CN117565832A - Vehicle braking control method and device, storage medium and vehicle - Google Patents

Vehicle braking control method and device, storage medium and vehicle Download PDF

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Publication number
CN117565832A
CN117565832A CN202311774612.1A CN202311774612A CN117565832A CN 117565832 A CN117565832 A CN 117565832A CN 202311774612 A CN202311774612 A CN 202311774612A CN 117565832 A CN117565832 A CN 117565832A
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CN
China
Prior art keywords
vehicle
braking
control method
deceleration
target deceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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CN202311774612.1A
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Chinese (zh)
Inventor
聂利井
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Beijing Foton Daimler Automobile Co Ltd
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Beijing Foton Daimler Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Beijing Foton Daimler Automobile Co Ltd filed Critical Beijing Foton Daimler Automobile Co Ltd
Priority to CN202311774612.1A priority Critical patent/CN117565832A/en
Publication of CN117565832A publication Critical patent/CN117565832A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • 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

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

Abstract

The invention discloses a vehicle braking control method and device, a storage medium and a vehicle, wherein the vehicle braking control method comprises the following steps: recognizing that the own vehicle is not provided with an anti-lock braking system under a braking condition; acquiring state information of a self-vehicle and obstacle object perception data; obtaining a target deceleration according to the vehicle state information and the obstacle object perception data; and controlling the deceleration of the own vehicle according to the target deceleration. The control method of the invention realizes intelligent and adaptive braking control under the braking working condition, ensures reasonable dynamic adjustment of deceleration, avoids unpredictable risks such as push head, superposition, side turning and the like which are possibly caused by directly applying the maximum braking force, and thus improves the safety and reliability of vehicle braking.

Description

Vehicle braking control method and device, storage medium and vehicle
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle braking control method and device, a nonvolatile readable storage medium, and a vehicle.
Background
In the related art, since a trailer has a long life cycle in the market, there are also a large number of vehicles on the market that are not equipped with an antilock brake system. Among these vehicles, in a vehicle equipped with an AEB (Automatic Emergency Braking) function, a conventional brake control method is to avoid occurrence of a traffic accident by providing an alarm to prompt a driver to brake or automatically brake the vehicle when the vehicle collides with a front obstacle. Specifically, the system first alerts the driver to critical traffic conditions. If the driver is still unresponsive, the system will twist the engine and apply the foundation brake system to maximum braking effort to avoid or mitigate potential collisions.
However, the direct application of the maximum braking effort may lead to a larger deceleration request, which may easily lead to unpredictable risks of heading, stacking, rollover, etc. during braking of the vehicle, reducing driving safety.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a vehicle control method, which can implement intelligent and adaptive braking control under a braking condition, ensure reasonable dynamic adjustment of deceleration, and avoid unpredictable risks such as heading, stacking, rollover, etc. caused by directly applying maximum braking force, thereby improving safety and reliability of vehicle braking.
A second object of the present invention is to provide a brake control device.
A third object of the present invention is to propose a non-volatile readable storage medium.
A fourth object of the present invention is to propose a vehicle.
In order to achieve the above object, a brake control method for a vehicle according to an embodiment of a first aspect of the present invention includes: recognizing that the own vehicle is not provided with an anti-lock braking system under a braking condition; acquiring state information of a self-vehicle and obstacle object perception data; obtaining a target deceleration according to the vehicle state information and the obstacle object perception data; and controlling the deceleration of the own vehicle according to the target deceleration.
According to the braking control method of the vehicle, the vehicle state information and the obstacle sensing data are obtained by identifying that the vehicle is not provided with an anti-lock braking system, so that the overall sensing of the vehicle state and the surrounding environment is realized, the target deceleration can be obtained by utilizing the vehicle state information and the obstacle sensing data, the system can intelligently determine the proper deceleration level according to the vehicle state and the environmental conditions, the deceleration of the vehicle is dynamically regulated according to the target deceleration, the intelligent and adaptive braking control under the braking condition is realized, the unpredictable risks such as pushing head, superposition and rollover possibly caused by directly applying the maximum braking force are avoided, and the vehicle can more safely and reliably cope with the potential collision risks.
