CN116729340A - Emergency braking control method and system for automatic driving vehicle, automobile and storage medium - Google Patents
Emergency braking control method and system for automatic driving vehicle, automobile and storage medium Download PDFInfo
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- CN116729340A CN116729340A CN202310965034.3A CN202310965034A CN116729340A CN 116729340 A CN116729340 A CN 116729340A CN 202310965034 A CN202310965034 A CN 202310965034A CN 116729340 A CN116729340 A CN 116729340A
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- 238000004891 communication Methods 0.000 claims description 26
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- 230000005540 biological transmission Effects 0.000 abstract description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The application relates to an automatic driving vehicle emergency braking control method, a system, an automobile and a computer readable storage medium, wherein the method comprises the following steps: when the whole vehicle is electrified, performing self-checking on an emergency braking system; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device; after the self-checking is passed, an emergency braking instruction is received to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking. According to the technical scheme, the dual-path synchronous transmission instruction and the multiple braking parallel response are adopted, so that the braking redundancy is improved, the braking reliability and the braking effect are greatly improved, and the accident risk is effectively reduced.
Description
Technical Field
The application belongs to the technical field of automobile brake control, and particularly relates to an automatic driving vehicle emergency brake control method, an automatic driving vehicle emergency brake control system, an automobile and a computer readable storage medium.
Background
With the development of automobile industry technology and the improvement of user demands, the development of highly automatic driving and full-automatic driving technology is rapid, especially in closed and semi-closed scenes, the application of automatic driving automobiles is increasingly wide, and automobile safety is a topic of great concern. When an automatic driving vehicle runs, a safety person is generally configured to track the running of the vehicle, and emergency braking and stopping are required to be performed in the shortest time once the system fails, so that safety accidents are avoided to a great extent.
However, when the existing emergency braking device fails, the electric recovery braking capability of the vehicle driving system is weak, the vehicle is slow to slow down, the braking distance is long, the effect of manual emergency or automatic emergency is limited, and the vehicle has collision risk; when the transmission path fails or the whole vehicle controller fails, the vehicle cannot be braked effectively, the power output cannot be interrupted in time, and when a system fails or brake fluid leaks, the vehicle has collision risk and the like.
Disclosure of Invention
The application aims to provide an emergency braking control method, an emergency braking control system, an emergency braking control automobile and a computer readable storage medium for an automatic driving vehicle, wherein the redundancy of braking is improved through multiple braking parallel response, so that the braking reliability and the braking effect are improved, and the accident risk is effectively reduced.
The application discloses an emergency braking control method for an automatic driving vehicle, which comprises the following steps:
when the whole vehicle is electrified, performing self-checking on an emergency braking system; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and after the self-checking is passed, receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking.
In an exemplary embodiment of the present application, the step of performing self-test on the emergency brake system includes:
the method comprises the steps that a self-checking instruction is sent to control a relay of an emergency stop signal device to actively attract a preset time period, so that the emergency stop signal device transmits an emergency braking instruction through a hard wire, and the emergency stop signal device sends the emergency braking instruction through a CAN bus;
communication signal detection is carried out on the emergency stop signal device, the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, the power source device, the hard wire and the CAN bus; and feeding back a communication signal detection result of the hard wire and the CAN bus through the CAN bus.
In an exemplary embodiment of the present application, the step of receiving an emergency braking command of the emergency stop signal device to control the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking includes:
receiving an emergency braking command to control the first hydraulic braking device to respond to the first braking deceleration with a maximum allowable braking force;
after the first hydraulic braking device emergently brakes for a first duration, controlling the first hydraulic braking device to release pressure and stop braking;
and receiving an emergency braking command to control the second hydraulic braking device to respond to the second braking deceleration with the maximum allowable braking force;
and after the second hydraulic braking device is subjected to emergency braking for a second time period, controlling the second hydraulic braking device to release pressure and stop braking.
In an exemplary embodiment of the present application, the step of receiving an emergency braking command of the emergency stop signal device controls the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking, further includes:
receiving an emergency braking instruction and acquiring the speed of the vehicle;
when the vehicle speed is smaller than a preset vehicle speed or the emergency braking duration of the emergency braking system is longer than a third preset duration, controlling the electronic parking braking device to clamp a brake disc for parking; the third preset time period is smaller than the first time period or the second time period;
and otherwise, controlling the electronic parking brake device to respond to the third braking deceleration.
