Method and device for adjusting vehicle braking state, control system and program carrier

Abstract

A method for adjusting the braking state of a vehicle is disclosed. The method at least includes the following steps: receiving a signal capable of characterizing whether the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope; judging whether the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope based on the signal; and when it is judged that the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope, issuing a control instruction to adjust the current braking state of the vehicle to prevent wheel lock-up. An electronic control device (3) for adjusting the braking state of a vehicle according to the method is also disclosed. In addition, a corresponding vehicle control system and a corresponding computer-readable program carrier are further disclosed. According to the present invention, when the vehicle travels on a smooth slope and brakes emergently, the wheels will not lock up, thereby greatly improving the safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to a method for adjusting the braking state of a vehicle, an electronic control device for adjusting the braking state of a vehicle, a corresponding vehicle control system, and a corresponding computer-readable program carrier. Background Art

[0002] The braking performance of an automobile is one of the main performances of the automobile. Major traffic accidents are often related to situations such as too long braking distance and skidding during emergency braking. Therefore, the braking performance of the automobile is an important guarantee for safe driving of the automobile. At present, the anti-lock braking system (ABS) has been widely used in automobiles.

[0003] The ABS controls the braking pipeline pressure acting on the wheel brake cylinder, so that the wheels of the automobile will not lock during emergency braking, so that the automobile can still maintain good directional stability during emergency braking.

[0004] However, the ABS usually starts only when certain conditions are met. Otherwise, frequent starts will also cause a series of problems, such as complaints from drivers. For example, it is usually allowed to start the ABS according to whether there is wheel locking only when the driving speed of the automobile is higher than a predetermined value. That is to say, only when the driving speed of the automobile is higher than the predetermined value, it is considered that wheel locking may be dangerous and the ABS needs to be started.

[0005] When the automobile is going downhill at a low speed on a slope with a low friction coefficient, such as an ice slope and / or a snow slope, the driver may feel dangerous and perform emergency braking. However, the ABS will not start because the speed of the automobile may be lower than the predetermined value, which will cause the wheels to lock and the wheels to lose the steering ability. However, the automobile will slide down at a relatively high speed on the low-friction slope due to the large gravity when the wheels are locked, which is very dangerous.

[0006] Therefore, there is a need to improve the existing vehicle control system. Summary of the Invention

[0007] The object of the present invention is to provide an improved method for adjusting the braking state of a vehicle, an improved electronic control device for adjusting the braking state of a vehicle, a corresponding vehicle control system, and a corresponding computer-readable program carrier.

[0008] According to a first aspect of the present invention, there is provided a method for adjusting the braking state of a vehicle, the method at least comprising the following steps: receiving a signal capable of characterizing whether the vehicle is in a state of inaccurate speed during emergency braking on a slope; judging whether the vehicle is in a state of inaccurate speed during emergency braking on a slope based on the signal; and in the case of judging that the vehicle is in a state of inaccurate speed during emergency braking on a slope, issuing a control instruction to adjust the current braking state of the vehicle to prevent wheel lock-up.

[0009] According to a second aspect of the present invention, there is provided an electronic control device for adjusting the braking state of a vehicle according to the method, wherein the electronic control device is configured to: receive a signal from a detection module for detecting the state of inaccurate speed during emergency braking on a slope of the vehicle; and issue a control instruction based on the signal to adjust the current braking state of the vehicle to prevent wheel lock-up.

[0010] According to a third aspect of the present invention, there is provided a vehicle control system, the vehicle control system comprising a detection module for detecting the state of inaccurate speed during emergency braking on a slope of the vehicle and the electronic control device.

[0011] According to a fourth aspect of the present invention, there is provided a computer-readable program carrier, the computer-readable program carrier storing computer program instructions, the computer program instructions being configured to implement the method when executed by a processor.

[0012] According to the present invention, when the vehicle is traveling on a smooth slope and brakes emergently, the wheels will not lock up, thereby greatly improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Next, the present invention will be described in more detail by referring to the accompanying drawings, and the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0014] Figure 1 A flowchart showing a method for adjusting the braking state of a vehicle to prevent wheel lock-up according to an exemplary embodiment of the present invention.

[0015] Figure 2 A schematic diagram showing a vehicle braking state adjustment system for adjusting the braking state of a vehicle according to an exemplary embodiment of the present invention.

[0016] Figure 3 A schematic diagram showing a vehicle braking state adjustment system according to a more specific exemplary embodiment of the present invention.

[0017] Figure 4 A schematic diagram showing the combination of a vehicle braking state adjustment system and an ABS control module according to an exemplary embodiment of the present invention. Detailed implementation manners

[0018] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention.

[0019] When performing stability control on a vehicle, the vehicle speed is usually a parameter that must be considered. However, in some driving states, for example, when driving on a slippery slope, in the case of emergency braking that causes the wheels to lock, due to the vehicle's own gravity, the vehicle speed cannot be accurately determined, which will make it impossible to reliably control the braking state of the vehicle. For the convenience of description, this situation can be referred to as the state of inaccurate vehicle speed during emergency braking on a slope here.

