CN114537342B - Vehicle braking method and device, vehicle and storage medium - Google Patents
Vehicle braking method and device, vehicle and storage medium Download PDFInfo
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- CN114537342B CN114537342B CN202210272731.6A CN202210272731A CN114537342B CN 114537342 B CN114537342 B CN 114537342B CN 202210272731 A CN202210272731 A CN 202210272731A CN 114537342 B CN114537342 B CN 114537342B
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- 206010039203 Road traffic accident Diseases 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The application relates to the technical field of vehicles, in particular to a vehicle braking method, a vehicle braking device, a vehicle and a storage medium, wherein the method comprises the following steps: collecting the distance between the current vehicle and the front obstacle; matching an optimal emergency braking mode according to the distance; and obtaining the target torque of the motor controller of the vehicle according to the optimal emergency braking mode, and electrically braking the vehicle according to the target torque. Therefore, the problems that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode, energy is wasted and the like are solved, different emergency braking modes are matched through the distance between a vehicle and an obstacle so as to obtain target torque to realize electric braking parking, the endurance mileage of an electric vehicle is effectively improved, the loss of a braking system is reduced, and quick and shake-free emergency braking of the vehicle is finally realized.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle braking method and device, a vehicle, and a storage medium.
Background
With rapid development of the vehicle industry and continuous improvement of living conditions of people, vehicles have become one of indispensable vehicles. The increase in the usage rate of vehicles means that the higher the occurrence rate of traffic accidents, and in order to improve the safety of users during driving, many vehicles are provided with an automatic emergency braking system to ensure the driving safety of users.
In the related art, a conventional hydraulic brake system is mostly used for emergency braking of a vehicle when the vehicle is in danger of collision.
However, energy generated in the braking process of the conventional hydraulic braking system is released in the form of heat energy, so that energy is wasted, and the loss of the braking system is accelerated, so that the problem is to be solved.
Disclosure of Invention
The application provides a braking method, a braking device, a vehicle and a storage medium for solving the problems of energy waste and the like caused by release of energy generated in the braking process of a traditional hydraulic braking system in the form of heat energy, and realizing electric braking parking by matching different emergency braking modes through the distance between the vehicle and an obstacle so as to obtain target torque, thereby not only improving the endurance mileage of an electric vehicle, but also being beneficial to slowing down the loss of a braking system and finally realizing quick and jitter-free emergency braking of the vehicle.
An embodiment of a first aspect of the present application provides a braking method for a vehicle, including the steps of:
collecting the distance between the current vehicle and the front obstacle;
matching an optimal emergency braking mode according to the distance; and
and obtaining the target torque of the motor controller of the vehicle according to the optimal emergency braking mode, and electrically braking the vehicle according to the target torque.
According to one embodiment of the present application, the matching the optimal emergency braking method according to the distance includes:
acquiring a distance interval corresponding to the distance;
determining an emergency braking flag signal of the vehicle according to the distance interval;
and determining the optimal emergency braking mode according to the emergency braking flag signal.
According to one embodiment of the present application, the obtaining the target torque of the motor controller of the vehicle according to the optimal emergency braking mode includes:
acquiring an emergency braking mark signal corresponding to the optimal emergency braking mode;
when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as the target torque;
when the emergency braking flag signal is a second signal, taking a preset value as the target torque;
outputting, by the motor controller, a reverse torque as the target torque when the emergency brake flag signal is a third signal;
and when the emergency braking flag signal is a fourth signal, taking the peak torque of the motor as the target torque.
According to one embodiment of the present application, when the vehicle is electrically braked according to the target torque, further comprising:
acquiring the current rotating speed of the motor;
and after the current rotating speed is smaller than the preset rotating speed, controlling the motor controller to be switched from the torque ring to the rotating speed ring.
According to an embodiment of the present application, the method for braking a vehicle further includes:
identifying whether a parking flag signal sent by the motor controller is received;
clearing the emergency braking flag signal when receiving the parking flag signal sent by the motor controller;
and the motor controller controls the parking mark signal counter to count after the motor rotating speed is smaller than or equal to the preset rotating speed, and sends the parking mark signal to the whole vehicle controller when the count value reaches the preset count value.