In some embodiments, the target deceleration is less than a braking deceleration of an electronic braking system when a vehicle in which the antilock braking system is configured is braked.
In some embodiments, the target deceleration a satisfies |a| |<6m/s 2 。
In some embodiments, obtaining a target deceleration from the vehicle state information and the obstacle-object awareness data includes: obtaining the relative speed and the relative distance between the vehicle and the obstacle according to the vehicle state information and the obstacle sensing data; the target deceleration is obtained from the relative speed and the relative distance.
In some embodiments, the target deceleration is obtained by the following equation:
wherein a is the target deceleration, v rel For the relative speed, D dis For the relative distance D safe For the safe distance, k is the deceleration gain.
In some embodiments, the brake control method further comprises: acquiring state information of an electric control braking system of the self-vehicle; and identifying whether the self-vehicle is provided with the anti-lock braking system according to the state information of the electric control braking system.
In order to achieve the above object, a brake control apparatus according to a second aspect of the present invention includes: at least one processor; a memory communicatively coupled to the at least one processor; the memory stores therein a computer program executable by the at least one processor, which when executing the computer program implements the braking control method of the vehicle described in the above embodiments.
According to the braking control device of the embodiment of the invention, the processor implements the braking control method of the vehicle described in the above embodiment by executing the computer program stored in the memory, and obtains the target deceleration by identifying that the own vehicle is not equipped with the anti-lock braking system and obtaining the own vehicle state information and the obstacle sensing data, which means that the system can intelligently determine the proper deceleration level according to the vehicle state and the environmental condition, dynamically adjust the deceleration of the own vehicle according to the target deceleration, implement intelligent and adaptive braking control under the braking condition, and avoid unpredictable risks such as pushing, overlapping, rollover, and the like, which may be caused by directly applying the maximum braking force, so that the vehicle can more safely and reliably cope with the potential collision risk.
In order to achieve the above object, a non-transitory readable storage medium of an embodiment of a third aspect of the present invention has stored thereon a computer program, characterized in that the computer program, when executed, implements the brake control method of the vehicle described in the above embodiment.
According to the non-volatile readable storage medium provided by the embodiment of the invention, by adopting the vehicle braking control method provided by the embodiment of the invention, intelligent and adaptive braking control under a braking working condition can be realized, reasonable dynamic adjustment of deceleration is ensured, unpredictable risks such as pushing head, superposition, rollover and the like which are possibly caused by directly applying the maximum braking force are avoided, and thus the safety and reliability of vehicle braking are improved.
In order to achieve the above object, a vehicle according to a fourth aspect of the present invention includes: an electric control braking system; the brake control device of the above embodiment is connected to the electric control brake system.
According to the vehicle provided by the embodiment of the invention, the vehicle is provided with the brake control device, and the brake control device adopts the brake control method of the vehicle, so that intelligent and adaptive brake control under a brake working condition can be realized, reasonable dynamic adjustment of deceleration is ensured, unpredictable risks such as head pushing, superposition, rollover and the like possibly caused by directly applying the maximum brake force are avoided, and the safety and reliability of vehicle braking are improved.
In some embodiments, the vehicle is a tractor having a trailer that is not equipped with an anti-lock braking system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a method of braking control of a vehicle according to one embodiment of the invention;
FIG. 2 is an overall flowchart of a method of controlling braking of a vehicle according to one embodiment of the invention;
FIG. 3 is a block diagram of a brake control apparatus according to one embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle according to one embodiment of the invention.
Reference numerals:
a vehicle 100;
a brake control device 1; an electric control braking system 2;
a processor 10; a memory 20.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
A brake control method of a vehicle according to an embodiment of the present invention is described below with reference to fig. 1 to 2.
Fig. 1 is a flowchart of a brake control method of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the brake control method of a vehicle according to an embodiment of the present invention includes at least the following steps S1 to S4.
S1, recognizing that the vehicle is not provided with an anti-lock braking system under a braking condition.