In an exemplary embodiment of the present application, the step of receiving an emergency braking command of the emergency stop signal device controls the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking, further includes:
receiving an emergency braking instruction, wherein the power source device obtains recoverable power of a power battery;
when the recoverable power of the power battery is 0, the torque output of the driving motor is cleared;
and when the recoverable power of the power battery is greater than 0, executing the maximum allowable negative torque of the driving motor, and switching the vehicle from the driving mode to the generating mode to perform electric recovery braking.
In an exemplary embodiment of the present application, the step of receiving an emergency braking command of the emergency stop signal device to control the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking includes:
receiving an emergency braking instruction of an emergency stop switch in a vehicle, and transmitting the emergency braking instruction through the hard wire and a CAN bus to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking;
and receiving an emergency braking instruction of the wireless transmitter, and transmitting the emergency braking instruction through the hard wire and the CAN bus to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking.
Another aspect of the application discloses an autonomous vehicle emergency brake control system comprising:
the self-checking module is used for carrying out self-checking on the emergency braking system when the whole vehicle is electrified; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and the control module is used for receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to carry out emergency braking after the self-checking is passed.
In an exemplary embodiment of the present application, an output end of the emergency stop signal device is connected to a CAN bus and a hard line, and the emergency stop signal device is respectively connected to the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device in a signal manner;
and an emergency braking instruction issued by the emergency stop signal device is transmitted to the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device through a hard wire and a CAN bus.
The application also discloses an automobile, which comprises: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform operations of the autonomous vehicle emergency brake control method as described above.
Still another aspect of the present application discloses a computer readable storage medium having stored therein at least one executable instruction that, when run on an autonomous vehicle emergency brake control system/car, causes the autonomous vehicle emergency brake control system/car to perform the operations of the autonomous vehicle emergency brake control method as described above.
According to the method for controlling the emergency braking of the automatic driving vehicle, when the whole vehicle is electrified, the emergency braking system is subjected to self-checking, and the vehicle can normally run after the self-checking passes; and after the self-checking is passed, receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking. According to the technical scheme, multiple braking parallel response is adopted, and the braking redundancy is improved, so that the braking reliability and braking effect are greatly improved, and the accident risk is effectively reduced.
The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following specific embodiments of the present application are given for clarity and understanding.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. Wherein the drawings are for illustrating the inventive concept and are not necessarily the structures of the actual products protected by the present application.
FIG. 1 is a flow chart of an embodiment of an autonomous vehicle emergency brake control method of the present application;
FIG. 2 is a flow chart illustrating an embodiment of the step S100 in FIG. 1;
FIG. 3 illustrates a block flow diagram of one embodiment of an autonomous vehicle emergency brake control method of the present application;
FIG. 4 is a schematic diagram illustrating the architecture of one embodiment of an autonomous vehicle emergency brake control system provided by the present application;
FIG. 5 is a schematic diagram of another embodiment of an autonomous vehicle emergency brake control system provided by the present application;
FIG. 6 is a schematic diagram illustrating the construction of an embodiment of an emergency stop signal device in an emergency brake control system for an autonomous vehicle according to the present application;
fig. 7 is a schematic structural diagram of an embodiment of an apparatus for implementing emergency braking control of an autonomous vehicle according to the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The application will be described in further detail with reference to the drawings and the specific examples. It should be noted that the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
With the development of automobile industry technology and the improvement of user demands, the development of highly automatic driving and full-automatic driving technology is rapid, especially in closed and semi-closed scenes, the application of automatic driving automobiles is increasingly wide, and automobile safety is a topic of great concern. When an automatic driving vehicle runs, a safety person is generally configured to track the running of the vehicle, and emergency braking and stopping are required to be performed in the shortest time once the system fails, so that safety accidents are avoided to a great extent.
