CN114620015A - Method, device and system for comfortable braking parking of vehicle - Google Patents
Method, device and system for comfortable braking parking of vehicle Download PDFInfo
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- CN114620015A CN114620015A CN202011469784.4A CN202011469784A CN114620015A CN 114620015 A CN114620015 A CN 114620015A CN 202011469784 A CN202011469784 A CN 202011469784A CN 114620015 A CN114620015 A CN 114620015A
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/322—Systems specially adapted for vehicles driven by more than one axle, e.g. Four Wheel-Drive vehicles
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
The present application provides a method for comfortable braking of a vehicle to a stop, comprising: the method comprises the steps of obtaining a running state when the vehicle is braked to run in an uphill direction during running, judging whether the vehicle needs to be subjected to comfortable braking parking or not based on the deceleration running state of the vehicle, and starting comfortable braking parking control for the vehicle to approximately offset deceleration generated by gravity of the vehicle in the uphill direction when the vehicle is judged to need to be subjected to comfortable braking parking. The method can reduce the extra bump amplitude generated by the road surface gradient in the braking process of the vehicle running along the uphill direction, and improve the riding experience of the vehicle. The present application further provides an apparatus, system, vehicle and controller and machine-readable storage medium for comfortable braking parking of a vehicle.
Description
Technical Field
The invention relates to a method, a device and a system for vehicle comfortable braking parking, a controller, a machine readable storage medium and a vehicle.
Background
For vehicles equipped with conventional suspensions, jerky movements of the vehicle body are unavoidable when braking or accelerating. Especially when starting to brake the vehicle until stopping, the vehicle may be jerked several times until energy is dissipated by the suspension, which may be uncomfortable and present a safety hazard for the driver and passengers. In order to improve the riding experience of a driver and passengers, the braking pressure can be timely reduced to reduce the pause and frustration movement amplitude of the vehicle when the vehicle is braked and decelerated, the timely reduction of the braking pressure has a good effect when the vehicle runs on a flat road surface or runs along a downhill direction, and when the vehicle runs along an uphill direction and brakes the vehicle in the process, the deceleration generated in the uphill direction of the vehicle by the gravity of the vehicle is the same as the deceleration generated by the braking pressure of the vehicle, and the pause and frustration amplitude in the braking process of the vehicle cannot be effectively reduced and the riding experience is influenced by only timely reduction of the braking pressure.
Accordingly, there is a need to provide improved solutions to further refine and extend the application scenarios of prior art comfort brake parking.
Disclosure of Invention
The invention aims to provide a method and a device for vehicle comfortable braking parking, which are used for reducing the amplitude of jerk motion generated in the braking process of a vehicle running in an uphill direction and improving the vehicle riding experience.
The present application provides a method for comfortable braking parking of a vehicle, comprising: acquiring a running state of the vehicle when the vehicle is braked to run at a reduced speed in the process of running along an uphill direction; determining whether the vehicle needs to be comfortably braked and stopped based on a decelerated running state of the vehicle; when it is determined that the vehicle needs to be braked and stopped comfortably, a comfortable-brake stop control for the vehicle is initiated to substantially cancel a deceleration in the uphill direction caused by the gravity of the vehicle.
The application also provides a device for vehicle parking through comfortable braking, which comprises a receiving module, a judging module and a control module which are in communication connection with each other, wherein the receiving module is configured to acquire a running state when the vehicle is braked to run at a reduced speed during the running process along the uphill direction; the determination module is configured to determine whether the vehicle needs to be subjected to a comfort brake stop based on a decelerated driving state of the vehicle; the control module is configured to generate a control signal for a comfort brake park control of the vehicle to substantially offset a deceleration of the vehicle in the uphill direction due to gravity when it is determined that the vehicle requires a comfort brake park.
The present application further provides a controller comprising: a processor; and a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method of the foregoing embodiments.
The present application also provides a machine-readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method of the foregoing embodiments.