In some embodiments, the anti-lock braking system can avoid wheel locking, provide better operability and braking effect, and the vehicle can detect whether the vehicle is not carrying the anti-lock braking system under the braking condition through a sensor or other detection devices. Specifically, by analyzing the data detected by the sensors and the detecting means, the system can detect whether or not there is a specific feature of the antilock brake system, such as a wheel speed change, a pressure change of the brake hydraulic system, a brake pulse adjustment, an ABS (antilock brake system) sensor signal. If these features are absent, it may be indicated that the vehicle is not equipped with an anti-lock braking system. If the own vehicle is not equipped with an antilock braking system, the braking strategy may be automatically adjusted based on this information to avoid potential braking risks.
S2, acquiring vehicle state information and obstacle sensing data.
In some embodiments, the vehicle status information may include, but is not limited to, vehicle speed, acceleration, wheel speed, steering wheel angle, throttle opening, etc. Such information may be obtained through vehicle interior sensors, electronic control units, or bus systems. Obstacle-object awareness data may include information about other vehicles, pedestrians, obstacles in the surrounding environment, such as position, distance, relative speed, etc. These data may be obtained by monitoring objects around the vehicle in real time using advanced sensing means, such as cameras, lidar, millimeter wave radar, etc.
Therefore, by acquiring the vehicle state information and obstacle-object-sensing data, the current state of the vehicle and the condition of the surrounding environment can be comprehensively known. Such information is critical to formulating an accurate braking strategy and avoiding potential collision risks. By comprehensively analyzing the data, the system can better perform braking adjustment to ensure safety.
And S3, obtaining target deceleration according to the vehicle state information and obstacle sensing data.
In some embodiments, the target deceleration may be a desired value at which the vehicle needs to be decelerated for safety in the current driving environment. The system may determine a target deceleration value by processing and analyzing the vehicle state information and obstacle-sensing data. This target deceleration is based on a comprehensive assessment of the current vehicle state and the surrounding environment, aimed at ensuring a timely and rational response to potential collision risk under braking conditions. Further, the target deceleration may be dynamically adjusted based on the current vehicle state and the surrounding environment to ensure that the braking operation is safe and effective under the current conditions.
In some embodiments, the manner in which the target deceleration is achieved may be by formulating specific braking algorithms and logic. This may include using a vehicle dynamics model to take into account the braking performance of the vehicle and the environmental conditions to determine an appropriate target deceleration value. For example, the target deceleration may be calculated by an algorithm based on factors such as the distance to the obstacle ahead, the relative speed, etc., in combination with information such as the speed, acceleration, etc. of the vehicle itself, to ensure safe braking in the present case.
And S4, controlling the deceleration of the own vehicle according to the target deceleration.
Specifically, the system may control the braking system of the vehicle to achieve the target deceleration by the electronic control unit of the vehicle, based on the calculated target deceleration. This may include adjusting the braking effort, distributing the braking force to the individual wheels, or employing other suitable control means to ensure a steady, safe deceleration of the vehicle in accordance with a target deceleration during braking.
In some embodiments, controlling the deceleration of the host vehicle in accordance with the target deceleration may include considering specific scenarios under different braking conditions, such as high-speed braking, emergency braking, braking in low-speed traffic congestion, and the like. The vehicle can adjust the target deceleration according to specific conditions and dynamically adjust the target deceleration so as to ensure that the vehicle can effectively and safely decelerate under different driving scenes, thereby improving the intelligence and the applicability of vehicle braking.
According to the braking control method of the vehicle, the vehicle state information and the obstacle sensing data are obtained by identifying that the vehicle is not provided with an anti-lock braking system, so that the overall sensing of the vehicle state and the surrounding environment is realized, the target deceleration can be obtained by utilizing the vehicle state information and the obstacle sensing data, the system can intelligently determine the proper deceleration level according to the vehicle state and the environmental conditions, the deceleration of the vehicle is dynamically regulated according to the target deceleration, the intelligent and adaptive braking control under the braking condition is realized, the unpredictable risks such as pushing head, superposition and rollover possibly caused by directly applying the maximum braking force are avoided, and the vehicle can more safely and reliably cope with the potential collision risks.
In some embodiments, the brake control method further comprises: and acquiring the state information of an electric control braking system of the self-vehicle. And identifying whether the self-vehicle is provided with the anti-lock braking system according to the state information of the electric control braking system. The state information of the electric control braking system can reflect the current working state of the electric control braking system of the vehicle, such as whether braking operation is performed, whether a braking system fault exists, and the like.
