CN115384461A - Automatic braking method and system for commercial vehicle and commercial vehicle - Google Patents

Automatic braking method and system for commercial vehicle and commercial vehicle Download PDF

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Publication number
CN115384461A
CN115384461A CN202211012755.4A CN202211012755A CN115384461A CN 115384461 A CN115384461 A CN 115384461A CN 202211012755 A CN202211012755 A CN 202211012755A CN 115384461 A CN115384461 A CN 115384461A
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China
Prior art keywords
commercial vehicle
braking
load
automatic braking
automatic
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CN202211012755.4A
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Chinese (zh)
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CN115384461B (en
Inventor
王晓亮
樊华春
于勤
曾应龙
廖程亮
徐炜
张周平
袁欣
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Jiangxi Isuzu Motors Co Ltd
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Jiangxi Isuzu Motors Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention provides an automatic braking method and system for a commercial vehicle and the commercial vehicle, wherein the method comprises the following steps: acquiring external environment information of the commercial vehicle, and judging whether the commercial vehicle collides at the next moment according to the external environment so as to send a trigger signal at the pre-collision moment; monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle; comparing the load data with the historical load in the load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and making an automatic braking strategy for avoiding collision according to the braking effectiveness when a trigger signal is received; and sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to an automatic braking strategy. The problem of among the prior art commercial car in the driving process because the load condition is different and lead to automatic braking system braking efficiency inconsistent, can't guarantee driving safety is solved.

Description

Automatic braking method and system for commercial vehicle and commercial vehicle
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic braking method and system for a commercial vehicle and the commercial vehicle.
Background
Through market research, most of automatic braking systems on the market are loaded on passenger vehicles, and a special automatic braking system is lacked for commercial vehicles with large load capacity and large load distribution influenced by loaded cargoes.
Compared with a passenger vehicle, the commercial vehicle has the functional characteristics of large load capacity and large light-load full-load distribution difference, and the automatic braking system of the passenger vehicle is directly transplanted and converted into the commercial vehicle, so that the problem that the braking efficiency of the automatic braking system is inconsistent and the driving safety cannot be guaranteed due to different load conditions in the driving process of the commercial vehicle is solved.
Disclosure of Invention
Based on the above, the invention aims to provide an automatic braking method and system for a commercial vehicle and the commercial vehicle, and aims to solve the problems that in the prior art, the braking efficiency of an automatic braking system is inconsistent and the driving safety cannot be ensured due to different load conditions of the commercial vehicle in the driving process.
A first aspect of the present invention provides an automatic braking method for a commercial vehicle, the method comprising:
in the running process of the commercial vehicle, obtaining external environment information of the commercial vehicle, and judging whether the commercial vehicle collides at the next moment according to the external environment so as to send a trigger signal at the pre-collision moment;
monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
comparing the load data with historical loads in a load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and formulating an automatic braking strategy for avoiding collision according to the braking effectiveness when the trigger signal is received;
and sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
According to one aspect of the technical scheme, in the driving process of the commercial vehicle, external environment information of the commercial vehicle is obtained, and whether the commercial vehicle collides at the next moment or not is judged according to the external environment so as to send a triggering signal at the moment of pre-collision, and the method specifically comprises the following steps:
in the running process of the commercial vehicle, acquiring an external environment image through a preset first environment sensing device, and acquiring an external environment obstacle signal through a preset second environment sensing device to obtain external environment information of the commercial vehicle;
determining the distance between the side face of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle according to the external environment image and the external environment obstacle signal;
judging whether the commercial vehicle collides with the obstacle at the next moment when running in the current direction at the current speed according to the distance between the side of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle;
if yes, a trigger signal is output at the pre-collision moment.
According to one aspect of the technical scheme, before the step of monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle, the method comprises the following steps:
acquiring historical loads of a historical commercial vehicle under different load scenes and braking efficiencies under different load scenes to formulate a load-braking efficiency comparison table;
monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively acquire the load data of the front axle and the rear axle of the commercial vehicle, and specifically comprising the following steps:
according to the historical load, estimating the load of the front axle and the rear axle of the commercial vehicle to obtain a load simulation signal;
and D, converting the load analog signal into load data in an analog-to-digital mode.