According to one embodiment of the present application, after receiving the parking flag signal sent by the motor controller, the method further includes:
collecting a current gradient value of the vehicle;
calculating a current braking force required by parking according to the current gradient value;
and controlling the motor controller according to the braking force required by the current parking.
According to an embodiment of the present application, the method for braking a vehicle further includes:
and when the emergency brake flag signal is the first signal or the second signal, if the brake action of the driver is detected, clearing the emergency brake flag signal.
According to the braking method of the vehicle, the distance between the current vehicle and the obstacle in front is collected, and the target torque of the motor controller of the vehicle is obtained according to the optimal emergency braking mode matched with the distance, so that the vehicle is electrically braked. Therefore, the problems of energy waste and the like caused by the fact that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode are solved, the electric braking parking is realized by matching different emergency braking modes through the distance between a vehicle and an obstacle so as to obtain target torque, the endurance mileage of an electric vehicle is improved, the loss of a braking system is reduced, and the rapid and jitter-free emergency braking of the vehicle is finally realized.
An embodiment of a second aspect of the present application provides a brake device for a vehicle, including:
the first acquisition module is used for acquiring the distance between the current vehicle and the front obstacle;
the matching module is used for matching the optimal emergency braking mode according to the distance; and
and the braking module is used for acquiring the target torque of the motor controller of the vehicle according to the optimal emergency braking mode and electrically braking the vehicle according to the target torque.
According to one embodiment of the present application, the matching module is specifically configured to:
acquiring a distance interval corresponding to the distance;
determining an emergency braking flag signal of the vehicle according to the distance interval;
and determining the optimal emergency braking mode according to the emergency braking flag signal.
According to one embodiment of the application, the braking module is specifically configured to:
acquiring an emergency braking mark signal corresponding to the optimal emergency braking mode;
when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as the target torque;
when the emergency braking flag signal is a second signal, taking a preset value as the target torque;
outputting, by the motor controller, a reverse torque as the target torque when the emergency brake flag signal is a third signal;
and when the emergency braking flag signal is a fourth signal, taking the peak torque of the motor as the target torque.
According to one embodiment of the application, the braking module is further configured to, when electrically braking the vehicle according to the target torque:
acquiring the current rotating speed of the motor;
and after the current rotating speed is smaller than the preset rotating speed, controlling the motor controller to be switched from the torque ring to the rotating speed ring.
According to an embodiment of the present application, the braking device for a vehicle further includes:
the identification module is used for identifying whether a parking mark signal sent by the motor controller is received or not;
the first clearing module is used for clearing the emergency braking flag signal when receiving the parking flag signal sent by the motor controller;
and the motor controller controls the parking mark signal counter to count after the motor rotating speed is smaller than or equal to the preset rotating speed, and sends the parking mark signal to the whole vehicle controller when the count value reaches the preset count value.
According to one embodiment of the present application, after receiving the parking flag signal sent by the motor controller, the method further includes:
the second acquisition module is used for acquiring the current gradient value of the vehicle;
the calculating module is used for calculating the braking force required by the current parking according to the current gradient value;
and the control module is used for controlling the motor controller according to the braking force required by the current parking.
According to an embodiment of the present application, the braking device for a vehicle further includes:
and the second clearing module is used for clearing the emergency braking flag signal if the braking action of the driver is detected when the emergency braking flag signal is the first signal or the second signal.
According to the braking device of the vehicle, the distance between the current vehicle and the obstacle in front is collected, and the target torque of the motor controller of the vehicle is obtained according to the optimal emergency braking mode matched with the distance, so that the vehicle is electrically braked. Therefore, the problems of energy waste and the like caused by the fact that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode are solved, the electric braking parking is realized by matching different emergency braking modes through the distance between a vehicle and an obstacle so as to obtain target torque, the endurance mileage of an electric vehicle is improved, the loss of a braking system is reduced, and the rapid and jitter-free emergency braking of the vehicle is finally realized.