In particular, the system may obtain the status information of the electrically controlled brake system of the vehicle via a corresponding sensor or monitoring device. Such information may include operating conditions of the brake system, sensor output, valve status, etc. The manner in which this information is obtained may be via an electronically controlled braking system connected to the vehicle to monitor the operating state of the system in real time.
Further, the system analyzes the acquired state information of the electric control braking system to determine whether the own vehicle is equipped with an antilock braking system. For vehicles equipped with an antilock braking system, the system may detect the operating state and performance of the corresponding antilock braking system. For example, the system may determine the presence of an antilock braking system by monitoring information such as response time of the braking system, signals from wheel speed sensors, open/close state of valves, etc. If the system detects these characteristics and matches the operating mode of the antilock braking system, it is determined that the host vehicle is equipped with the antilock braking system.
Through the steps, the braking control method provided by the embodiment of the invention can intelligently identify whether the self-vehicle is provided with the anti-lock braking system or not according to the real-time state information of the electric control braking system. This helps to more accurately adjust the braking strategy, ensuring that an appropriate braking control strategy is adopted when the system determines that the vehicle is not equipped with an antilock braking system, avoiding improper braking operations.
In some embodiments, for vehicles that are already equipped with an antilock braking system, the electronic braking system may be configured with a corresponding braking deceleration strategy in the event of an emergency braking, and typically such a configuration may be more focused on fully exploiting the performance provided by the antilock braking system. For example, the system may be configured with a greater braking deceleration to ensure rapid deceleration in the event of an emergency braking, to prevent wheel lock-up, and to provide better handling and braking effectiveness.
In the brake control method according to the embodiment of the invention, since the vehicle is not equipped with the antilock brake system, the target deceleration is limited by the performance of the brake system, and the strong brake deceleration provided by the antilock brake system is not provided, that is, the target deceleration is smaller than the brake deceleration of the electronic brake system when the vehicle equipped with the antilock brake system is braked. In this case, when the target deceleration is less than the configured braking deceleration, the system may avoid potential braking risks by limiting the braking deceleration, especially in the absence of an anti-lock system, where direct application of substantial braking may result in wheel lock-up and runaway.
Therefore, by intelligently adjusting the braking force according to the actual condition of the vehicle, the system can realize more intelligent and safer braking adjustment on the vehicle which is not provided with an anti-lock braking system, ensure that reasonable deceleration can be selected under the braking working condition, and prevent potential braking risks.
In some embodiments, the target deceleration a satisfies |a| |<6m/s 2 That is, the target deceleration a may be selected to be 1m/s 2 Or 2m/s 2 Or 3m/s 2 Or 4m/s 2 Or 5m/s 2 Etc., and are not particularly limited herein. Setting the target deceleration a to satisfy |a| |<6m/s 2 This is to prevent excessive deceleration during braking, which is likely to cause the vehicle to brake outUnpredictable risks such as pushing heads, stacking, rollover and the like are present. By setting the upper limit of the target deceleration, it is ensured that the deceleration of the vehicle is within a reasonable range under the braking condition, so as to maintain the stability of driving. This limit value may be based on a combination of vehicle dynamics and handling properties, ensuring that braking performance and driving safety can be balanced without causing uncontrolled or undue braking forces on the vehicle.
In some embodiments, obtaining the target deceleration from the vehicle state information and the obstacle-object awareness data includes: and obtaining the relative speed and the relative distance between the vehicle and the obstacle according to the vehicle state information and the obstacle sensing data, and obtaining the target deceleration according to the relative speed and the relative distance.
In some embodiments, the relative speed may be a speed difference between the vehicle and the obstacle object, which may be calculated by subtracting the vehicle speed from the obstacle object speed. The relative distance may be a distance between the vehicle and the obstacle object, which may be calculated by subtracting the vehicle position from the obstacle object position. The relative speed and relative distance of the own vehicle to the obstacle object may be obtained by a change in data measured by a radar, a camera or a sensor equipped to the vehicle, and in particular, for the radar, the distance and speed of the obstacle in front may be measured. The relative velocity may be obtained by measuring the velocity change and the relative distance may be distance information obtained directly from the radar. For cameras, cameras on vehicles can be used for visual perception, the relative speed being obtained by calculating the position of the obstacle in the image over time. The relative distance may be obtained by calculating the size or depth information of the obstacle on the image. As for the sensor, the vehicle may be equipped with a sensor that measures the vehicle speed and acceleration, and by integrating these information, the relative speed of the vehicle may be calculated. The relative distance may be calculated in combination with data from other sensors, such as wheel speed sensors.