[0020] Figure 1 The flowchart of a method for adjusting the braking state of a vehicle to prevent wheel lock according to an exemplary embodiment of the present invention is shown.

[0021] As Figure 1 shown, in step S1, the method starts. In step S2, it is detected whether the vehicle is in the state of inaccurate vehicle speed during emergency braking on a slope. If it is detected in step S2 that the vehicle is in the state of inaccurate vehicle speed during emergency braking on a slope, step S3 is executed. In step S3, the current braking state of the vehicle is adjusted to prevent the wheels from locking and losing the steering ability. If it is not detected in step S2 that the vehicle is in the state of inaccurate vehicle speed during emergency braking on a slope, the current braking state is not adjusted and the method ends with step S4.

[0022] This method can be implemented as a module of an Electronic Stability Program (ESP) or Anti-lock Braking System (ABS) to improve the existing ESP or ABS, or as a supplement to ESP or ABS.

[0023] Next, an exemplary embodiment will be used to describe how to determine that the vehicle is in the state of inaccurate vehicle speed during emergency braking on a slope.

[0024] When the vehicle is moving, during braking, the braking pressure generated by the master cylinder generates a force opposite to the direction of vehicle travel to decelerate the vehicle. Therefore, the acceleration (negative value) of the vehicle is mainly affected by the braking pressure, so that the acceleration of the vehicle can be estimated with a certain accuracy based on the braking pressure. However, when the vehicle is traveling on a slippery slope, for example, when going downhill, wheel lock-up will cause a large deviation between the actual acceleration and the estimated acceleration of the vehicle. This is because in the case of wheel lock-up, due to the gravitational force of the vehicle itself, it is difficult to brake the vehicle, and even in extreme cases, the vehicle will accelerate downhill with a positive acceleration. The actual acceleration of the vehicle can be measured by an acceleration sensor.

[0025] The estimated acceleration estimated through working parameters including at least the master cylinder pressure is represented by a1, and the actual acceleration obtained through a measuring device, such as an acceleration sensor, is represented by a2. The difference between them is expressed as △a = a2 - a1. If the difference exceeds a predetermined threshold a0, that is, △a > a0, then it is considered that there is an obvious deviation between them. When an obvious deviation is detected, it can be considered that the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope.

[0026] For those skilled in the art, the deviation amount can also be defined by a relative value. For example, the deviation amount b is defined by the following formula (1):

[0027]

[0028] If b is greater than a predetermined threshold, such as 10%, then it can be considered that the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope.

[0029] For those skilled in the art, it is obvious that the method for determining whether the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope is not limited to the above-described method. For example, if the vehicle is equipped with a GPS, the actual acceleration of the vehicle can be determined by the vehicle travel speed. Therefore, the present invention does not impose any restrictions on this, as long as it can be determined that the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope.

[0030] Therefore, in this method, first, a signal capable of characterizing whether the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope is received from the detection module, and then based on this signal, it is determined whether the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope. When it is determined that the vehicle is in a state of inaccurate vehicle speed during emergency braking on a slope, a corresponding control instruction is issued.

[0031] Figure 2The schematic diagram of a vehicle braking state adjustment system 1 for adjusting the braking state of a vehicle according to an exemplary embodiment of the present invention is shown. The vehicle braking state adjustment system 1 includes a detection module 2 for detecting the out-of-accuracy state of the ramp emergency braking vehicle speed, and an electronic control device 3 for adjusting the braking state based on the detection result of the detection module 2. Among them, the specific braking state adjustment can be implemented by means of a braking state adjustment implementation module.

[0032] As Figure 2 shown, the detection module 2 receives a plurality of working parameters as input signals. In addition to the master cylinder pressure p of the brake master cylinder and the actual acceleration a2, it also includes the working parameter m of the vehicle's power transmission system, because the vehicle's power transmission system will also affect the vehicle's acceleration to a certain extent. The detection module 2 can generate an output signal, and this output signal can include a trigger notification signal s1 and an adjustment signal s2. The trigger notification signal s1 can be output to the electronic control device 3 to inform the electronic control device 3 that the vehicle is in the out-of-accuracy state of the ramp emergency braking vehicle speed and needs to adjust the current braking state through the braking state adjustment implementation module, and the adjustment signal s2 can be a parameter considered by the electronic control device 3 on how to specifically adjust the current braking state.

[0033] Figure 3 The schematic diagram of the vehicle braking state adjustment system 1 according to a more specific exemplary embodiment of the present invention is shown. From Figure 3 it can be seen that the working parameter m includes the engine torque T and the gear information G at this time, because the engine often generates a braking effect when the vehicle is going downhill, that is, the engine torque T and the gear information G will affect the vehicle's acceleration to a certain extent.

