gear for deceleration according to the vehicle speed direction includes:
the speed direction is forward, and the gearbox is controlled to open the clutch and engage the 1 st gear;
and controlling the gearbox to open the clutch and engage the R gear when the vehicle speed direction is backward.
In some embodiments, after the controlling the transmission to engage the corresponding gear according to the vehicle speed direction, the method further includes:
and controlling the gearbox to pressurize the clutch so as to generate sliding friction of the clutch of the gearbox.
In some embodiments, after controlling the transmission to pressurize the clutch, the method further comprises:
after the preset time, determining whether the vehicle speed is less than the preset vehicle speed or not again, and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed or not;
and if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, the gearbox is controlled to pressurize the clutch until the engine is rigidly connected with the differential through the clutch, so that the engine generates mechanical friction.
In some embodiments, the determining the gear engaged by the transmission according to the vehicle speed direction further includes:
the transmission is configured to be unresponsive to control thereof if the engine is operating.
In some embodiments, determining whether to allow the emergency brake to be activated based on the amount of power supplied to the transmission comprises:
if the power supply amount of the gearbox is larger than the set power supply amount, the emergency brake is allowed to be started;
and if the power supply amount of the gearbox is less than or equal to the set power supply amount, the emergency brake is not allowed to be started.
In a second aspect, the present application also provides an emergency braking device, the device comprising:
a determination module for determining whether to allow the emergency brake to be turned on according to a power supply amount of a transmission after determining that the vehicle does not react to the normal braking operation;
and the control module is used for controlling the gearbox to brake according to the working condition of the vehicle if the emergency brake is allowed to be started.
In some embodiments, the determining module is further configured to determine whether the vehicle speed is less than a preset vehicle speed and whether the rotation speed of the output shaft of the gearbox is less than a preset rotation speed;
the control module is also used for controlling the gearbox to be engaged into a corresponding gear to decelerate according to the direction of the vehicle speed if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of the output shaft of the gearbox is greater than or equal to a preset rotating speed;
and if the vehicle speed is less than the preset vehicle speed and the rotating speed of the output shaft of the gearbox is less than the preset rotating speed, controlling the gearbox to be engaged in the P gear.
In some embodiments, the control module is further configured to control the transmission to open the clutch and engage gear 1 when the vehicle speed direction is forward; and when the vehicle speed direction is backward, controlling the gearbox to open the clutch and engage the R gear.
In some embodiments, the control module is further configured to control the transmission to pressurize the clutch, such that the clutch of the transmission generates sliding friction.
In some embodiments, the determining module is further configured to determine again whether the vehicle speed is less than the preset vehicle speed and whether the rotational speed of the output shaft of the gearbox is less than the preset rotational speed after a preset time;
the controller is also used for controlling the gearbox to pressurize the clutch to an engine to generate rigid connection through the clutch and the differential if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of the output shaft of the gearbox is greater than or equal to a preset rotating speed, so that the engine generates mechanical friction.
In some embodiments, the determining module is further configured to configure the transmission to be unresponsive to control thereof if the engine is operating.
In some embodiments, the determining module is further configured to allow the emergency braking function to be turned on if the power supply amount of the transmission is greater than a set power supply amount;
and if the power supply amount of the gearbox is less than or equal to the set power supply amount, the emergency brake is not allowed to be started.
In a third aspect, the present application also provides a computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the emergency braking control method as described above.
In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the emergency braking control method as described above.
The beneficial effect that technical scheme that this application provided brought includes: can be when service brake and electron manual brake all became invalid, can control the vehicle and carry out emergency braking and in time park.
The application provides an emergency braking control method, an emergency braking control device, computer equipment and a computer readable storage medium, wherein after the situation that a vehicle does not react when a conventional braking operation is carried out is determined, whether emergency braking is allowed to be started or not is determined according to the power supply quantity of a gearbox; if the emergency brake is allowed to be started, the gearbox is controlled to brake according to the working condition of the vehicle, the vehicle can be stopped in time under the condition that both the foot brake and the hand brake are out of order, and the situation that the vehicle continues to run under the condition that the brake cannot be performed is avoided, so that great potential safety hazards are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of an emergency braking control method according to an embodiment of the present disclosure;
fig. 2 is a detailed flowchart of an emergency braking control method according to an embodiment of the present application;
fig. 3 is a schematic block diagram of an emergency braking control device according to an embodiment of the present application;
fig. 4 is a block diagram illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The embodiment of the application provides an emergency braking control method and device, computer equipment and a computer readable storage medium. The method can be applied to computer equipment, and the computer equipment can be electronic equipment such as a notebook computer and a desktop computer.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method according to an embodiment of the present application.