The present application also provides a system for vehicle parking with comfort braking, including the apparatus for vehicle parking with comfort braking of the foregoing embodiment, a sensor unit for detecting a running state of the vehicle, a pressure generating unit for generating a specified braking pressure supplied to the brake cylinders of the vehicle when the vehicle is parked with comfort braking, a driving force generating unit for generating a specified driving force acting on the vehicle when the vehicle is parked with comfort braking, the apparatus being communicatively connected to the sensor unit, the pressure generating unit, and the driving force generating unit, the apparatus controlling the pressure generating unit and the driving force generating unit to perform the vehicle parking with comfort braking according to the running state generation control signal of the vehicle acquired from the sensor unit.
According to the embodiment of the invention, the influence of the gravity of the vehicle is effectively reduced in the process of braking and stopping the vehicle running along the uphill direction, the vehicle is favorably kept in stable deceleration, and the range of the jerk movement of the vehicle can be reduced in the braking process of the vehicle, so that the riding experience of the vehicle is improved.
Drawings
The present application will be more fully understood from the detailed description given below with reference to the accompanying drawings, in which like reference numerals refer to like elements. Wherein:
FIG. 1 shows a flow diagram of a method for comfort braking parking a vehicle in accordance with one embodiment of the present invention.
Fig. 2 shows a schematic structural view of an apparatus for parking a vehicle with a comfortable brake according to an embodiment of the present invention.
FIG. 3 shows an architectural schematic of a system for comfort braking parking a vehicle in accordance with one embodiment of the present invention.
Detailed Description
Various embodiments of the present invention are described in detail below with reference to the accompanying drawings.
FIG. 1 shows a flow diagram of a method 10 for comfort braking parking a vehicle in accordance with one embodiment of the present invention. As shown in fig. 1, the method 10 includes the steps of:
in step S11, a running state when the vehicle is braked for deceleration running during running in an uphill direction is acquired;
in step S12, determining whether the vehicle needs to be comfortably braked and stopped based on the acquired decelerated running state of the vehicle; and
in step S13, when it is determined that the vehicle needs to make a comfort brake stop, a comfort brake stop control for the vehicle is initiated to counteract a deceleration in the uphill direction caused by the gravity of the vehicle.
Those skilled in the art will appreciate that the vehicle described herein is traveling uphill, and may be traveling uphill forward, or traveling uphill reverse. It will be appreciated that during a deceleration braking process of traveling in an uphill direction, the brake pressure is in the same direction as the component of the weight force of the vehicle on an uphill road surface on which the vehicle is traveling, i.e. both the brake pressure of the vehicle and the aforementioned weight force component produce a deceleration in the uphill direction of the vehicle. The above-described method 10 for comfortable brake parking of a vehicle enables the vehicle to obtain deceleration mainly by brake pressure during braking during uphill driving by substantially offsetting the deceleration generated in the uphill direction by the gravity of the vehicle, thereby enabling the vehicle to be in a situation similar to driving on a flat road surface, reducing vehicle hesitation during braking of the uphill vehicle by controlling the brake pressure, for example, by appropriately reducing the brake pressure.
Specifically, the deceleration running state acquired in step S11 includes the gradient of the road surface on which the vehicle is braked during deceleration running in the process of running in the uphill direction, and whether the vehicle is braked suddenly; when the gradient of the road surface where the vehicle runs in the uphill direction is within a specified gradient range (for example, the gradient of the road surface is greater than 0 degrees and less than or equal to 8.5 degrees), and the vehicle is not braked emergently, the vehicle is judged to need to be stopped by comfortable braking at the moment. The gradient of the road surface on which the vehicle is located can be measured, for example, by a gradient sensor mounted on the vehicle, and whether the vehicle is braked suddenly can be determined according to a vehicle brake pedal signal, a vehicle gear signal, an ABS transmitted signal and/or an acceleration of the vehicle, for example, when the acceleration of the vehicle is greater than-5 m/s2And less than-1 m/s2, the vehicle is judged not to be braked emergently.