According to one aspect of the above technical solution, the step of comparing the load data with the historical load in the load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and when receiving the trigger signal, making an automatic braking strategy for avoiding collision according to the braking effectiveness specifically includes:
comparing the load data with historical loads in a load-braking effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated by combining the braking efficiency and the current state of a braking system;
wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
According to one aspect of the foregoing technical solution, the automatic braking strategy is:
dividing the braking period of the braking system corresponding to each wheel into a plurality of sub-periods, and distributing and adjusting the braking force to be generated by the braking system corresponding to each wheel in each sub-period in the plurality of sub-periods of the braking period.
According to one aspect of the above technical solution, an automatic braking instruction is sent to a control unit of a braking system of the commercial vehicle, so that the braking system controls the commercial vehicle to brake according to the automatic braking strategy, in the step:
the brake system is controlled through a PID control logic algorithm, so that errors are eliminated through PID control after errors are generated between a control target and an automatic brake strategy.
According to one aspect of the above technical solution, after the step of sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle to make the braking system control the commercial vehicle to perform automatic braking according to the automatic braking strategy, the method further includes:
and when the braking system controls the commercial vehicle to perform automatic braking according to the automatic braking strategy and cannot avoid collision with the obstacle, sending a control instruction to a control unit of an electronic hand braking system of the commercial vehicle so as to control the electronic hand braking system to perform automatic braking.
A second aspect of the present invention is to provide an automatic braking system for a commercial vehicle, the system comprising:
the environment monitoring module is used for acquiring external environment information of the commercial vehicle in the running process of the commercial vehicle, judging whether the commercial vehicle collides at the next moment according to the external environment, and sending a trigger signal at the pre-collision moment;
the load monitoring module is used for monitoring the load change of the front axle and the rear axle of the commercial vehicle so as to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
the strategy generation module is used for comparing the load data with the historical load in the load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated according to the braking effectiveness;
and the strategy execution module is used for sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
According to an aspect of the foregoing technical solution, the policy generation module is specifically configured to:
comparing the load data with historical loads in a load-braking effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated by combining the braking efficiency and the current state of a braking system;
wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
A third aspect of the present invention is to provide a commercial vehicle equipped with the automatic braking system of a commercial vehicle according to the above technical means.
Compared with the prior art, the automatic braking system and method for the commercial vehicle and the commercial vehicle have the advantages that:
in the process of driving of the commercial vehicle, whether the commercial vehicle collides at the next moment is judged by analyzing the external environment information, a trigger signal is sent at the moment of pre-collision, the load change of the front shaft and the rear shaft is monitored at the moment, the current load of the commercial vehicle is determined, the braking efficiency of the commercial vehicle under the current load can be determined, an automatic braking strategy is formulated according to the braking efficiency after the trigger signal is received, the automatic braking system is controlled to automatically brake the commercial vehicle according to the automatic braking strategy, the problem of inconsistent braking efficiency of the automatic braking system of the commercial vehicle generated due to different load conditions in the process of driving is solved, the safety of a driver and passengers is ensured, and meanwhile, the adaptability and the robustness of the automatic braking system of the commercial vehicle under different load conditions are greatly improved.
Drawings
FIG. 1 is a schematic flow chart of an automatic braking method for a commercial vehicle according to a first embodiment of the present invention;
FIG. 2 is a block diagram of an automatic braking system of a commercial vehicle according to a third embodiment of the present invention;
the following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
Referring to fig. 1, a schematic flow chart of an automatic braking method for a commercial vehicle according to a first embodiment of the present invention is shown, where the method includes steps S10-S40:
step S10, acquiring external environment information of the commercial vehicle in the running process of the commercial vehicle, and judging whether the commercial vehicle collides at the next moment according to the external environment so as to send a trigger signal at the pre-collision moment;
the external environment information of the commercial vehicle can be acquired through the camera in the driving process of the commercial vehicle, and can also be acquired through radar devices such as a laser radar, and certainly, the external environment of the commercial vehicle can be acquired by the camera and the radar devices simultaneously, so that the external environment information of the commercial vehicle is generated.
By way of example and not limitation, the top of the vehicle head is provided with one or more high-definition cameras, the cameras are placed behind the front windshield of the commercial vehicle, and the cameras can determine the relative positions of the cameras and the millimeter-wave radar through internal and external parameter calibration of software, so that original data are provided for sensing dynamic and static targets on a data fusion detection driving road; and the millimeter wave radar arranged in the front grille in front of the vehicle head can continuously emit millimeter wave frequency band radio waves to sense static and dynamic objects in front.