However, currently, there are emergency braking methods for an automatically driven vehicle including a whole vehicle controller, a domain controller, a vehicle driving system, a braking system, a parking system, and an emergency button; in the mode, the whole vehicle controller is connected with the domain controller, the vehicle driving system, the brake system and the parking system through the CAN bus, and performs information interaction and control, and the whole vehicle controller controls the vehicle driving system, the parking system and the brake system to execute automatic emergency parking; the emergency button is connected with the domain controller, the whole vehicle controller, the parking controller and the brake controller through hard wires, and when the emergency button is pressed, a high level is output to the domain controller, the whole vehicle controller, the parking controller and the brake controller, so that manual emergency parking is executed. However, in the emergency braking mode, the brake actuating device has no redundancy, when the brake actuating device fails, the electric recovery braking capability of the vehicle driving system is weak, the vehicle is slow in speed reduction, the braking distance is long, the effect of manual emergency or automatic emergency is limited, and the vehicle has collision risk; meanwhile, the parking device does not participate in braking, when a braking system fails or brake fluid leaks, only electricity is recycled for braking, and safety risks can exist for the vehicle; the automatic emergency is detected and controlled by the whole vehicle controller, and when the whole vehicle controller fails or has communication failure, the automatic emergency braking, the electric recovery and the parking are unresponsive, so that the remote manual emergency parking can not be realized.
Or the prior art has disclosed an unmanned intelligent vehicle scram system comprising a transmitter configured to transmit a scram request; the receiver is connected with the transmitter and comprises a signal receiving module and a normally closed relay, wherein the signal receiving module is configured to receive the emergency stop request, and the normally closed relay is configured to open two normally closed contacts and send out an ungrounded signal when receiving the emergency stop request; a vehicle emergency stop module connected to the normally closed relay and configured to receive the non-grounded signal and transmit the same; the vehicle controller is connected with the vehicle emergency stop module and is configured to receive an ungrounded signal sent by the vehicle emergency stop module and send an emergency stop instruction; and the braking structure is connected with the whole vehicle controller and is configured to receive the emergency stop instruction and execute the emergency stop instruction. However, in the emergency braking mode, the transmission path of an emergency stop signal is free from redundancy, a receiver is connected with a vehicle emergency stop module, the vehicle emergency stop module is connected with a whole vehicle controller through a hard wire, an electronic parking brake controller and an electronic hydraulic brake controller are connected with the whole vehicle controller through a CAN wire, parking and hydraulic brake instructions are only issued by the whole vehicle controller through the CAN, and when the transmission path fails or the whole vehicle controller fails, effective braking cannot be performed, and power output cannot be interrupted in time; the hydraulic braking system has no redundancy, and the vehicle has collision risk when the system fails or brake fluid leaks; the parking system and the power driving system do not participate in emergency braking, and the risk of collision of the vehicle is high when the hydraulic braking system fails.
Based on the above-described problems, in an embodiment, referring to fig. 1 to 3, the present embodiment provides an automatic driving vehicle emergency brake control method including:
step S100, when the whole vehicle is powered on, performing self-checking on an emergency braking system; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and step 200, after the self-checking is passed, receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking.
In this embodiment, the emergency braking command is transmitted via a hard wire and a CAN bus, and the self-checking of the emergency braking system in step S100 is specifically performed by step S110, where the self-checking command is sent to control the relay of the emergency stop signal device to actively engage for a preset period of time, so that the hard wire transmits the emergency braking command, and the emergency stop signal device sends the emergency braking command via the CAN bus;
step S120, detecting communication signals of the emergency stop signal device, the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, the power source device, the hard wire and the CAN bus;
and step S130, feeding back the communication signal results of the hard wire and the CAN bus through the CAN bus.
In this embodiment, referring to fig. 5 and 6, the automatic driving vehicle emergency brake control system is constituted by an emergency stop signal device, a first hydraulic brake device, a second hydraulic brake device, an electronic parking brake device, and a power source device. The emergency stop signal device consists of a wireless receiver, an emergency stop switch and the like. The emergency stop signal device is synchronously connected with the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device through hard wires and a CAN bus. The emergency stop signal device can be used for transmitting an emergency braking instruction by pressing an emergency stop switch of the vehicle by a safety person, or can be used for wirelessly transmitting the emergency braking instruction to the emergency stop signal device by pressing the emergency stop switch by a remote wireless transmitter by the safety person.
The power switch of the automatic driving vehicle is placed in an ON gear, the whole vehicle is electrified, the emergency stop signal device actively attracts the relay of the emergency stop switch to be closed for 1s, an emergency braking signal is actively sent out through a hard wire and a CAN bus, the communication signal detection of the emergency stop signal device, the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device, the power source device, the hard wire and the CAN bus is completed, the communication signal detection result is fed back to the emergency stop signal device through the hard wire and the CAN bus, the diagnosis self-check of the emergency braking control system is realized according to the self-check strategy, and the automatic driving vehicle CAN be driven to run after the self-check passes.