As shown in fig. 1, the method includes steps S1 through S2.
Step S1, exemplarily, after determining that the vehicle does not react to the normal braking operation, determining whether to allow the emergency brake to be started according to the power supply amount of the gearbox;
and S102, if the emergency brake is allowed to be started, controlling the gearbox to brake according to the working condition of the vehicle.
It is worth mentioning that the emergency braking method of the present application is performed after the vehicle has been unresponsive to a conventional braking operation, and the method utilizes the characteristic of the vehicle that the engine is connected to the wheels through the transmission. If the speed of the vehicle is not reduced along with the brake operation speed after the brake operation is performed by the conventional foot brake or the electronic hand brake, the foot brake or the electronic hand brake at the moment may be in failure or invalid, and if the foot brake or the electronic hand brake is invalid, the vehicle cannot be braked and continuously runs dangerously, so that the vehicle needs to be emergently braked to stop.
As a preferred embodiment, referring to fig. 2, after determining that the vehicle does not respond to the normal braking operation, the emergency braking signal is received, and it is determined whether the power supply amount of the transmission satisfies the power supply amount that allows the emergency braking to be turned on, because the emergency braking in this embodiment is performed by controlling the transmission, if the power supply amount of the transmission is less than or equal to the preset power supply amount that allows the emergency braking to be turned on, the power supply amount of the transmission is insufficient, so that the transmission cannot perform the corresponding operation according to the control, and at this time, the emergency braking cannot be performed. If the power supply amount of the gearbox is larger than the preset power supply amount, the gearbox has enough power supply power and can allow the emergency brake to be started. Wherein the transmission power supply amount allowed to turn on the emergency brake, which is preset in the present embodiment, is 12V.
Furthermore, after the emergency brake is started, the speed and the rotating speed of the output shaft of the gearbox are read through the whole vehicle message. And determining whether the vehicle speed is less than the preset vehicle speed or not and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed or not. If the speed of the vehicle is greater than or equal to the set speed or the rotating speed of the output shaft of the gearbox is greater than or equal to the set rotating speed, the gearbox can be damaged by directly braking and stopping at the moment, danger is generated, the vehicle needs to be controlled to slow down firstly, and then braking and stopping are carried out. In the embodiment, the preset vehicle speed is 2KPH, and the preset rotating speed of the output shaft of the gearbox is set to 1000 RPM.
It should be noted that, in the running process of the vehicle, there are two modes of forward and backward movement, the vehicle forward speed direction is also forward, the vehicle backward speed direction is also backward, and the direction of rotation of the output shaft of the gearbox also has two directions of forward rotation and backward rotation.
In a preferred embodiment, when the vehicle speed is greater than or equal to a set vehicle speed and the rotation speed of the output shaft of the gearbox is greater than the set rotation speed, the deceleration method comprises the steps of judging that the vehicle speed direction is forward or backward after the engine is stopped, controlling the gearbox to be in a gear position corresponding to the vehicle speed direction according to the vehicle speed direction, and decelerating the vehicle by using the engine to drag backwards. And when the vehicle speed direction is the forward direction, controlling the gearbox to open the clutch, and controlling the gearbox to be in 1 gear, wherein the 1 gear is the minimum forward gear. After the 1-gear is engaged, the clutch is controlled to be slowly closed, the specific method is that the gearbox is controlled to pressurize the inner clutch and the outer clutch, the input end of the clutch is connected with the engine in the pressurizing process, so that a cylinder piston in the engine generates resistance to generate friction, the inner clutch and the outer clutch generate sliding friction, the vehicle is decelerated, and if the gearbox is already in the 1-gear, the gearbox is directly controlled to pressurize the clutch.