[0034] When it is determined that the vehicle is in the out-of-accuracy state of the ramp emergency braking vehicle speed, as described above, the current braking state of the vehicle needs to be adjusted to prevent the wheels from locking and causing steering out of control. In particular, the braking pressure is reduced to make the wheels stable and steerable.

[0035] Figure 4 The schematic diagram of the combination of the vehicle braking state adjustment system 1 and the ABS control module 4 according to an exemplary embodiment of the present invention is shown.

[0036] As Figure 4 shown, the ABS control module 4 can output the braking pressure bp, the target pressure tp and the vehicle speed v to the electronic control device 3. Among them, the braking pressure bp is also output to the detection module 2 so that the detection module 2 can more reliably determine whether the vehicle is in the out-of-accuracy state of the ramp emergency braking vehicle speed and / or generate a more appropriate adjustment signal s2.

[0037] When the electronic control device 3 receives the trigger notification signal s1, it generates a pressure control signal ps based not only on the braking pressure bp, the target pressure tp, and the vehicle speed v output by the ABS control module 4, but also on the adjustment signal s2 output by the detection module 2. The pressure control signal ps is output to the hydraulic braking module 5 to perform actual braking control on the vehicle.

[0038] For those skilled in the art, the basic idea of the present invention can be combined with or embedded in existing vehicle control systems in various ways, and the present invention does not limit this. For example, the idea of the present invention can be embedded in the ABS to obtain an improved ABS.

[0039] The method of the present invention can be implemented by a computer program, so the present invention also relates to a computer program carrier for implementing the above method.

[0040] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be considered as limiting the scope of the present invention. Various substitutions, changes, and modifications can be conceived without departing from the spirit and scope of the present invention.

Claims

1. A method for adjusting the braking state of a vehicle, wherein, The method at least includes the following steps: Receiving a signal capable of characterizing whether the vehicle is in a state of inaccurate speed during emergency braking on a slope; Judging whether the vehicle is in a state of inaccurate speed during emergency braking on a slope based on the signal; and When it is judged that the vehicle is in a state of inaccurate speed during emergency braking on a slope, issuing a control instruction to adjust the current braking state of the vehicle to prevent wheel lock-up, wherein, the state of inaccurate speed during emergency braking on a slope refers to a state in which the vehicle speed cannot be accurately determined due to the vehicle's own gravity when the wheels are locked during emergency braking; wherein, it is judged whether the vehicle is in a state of inaccurate speed during emergency braking on a slope based on whether the deviation between the actual acceleration and the estimated acceleration of the vehicle is greater than a predetermined threshold, wherein the estimated acceleration is estimated based on the operating parameters of the vehicle including at least the master cylinder pressure of the brake master cylinder; and wherein, the operating parameters include engine torque and / or gear information.

2. The method according to claim 1, wherein, The actual acceleration is measured by an acceleration sensor.

3. The method according to any one of claims 1-2, wherein, When it is judged that the vehicle is in a state of inaccurate speed during emergency braking on a slope, the current braking pressure is reduced.

4. An electronic control device (3) for adjusting the braking state of a vehicle according to the method according to any one of claims 1 to 3, wherein, The electronic control device (3) is configured to: Receive a signal from a detection module (2) for detecting the state of inaccurate speed during emergency braking on a slope of the vehicle; and Based on the signal, issue a control instruction to adjust the current braking state of the vehicle to prevent wheel lock-up.

5. A vehicle control system, wherein, The vehicle control system includes a detection module (2) for detecting the state of inaccurate speed during emergency braking on a slope of the vehicle and an electronic control device (3) according to claim 4.

6. The vehicle control system according to claim 5, wherein, The detection module (2) is configured to: receive the actual acceleration of the vehicle and the operating parameters of the vehicle including at least the master cylinder pressure of the brake master cylinder to detect the state of inaccurate speed during emergency braking on a slope, and output a trigger notification signal and an adjustment signal to the electronic control device (3) when the vehicle is in a state of inaccurate speed during emergency braking on a slope, wherein the trigger notification signal is used to inform the electronic control device (3) that the vehicle is in a state of inaccurate speed during emergency braking on a slope and the current braking state needs to be adjusted, and the adjustment signal is at least one of the parameters based on which the electronic control device (3) adjusts the current braking state; and / or The electronic control device (3) is configured to: output a pressure control signal to the hydraulic braking module (5) of the vehicle to perform actual braking control on the vehicle.

7. The vehicle control system according to claim 5 or 6, wherein, The vehicle control system is an ABS or an ESP.

8. The vehicle control system according to claim 7, wherein, The detection module (2) is configured to: receive a braking pressure signal from an ABS control module (4); and / or The electronic control device (3) is configured to: receive a braking pressure signal, a target pressure signal and a vehicle speed signal from an ABS control module (4).

9. A computer-readable program carrier, wherein, The computer-readable program carrier stores computer program instructions which are configured to implement the method according to any one of claims 1-3 when executed by a processor.

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