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Automatic parking active braking test method based on CAN bus programming

A CAN bus and automatic parking technology, which is applied in electrical testing/monitoring, testing/monitoring control systems, general control systems, etc., can solve problems such as inability to perform active braking performance simulation tests, failure to meet pilot testing and calibration requirements, etc. , to achieve the effect of facilitating brake calibration test, shortening development cycle and reducing workload

Active Publication Date: 2020-06-12
上海申沃客车有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The test direction of the device and method for automatic parking performance test in the above-mentioned invention patent application lies in the construction of the test scene and the detection of the number of times of parking, time, and accuracy of the parking position based on the scene. Based on the functional test of the VCU system, it is impossible to simulate the active braking performance of the vehicle during automatic parking. Since the braking performance has a direct impact on the accuracy and efficiency of the parking position during the parking process, Existing vehicle automatic parking performance test methods cannot meet the pilot test and calibration requirements in the actual development process

Method used

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  • Automatic parking active braking test method based on CAN bus programming
  • Automatic parking active braking test method based on CAN bus programming
  • Automatic parking active braking test method based on CAN bus programming

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0064] The vehicle starts to enter the parking mode when it is 20 meters away from the parking target point in a straight line. At this time, the vehicle speed is 8km / h. VCU 3, ECU of EBS 5 and RTK 6 coordinate and control the vehicle to perform automatic parking. The VCU 3 sends an automatic parking start command to the simulated braking test system 1 through the CAN1 bus. In this embodiment, the value of the first distance is 3m. When the VCU 3 judges that the vehicle is 10m away from the parking target point through RTK 6, the vehicle first accelerates and then drives at a constant speed. When the vehicle is 3m away from the parking target point, the VCU 3 sends a message to the EBS5. Parking brake request, EBS 5 sends a parking brake command to the simulation brake test system 1, the simulation brake test system 1 switches the message mode, and sends a parking brake command to EBS 5 through the gateway of the vehicle CAN network system 2 The brake request message includes:...

Embodiment 2

[0067] The vehicle starts to enter the parking mode when the straight-line distance from the parking target point is 20m. At this time, the vehicle speed is 5km / h. VCU 3, EBS5 ECU and RTK 6 coordinate and control the vehicle to perform automatic parking. The VCU 3 sends an automatic parking start command to the simulated braking test system 1 through the CAN1 bus. In this embodiment, the value of the first distance is 3m, and the value of the second distance is 0.7m.

[0068] When VCU 3 judges that the vehicle is 10m away from the parking target point through RTK 6, the vehicle first accelerates and then drives at a constant speed. Send a parking brake command, simulate the brake test system 1 to switch the message mode, and send a brake request message to the EBS 5 through the gateway of the vehicle CAN network system 2. The brake request message includes: The dynamic safety level is the first level, the braking priority is the highest level, the deceleration value of the fi...

Embodiment 3

[0072]When the vehicle is performing automatic parking (that is, during the whole process of acceleration-constant speed-braking), the PDC 7 will sound an alarm when it detects an obstacle within 3m, and the controller of the PDC 7 will feedback The relevant message signal is sent to VCU3, and VCU 3 sends a parking emergency braking command to the simulated brake test system 1, and the simulated brake test system 1 will send a braking request report containing a large braking deceleration value. The text is given to EBS 5, and the emergency braking is performed by EBS 5. The braking request message includes: the braking safety level is emergency, the braking priority is the highest level, the emergency deceleration value is 3m / s², and the hydraulic brake actuator is driven to perform emergency braking operation. stop.

[0073] The test results show that: EBS 5 can normally respond to the braking demand of the simulated brake test system 1, and when an obstacle suddenly appear...

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Abstract

The invention discloses an automatic parking active braking test method based on CAN bus programming. The automatic parking active braking test method comprises a VCU (3), an ECU and an RTK (6) for controlling automatic parking. The VCU sends an automatic parking start instruction to the simulation brake test system (1); the simulation brake test system sends a no-brake request message to the EBS(5); and when the distance between the vehicle and the parking target point meets a distance threshold, the VCU sends a parking braking request to the EBS, the simulation braking test system switchesa message mode and sends a braking request message to the whole vehicle CAN network system (2), the whole vehicle CAN network system forwards the braking request message to the EBS, and the EBS executes braking operation to complete automatic parking. According to the invention, debugging of the control message of the whole vehicle controller can be avoided, the simulation brake test system is used for simulating a message receiving and sending function to realize pilot test and calibration of vehicle active braking performance and related functional parameters in the automatic parking process, and the development period is shortened.

Description

technical field [0001] The invention relates to a performance test method for automatic parking of vehicles, in particular to a test method for automatic parking active braking based on CAN bus programming. [0002] Notes on terms involved in the present invention: [0003] Vehicle controller: Vehicular Communication Unit, hereinafter referred to as VCU; [0004] Automobile fault diagnosis system: On Board Diagnostics, hereinafter referred to as OBD; [0005] Chassis braking system: Electronic Brake Systems, hereinafter referred to as EBS; [0006] Inertial navigation and positioning system: Real-time kinematic, hereinafter referred to as RTK; [0007] Parking distance control system: Parking Distance Control, hereinafter referred to as PDC. Background technique [0008] At present, the vehicle controller of an electric vehicle is the core control unit that realizes vehicle control decision-making. It recognizes the driver's intention by collecting signals such as the ac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/027
Inventor 申保川费栋梁吴挥民张军
Owner 上海申沃客车有限公司
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