An embodiment of a third aspect of the present application provides a vehicle, including: the braking system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the braking method of the vehicle according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the braking method of a vehicle as described in the above embodiment.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for braking a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an electric brake based low cost AEB (Autonomous Emergency Braking, automatic emergency brake) system architecture provided in accordance with one embodiment of the present application;
FIG. 3 is a flow chart of a low cost AEB system based on electric braking provided according to one embodiment of the disclosure;
FIG. 4 is an exemplary diagram of a braking device of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a braking method and device of a vehicle, a vehicle and a storage medium according to embodiments of the present application with reference to the accompanying drawings. In order to solve the problem that energy generated during braking in a traditional hydraulic braking system is released in the form of heat energy and energy is wasted, the application provides a vehicle braking method, wherein the distance between a current vehicle and a front obstacle is collected, and the target torque of a motor controller of the vehicle is obtained according to the distance matching the optimal emergency braking mode, so that the vehicle is electrically braked. Therefore, the problems that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode, energy is wasted and the like are solved, different emergency braking modes are matched through the distance between a vehicle and an obstacle so as to obtain target torque to realize electric braking parking, the endurance mileage of an electric vehicle is effectively improved, the loss of a braking system is reduced, and quick and shake-free emergency braking of the vehicle is finally realized.
Specifically, fig. 1 is a schematic flow chart of a braking method of a vehicle according to an embodiment of the present application.
In this embodiment, as shown in fig. 2, the main system related to the braking method of the vehicle according to the embodiment of the present application includes: distance acquisition device, AEB controller, whole car controller, motor controller, slope sensor, rotational speed sensor, torque sensor and motor. The distance acquisition device is connected with the AEB controller; the AEB controller is connected with the whole vehicle controller; the motor controller is respectively connected with the AEB controller, the motor, the rotating speed sensor and the torque sensor; the gradient sensor is connected with the whole vehicle controller.
As shown in fig. 1, the braking method of the vehicle includes the steps of:
in step S101, the distance between the current vehicle and the obstacle ahead is acquired.
It should be understood that when there is an obstacle in front of the vehicle, if emergency braking is not adopted, traffic accidents are easily caused.
Therefore, the distance between the current vehicle and the obstacle in front can be acquired through the distance acquisition device, wherein the distance acquisition device can be an ultrasonic radar, a millimeter wave radar or other devices with a distance acquisition function (such as a camera and the like).
It should be noted that, distance acquisition device can set up in the place ahead of vehicle, can set up the both sides rear-view mirror at the vehicle, also can set up at the top of vehicle, preferably, for the distance between vehicle and the place ahead barrier of more accurate collection, this application embodiment can set up radar and camera in the vehicle place ahead to gather the distance between current vehicle and the place ahead barrier through radar and camera.
In step S102, the optimal emergency braking mode is matched according to the distance.
Further, in some embodiments, matching the optimal emergency braking mode according to the distance includes: acquiring a distance interval corresponding to the distance; determining an emergency braking flag signal of the vehicle according to the distance interval; and determining the optimal emergency braking mode according to the emergency braking flag signal.
Specifically, after the distance between the current vehicle and the front obstacle is collected by the radar and the camera arranged in front of the vehicle, the data can be sent to the AEB controller, and the AEB controller can divide four stages according to the received different distances between the vehicle and the front obstacle, wherein the four stages are respectively: the system reminding stage, the pre-braking stage, the partial braking stage and the full-force braking stage, different emergency braking mark signals can be generated in different braking stages, and the emergency braking mark signals are matched with an optimal emergency braking mode and are sent to a whole vehicle controller and an MCU (Micro Control Unit, a motor controller).
Specifically, according to the relevant regulations, the driving distance between two vehicles needs to be kept according to the vehicle speed during driving, when the vehicle speed exceeds 100km/h, the safety distance between the front and rear vehicles or between the current vehicle and the front obstacle needs to be kept above 100m, and when the vehicle speed is lower than 100km/h, for example, when the vehicle speed is 60km/h, the safety distance between the front and rear vehicles or between the current vehicle and the front obstacle needs to be kept above 60 m; the speed of the vehicle is 30km/h, the safe distance between the front and rear vehicles or between the current vehicle and the front obstacle should be kept above 30m, and so on.