Thus, by processing the vehicle state information and obstacle object perception data, the system can calculate the relative speed and relative distance between the vehicle and the obstacle object, which can be based on the position of the object in the perception data and the change in the state of motion. By inputting the relative velocity and relative distance into a predefined algorithm or control logic, the system can determine a target deceleration. This target deceleration may be set by the system based on the relative motion state of the host vehicle and the obstacle to achieve intelligent braking adjustment.
In some embodiments, the above calculations are typically performed in discrete time steps, using real-time data provided by the sensors. For example, by continuously acquiring vehicle speed and position information while monitoring the movement state of the obstacle, the relative speed and the relative distance can be updated at each time step. These calculations provide information to the braking system about the interaction of the vehicle with the obstacle in order to take appropriate braking strategies.
In the embodiment together, the target deceleration is obtained by the following equation:
where a is the target deceleration, which is the target value at which the system wishes the vehicle to decelerate. The calculation of this value is based on the relative velocity, the relative distance, the guard distance and the deceleration gain. v rel The relative speed may be represented as a speed difference between the host vehicle and the obstacle, obtained by subtracting the obstacle speed from the vehicle speed. Positive values indicate that the vehicle is faster than the obstacle and negative values indicate that the vehicle is slower than the obstacle. D (D) dis The relative distance may be represented as a distance between the vehicle and the obstacle object, obtained by subtracting the obstacle object position from the vehicle position. This value is positive, indicating that the obstacle is in front of the vehicle; negative indicates that the obstacle is behind the host vehicle. D (D) safe For a safe distance, the safe distance may be to ensure that there is sufficient room to react at any time to avoid collisions. It may be a constant offset from the distance. k is the deceleration gain. The deceleration gain may be an adjustment parameter for controlling the adjustment amplitude of the target deceleration. It affects the response of the system to changes in relative speed and relative distance.
In practical applications, the performance of the system may be optimized by adjusting the deceleration gain to accommodate different driving scenarios and vehicle characteristics. For example, the deceleration gain may be increased during high speed travel to more quickly respond to an emergency. Furthermore, through experiments and simulations, values of the guard distance and the deceleration gain suitable for different vehicle types and driving conditions can be determined.
Fig. 2 is an overall flowchart of a brake control method of a vehicle according to an embodiment of the present invention, and as shown in fig. 2, the overall flowchart of the brake control method of the vehicle according to an embodiment of the present invention includes at least the following steps S10 to S16.
S10, starting.
S11, the system is configured with an electric control braking system of the own vehicle.
S12, judging whether the own vehicle is equipped with an anti-lock brake system, if so, proceeding to step S13, and if not, proceeding to step S14.
S13, the system calls an electric control braking system control program and applies a predefined deceleration (-6 m/S) 2 )。
S14, the system adjusts the target recognition logic to recognize the obstacle object in advance, and obtains target deceleration according to the vehicle state information and the obstacle object perception data.
S15, controlling the deceleration of the vehicle according to the target deceleration so as to avoid unpredictable risks such as heading, superposition and side turning.
S16, ending.
In summary, when it is determined that the own vehicle is not equipped with the anti-lock braking system, by identifying the obstacle object in advance and acquiring the own vehicle state information and the obstacle object perception data, overall perception of the vehicle state and the surrounding environment is achieved, and the target deceleration can be obtained by using the own vehicle state information and the obstacle object perception data, which means that the system can intelligently determine a suitable deceleration level according to the vehicle state and the environmental conditions, dynamically adjust the deceleration of the own vehicle according to the target deceleration, intelligent and adaptive braking control under the braking condition is achieved, and unpredictable risks such as pushing, overlapping, rollover and the like which may be caused by directly applying the maximum braking force are avoided, so that the vehicle can more safely and reliably cope with the potential collision risks.