When it is judged in step S12 that the foregoing condition is satisfied, it is judged that the vehicle needs to be stopped with comfort braking.
In step S13, specifically, to achieve smooth braking of a vehicle traveling in an uphill direction, the comfort brake stop control for the vehicle includes controlling the vehicle to generate a specified braking pressure and a specified driving force: instructing a pressure unit for generating a brake pressure in the vehicle to generate a specified brake pressure, which is smaller than a brake pressure corresponding to a brake pedal stroke of the vehicle, to supply to brake cylinders of the vehicle; the driving force unit for generating driving force in the vehicle is instructed to generate a specified driving force acting on the vehicle in the uphill direction, the specified driving force having a value equal to a product of a value of a force corresponding to a component of gravity of the vehicle in the uphill direction and a specified coefficient, wherein the specified coefficient is greater than 0 and equal to or less than 1, the specified coefficient being calibrated in advance according to specific conditions of the vehicle (including, but not limited to, an unloaded vehicle weight, a rated load weight, etc. of the vehicle), for example, the specified coefficient of a certain vehicle type is calibrated to 0.8, then when the vehicle is braked during uphill driving on a gradient road surface of, for example, 7 °, according to the control method 10 of the present embodiment, the vehicle will generate a specified driving force applied to the vehicle in the uphill direction, the specified driving force having a value of 80% of the force corresponding to the component of gravity of the vehicle in the uphill direction, this specified driving force cancels out most of the gravity component, greatly reducing the negative effect of the deceleration generated by the gravity component in uphill vehicle braking. Further, when the specified driving force is calculated by applying the specified coefficient, the specified coefficient calibrated in advance may be corrected according to the conditions of the road surface on which the vehicle runs during the running of the vehicle, the tire pressure of the vehicle tire during the running, the tire surface friction coefficient and other real-time factors, or the specified driving force calculated by the specified coefficient calibrated in advance may be directly corrected, so as to obtain a better effect of smooth and comfortable braking, and it can be understood that the specified coefficient after being corrected is still within the range of greater than 0 and less than or equal to 1, or the value of the specified driving force after being corrected can still approximately cancel the gravity component of the vehicle as described above. Since the specified driving force can substantially cancel the gravity component of the vehicle in the uphill direction, greatly reduce or even eliminate the deceleration caused by the gravity component, the vehicle is caused to obtain the deceleration mainly by the brake pressure during braking, so that the vehicle is brought into a state similar to running on a flat road surface; and instructing the pressure unit of the vehicle to generate a specified braking pressure smaller than a braking pressure corresponding to a brake pedal stroke of the vehicle to be supplied to the brake cylinders of the vehicle instead of generating the specified braking pressure by drawing some of the brake fluid from the pressure unit of the vehicle in such a manner that noise and vibration are not generated and the braking pressure is more stable. Therefore, the control method controls the vehicle to simultaneously generate the designated braking pressure and the designated driving force, greatly reduces the pause and frustration generated when the vehicle is braked in the process of driving along the uphill direction, and improves the driving experience.
As known to those skilled in the art, a pressure unit for generating a braking pressure in a vehicle may generate a braking pressure by, for example, pushing a brake fluid using a motor (e.g., a brake-by-wire system of a vehicle), a driving force unit for generating a driving force in a vehicle, for example, an electric motor of an electric vehicle, a vehicle brake pedal stroke may be sensed by, for example, a brake pedal stroke sensor, and a calculation method of a gravitational component of a vehicle in a road surface direction is known to those skilled in the art and will not be described in detail.