Further, if the direction of the vehicle speed is determined, and the direction of the vehicle speed is a reverse direction, the gearbox is controlled to open the clutch, and the gearbox is controlled to be in an R gear which is a reverse gear. After the R gear is engaged, the clutch is controlled to be slowly closed, the specific closing method is that the gearbox is controlled to pressurize the inner clutch and the outer clutch, the input end of the clutch is connected with the engine in the pressurizing process, so that a cylinder piston in the engine generates resistance to generate friction, the inner clutch and the outer clutch generate sliding friction, the vehicle is decelerated, and if the gearbox is in the R gear, the gearbox is directly controlled to pressurize the clutch. On the other hand, controlling the gearbox to engage a low gear at this time enables a drag-down deceleration of the engine, since the engine is stopped at this time.
Further, the transmission is configured to be unresponsive to the shift control thereof while the engine is still operating. When the engine is stopped, the gearbox is controlled to be connected into a low-speed gear to form the back-dragging of the engine to achieve the aim of speed reduction, and if the engine is in a working state and power input is carried out, the back-dragging speed reduction of the engine cannot be formed through gear shifting. And only after the engine is controlled to stop, the gearbox is continuously controlled to carry out gear engaging operation.
It is worth mentioning that after the speed of the transmission is controlled to be engaged into the corresponding gear according to the speed of the vehicle and the direction of the speed of the vehicle, the speed of the transmission is reduced, and after a preset time, whether the speed of the vehicle is less than the preset speed of the vehicle and whether the rotating speed of the output shaft of the transmission is less than the preset rotating speed are determined again. And if the vehicle speed is still greater than or equal to the preset vehicle speed, the rotating speed of the output shaft of the gearbox is still greater than or equal to the preset rotating speed, and at the moment, the gearbox is already in the corresponding gear, and the gearbox is controlled to continuously pressurize the clutch. And the circulation is carried out until the clutch is closed after pressurization, after the clutch is closed, the inner clutch and the outer clutch are simultaneously in rigid connection with the differential through the output shaft, the engine is in rigid connection with the differential through the clutch, the engine is dragged backwards to generate mechanical friction, and the wheels can be locked after the differential is locked because the wheels and the differential are also in rigid connection, so that the aim of stopping the vehicle is fulfilled.
Further, when the vehicle speed is less than the set vehicle speed and the rotating speed of the output shaft of the gearbox is less than the set rotating speed, the vehicle speed is slow at the moment, the clutch can be controlled to be opened by controlling the gearbox, the gearbox is controlled to be in a P gear, and the P gear is a parking gear. At the moment, the vehicle speed is small, the vehicle can be stopped by engaging the P gear through the gear locking mechanism, the purpose of rapid parking is achieved, and the vehicle cannot be damaged by engaging the P gear when the vehicle speed is small.
As a preferred embodiment, the first acquired vehicle speed can be controlled to be less than the set vehicle speed, the rotating speed of the output shaft of the gearbox is controlled to be less than the set rotating speed, and the gearbox is directly controlled to be in the P gear for parking; or when the obtained vehicle speed is greater than or equal to the set vehicle speed, the rotating speed of the output shaft of the gearbox is greater than or equal to the set rotating speed, and after the vehicle speed and the rotating speed of the output shaft of the gearbox meet set conditions, the gearbox is controlled to be in a P gear to stop the vehicle; or after the gearbox is connected with a corresponding gear, and the vehicle stops after clutch pressurization is completed and the vehicle is completely closed, the gearbox is controlled to be connected with the gear P, so that the parking function is achieved, and vehicle sliding is prevented.
Referring to fig. 3, fig. 3 is a schematic block diagram of an emergency braking control device according to an embodiment of the present disclosure.
As shown in fig. 3, the apparatus includes: the device comprises a determination module and a control module.
A determination module for determining whether to allow the emergency brake to be turned on according to a power supply amount of a transmission after determining that the vehicle does not react to the normal braking operation;
and the control module is used for controlling the gearbox to brake according to the working condition of the vehicle if the emergency brake is allowed to be started.
The determining module is further configured to determine whether the conventional braking of the vehicle is normal, receive an emergency braking signal after determining that the vehicle does not respond when the conventional braking operation is performed, and determine whether the power supply amount of the transmission meets the power supply amount allowing the emergency braking to be started. If the power supply amount of the gearbox is larger than the preset power supply amount, the gearbox has enough power supply power to allow the emergency brake to be started, wherein the preset power supply amount of the gearbox allowing the emergency brake to be started is 12V in the embodiment.