Based on the brake control method of the vehicle described in the above embodiment, a brake control apparatus according to an embodiment of the present invention is described below with reference to fig. 3.
Fig. 3 is a block diagram of a brake control apparatus according to an embodiment of the present invention, and as shown in fig. 3, a brake control apparatus 1 of an embodiment of the present invention includes: a memory 20 and at least one processor 10.
In the brake control device 1, the processor 10 may include one or more Central Processing Units (CPUs) and related control circuits. These processors 10 may be dedicated automobile electronic control processors or general purpose computer processors. The processor 10 is arranged to execute a computer program stored in the memory 20. The processor 10 is responsible for real-time monitoring, analysis and control of the braking of the vehicle.
In some embodiments, memory 20 includes Random Access Memory (RAM) and read-only memory (ROM). The memory 20 is communicatively coupled to the at least one processor 10 for storing computer programs, data and parameters required for vehicle braking control. The at least one processor 10, when executing the computer program, implements the braking control method of the vehicle described in the above embodiments.
According to the brake control apparatus 1 of the embodiment of the present invention, the processor 10 implements the brake control method of the vehicle described in the above embodiment by executing the computer program stored in the memory 20, and by recognizing that the own vehicle is not equipped with the antilock brake system and acquiring the own vehicle state information and the obstacle object sensing data, it is possible to obtain the target deceleration, which means that the system can intelligently determine the appropriate deceleration level according to the vehicle state and the environmental condition, dynamically adjust the deceleration of the own vehicle according to the target deceleration, implement intelligent and adaptive brake control under the braking condition, avoid unpredictable risks such as pushing, overlapping, rollover, etc., which may be brought about by directly applying the maximum braking force, and enable the vehicle to cope with the potential collision risk more safely and reliably.
In some embodiments of the present invention, there is also provided a non-volatile readable storage medium having stored thereon a computer program which, when executed, implements the brake control method of the vehicle of any one of the above embodiments.
In some embodiments, the non-volatile readable storage medium may employ a Flash Memory (Flash Memory) or the like technology to store a computer program containing a brake control method of the vehicle. These computer programs may be compiled machine code, or may be source code in script or high-level language, and interpreted or compiled when executed as necessary.
In some embodiments, the non-volatile readable storage medium may comprise a chip, memory card, or other suitable embedded storage device that is secured in the vehicle's electronic control system. These storage media are characterized in that they store a computer program capable of realizing the braking control method of the vehicle described in the above embodiments.
According to the non-volatile readable storage medium provided by the embodiment of the invention, by adopting the vehicle braking control method provided by the embodiment of the invention, intelligent and adaptive braking control under a braking working condition can be realized, reasonable dynamic adjustment of deceleration is ensured, unpredictable risks such as pushing head, superposition, rollover and the like which are possibly caused by directly applying the maximum braking force are avoided, and thus the safety and reliability of vehicle braking are improved.
A vehicle according to an embodiment of the invention is described below with reference to fig. 4.
Fig. 4 is a block diagram of a vehicle according to an embodiment of the invention, as shown in fig. 4, a vehicle 100 of an embodiment of the invention includes: an electronically controlled brake system 2 and a brake control device 1 as described in the above embodiments.
In some embodiments, the electronically controlled braking system 2 may include sensors, actuators, and other control units for monitoring vehicle conditions, sensing the surrounding environment, and implementing electronic braking according to control algorithms. The brake control device 1 may comprise at least one processor 10 and a memory 20 communicatively connected thereto, storing a computer program for executing a vehicle brake control method.
In some embodiments, the electronically controlled brake system 2 may communicate in real time during operation of the vehicle 100 via a connection with the brake control device 1. The brake control apparatus 1 can acquire electronically controlled brake system state information, i.e., vehicle state information, obstacle-sensing data, and perform intelligent brake adjustment based on these information. By connecting the electronically controlled brake system 2, the brake control device 1 can directly influence the braking process of the vehicle 100, ensuring that the deceleration is intelligently adjusted according to the vehicle state and environmental conditions under braking conditions, avoiding potential braking risks.