For example, when a radar and a camera arranged in front of a vehicle acquire that the distance between the current vehicle and a front obstacle is 40m-60m, an emergency braking flag signal of the vehicle is preset as a first signal, and the AEB controller judges the distance between the current vehicle and the front obstacle and judges that the current vehicle is in a system reminding stage; when a radar and a camera arranged in front of a vehicle acquire that the distance between the current vehicle and a front obstacle is 20-40 m, presetting an emergency braking mark signal of the vehicle as a second signal, and judging the distance between the current vehicle and the front obstacle and judging that the current vehicle is in a pre-braking stage by an AEB controller; when a radar and a camera arranged in front of a vehicle acquire that the distance between the current vehicle and a front obstacle is 10m-20m, presetting an emergency braking mark signal of the vehicle as a third signal, and judging the distance between the current vehicle and the front obstacle and judging that the current vehicle is in a partial braking stage by an AEB controller; when the distance between the current vehicle and the front obstacle is 5m-10m, which is acquired by the radar and the camera arranged in front of the vehicle, the emergency braking mark signal of the vehicle is preset to be a fourth signal, and the AEB controller judges the distance between the current vehicle and the front obstacle and judges that the current vehicle is in a full-force braking stage.
It should be noted that, the distance interval between the current vehicle and the obstacle ahead is merely exemplary, and the distance interval may be a threshold set by the user in advance, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not limited herein.
In step S103, a target torque of a motor controller of the vehicle is obtained according to an optimal emergency braking method, and the vehicle is electrically braked according to the target torque.
Further, in some embodiments, obtaining a target torque for a motor controller of a vehicle according to an optimal emergency braking mode includes: obtaining an emergency braking mark signal corresponding to the optimal emergency braking mode; when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as a target torque; when the emergency braking flag signal is a second signal, taking the preset value as a target torque; outputting a reverse torque as a target torque through the motor controller when the emergency braking flag signal is a third signal; when the emergency brake flag signal is the fourth signal, the peak torque of the motor is set as the target torque.
Further, in some embodiments, the method for braking a vehicle further includes: when the emergency brake flag signal is the first signal or the second signal, the emergency brake flag signal is cleared if a brake operation of the driver is detected.
Specifically, when the first signal may indicate that the emergency braking flag signal is 0, at this time, the AEB controller determines that the current vehicle is in a reminding stage, and the MCU target torque no longer follows the torque sent by the whole vehicle controller, but maintains the torque command sent by the VCU at the last moment of entering the AEB state, that is, the current torque of the motor controller is taken as the target torque; when the second signal can be expressed as an emergency braking flag signal is 1, the AEB controller judges that the current vehicle is in a pre-braking stage, so that a preset value is taken as a target torque; when the third signal can be expressed as an emergency braking flag signal is 2, the AEB controller judges that the current vehicle is in a partial braking stage, so that the motor controller outputs reverse torque as target torque; the fourth signal may be indicated as an emergency brake flag signal of 3, at which time the AEB controller determines that the current vehicle is in the full-force braking phase, thereby taking the peak torque of the motor as the target torque.
Specifically, after the whole vehicle controller and the MCU receive the emergency braking flag signal from the AEB controller, in order to prevent the motor fault lamp from being turned on when the MCU torque value does not follow the change of the torque value requested by the whole vehicle controller, the whole vehicle controller can shield the torque monitoring of the MCU. When the vehicle is in the four braking stages respectively, the whole vehicle controller can respond differently in the following two conditions:
(1) If the whole vehicle controller receives the braking intention of the driver, when the vehicle is in a system reminding stage and a pre-braking stage, the whole vehicle controller can clear the own emergency braking mark signal and send the clear emergency braking mark signal to the MCU, so that the MCU exits from an emergency braking mode, and the driver can conveniently and well control the running state of the vehicle; when the vehicle is in a partial braking stage, the reverse torque value in the stage is a braking torque value sent to the MCU by the whole vehicle controller, and in the process, even if a driver has braking operation, the driver does not exit an emergency braking mode; when the vehicle is in the full-force braking stage, namely the final stage of the AEB, the AEB system is exited, and the normal running state is restored.