Further, after the self-checking of the emergency braking system is passed, the emergency braking instruction of the emergency stop signal device is received to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to carry out emergency braking. According to the technical scheme, multiple braking parallel response is adopted, and the braking redundancy is improved, so that the braking reliability and braking effect are greatly improved, and the accident risk is effectively reduced.
In an alternative embodiment, referring to fig. 3, the first hydraulic brake device is controlled to respond to the first braking deceleration with a maximum allowable braking force for emergency braking of the autonomous vehicle, specifically for receiving an emergency braking command; after the emergency braking of the first hydraulic braking device lasts for a first time, controlling the pressure release of the first hydraulic braking device to stop braking;
and receiving an emergency braking command to control the second hydraulic braking device to respond to the second braking deceleration with the maximum allowable braking force; and after the emergency braking of the second hydraulic braking device lasts for a second time period, controlling the pressure release of the second hydraulic braking device to stop braking.
Specifically, after the emergency braking system receives an emergency braking instruction via a hard wire or a CAN bus, the first hydraulic braking device responds to the first braking deceleration a1 with the maximum allowable braking force max Emergency braking is carried out, and when the first hydraulic braking device is used for braking for a first time period T which is more than or equal to T1, the first hydraulic braking device is used for releasing pressure and stopping braking; the second hydraulic brake device responds to the second braking deceleration a2 with the maximum allowable braking force max And (3) performing emergency braking, and releasing pressure by the second hydraulic braking device to stop braking when the second hydraulic braking device is used for braking for a second time period T which is more than or equal to T2. Therefore, in an emergency situation, the damage of one of the hydraulic braking devices is avoided, so that braking failure is caused, and the technical scheme realizes redundant braking of a plurality of hydraulic braking devices, so that braking reliability and braking effect are improved, and the emergency braking safety of the automatic driving vehicle is improved.
The maximum allowable braking force of the first and second hydraulic brake devices, and the first braking deceleration a1 of the first hydraulic brake device max And a second hydraulic brake device a2 max The second braking deceleration of (2) can be set according to the actual application condition; meanwhile, the first time period T1 and the second time period T2 may be set according to actual application conditions, which is not specifically limited herein. For example, the maximum allowable braking force of the first and second hydraulic brake devices may be 10MPa, the first braking deceleration a1 of the first hydraulic brake device max And a second braking deceleration a2 of the second hydraulic brake device max May be 1m/s 2 . The first time period T1 and the second time period T2 may each be 40s.
Further, in an alternative embodiment, referring to FIG. 3, emergency braking of the autonomous vehicle may further include receiving an emergency braking command and obtaining a vehicle speed of the vehicle; when the vehicle speed is smaller than the preset vehicle speed or the emergency braking duration time of the emergency braking system is longer than a third preset duration time, namely, the emergency braking duration time counted from the time of receiving an emergency braking instruction is longer than the third preset duration time, the electronic parking braking device is controlled to clamp the brake disc for parking; the third preset time length is smaller than the first time length or the second time length; and otherwise, controlling the electronic parking brake device to respond to the third braking deceleration.
Specifically, after the emergency braking system receives an emergency braking instruction through a hard wire or a CAN bus, the electronic parking braking device judges whether the vehicle speed V is smaller than a preset vehicle speed V1 at the moment or whether the emergency braking duration of the emergency braking system is longer than a third preset duration, when the vehicle speed V is smaller than the preset vehicle speed V1 at the moment or the emergency braking duration of the emergency braking system is longer than the third preset duration, the electronic parking braking device clamps the brake disc to park, and when the vehicle speed V is greater than or equal to the preset vehicle speed V1 at the moment or the emergency braking duration of the emergency braking system is smaller than or equal to the third preset duration, the electronic parking braking device executes a third braking deceleration a3. That is, the electronic parking brake apparatus performs a corresponding action according to the vehicle speed and the emergency brake duration, directly clamps the brake disc for parking when the vehicle speed and the emergency brake duration satisfy the conditions, performs braking at a certain braking deceleration when the vehicle speed and the emergency brake duration do not satisfy the conditions, and cannot acquire the vehicle speed due to a failure of the vehicle speed sensor or the line, and cannot introduce the determination condition into the emergency brake duration due to the fact that the vehicle speed is not taken as the determination condition at this time, thereby avoiding that the vehicle is not parked all the time when the vehicle speed signal is abnormal. According to the technical scheme, the electronic parking brake device is introduced to further brake on the basis of the first hydraulic brake device and the second hydraulic brake device, so that the braking reliability and the braking effect are improved, and the safety of an automatic driving vehicle is improved.