Furthermore, the determining module is also used for reading the speed and the rotating speed of the output shaft of the gearbox through the whole vehicle message after the emergency brake is started. And determining whether the vehicle speed is less than the preset vehicle speed or not and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed or not. If the speed of the vehicle is greater than or equal to the set speed or the rotating speed of the output shaft of the gearbox is greater than or equal to the set rotating speed, the gearbox can be damaged by directly braking and stopping at the moment, danger is generated, the vehicle needs to be controlled to slow down firstly, and then braking and stopping are carried out. In the embodiment, the preset vehicle speed is 2KPH, and the preset rotating speed of the output shaft of the gearbox is set to 1000 RPM.
It should be noted that, in the running process of the vehicle, there are two forward and backward modes, the forward speed of the vehicle is positive, the backward speed of the vehicle is negative, and the rotation direction of the output shaft of the gearbox also has two directions of positive rotation and reverse rotation.
As a preferred embodiment, when the vehicle speed and the rotation speed of the output shaft of the gearbox are read, the vehicle speed is greater than or equal to a set vehicle speed, and the rotation speed of the output shaft of the gearbox is greater than a set rotation speed, the determining module is further configured to determine that the vehicle speed is in a forward or backward direction after the engine has been stopped;
furthermore, the control module is used for controlling the gearbox to be engaged into a gear corresponding to the speed direction of the vehicle according to the speed direction of the vehicle, and the engine is used for dragging the vehicle backwards to decelerate the vehicle. And when the vehicle speed direction is the forward direction, controlling the gearbox to open the clutch, and controlling the gearbox to be in 1 gear, wherein the 1 gear is the minimum forward gear. After the 1-gear is engaged, the clutch is controlled to be slowly closed, the specific method is that the gearbox is controlled to pressurize the inner clutch and the outer clutch, the input end of the clutch is connected with the engine in the pressurizing process, so that a cylinder piston in the engine generates resistance to generate friction, the inner clutch and the outer clutch generate sliding friction, the vehicle is decelerated, and if the gearbox is already in the 1-gear, the gearbox is directly controlled to pressurize the clutch.
Further, the control module is further configured to, if the direction of the vehicle speed is determined and the direction of the vehicle speed is a reverse direction, control the transmission to open the clutch and control the transmission to engage the R gear, where the R gear is a reverse gear. After the R gear is engaged, the clutch is controlled to be slowly closed, the specific closing method is that the gearbox is controlled to pressurize the inner clutch and the outer clutch, the input end of the clutch is connected with the engine in the pressurizing process, so that a cylinder piston in the engine generates resistance to generate friction, the inner clutch and the outer clutch generate sliding friction, the vehicle is decelerated, and if the gearbox is in the R gear, the gearbox is directly controlled to pressurize the clutch. On the other hand, controlling the gearbox to engage a low gear at this time enables a drag-down deceleration of the engine, since the engine is stopped at this time.
Further, the emergency brake control means is also adapted to configure the gearbox not to respond to the gear engagement control thereof in a state in which the engine is still operating. When the engine is stopped, the gearbox is controlled to be connected into a low-speed gear to form the back-dragging of the engine to achieve the aim of speed reduction, and if the engine is in a working state and power input is carried out, the back-dragging speed reduction of the engine cannot be formed through gear shifting. And only after the engine is controlled to stop, the gearbox is continuously controlled to carry out gear engaging operation.
It is worth mentioning that the control module is used for controlling the gearbox to be engaged into the corresponding gear according to the vehicle speed and the vehicle speed direction, and then reducing the vehicle speed, and the determination module is also used for determining whether the vehicle speed is less than the preset vehicle speed and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed again after the preset time. And if the vehicle speed is still greater than or equal to the preset vehicle speed, the rotating speed of the output shaft of the gearbox is still greater than or equal to the preset rotating speed, and at the moment, the gearbox is already in the corresponding gear, and the gearbox is controlled to continuously pressurize the clutch. And the circulation is performed until the clutch is closed after pressurization, at the moment, the inner clutch and the outer clutch are in rigid connection with the differential mechanism through the output shaft, the engine is in rigid connection with the differential mechanism through the clutch, the engine is dragged backwards to generate mechanical friction, and the wheels are locked after the differential mechanism is locked because the wheels and the differential mechanism are also in rigid connection, so that the aim of stopping the vehicle is fulfilled.