In the embodiment, through the external environment information, the lane in which the commercial vehicle is currently located, whether obstacles exist in all directions of the commercial vehicle or not can be determined, and the like, wherein the obstacles comprise fixed obstacles and moving obstacles, so that whether the commercial vehicle collides with a collision object at the next moment can be determined; for example, if no avoidance measures are taken, a collision with a colliding object will occur after 3s, then a trigger signal is sent immediately before the collision, i.e. at the moment of pre-collision, and after the system receives the trigger signal, a series of avoidance measures can be taken to avoid the collision, for example, emergency steering or emergency braking is used.
Step S20, monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
it should be noted that the load change of the commercial vehicle is usually caused by different loads, for example, the load of the commercial vehicle is large, and the load is also large.
Specifically, load data of the front axle and the rear axle of the commercial vehicle can be acquired by monitoring the load change of the front axle and the rear axle of the commercial vehicle. In this embodiment, the load change of the front axle and the rear axle is monitored by the displacement sensors, one ends of the displacement sensors are mounted on the frame, the other ends of the displacement sensors are mounted on the axle, and each displacement sensor corresponds to one wheel, so that the deformation degree of each suspension of the front axle and the rear axle can be determined by the displacement sensors, and the load data of the front axle and the rear axle of the commercial vehicle can be correspondingly determined.
Step S30, comparing the load data with historical loads in a load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and making an automatic braking strategy for avoiding collision according to the braking effectiveness when the trigger signal is received;
it should be noted that, when two vehicles of the same type use the same braking system, the heavier the vehicle is, the longer the braking distance is, the lower the braking efficiency is; that is, the greater the load of the commercial vehicle, the lower its braking effectiveness and the longer the braking distance required, so that an early braking operation is required during the actual braking process.
The load-braking efficiency comparison table comprises the braking efficiency of the same vehicle type under different load conditions, namely the braking capacity of the same vehicle type under different load conditions; for example, the braking effectiveness of a commercial vehicle is infinitely close to 100% in the unloaded state, only 75% or even lower at half load, and only 50% or even lower at full load.
In the embodiment, after the loads of the front axle and the rear axle of the commercial vehicle are monitored and the load data of the front axle and the rear axle of the commercial vehicle are determined, the braking efficiency of the commercial vehicle under the current load is determined by comparing the load data with the historical load in the load-braking efficiency comparison table, and the key effect is played for the formulation of the automatic braking strategy by determining the braking efficiency of the commercial vehicle under the current load.
That is, after determining the braking effectiveness of the commercial vehicle under the current load, after receiving the trigger signal, the automatic braking strategy for avoiding collision is output according to the braking effectiveness of the commercial vehicle.
For example, when the braking effectiveness of the commercial vehicle is high, for example 90%, in the automatic braking process, the braking distance is short, the required braking time is also short, the braking start time may be later, and the braking end time may be earlier; on the contrary, when the braking effectiveness of the commercial vehicle is low, the braking distance of the commercial vehicle is longer, and the braking time is required to be longer, that is, the braking start time needs to be earlier or/or the braking end time needs to be later, compared with the case that the braking effectiveness is higher.
And S40, sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle, so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
The braking system of the commercial vehicle comprises a brake disc, a brake pad and a hydraulic mechanism for controlling the brake pad to be in contact with the brake disc, the braking system is controlled by a control unit, and the control unit is used for receiving a control command to control the hydraulic mechanism to output extrusion force to the brake pad, so that the brake pad and the brake disc are in contact with each other, frictional heat is generated, and inertia force of vehicle motion is gradually consumed.
In this embodiment, after sending the automatic braking instruction to the control unit of the braking system of the commercial vehicle, the control unit controls the commercial vehicle to perform automatic braking according to a preset automatic braking strategy, for example, the commercial vehicle is controlled to perform braking by using intermittent braking (i.e. inching braking) or global braking.
It should be noted that what kind of automatic braking strategy is adopted by the braking system to control the commercial vehicle to perform automatic braking is determined based on the actual load of the commercial vehicle, and of course, dynamic adjustment may also be performed based on the actual performance of the commercial vehicle in the automatic process.