Here, the preset vehicle speed, the emergency braking duration, and the third braking deceleration of the autonomous vehicle are set according to the actual application, for example, the preset vehicle of the autonomous vehicleThe speed may be 4Km/h, the emergency braking duration may be 35s, and the third braking deceleration may be 0.2m/s 2 -0.3m/s 2 The present application is not particularly limited herein.
Meanwhile, it can be understood that the third preset duration is shorter than the first duration or the second duration in this embodiment, that is, the parking is performed before the hydraulic braking of the first hydraulic braking device or the second hydraulic braking device is released; the third braking deceleration is smaller than both the first braking deceleration and the second braking deceleration.
Further, in an alternative embodiment, referring to fig. 3, the emergency braking of the autonomous vehicle may further include receiving an emergency braking command, and the power source device obtains the power recoverable by the power battery; when the recoverable power of the power battery is 0, the torque output of the driving motor is cleared; when the recoverable power of the power battery is greater than 0, the maximum allowable negative torque of the driving motor is executed, and the vehicle is switched from the driving mode to the generating mode to perform electric recovery braking.
Specifically, the power source device determines whether the recoverable power Pre of the power battery is greater than 0, if the recoverable power Pre is greater than 0, the power source device executes the maximum allowable negative torque tq= -Tor of the driving motor, the auxiliary braking deceleration a4, the vehicle is changed from the driving mode to the generating mode, the electric recovery braking is performed according to the power, and if the recoverable power Pre is equal to 0, the power source device tq=0, and the driving motor output torque is cleared. According to the technical scheme, on the basis of the first hydraulic braking device, the second hydraulic braking device and the electronic parking braking device, when the recoverable power of the power battery is larger than 0, the power source device is introduced to further assist in electric recovery braking, so that multiple braking parallel response is realized, the braking redundancy is improved, the braking reliability and braking effect are improved, and the accident risk is effectively reduced.
In the above embodiment, the safety officer can issue an emergency braking instruction by operating the button in two ways. Firstly, when a safety officer is on a vehicle, the safety officer CAN press an in-vehicle emergency stop switch, the hard wire and the CAN bus output an emergency braking instruction, and meanwhile, the hard wire and the CAN bus output an emergency braking signal after the receiving module detects the emergency braking instruction; secondly, when the safety officer CAN execute remote control operation through the wireless transmitter outside the automobile, the emergency stop switch on the wireless transmitter is pressed, the wireless transmitter sends wireless signals to the receiving module, and the receiving module synchronously outputs emergency braking signals through the hard wire and the CAN bus. That is, under emergency, the safety officer CAN not only remotely control but also operate on the real vehicle to send out an emergency braking instruction, and the transmission path adopts CAN bus and hard wire to transmit in parallel, and a plurality of devices execute emergency braking, so that the emergency braking of the vehicle is more reliable and effective, and the automatic driving safety is greatly improved.
Fig. 4 shows a schematic structural diagram of an autonomous vehicle emergency brake control system 400 in accordance with the present application. As shown in fig. 4, the autonomous vehicle emergency brake control system 400 includes: a self-test module 410 and a control module 420;
the self-checking module 410 is used for self-checking the emergency braking system when the whole vehicle is powered on; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and the control module 420 is used for receiving the emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to carry out emergency braking after the self-checking is passed.
In an alternative manner, referring to fig. 5 and 6, the output end of the emergency stop signal device is connected to a CAN bus and a hard wire, and the emergency stop signal device is respectively connected to the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device in a signal manner; and an emergency braking instruction issued by the emergency stop signal device is transmitted to the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device through a hard wire and a CAN bus.
In this embodiment, the emergency stop signal device is directly and synchronously connected to the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device through a hard wire on one hand, and is in communication with the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device through a CAN bus on the other hand. The first hydraulic braking device and the second hydraulic braking device can build pressure and brake rapidly, and meanwhile, the first hydraulic braking device and the second hydraulic braking device have functions of stabilizing a vehicle body and the like besides braking functions.