(2) If the whole vehicle controller does not receive the braking intention of the driver, when the vehicle is in a system reminding stage at the moment, the MCU target torque does not follow the torque sent by the whole vehicle controller any more, but keeps a torque command sent by the VCU at the last moment of triggering the AEB system, namely, the current torque of the motor controller is used as the target torque; when the vehicle is in the pre-braking stage at this time, the preset value is set as the target torque, and the preset value can be set to 0, namely the MCU target torque is set to 0, so that the vehicle acceleration is 0, and the running speed of the vehicle is reduced; when the vehicle is in a partial braking stage, the reverse torque value of the stage is the maximum torque value corresponding to the rotating speed; when the vehicle is in the full-force braking stage, the vehicle is stopped at a position which keeps a certain safety distance with the front vehicle at the end of the stage, so that the target value of the MCU braking torque is the maximum target torque value corresponding to the rotating speed at the current moment in the stage, namely, the peak torque of the motor is taken as the target torque. The target torque matched through the four different emergency braking modes is used for electrically braking the vehicle so as to realize quick and stable parking.
Further, in some embodiments, when the vehicle is electrically braked according to the target torque, further comprising: acquiring the current rotating speed of a motor; and after the current rotating speed is smaller than the preset rotating speed, controlling the motor controller to be switched from the torque ring to the rotating speed ring.
Specifically, in the electric braking process, the MCU receives the current rotation speed and the torque value of the vehicle, which are acquired by the torque sensor and the rotation speed sensor, and sends the current rotation speed and the torque value to the whole vehicle controller, the whole vehicle controller judges whether the preset rotation speed for requesting the MCU to enter the rotation speed mode is reached or not through the received rotation speed value, and when the rotation speed of the vehicle reaches the preset rotation speed, the whole vehicle controller requests the MCU to enter the regulation mode and sets the target rotation speed to be 0. When the current rotating speed of the vehicle is smaller than or equal to the preset rotating speed, the motor enters the rotating speed ring at the moment, and the rotating speed target torque is 0. The preset rotation speed may be a threshold preset by a user, may be a threshold obtained through limited experiments, or may be a threshold obtained through limited computer simulation, which is not limited herein. Preferably, the preset rotation speed in the embodiment of the present application may be set to 2RPM, that is, when the current rotation speed of the vehicle is less than or equal to 2RPM, the motor enters the rotation speed ring and the rotation speed target torque is 0.
Further, in some embodiments, the method for braking a vehicle further includes: identifying whether a parking flag signal sent by the motor controller is received; clearing an emergency braking flag signal when receiving a parking flag signal sent by the motor controller; and the motor controller controls the parking mark signal counter to count after the motor rotating speed is smaller than or equal to the preset rotating speed, and sends a parking mark signal to the whole vehicle controller when the count value reaches the preset count value.
Specifically, after the current rotation speed of the vehicle is less than or equal to 2RPM, the motor controller controls the parking flag signal counter to count, and sends a parking flag signal to the vehicle controller when the count value reaches the preset count value. The preset count value may be a threshold value preset by a user, may be a threshold value obtained through limited experiments, or may be a threshold value obtained through limited computer simulation, which is not particularly limited herein. Preferably, the preset count value in the embodiment of the present application may be selected to be 200, that is, when the count value reaches 200, the motor controller sends a parking flag signal to the vehicle controller. And after the vehicle controller recognizes that the parking mark signal sent by the motor controller is received, the emergency braking mark signal is cleared.
Further, in some embodiments, after receiving the parking flag signal sent by the motor controller, the method further includes: collecting a current gradient value of a vehicle; calculating a current braking force required by parking according to the current gradient value; and controlling the motor controller according to the braking force required by the current parking.
Specifically, after the whole vehicle controller receives the parking mark signal sent by the motor controller, according to the information such as the road section gradient value of the current vehicle collected by the gradient sensor arranged in the vehicle, so that after the braking force required by the current parking is calculated, a corresponding torque command is sent to the MCU, the phenomenon of sliding slope can not occur after the vehicle is parked, and the rapid and jitter-free emergency electric braking of the vehicle is finally realized.