Compared with the prior art, the automatic braking method for the commercial vehicle, which is shown in the embodiment, has the advantages that:
in the process of driving of the commercial vehicle, whether the commercial vehicle collides at the next moment is judged by analyzing the external environment information, a trigger signal is sent at the moment of pre-collision, the load change of the front shaft and the rear shaft is monitored at the moment, the current load of the commercial vehicle is determined, the braking efficiency of the commercial vehicle under the current load can be determined, an automatic braking strategy is formulated according to the braking efficiency after the trigger signal is received, the automatic braking system is controlled to automatically brake the commercial vehicle according to the automatic braking strategy, the problem of inconsistent braking efficiency of the automatic braking system of the commercial vehicle generated due to different load conditions in the process of driving is solved, the safety of a driver and passengers is ensured, and meanwhile, the adaptability and the robustness of the automatic braking system of the commercial vehicle under different load conditions are greatly improved.
Example two
The second embodiment of the present invention provides an automatic braking method for a commercial vehicle, the automatic braking method for a commercial vehicle shown in this embodiment is substantially the same as the automatic braking method for a commercial vehicle shown in the first embodiment, and the difference is that:
in this embodiment, in the driving process of the commercial vehicle, the external environment information of the commercial vehicle is acquired, and according to the external environment, whether the commercial vehicle collides at the next moment is judged, so as to send out a trigger signal at the pre-collision moment, which specifically includes:
in the running process of the commercial vehicle, acquiring an external environment image through a preset first environment sensing device, and acquiring an external environment obstacle signal through a preset second environment sensing device to obtain external environment information of the commercial vehicle;
determining the distance between the side face of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle according to the external environment image and the external environment obstacle signal;
judging whether the commercial vehicle collides with the obstacle at the next moment when running in the current direction at the current speed according to the distance between the side of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle;
if yes, a trigger signal is output at the pre-collision moment.
In this embodiment, before the step of monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle, the method includes:
acquiring historical loads of a historical commercial vehicle under different load scenes and braking efficiency under different load scenes to formulate a load-braking efficiency comparison table;
monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively acquire the load data of the front axle and the rear axle of the commercial vehicle, and specifically comprising the following steps:
according to the historical load, estimating the load of the front axle and the rear axle of the commercial vehicle to obtain a load simulation signal;
and D, converting the load analog signal into load data in an analog-to-digital mode.
In this embodiment, the step of comparing the load data with the historical load in the load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and when receiving the trigger signal, formulating an automatic braking strategy for avoiding collision according to the braking effectiveness specifically includes:
comparing the load data with historical loads in a load-brake effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated by combining the braking efficiency and the current state of a braking system;
it should be noted that the automatic braking strategies shown in the present embodiment are: dividing the braking period of the braking system corresponding to each wheel into a plurality of sub-periods, and distributing and adjusting the braking force to be generated by the braking system corresponding to each wheel in each sub-period in the plurality of sub-periods of the braking period.
Wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
In this embodiment, an automatic braking instruction is sent to a control unit of a braking system of the commercial vehicle, so that the braking system controls the commercial vehicle to brake according to the automatic braking strategy, in the step:
the brake system is controlled through a PID control logic algorithm, so that errors are eliminated through PID control after errors are generated between a control target and an automatic brake strategy.
After the step of sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy, the method further comprises the following steps:
and when the braking system controls the commercial vehicle to perform automatic braking according to the automatic braking strategy and cannot avoid collision with the obstacle, sending a control instruction to a control unit of an electronic hand braking system of the commercial vehicle so as to control the electronic hand braking system to perform automatic braking.
Compared with the prior art, the automatic braking method for the commercial vehicle, which is shown in the embodiment, has the advantages that:
in the process of driving of the commercial vehicle, whether the commercial vehicle collides at the next moment is judged by analyzing the external environment information, a trigger signal is sent at the moment of pre-collision, the load change of the front shaft and the rear shaft is monitored at the moment, the current load of the commercial vehicle is determined, the braking efficiency of the commercial vehicle under the current load can be determined, an automatic braking strategy is formulated according to the braking efficiency after the trigger signal is received, the automatic braking system is controlled to automatically brake the commercial vehicle according to the automatic braking strategy, the problem of inconsistent braking efficiency of the automatic braking system of the commercial vehicle generated due to different load conditions in the process of driving is solved, the safety of a driver and passengers is ensured, and meanwhile, the adaptability and the robustness of the automatic braking system of the commercial vehicle under different load conditions are greatly improved.