It should be noted that the emergency stop signal device includes: the safety control system comprises a wireless transmitter, a wireless receiver, an emergency stop switch and the like, wherein the emergency stop switch is arranged on the wireless transmitter, when a safety risk is recognized by a safety officer remotely, the emergency stop switch is operated on the wireless transmitter, the wireless transmitter transmits emergency stop signals in a radio frequency mode, the wireless receiver receives the emergency stop signals and outputs the signals through two paths, one path of signals is closed through a normally open relay, one end of the relay is grounded, one end of the relay is hard-wired, and the other path of signals are output through a CAN bus. Further, the emergency stop switch is a two-way normally open switch, is installed at an easy-to-operate position on a vehicle, is connected in parallel in a two-way linkage mode, and is connected with the wireless receiver, when a safety risk is identified by a safety officer on the vehicle, the emergency stop switch is operated, an emergency stop signal is output through a hard wire, and meanwhile, the wireless receiver detects the emergency stop signal and then synchronously outputs the emergency stop signal through the CAN bus. Therefore, multipath parallel transmission of emergency stop signals is realized, and when a signal of a certain transmission path is lost, the vehicle can still effectively brake, so that the emergency braking reliability of the automatic driving vehicle is improved.
In the embodiment of the application, the emergency braking control system of the automatic driving vehicle is powered on through the self-checking module 410 and the control module 420, the self-checking module 410 performs self-checking on the emergency braking system, and the vehicle can normally run after the self-checking passes; after the self-check is passed, the control module 420 receives an emergency braking command to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking. According to the technical scheme, multiple braking parallel response is adopted, and the braking redundancy is improved, so that the braking reliability and braking effect are greatly improved, and the accident risk is effectively reduced.
Fig. 7 shows a schematic structural diagram of an automobile according to the present application, and the specific embodiment of the present application is not limited to the specific implementation of the automobile.
As shown in fig. 7, the automobile may include: a processor 502, a communication interface (Communications Interface) 504, a memory 506, and a communication bus 508.
Wherein: processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508. A communication interface 504 for communicating with network elements of other devices, such as clients or other servers. Processor 502 is configured to execute program 510, and may specifically perform the relevant steps described above in connection with embodiments of a method for controlling emergency braking of an autonomous vehicle.
In particular, program 510 may include program code comprising computer-executable instructions.
The processor 502 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors comprised by the vehicle may be of the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 506 for storing a program 510. The memory 506 may have a high-speed RAM memory and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
According to the emergency braking control method for the automatic driving vehicle, when the whole vehicle is electrified, the emergency braking system is subjected to self-checking, and the vehicle can normally run after the self-checking passes; and after the self-checking is passed, receiving an emergency braking instruction to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking. According to the technical scheme, multiple braking parallel response is adopted, and the braking redundancy is improved, so that the braking reliability and braking effect are greatly improved, and the accident risk is effectively reduced.
An embodiment of the present application provides a computer readable storage medium storing at least one executable instruction that, when run on an autonomous vehicle emergency brake control system or a vehicle, causes the autonomous vehicle emergency brake control system or the vehicle to execute the autonomous vehicle emergency brake control method in any of the above method embodiments.
The executable instructions stored in the computer readable storage medium provided by the embodiment of the application can carry out self-check on the emergency braking system when the whole vehicle is electrified, and the vehicle can normally run after the self-check passes; and after the self-checking is passed, receiving an emergency braking instruction to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking. According to the technical scheme, multiple braking parallel response is adopted, and the braking redundancy is improved, so that the braking reliability and braking effect are greatly improved, and the accident risk is effectively reduced.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present application are not directed to any particular programming language.
In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the application may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the application, various features of embodiments of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.
Claims (10)
1. An autonomous vehicle emergency brake control method, comprising:
when the whole vehicle is electrified, performing self-checking on an emergency braking system; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and after the self-checking is passed, receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking.
2. The method of controlling emergency braking of an autonomous vehicle according to claim 1, wherein said step of self-checking an emergency braking system comprises:
the method comprises the steps that a self-checking instruction is sent to control a relay of an emergency stop signal device to actively attract a preset time period, so that the emergency stop signal device transmits an emergency braking instruction through a hard wire, and the emergency stop signal device sends the emergency braking instruction through a CAN bus;
communication signal detection is carried out on the emergency stop signal device, the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, the power source device, the hard wire and the CAN bus; and feeding back a communication signal detection result of the hard wire and the CAN bus through the CAN bus.