Referring back to fig. 1, the method 10 for parking with a comfortable brake of a vehicle of the present embodiment further includes steps S14 and S15, wherein in step S14, it is determined whether the vehicle has stopped according to the vehicle speed of the vehicle, and in step S15, if it is determined that the vehicle has stopped, the parking with a comfortable brake is ended, and the control of the vehicle according to the method 10 is exited; otherwise, the step S11 is continuously executed to continuously detect the driving state of the vehicle and control the vehicle accordingly until the vehicle stops. It is understood that, when the vehicle is stopped and the vehicle is to be braked again (e.g., parked), the pressure unit is instructed to generate the brake pressure corresponding to the stroke of the brake pedal, and the driving force unit is instructed not to generate the driving force any more. When the vehicle is braked to the zero vehicle body speed, the vehicle can be parked on the road surface by stepping on the brake pedal to generate the parking brake pressure corresponding to the stroke of the brake pedal, and the specified driving force is not needed any more, and the direction of the parking brake pressure applied to the vehicle at the moment is opposite to the direction of the gravity component of the vehicle, so that the vehicle is stressed in the direction of the road surface in a balanced manner and is parked. As known to those skilled in the art, the vehicle speed of the vehicle may be obtained from, but not limited to, a speed sensor of the vehicle, or calculated from wheel speeds obtained from wheel speed sensors of the vehicle, or calculated from data obtained from an acceleration sensor, a steering wheel angle sensor, etc. of the vehicle, and will not be described in detail.
Through the method for comfortable braking and parking of the vehicle, the vehicle on the uphill slope can be stably braked, the vehicle bump is reduced, and the driving experience is improved.
Fig. 2 shows a schematic structural diagram of an apparatus 1000 for parking a vehicle with comfort braking according to an embodiment of the present invention, which includes a receiving module 100, a determining module 200 and a control module 300, which are communicatively connected, wherein the receiving module 100 is configured to obtain a driving state when the vehicle is braked for deceleration driving during driving in an uphill direction, the determining module 200 is configured to determine whether the vehicle needs to be parked with comfort braking based on the deceleration driving state of the vehicle, and the control module 300 is configured to generate a control signal for parking control with comfort braking of the vehicle to substantially offset deceleration generated by gravity of the vehicle in the uphill direction when the vehicle is determined to need to be parked with comfort braking.
The apparatus 1000 for vehicle parking with comfortable braking of the present embodiment substantially cancels deceleration generated in the uphill direction by gravity of the vehicle, and allows the vehicle to obtain deceleration mainly by brake pressure during braking, thereby enabling the vehicle to be in a situation similar to that of traveling on a flat road surface, by controlling the brake pressure, for example, by appropriately reducing the brake pressure, reducing the vehicle bump during braking of the uphill vehicle.
The receiving module 100 is further configured to acquire the gradient of a road surface on which the vehicle is braked for deceleration running during running in an uphill direction, and whether the vehicle is braked emergently; the determination module 200 is further configured to determine that the vehicle needs to be braked comfortably when the vehicle is not braked urgently when the gradient of the road surface on which the vehicle is located is within a specified gradient range.
Specifically, when the gradient of the road surface on which the vehicle is located, which is acquired by the receiving module 100, is within a specified gradient range (for example, the gradient of the road surface is greater than 0 ° and less than or equal to 8.5 °), and the vehicle is not braked urgently, the determining module 200 determines that the vehicle needs to be braked and stopped comfortably at this time. The gradient of the road surface on which the vehicle is located can be measured by a gradient sensor mounted on the vehicle, and whether the vehicle is emergently braked can be transmitted according to a vehicle brake pedal signal, a vehicle gear signal and an ABS (anti-lock brake system)And/or the acceleration of the vehicle, e.g. when the acceleration of the vehicle is greater than-5 m/s2And less than-1 m/s2, the vehicle is judged to be in a non-emergency braking state. When the judging module 200 judges that the condition is satisfied according to the information acquired by the receiving module 100, it is determined that the vehicle needs to be stopped with comfortable braking at the moment.