According to the vehicle 100 of the embodiment of the present invention, the vehicle 100 is equipped with the brake control device 1 described in the above embodiment, and the brake control device 1 adopts the brake control method of the vehicle 100 described in the above embodiment, so that intelligent and adaptive brake control can be realized under a braking condition, reasonable dynamic adjustment of deceleration is ensured, unpredictable risks such as heading, superposition, rollover, etc., which may be caused by directly applying the maximum braking force are avoided, and thus the safety and reliability of vehicle braking are improved.
In some embodiments, vehicle 100 is a tractor having a trailer that is not equipped with an antilock braking system. In a tractor and trailer combination, the trailer may refer to an additional vehicle being towed, while the tractor may refer to a host vehicle that provides traction and controls the overall vehicle combination.
In this case, the trailer is not equipped with an anti-lock braking system, possibly due to the type of trailer, the year of the vehicle or other reasons. As the trailer lacks an anti-lock braking system, braking control becomes more critical to ensure that potential risks, such as wheel lock-up, head-pushing, stacking, etc., are avoided during braking. The tractor is provided with the brake control device 1 in the embodiment, and the device is connected with the electric control brake system 2 to realize intelligent brake control of the whole vehicle combination. By sensing the braking state of the trailer, the vehicle speed and the surrounding environment, the brake control device 1 can intelligently adjust the deceleration according to the brake control method described in the above embodiments, ensuring the stability and safety of the whole vehicle combination in traction and braking.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A brake control method of a vehicle, characterized by comprising:
recognizing that the own vehicle is not provided with an anti-lock braking system under a braking condition;
acquiring state information of a self-vehicle and obstacle object perception data;
obtaining a target deceleration according to the vehicle state information and the obstacle object perception data;
and controlling the deceleration of the own vehicle according to the target deceleration.
2. The brake control method according to claim 1, characterized in that the target deceleration is smaller than a braking deceleration of an electronic brake system at the time of braking of a vehicle in which the antilock brake system is provided.
3. The brake control method according to claim 2, characterized in that the target deceleration a satisfies |a|<6m/s 2 。
4. The brake control method according to claim 1, characterized in that obtaining a target deceleration from the own vehicle state information and the obstacle-sensing data includes:
obtaining the relative speed and the relative distance between the vehicle and the obstacle according to the vehicle state information and the obstacle sensing data;
the target deceleration is obtained from the relative speed and the relative distance.
5. The brake control method according to claim 4, characterized in that the target deceleration is obtained by the following formula:
wherein a is the target deceleration, v rel For the relative speed, D dis For the relative distance D safe For the safe distance, k is the deceleration gain.
6. The brake control method according to claim 1, characterized in that the brake control method further comprises:
acquiring state information of an electric control braking system of the self-vehicle;
and identifying whether the self-vehicle is provided with the anti-lock braking system according to the state information of the electric control braking system.
7. A brake control apparatus, characterized by comprising:
at least one processor;
a memory communicatively coupled to the at least one processor;
the memory stores therein a computer program executable by the at least one processor, the at least one processor implementing the braking control method of the vehicle according to any one of claims 1 to 6 when the computer program is executed.
8. A non-transitory readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed, implements the braking control method of a vehicle according to any one of claims 1 to 6.
9. A vehicle, characterized by comprising:
an electric control braking system;
the brake control apparatus of claim 7, wherein the brake control apparatus is coupled to the electronically controlled brake system.
10. The vehicle of claim 9, wherein the vehicle is a tractor having a trailer that is not equipped with an anti-lock braking system.
CN202311774612.1A 2023-12-21 2023-12-21 Vehicle braking control method and device, storage medium and vehicle Pending CN117565832A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311774612.1A CN117565832A (en) 2023-12-21 2023-12-21 Vehicle braking control method and device, storage medium and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311774612.1A CN117565832A (en) 2023-12-21 2023-12-21 Vehicle braking control method and device, storage medium and vehicle

Publications (1)

Publication Number Publication Date
CN117565832A true CN117565832A (en) 2024-02-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311774612.1A Pending CN117565832A (en) 2023-12-21 2023-12-21 Vehicle braking control method and device, storage medium and vehicle

Country Status (1)

Country Link
CN (1) CN117565832A (en)

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