EXAMPLE III
Referring to fig. 2, a block diagram of an automatic braking system of a commercial vehicle according to a third embodiment of the present invention is shown, wherein the system includes: the system comprises an environment monitoring module 10, a load monitoring module 20, a strategy generating module 30 and a strategy executing module 40.
The environment monitoring module 10 is used for acquiring external environment information of the commercial vehicle in the driving process of the commercial vehicle, judging whether the commercial vehicle collides at the next moment according to the external environment, and sending a trigger signal at the pre-collision moment;
the external environment information of the commercial vehicle can be acquired through the camera in the driving process of the commercial vehicle, and can also be acquired through radar devices such as a laser radar, and certainly, the external environment of the commercial vehicle can be acquired by the camera and the radar devices simultaneously, so that the external environment information of the commercial vehicle is generated.
By way of example and not limitation, the top of the vehicle head is provided with one or more high-definition cameras, the cameras are placed behind the front windshield of a commercial vehicle, and can determine the relative positions of the cameras and a millimeter wave radar through internal and external parameter calibration of software, so that original data are provided for sensing dynamic and static targets on a data fusion detection driving road; and the millimeter wave radar arranged in the front grille in front of the vehicle head can continuously emit millimeter wave frequency band radio waves to sense static and dynamic objects in front.
In the embodiment, through the external environment information, the lane in which the commercial vehicle is currently located, whether obstacles exist in all directions of the commercial vehicle or not can be determined, and the like, wherein the obstacles comprise fixed obstacles and moving obstacles, so that whether the commercial vehicle collides with a collision object at the next moment can be determined; for example, if a collision with a colliding object occurs after 3 seconds without any avoidance measures, then a trigger signal is sent immediately before the collision, i.e., at the time of pre-collision, and after the system receives the trigger signal, a series of avoidance measures, such as emergency steering or emergency braking, can be taken to avoid the collision.
The load monitoring module 20 is used for monitoring the load change of the front axle and the rear axle of the commercial vehicle so as to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
it should be noted that the load change of the commercial vehicle is usually caused by the difference of the load, for example, the load of the commercial vehicle is large, and the load is also large.
Specifically, load data of the front and rear axles of the commercial vehicle can be acquired by monitoring load changes of the front and rear axles of the commercial vehicle. In this embodiment, the load change of the front axle and the rear axle is monitored by the displacement sensors, one ends of the displacement sensors are mounted on the frame, the other ends of the displacement sensors are mounted on the axle, and each displacement sensor corresponds to one wheel, so that the deformation degree of each suspension of the front axle and the rear axle can be determined by the displacement sensors, and the load data of the front axle and the rear axle of the commercial vehicle can be correspondingly determined.
The strategy generating module 30 is configured to compare the load data with a historical load in a load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated according to the braking effectiveness;
it should be noted that, when two vehicles of the same type use the same braking system, the heavier the vehicle is, the longer the braking distance is, the lower the braking efficiency is; that is, the greater the load of the commercial vehicle, the lower its braking effectiveness and the longer the braking distance required, so that an early braking operation is required during the actual braking process.
The load-braking efficiency comparison table comprises the braking efficiency of the same vehicle type under different load conditions, namely the braking capacity of the same vehicle type under different load conditions; for example, the braking effectiveness of a commercial vehicle is infinitely close to 100% in the unloaded state, only 75% or even lower at half load, and only 50% or even lower at full load.
In the embodiment, after the loads of the front axle and the rear axle of the commercial vehicle are monitored and the load data of the front axle and the rear axle of the commercial vehicle are determined, the braking efficiency of the commercial vehicle under the current load is determined by comparing the load data with the historical load in the load-braking efficiency comparison table, and the key effect is played in the establishment of the automatic braking strategy by determining the braking efficiency of the commercial vehicle under the current load.
That is, after determining the braking effectiveness of the commercial vehicle under the current load, after receiving the trigger signal, the automatic braking strategy for avoiding collision is output according to the braking effectiveness of the commercial vehicle.