To achieve smooth braking of an uphill vehicle, the control module 300 is further configured to control the vehicle to generate a specified braking pressure and a specified driving force: generating a control signal indicating that a pressure unit for generating a brake pressure in the vehicle generates a specified brake pressure to supply to a brake cylinder of the vehicle, the specified brake pressure being less than a brake pressure corresponding to a brake pedal stroke of the vehicle; and generating a control signal instructing a driving force unit for generating driving force in the vehicle to generate a specified driving force acting on the vehicle in the uphill direction, the specified driving force having a value equal to a product of a value of a force corresponding to a component of gravity of the vehicle in the uphill direction and a specified coefficient, wherein the specified coefficient is greater than 0 and equal to or less than 1. As mentioned above, the specific coefficient may be calibrated in advance according to the specific conditions of the vehicle (including but not limited to the empty weight, the rated load, etc. of the vehicle); further, when the specified driving force is calculated by applying the specified coefficient, the specified coefficient calibrated in advance can be corrected according to the conditions of the road surface on which the vehicle runs during the running of the vehicle, the tire pressure of the vehicle tire during the running, the tire surface friction coefficient and other real-time factors, or the specified driving force calculated by the specified coefficient calibrated in advance can be directly corrected, so as to obtain a better smooth and comfortable braking effect, understandably, the corrected specified coefficient is still within the range of more than 0 and less than or equal to 1, or the corrected value of the specified driving force can still approximately offset the component of the gravity of the vehicle in the uphill direction. Since the specified driving force can substantially cancel the gravity component of the vehicle in the uphill direction, greatly reducing or even eliminating the influence of the deceleration caused by the gravity component, the vehicle is caused to obtain the deceleration mainly by the brake pressure during braking, thereby causing the vehicle to be in a condition similar to running on a flat road surface; and instructing the pressure unit of the vehicle to generate a specified braking pressure smaller than a braking pressure corresponding to a brake pedal stroke of the vehicle to be supplied to the brake cylinders of the vehicle instead of generating the specified braking pressure by drawing some of the brake fluid from the pressure unit of the vehicle in such a manner that noise and vibration are not generated and the braking pressures are balanced. Therefore, the device 1000 controls the vehicle to generate the designated brake pressure and the designated driving force at the same time, so that the pause and frustration feeling of the uphill vehicle in the braking process is greatly reduced, and the driving experience is improved.
Also, as known to those skilled in the art, a pressure unit for generating a brake pressure in a vehicle may generate the brake pressure by, for example, pushing a brake fluid using a motor (e.g., a brake-by-wire system of the vehicle), a driving force unit for generating a driving force in the vehicle may generate the driving force by, for example, an electric motor of an electric vehicle, a vehicle brake pedal stroke may be sensed by, for example, a brake pedal stroke sensor, and a calculation method of a gravitational component of the vehicle in an uphill direction is known to those skilled in the art and will not be described in detail.
The receiving module 100 may be further configured to obtain a vehicle speed of the vehicle; the determination module 200 may be further configured to determine whether the vehicle has stopped based on a vehicle speed of the vehicle; and the control module 300 may be further configured to end the comfort brake park control of the device if the determination module 200 determines that the vehicle has stopped; otherwise, the obtaining module 100 continues to obtain the driving state of the vehicle and controls accordingly until the vehicle stops. It is to be understood that, when the vehicle is stopped and the vehicle is to be braked again (e.g., parked), the control signal instructing the pressure unit to generate the parking braking force of the brake pressure corresponding to the stroke of the brake pedal is generated, and the control signal instructing the driving force unit to no longer generate the driving force is generated. When the vehicle is braked to zero vehicle body speed, the vehicle can be parked on the road surface by stepping on the brake pedal to generate parking brake pressure corresponding to the stroke of the brake pedal, and the direction of the parking brake pressure applied to the vehicle at the moment is opposite to the direction of the gravity component of the vehicle, so that the vehicle is subjected to force balance in the road surface direction (uphill direction) and is parked. It is understood that, if the determining module 200 determines that the vehicle has not stopped, the obtaining module 100 continues to obtain the driving state of the vehicle and accordingly performs the braking control on the vehicle until the vehicle stops. As known to those skilled in the art, the vehicle speed of the vehicle may be obtained from, but not limited to, a speed sensor of the vehicle, or calculated from wheel speeds obtained from wheel speed sensors of the vehicle, or calculated from data obtained from an acceleration sensor, a steering wheel angle sensor, etc. of the vehicle, and will not be described in detail.