Furthermore, the emergency braking device is also used for controlling the gearbox to control the clutch to be opened when the vehicle speed is less than the set vehicle speed and the rotating speed of the output shaft of the gearbox is less than the set rotating speed, so that the gearbox is controlled to be in a P gear, and the P gear is a parking gear. At the moment, the vehicle speed is small, the vehicle can be stopped by engaging the P gear through the gear locking mechanism, the purpose of rapid parking is achieved, and the vehicle cannot be damaged by engaging the P gear when the vehicle speed is small.
Furthermore, the emergency braking device is also used for presetting several conditions of engaging the P gear, controlling the first acquired vehicle speed to be less than the set vehicle speed and the rotating speed of the output shaft of the gearbox to be less than the set rotating speed, and directly controlling the gearbox to engage the P gear for parking; or when the obtained vehicle speed is greater than or equal to the set vehicle speed, the rotating speed of the output shaft of the gearbox is greater than or equal to the set rotating speed, and after the vehicle speed and the rotating speed of the output shaft of the gearbox meet preset conditions, the gearbox is controlled to be in a P gear to stop the vehicle; or after the gearbox is connected with a corresponding gear, and the vehicle stops after clutch pressurization is completed and the vehicle is completely closed, the gearbox is controlled to be connected with the gear P, so that the parking function is achieved, and vehicle sliding is prevented.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the apparatus and the modules and units described above may refer to the corresponding processes in the foregoing embodiments, and are not described herein again.
The apparatus provided by the above embodiments may be implemented in the form of a computer program, which can be run on a computer device as shown in fig. 4.
Referring to fig. 4, fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present disclosure. The computer device may be a terminal.
As shown in fig. 4, the computer device includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions which, when executed, cause a processor to perform any of the methods.
The processor is used for providing calculation and control capability and supporting the operation of the whole computer equipment.
The internal memory provides an environment for the execution of a computer program on a non-volatile storage medium, which when executed by a processor causes the processor to perform any of the methods.
The network interface is used for network communication, such as sending assigned tasks and the like. Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It should be understood that the Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, in one embodiment, the processor is configured to execute a computer program stored in the memory to implement the steps of:
after determining that the vehicle does not respond when performing the conventional braking operation, determining whether to allow the emergency brake to be started according to the power supply amount of the gearbox;
and if the emergency brake is allowed to be started, controlling the gearbox to brake according to the working condition of the vehicle.
In one embodiment, when the gearbox is controlled to brake according to the vehicle working condition, the method is used for realizing that:
determining whether the vehicle speed is less than a preset vehicle speed or not and whether the rotating speed of an output shaft of the gearbox is less than a preset rotating speed or not;
if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, controlling the gearbox to be engaged into a corresponding gear to decelerate according to the direction of the vehicle speed;
and if the vehicle speed is less than the preset vehicle speed and the rotating speed of the output shaft of the gearbox is less than the preset rotating speed, controlling the gearbox to be engaged in the P gear.
In one embodiment, when the gearbox is controlled to be engaged into the corresponding gear for speed reduction according to the vehicle speed direction, the following steps are implemented:
the speed direction is forward, and the gearbox is controlled to open the clutch and engage the 1 st gear;
and controlling the gearbox to open the clutch and engage the R gear when the vehicle speed direction is backward.
In one embodiment, when the gearbox is controlled to be engaged into the corresponding gear according to the vehicle speed direction, the following steps are implemented:
the gearbox is controlled to pressurize the clutch, so that friction is generated in an internal cylinder of the engine, and sliding friction is generated between the inner clutch and the outer clutch.
In one embodiment, the control means is arranged to, when following pressurisation of said clutch by the gearbox, effect:
after the preset time, determining whether the vehicle speed is less than the preset vehicle speed or not again, and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed or not;
and if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, the gearbox is controlled to pressurize the clutch until the engine is rigidly connected with the differential through the clutch, so that the engine generates mechanical friction.