For example, when the braking effectiveness of the commercial vehicle is high, for example 90%, in the automatic braking process, the braking distance is short, the required braking time is also short, the braking start time may be later, and the braking end time may be earlier; on the contrary, when the braking effectiveness of the commercial vehicle is low, the braking distance of the commercial vehicle is longer, and the braking time is required to be longer, that is, the braking start time needs to be earlier or/or the braking end time needs to be later, compared with the case that the braking effectiveness is higher.
And the strategy execution module 40 is used for sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle, so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
The braking system of the commercial vehicle comprises a brake disc, a brake pad and a hydraulic mechanism for controlling the brake pad to be in contact with the brake disc, the braking system is controlled by a control unit, and the control unit is used for receiving a control command to control the hydraulic mechanism to output extrusion force to the brake pad, so that the brake pad and the brake disc are in contact with each other, frictional heat is generated, and inertia force of vehicle motion is gradually consumed.
In this embodiment, after sending the automatic braking instruction to the control unit of the braking system of the commercial vehicle, the control unit controls the commercial vehicle to perform automatic braking according to a preset automatic braking strategy, for example, the commercial vehicle is controlled to perform braking by using intermittent braking (i.e. inching braking) or global braking.
It should be noted that what kind of automatic braking strategy is adopted by the braking system to control the commercial vehicle to perform automatic braking is determined based on the actual load of the commercial vehicle, and of course, dynamic adjustment may also be performed based on the actual performance of the commercial vehicle in the automatic process.
In this embodiment, the policy generation module is specifically configured to:
comparing the load data with historical loads in a load-brake effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated by combining the braking efficiency and the current state of a braking system;
wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
Compared with the prior art, adopt the commercial car automatic braking system who shows in the middle of this embodiment, beneficial effect lies in:
in the process of driving of the commercial vehicle, whether the commercial vehicle collides at the next moment is judged by analyzing external environment information, so that a trigger signal is sent out at the moment of pre-collision, the load change of a front shaft and a rear shaft is monitored at the moment, the current load of the commercial vehicle is determined, the braking efficiency of the commercial vehicle under the current load can be determined, an automatic braking strategy is formulated according to the braking efficiency after the trigger signal is received, the automatic braking system is controlled to automatically brake the commercial vehicle according to the automatic braking strategy, the problem of inconsistent braking efficiency of the automatic braking system caused by different load conditions in the process of driving of the commercial vehicle is solved, the safety of a driver and passengers is ensured, and meanwhile, the adaptability and the robustness of the automatic braking system of the commercial vehicle under different load conditions are greatly improved.
Example four
A fourth embodiment of the invention provides a commercial vehicle carrying an automatic brake system of a commercial vehicle as described in the third embodiment above.
Wherein, the commercial vehicle is, for example, a pick-up truck, a minibus, a small van, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above do not necessarily refer 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 more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. An automatic braking method for a commercial vehicle, characterized in that the method comprises:
in the running process of the commercial vehicle, obtaining external environment information of the commercial vehicle, judging whether the commercial vehicle collides at the next moment according to the external environment, and sending a trigger signal at the pre-collision moment;
monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
comparing the load data with historical loads in a load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and formulating an automatic braking strategy for avoiding collision according to the braking effectiveness when the trigger signal is received;
and sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
2. The automatic braking method for the commercial vehicle according to claim 1, wherein in the driving process of the commercial vehicle, external environment information of the commercial vehicle is obtained, whether the commercial vehicle collides at the next moment is judged according to the external environment, and the step of sending a trigger signal at the pre-collision moment specifically comprises the following steps:
in the running process of the commercial vehicle, acquiring an external environment image through a preset first environment sensing device, and acquiring an external environment obstacle signal through a preset second environment sensing device to obtain external environment information of the commercial vehicle;
determining the distance between the side face of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle according to the external environment image and the external environment obstacle signal;
judging whether the commercial vehicle collides with the obstacle at the next moment when running in the current direction at the current speed according to the distance between the side of the commercial vehicle facing the obstacle and the angle of the obstacle relative to the commercial vehicle;
if yes, a trigger signal is output at the pre-collision moment.