Through the device 1000 for comfortable braking and parking of the vehicle of the embodiment, smooth braking, vehicle pause and contusion reduction and riding experience improvement can be carried out on the vehicle on the uphill slope.
The present application also provides a system 5000 for vehicle parking with comfortable braking as shown in fig. 3, comprising the apparatus 1000 for vehicle parking with comfortable braking described in the previous embodiment, a sensor unit 2000 for detecting a driving state of the vehicle, a pressure generating unit 3000 for generating a specified braking pressure to be supplied to a brake cylinder of the vehicle when the vehicle is parked with comfortable braking, and a driving force generating unit 4000 for generating a specified driving force to be applied to the vehicle when the vehicle is parked with comfortable braking. Specifically, the device 1000 is connected in communication with the sensor unit 2000, the pressure generation unit 3000, and the driving force generation unit 4000, and the device 1000 controls the pressure generation unit 3000 and the driving force generation unit 4000 to perform a comfortable braking parking of the vehicle according to a control signal generated from the driving state of the vehicle acquired from the sensor unit 3000.
The present application also provides a controller comprising a processor and a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method 10 of the present application.
The present application also provides a readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method 10 of the present application.
The present application further provides a vehicle having a comfortable braking parking function, the vehicle includes the device 1000 for comfortable braking parking of a vehicle of the present application, and the vehicle may be an electric vehicle, a hybrid vehicle, a fuel automobile, etc.
Those of skill in the art would understand that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the aspects disclosed herein may be implemented as electronic hardware, or combinations of hardware and software. Various illustrative components, blocks, modules, circuits have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or a combination of hardware and software will depend upon the particular application and design constraints imposed on the overall system.
Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above detailed description is merely illustrative of the present application and is not intended to be limiting. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope of the present application, and it is intended that all equivalents thereof fall within the scope of the present application, which is defined by the claims.
Claims (12)
1. A method for comfortable braking parking of a vehicle, comprising:
step (S11): acquiring a running state of the vehicle when the vehicle is braked to run at a reduced speed in the process of running along an uphill direction;
step (S12): determining whether the vehicle needs to be comfortably braked and stopped based on a decelerated running state of the vehicle;
step (S13): when it is determined that the vehicle needs to be braked and stopped comfortably, a comfortable-brake stop control for the vehicle is initiated to substantially cancel a deceleration in the uphill direction caused by the gravity of the vehicle.
2. The method of claim 1,
the deceleration running state comprises the gradient of a road surface where the vehicle is braked to perform deceleration running in the process of running along the uphill direction and whether the vehicle is emergently braked;
determining whether the vehicle needs to be comfortably braked to a stop comprises: and when the gradient of the road surface where the vehicle is located is within the specified gradient range and the vehicle is not emergently braked, judging that the vehicle needs to be braked and stopped comfortably.
3. The method of claim 1, wherein the comfort brake park control comprises:
instructing a pressure unit for generating a brake pressure in the vehicle to generate a specified brake pressure to be supplied to a brake wheel cylinder of the vehicle, the specified brake pressure being smaller than a brake pressure corresponding to a brake pedal stroke of the vehicle;
the driving force unit for generating driving force in the vehicle is instructed to generate a specified driving force acting on the vehicle in the uphill direction with a value equal to a product of a value of a force corresponding to a component of gravity of the vehicle in the uphill direction and a specified coefficient, wherein the specified coefficient is greater than 0 and equal to or less than 1.