To sum up, as shown in fig. 3, fig. 3 is a flowchart of a low-cost AEB system based on electric braking according to an embodiment of the present application, including the following steps:
s301, the radar and the camera acquire the distance between the vehicle and the obstacle in front and send the distance to the AEB controller.
S302, AEB sends different emergency braking sign signals to the whole vehicle controller and the MCU according to the distance between the received vehicle and the obstacle in front.
And S303, the whole vehicle controller exits from monitoring the torque of the MCU after receiving the emergency braking instruction, and the MCU sets a torque target value according to different emergency braking torques to realize the electric braking of the vehicle.
S304, the whole vehicle controller monitors the rotating speed of the motor, and once the rotating speed reaches a preset rotating speed value, the MCU is requested to enter a rotating speed mode and the target rotating speed is set to be 0, so that the rapid and shake-free stopping of the vehicle is finally realized, and the emergency electric braking is realized.
According to the braking method of the vehicle, which is provided by the embodiment of the application, the distance between the current vehicle and the obstacle in front is collected, and the target torque of the motor controller of the vehicle is obtained by matching the optimal emergency braking mode according to the distance, so that the vehicle is electrically braked. Therefore, the problems that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode, energy is wasted and the like are solved, different emergency braking modes are matched through the distance between a vehicle and an obstacle so as to obtain target torque to realize electric braking parking, the endurance mileage of an electric vehicle is effectively improved, the loss of a braking system is reduced, and quick and shake-free emergency braking of the vehicle is finally realized.
Next, a brake device of a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of a braking device of a vehicle according to an embodiment of the present application.
As shown in fig. 4, the brake device 10 of the vehicle includes: a first acquisition module 100, a matching module 200 and a braking module 300.
Wherein, the first acquisition module 100 is used for acquiring the distance between the current vehicle and the front obstacle;
the matching module 200 is used for matching the optimal emergency braking mode according to the distance; and
the braking module 300 is configured to obtain a target torque of a motor controller of the vehicle according to an optimal emergency braking mode, and electrically brake the vehicle according to the target torque.
Further, in some embodiments, the matching module 200 is specifically configured to:
acquiring a distance interval corresponding to the distance;
determining an emergency braking flag signal of the vehicle according to the distance interval;
and determining the optimal emergency braking mode according to the emergency braking flag signal.
Further, in some embodiments, the braking module 300 is specifically configured to:
obtaining an emergency braking mark signal corresponding to the optimal emergency braking mode;
when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as a target torque;
when the emergency braking flag signal is a second signal, taking the preset value as a target torque;
outputting a reverse torque as a target torque through the motor controller when the emergency braking flag signal is a third signal;
when the emergency brake flag signal is the fourth signal, the peak torque of the motor is set as the target torque.
Further, in some embodiments, when electrically braking the vehicle according to the target torque, the braking module 300 is further configured to:
acquiring the current rotating speed of a motor;
and after the current rotating speed is smaller than the preset rotating speed, controlling the motor controller to be switched from the torque ring to the rotating speed ring.
Further, in some embodiments, the braking device 10 of the vehicle further includes:
the identification module is used for identifying whether a parking mark signal sent by the motor controller is received or not;
the first clearing module is used for clearing the emergency braking flag signal when receiving the parking flag signal sent by the motor controller;
and the motor controller controls the parking mark signal counter to count after the motor rotating speed is smaller than or equal to the preset rotating speed, and sends a parking mark signal to the whole vehicle controller when the count value reaches the preset count value.
Further, in some embodiments, after receiving the parking flag signal sent by the motor controller, the method further includes:
the second acquisition module is used for acquiring the current gradient value of the vehicle;
the calculation module is used for calculating the braking force required by the current parking according to the current gradient value;
and the control module is used for controlling the motor controller according to the braking force required by the current parking.
Further, in some embodiments, the braking device 10 of the vehicle further includes:
and the second clearing module is used for clearing the emergency braking flag signal if the braking action of the driver is detected when the emergency braking flag signal is the first signal or the second signal.