In one embodiment, when determining the gear engaged by the gearbox according to the vehicle speed direction, the method is used for realizing that:
the transmission is configured to be unresponsive to control thereof if the engine is operating.
In one embodiment, the determination of whether to allow the emergency brake to be activated is based on the amount of power supplied to the gearbox, and is used to:
if the power supply amount of the gearbox is larger than the set power supply amount, the emergency brake is allowed to be started;
and if the power supply amount of the gearbox is less than or equal to the set power supply amount, the emergency brake is not allowed to be started.
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, where the computer program includes program instructions, and a method implemented when the program instructions are executed may refer to the embodiments of the present application.
The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the computer device.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An emergency braking control method, characterized by comprising:
after determining that the vehicle does not respond when performing the conventional braking operation, determining whether to allow the emergency brake to be started according to the power supply amount of the gearbox;
and if the emergency brake is allowed to be started, controlling the gearbox to brake according to the working condition of the vehicle.
2. The emergency brake control method of claim 1, wherein controlling the transmission to brake based on vehicle operating conditions comprises:
determining whether the vehicle speed is less than a preset vehicle speed or not and whether the rotating speed of an output shaft of the gearbox is less than a preset rotating speed or not;
if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, controlling the gearbox to be engaged into a corresponding gear to decelerate according to the direction of the vehicle speed;
and if the vehicle speed is less than the preset vehicle speed and the rotating speed of the output shaft of the gearbox is less than the preset rotating speed, controlling the gearbox to be engaged in the P gear.
3. The emergency brake control method according to claim 2, wherein the controlling of the transmission to engage the corresponding gear for deceleration based on the vehicle speed direction comprises:
the speed direction is forward, and the gearbox is controlled to open the clutch and engage the 1 st gear;
and controlling the gearbox to open the clutch and engage the R gear when the vehicle speed direction is backward.
4. The emergency brake control method according to claim 3, wherein after the transmission is controlled to be engaged in the corresponding gear according to the vehicle speed direction, the method further comprises:
and controlling the gearbox to pressurize the clutch so as to generate sliding friction of the clutch of the gearbox.
5. The emergency brake control method of claim 4, wherein controlling the transmission to pressurize the clutch further comprises:
after the preset time, determining whether the vehicle speed is less than the preset vehicle speed or not again, and whether the rotating speed of the output shaft of the gearbox is less than the preset rotating speed or not;
and if the vehicle speed is greater than or equal to a preset vehicle speed or the rotating speed of an output shaft of the gearbox is greater than or equal to a preset rotating speed, the gearbox is controlled to pressurize the clutch until the engine is rigidly connected with the differential through the clutch, so that the engine generates mechanical friction.
6. The emergency brake control method of claim 2, wherein determining the gear engaged by the transmission based on the direction of vehicle speed further comprises:
the transmission is configured to be unresponsive to control thereof if the engine is operating.
7. The emergency brake control method according to claim 1, wherein determining whether the emergency brake is allowed to be turned on based on the amount of power supplied to the transmission includes:
if the power supply amount of the gearbox is larger than the set power supply amount, the emergency brake is allowed to be started;
and if the power supply amount of the gearbox is less than or equal to the set power supply amount, the emergency brake is not allowed to be started.
8. An emergency brake control apparatus, comprising:
a determination module for determining whether to allow the emergency brake to be turned on according to a power supply amount of a transmission after determining that the vehicle does not react to the normal braking operation;
and the control module is used for controlling the gearbox to brake according to the working condition of the vehicle if the emergency brake is allowed to be started.
9. A computer arrangement, characterized in that the computer arrangement comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, carries out the steps of the emergency braking control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, carries out the steps of the emergency braking control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461207.5A CN114103999B (en) | 2021-12-01 | 2021-12-01 | Emergency braking control method, device, equipment and storage medium |
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| CN202111461207.5A CN114103999B (en) | 2021-12-01 | 2021-12-01 | Emergency braking control method, device, equipment and storage medium |
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| CN114103999A true CN114103999A (en) | 2022-03-01 |
| CN114103999B CN114103999B (en) | 2024-07-05 |
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| CN114103999B (en) | 2024-07-05 |
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