4. The method of claim 1, further comprising:
step (S14): judging whether the vehicle stops or not according to the speed of the vehicle; and
step (S15): ending the comfort braking parking if it is determined that the vehicle has stopped; otherwise, the step continues to be performed (S11).
5. Device for parking a vehicle with comfortable braking, characterized in that it comprises a receiving module (100), a judging module (200) and a control module (300) communicatively connected, wherein,
the receiving module (100) is configured to acquire a running state when the vehicle is braked for deceleration running during running in an uphill direction;
the determination module (200) is configured to determine whether the vehicle needs to be stopped with a comfort brake based on a deceleration running state of the vehicle;
the control module (300) is configured to generate a control signal for comfort brake park control of the vehicle to substantially offset a deceleration of the vehicle in the uphill direction due to gravity when it is determined that the vehicle requires comfort brake park.
6. The apparatus of claim 5,
the receiving module (100) is configured to acquire a gradient of a road surface on which the vehicle is braked for deceleration traveling during traveling in an uphill direction, whether the vehicle is urgently braked, and
the determination module (200) is configured to determine that the vehicle needs to be braked comfortably when the vehicle is not braked urgently when the gradient of the road surface on which the vehicle is located is within a specified gradient range.
7. The apparatus of claim 5, wherein the control module (300) is configured to:
generating a control signal indicating that a pressure unit for generating a brake pressure in the vehicle generates a specified brake pressure to supply to a brake wheel cylinder of the vehicle, the specified brake pressure being less than a brake pressure corresponding to a brake pedal stroke of the vehicle; and
generating a control signal instructing a driving force unit for generating driving force in the vehicle to generate a specified driving force acting on the vehicle in the uphill direction, the specified driving force having a value equal to a product of a value of a force corresponding to a component of gravity of the vehicle in the uphill direction and a specified coefficient, wherein the specified coefficient is greater than 0 and equal to or less than 1.
8. The apparatus of claim 5,
the acquisition module (100) is further configured to acquire a vehicle speed of the vehicle;
the determination module (200) is further configured to determine whether the vehicle has stopped based on a vehicle speed of the vehicle; and
the control module (300) is further configured to end a comfort brake stop of the device if the determination module (200) determines that the vehicle has stopped; otherwise, the acquisition module (100) continues to acquire the driving state of the vehicle.
9. A controller, comprising,
a processor; and
a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method of any of claims 1 to 4.
10. A machine readable storage medium having stored thereon executable instructions that when executed cause a machine to perform the method of any one of claims 1 to 4.
11. A system for comfortable braking parking of a vehicle, comprising,
device (1000) for parking with comfortable braking of a vehicle according to any one of claims 5 to 8
A sensor unit (2000) for detecting a running state of the vehicle;
a pressure generation unit (3000) for generating a specified brake pressure to be supplied to the brake cylinders of the vehicle when the vehicle is braked and stopped comfortably;
a driving force generation unit (4000) for generating a specified driving force that acts on the vehicle when the vehicle makes a comfort brake stop;
the device (1000) is connected in communication with the sensor unit (2000), the pressure generation unit (3000), and the driving force generation unit (4000), and the device (1000) controls the pressure generation unit (3000) and the driving force generation unit (4000) to perform a comfortable braking parking of the vehicle in accordance with a driving state generation control signal of the vehicle acquired from the sensor unit (3000).
12. Vehicle, characterized in that it comprises a device (1000) for vehicle parking with comfortable braking according to any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469784.4A CN114620015A (en) | 2020-12-14 | 2020-12-14 | Method, device and system for comfortable braking parking of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469784.4A CN114620015A (en) | 2020-12-14 | 2020-12-14 | Method, device and system for comfortable braking parking of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114620015A true CN114620015A (en) | 2022-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011469784.4A Pending CN114620015A (en) | 2020-12-14 | 2020-12-14 | Method, device and system for comfortable braking parking of vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN114620015A (en) |
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2020
- 2020-12-14 CN CN202011469784.4A patent/CN114620015A/en active Pending
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