According to the braking device of the vehicle, which is provided by the embodiment of the application, the distance between the current vehicle and the obstacle in front is collected, and the target torque of the motor controller of the vehicle is obtained by matching the optimal emergency braking mode according to the distance, so that the vehicle is electrically braked. Therefore, the problems that energy generated during braking in a traditional hydraulic braking system is released in a heat energy mode, energy is wasted and the like are solved, different emergency braking modes are matched through the distance between a vehicle and an obstacle so as to obtain target torque to realize electric braking parking, the endurance mileage of an electric vehicle is effectively improved, the loss of a braking system is reduced, and quick and shake-free emergency braking of the vehicle is finally realized.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.
The processor 502 implements the braking method of the vehicle provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
Memory 501 for storing a computer program executable on processor 502.
The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.
The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the braking method of a vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or part of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. A method of braking a vehicle, comprising the steps of:
collecting the distance between the current vehicle and the front obstacle;
matching an optimal emergency braking mode according to the distance; and
acquiring target torque of a motor controller of the vehicle according to the optimal emergency braking mode, and electrically braking the vehicle according to the target torque;
the optimal emergency braking mode matched according to the distance comprises the following steps:
acquiring a distance interval corresponding to the distance;
determining an emergency braking flag signal of the vehicle according to the distance interval;
determining the optimal emergency braking mode according to the emergency braking flag signal;
the obtaining the target torque of the motor controller of the vehicle according to the optimal emergency braking mode comprises the following steps:
acquiring an emergency braking mark signal corresponding to the optimal emergency braking mode;
when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as the target torque;
when the emergency braking flag signal is a second signal, taking a preset value as the target torque;
outputting, by the motor controller, a reverse torque as the target torque when the emergency brake flag signal is a third signal;
and when the emergency braking flag signal is a fourth signal, taking the reverse peak torque of the motor as the target torque.
2. The method of claim 1, further comprising, when electrically braking the vehicle in accordance with the target torque:
acquiring the current rotating speed of the motor;
and after the current rotating speed is smaller than the preset rotating speed, controlling the motor controller to be switched from the torque ring to the rotating speed ring.
3. The method as recited in claim 2, further comprising:
identifying whether a parking flag signal sent by the motor controller is received;
clearing the emergency braking flag signal when receiving the parking flag signal sent by the motor controller;
and the motor controller controls the parking mark signal counter to count after the motor rotating speed is smaller than or equal to the preset rotating speed, and sends the parking mark signal to the whole vehicle controller when the count value reaches the preset count value.
4. The method of claim 3, further comprising, after receiving the stop flag signal sent by the motor controller:
collecting a current gradient value of the vehicle;
calculating the braking force required by the current parking according to the current gradient value;
and controlling the motor controller according to the braking force required by the current parking.
5. The method as recited in claim 1, further comprising:
and when the emergency brake flag signal is the first signal or the second signal, if the brake action of the driver is detected, clearing the emergency brake flag signal.
6. A brake device for a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the distance between the current vehicle and the front obstacle;
the matching module is used for matching the optimal emergency braking mode according to the distance; and
the braking module is used for acquiring target torque of a motor controller of the vehicle according to the optimal emergency braking mode and electrically braking the vehicle according to the target torque;
the matching module is specifically used for: acquiring a distance interval corresponding to the distance;
determining an emergency braking flag signal of the vehicle according to the distance interval;
determining the optimal emergency braking mode according to the emergency braking flag signal;
the braking module is specifically used for: acquiring an emergency braking mark signal corresponding to the optimal emergency braking mode;
when the emergency braking flag signal is a first signal, taking the current torque of the motor controller as the target torque;
when the emergency braking flag signal is a second signal, taking a preset value as the target torque;
outputting, by the motor controller, a reverse torque as the target torque when the emergency brake flag signal is a third signal;
and when the emergency braking flag signal is a fourth signal, taking the reverse peak torque of the motor as the target torque.
7. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of braking a vehicle as claimed in any one of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a braking method of a vehicle according to any one of claims 1-5.
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