3. The automatic braking method for commercial vehicles according to claim 2, characterized in that before the step of monitoring the load changes of the front and rear axles of the commercial vehicle for obtaining the load data of the front and rear axles of the commercial vehicle respectively, the method comprises:
acquiring historical loads of a historical commercial vehicle under different load scenes and braking efficiencies under different load scenes to formulate a load-braking efficiency comparison table;
monitoring the load change of the front axle and the rear axle of the commercial vehicle to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle, and the method specifically comprises the following steps:
according to the historical load, estimating the load of the front axle and the rear axle of the commercial vehicle to obtain a load simulation signal;
and D, converting the load analog signal into load data in an analog-to-digital mode.
4. The automatic braking system of a commercial vehicle according to claim 3, wherein the step of comparing the load data with historical loads in a load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load and, when receiving the trigger signal, making an automatic braking strategy for avoiding collision according to the braking effectiveness specifically comprises:
comparing the load data with historical loads in a load-brake effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, combining the braking effectiveness and the current state of a braking system to formulate an automatic braking strategy for avoiding collision;
wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
5. The automatic braking method for commercial vehicles according to claim 4, characterized in that said automatic braking strategy is:
dividing the braking period of the braking system corresponding to each wheel into a plurality of sub-periods, and distributing and adjusting the braking force to be generated by the braking system corresponding to each wheel in each sub-period in the plurality of sub-periods of the braking period.
6. The automatic braking method for a commercial vehicle according to claim 5, characterized in that in the step of sending an automatic braking command to a control unit of a braking system of the commercial vehicle, so that the braking system controls the commercial vehicle to brake according to the automatic braking strategy:
the braking system is controlled through a PID control logic algorithm, so that errors are eliminated through PID control after errors are generated between a control target and an automatic braking strategy.
7. The automatic braking method for a commercial vehicle according to any one of claims 1 to 6, characterized in that after the step of sending an automatic braking command to a control unit of a braking system of the commercial vehicle to cause the braking system to control the commercial vehicle to automatically brake according to the automatic braking strategy, the method further comprises:
and when the braking system controls the commercial vehicle to perform automatic braking according to the automatic braking strategy and cannot avoid collision with the obstacle, sending a control instruction to a control unit of an electronic hand braking system of the commercial vehicle so as to control the electronic hand braking system to perform automatic braking.
8. An automatic braking system for a commercial vehicle, said system comprising:
the environment monitoring module is used for acquiring external environment information of the commercial vehicle in the running process of the commercial vehicle, judging whether the commercial vehicle collides at the next moment according to the external environment, and sending a trigger signal at the pre-collision moment;
the load monitoring module is used for monitoring the load change of the front axle and the rear axle of the commercial vehicle so as to respectively obtain the load data of the front axle and the rear axle of the commercial vehicle;
the strategy generation module is used for comparing the load data with the historical load in the load-braking effectiveness comparison table to determine the braking effectiveness of the commercial vehicle under the current load, and when the trigger signal is received, an automatic braking strategy for avoiding collision is made according to the braking effectiveness;
and the strategy execution module is used for sending an automatic braking instruction to a control unit of a braking system of the commercial vehicle so that the braking system controls the commercial vehicle to automatically brake according to the automatic braking strategy.
9. The automatic braking system for commercial vehicles according to claim 8, characterized in that the strategy generation module is specifically configured to:
comparing the load data with historical loads in a load-brake effectiveness comparison table;
determining the braking efficiency of the commercial vehicle under the current load;
when the trigger signal is received, an automatic braking strategy for avoiding collision is formulated by combining the braking efficiency and the current state of a braking system;
wherein the current state of the brake system is a quantized state of friction force applied by a brake pad and a brake disc in the brake system.
10. A commercial vehicle equipped with an automatic brake system for a commercial vehicle according to any one of claims 8 to 9.
CN202211012755.4A 2022-08-23 2022-08-23 Automatic braking method and system for commercial vehicle and commercial vehicle Active CN115384461B (en)

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CN114604209A (en) * 2022-03-17 2022-06-10 西安法士特汽车传动有限公司 VCU emergency braking auxiliary control system and method for pure electric commercial vehicle
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1210707A (en) * 1984-02-14 1986-09-02 Adrian Bettenson Vehicle brake
CN102897169A (en) * 2011-07-25 2013-01-30 通用汽车环球科技运作有限责任公司 Collision avoidance maneuver through differential braking
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