3. The method of controlling emergency braking of an autonomous vehicle according to claim 2, wherein the step of receiving an emergency braking command of the emergency stop signal device controls the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking, comprises:
receiving an emergency braking command to control the first hydraulic braking device to respond to the first braking deceleration with a maximum allowable braking force;
after the first hydraulic braking device emergently brakes for a first duration, controlling the first hydraulic braking device to release pressure and stop braking;
and receiving an emergency braking command to control the second hydraulic braking device to respond to the second braking deceleration with the maximum allowable braking force;
and after the second hydraulic braking device is subjected to emergency braking for a second time period, controlling the second hydraulic braking device to release pressure and stop braking.
4. The method of controlling emergency braking of an autonomous vehicle according to claim 3, wherein the step of receiving an emergency braking command from the emergency stop signal device controls the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking, further comprising:
receiving an emergency braking instruction and acquiring the speed of the vehicle;
when the vehicle speed is smaller than a preset vehicle speed or the emergency braking duration of the emergency braking system is longer than a third preset duration, controlling the electronic parking braking device to clamp a brake disc for parking; the third preset time period is smaller than the first time period or the second time period;
and otherwise, controlling the electronic parking brake device to respond to the third braking deceleration.
5. The method of claim 4, wherein the step of receiving an emergency braking command from the emergency stop signal device controls the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking, further comprising:
receiving an emergency braking instruction, wherein the power source device obtains recoverable power of a power battery;
when the recoverable power of the power battery is 0, the torque output of the driving motor is cleared;
and when the recoverable power of the power battery is greater than 0, executing the maximum allowable negative torque of the driving motor, and switching the vehicle from the driving mode to the generating mode to perform electric recovery braking.
6. The method according to any one of claims 2 to 5, wherein the step of receiving an emergency braking instruction from the emergency stop signal device to control the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device, and the power source device to perform emergency braking includes:
receiving an emergency braking instruction of an emergency stop switch in a vehicle, and transmitting the emergency braking instruction through the hard wire and a CAN bus to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking;
and receiving an emergency braking instruction of the wireless transmitter, and transmitting the emergency braking instruction through the hard wire and the CAN bus to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to perform emergency braking.
7. An autonomous vehicle emergency brake control system, the autonomous vehicle emergency brake control system comprising:
the self-checking module is used for carrying out self-checking on the emergency braking system when the whole vehicle is electrified; the emergency braking system comprises an emergency stop signal device, a first hydraulic braking device, a second hydraulic braking device, an electronic parking braking device and a power source device;
and the control module is used for receiving an emergency braking instruction of the emergency stop signal device to control the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device to carry out emergency braking after the self-checking is passed.
8. The autonomous vehicle emergency braking control system of claim 7, wherein,
the output end of the emergency stop signal device is connected to the CAN bus and the hard wire, and the emergency stop signal device is respectively connected to the first hydraulic brake device, the second hydraulic brake device, the electronic parking brake device and the power source device in a signal mode;
and an emergency braking instruction issued by the emergency stop signal device is transmitted to the first hydraulic braking device, the second hydraulic braking device, the electronic parking braking device and the power source device through a hard wire and a CAN bus.
9. An automobile, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the autonomous vehicle emergency brake control method of any one of claims 1-6.
10. A computer readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, which executable instruction, when run on an autonomous vehicle emergency brake control system/car, causes the autonomous vehicle emergency brake control system/car to perform the operation of the autonomous vehicle emergency brake control method according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310965034.3A CN116729340A (en) | 2023-07-31 | 2023-07-31 | Emergency braking control method and system for automatic driving vehicle, automobile and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310965034.3A CN116729340A (en) | 2023-07-31 | 2023-07-31 | Emergency braking control method and system for automatic driving vehicle, automobile and storage medium |
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| CN116729340A true CN116729340A (en) | 2023-09-12 |
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| CN202310965034.3A Pending CN116729340A (en) | 2023-07-31 | 2023-07-31 | Emergency braking control method and system for automatic driving vehicle, automobile and storage medium |
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| CN (1) | CN116729340A (en) |
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