Method, apparatus, system and vehicle for vehicle braking

Abstract

The application provides a vehicle braking method, which comprises the following steps: acquiring a driving state of the vehicle when a vehicle speed of the vehicle is not zero; judging whether the vehicle is in a non-direct operation driving condition according to the driving state of the vehicle; when it is judged that the vehicle is in the non-direct operation driving condition, continuously judging whether the vehicle is in a non-intermittent operation driving condition according to the driving state of the vehicle; and generating a vehicle braking signal when it is judged that the vehicle is in the non-intermittent operation driving condition. The method can effectively and accurately identify a situation that really needs to brake the vehicle, and avoid mis-triggering of the braking function. The application also provides a device, a system, a vehicle, a controller and a machine readable storage medium for vehicle braking.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to braking methods, devices, systems, vehicles, controllers, and machine-readable storage media for vehicles. Background Technology

[0002] In daily driving, it is common for drivers to leave their vehicles without engaging the handbrake, causing the vehicles to roll away. To prevent this, the vehicle's control system can monitor the vehicle's status, such as whether a driver is inside and the vehicle's speed, and then apply the brakes. However, due to the complexity of real-world situations, it is difficult to accurately determine whether braking is truly necessary based solely on whether a driver is inside the vehicle and the vehicle's speed. For example, when a vehicle is being towed or loaded onto a transport vehicle, it may have a speed relative to the road surface, and the driver may not be inside, but the vehicle does not need to brake, resulting in the braking function being mistakenly triggered.

[0003] Therefore, it is necessary to provide improved technical solutions to overcome the technical problems existing in the prior art. Summary of the Invention

[0004] The purpose of this application is to provide a vehicle braking method that optimizes the conditions for determining whether a vehicle needs to be braked.

[0005] To achieve the above objectives, this application provides a method for vehicle braking, the method comprising the following steps:

[0006] Step S110: When the vehicle speed is not zero, the driving state of the vehicle is obtained. The driving state of the vehicle includes the brake pedal position, accelerator pedal position, steering wheel angle, wheel speed, and acceleration.

[0007] Step S120: Determine whether the vehicle is in a non-direct control driving state based on the driving state of the vehicle obtained in step S110; if it is determined that the vehicle is in a non-direct control driving state Y, proceed to step S130.

[0008] Step S130: Determine whether the vehicle is in an indirect controlled driving state based on the driving state of the vehicle obtained in step S110; if it is determined that the vehicle is in an indirect controlled driving state Y, execute step S140.

[0009] Step S140: Generate a signal for vehicle braking.

[0010] This method can accurately determine whether the vehicle needs to brake based on its driving status, thus avoiding accidental triggering of the braking function.

[0011] This application also provides a device, system, and vehicle for vehicle braking, as well as a controller and a machine-readable storage medium.

[0012] To further understand the features and technical content of this application, please refer to the following detailed description and drawings of this application. However, the drawings are for reference and illustration only and are not intended to limit this application. Attached Figure Description

[0013] This application will be more fully understood by referring to the following detailed description of specific embodiments in conjunction with the accompanying drawings, in which the same reference numerals refer to the same elements. Wherein:

[0014] Figure 1 A flowchart of a method for vehicle braking according to an embodiment of this application is shown;

[0015] Figure 2 A schematic diagram of a device for vehicle braking according to an embodiment of this application is shown;

[0016] Figure 3 A schematic diagram of the architecture of a vehicle braking system according to an embodiment of this application is shown. Detailed Implementation

[0017] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or corresponding technical features.

[0018] Figure 1 A flowchart of a method 1000 for vehicle braking according to an embodiment of this application is shown. Figure 1 As shown, method 1000 includes the following steps:

[0019] In step S110, when the vehicle speed is not zero, the driving state of the vehicle is obtained. The driving state of the vehicle includes the brake pedal position, accelerator pedal position, steering wheel angle, wheel speed, acceleration, etc.

[0020] In step S120, the vehicle is determined to be in a non-directly controlled driving state based on the driving state of the vehicle obtained in step S110.

[0021] When it is determined that the vehicle is in a non-directly controlled driving state (Y), step S130 is executed, and the driving state of the vehicle obtained in step S110 is used to determine whether the vehicle is in a non-indirectly controlled driving state.

[0022] When it is determined that the vehicle is in an indirect controlled driving state (Y), step S140 is executed to generate a vehicle braking signal.

[0023] The aforementioned method 1000 for vehicle braking utilizes vehicle movement status data (i.e., when the vehicle speed is not zero) to determine whether the vehicle is in an indirectly controlled driving state without being directly manipulated by a human. Here, "direct human manipulation" refers to the act of directly controlling the vehicle by operating the brake pedal, accelerator pedal, steering wheel, etc. When it is determined that the vehicle is not directly manipulated while its speed is not zero, it is judged to be in an indirectly controlled driving state. That is, the vehicle still has speed even when not directly manipulated (or not being driven), and at this time, the vehicle may be rolling and requires braking; however, at this time, the vehicle may also be in a safe state due to external forces such as being towed by a trailer and does not need braking. Therefore, when the vehicle is in an indirectly controlled driving state, the cause of the vehicle's speed is further determined. If the vehicle has speed due to a controllable external force (such as being towed by a trailer, pushed from behind by a person, etc.) and is in an indirectly controlled driving state, then braking is not required; if the vehicle is not in indirectly controlled driving, then it is judged to be in a state of aimless rolling and requires braking. This method of judgment and braking can effectively and accurately identify situations where braking is truly necessary, avoiding accidental triggering of the braking function.

[0024] Specifically, when the brake pedal displacement, accelerator pedal displacement, and steering wheel angle change of the vehicle obtained in step S110 are all zero, it means that the vehicle is not being directly controlled by a human. However, the vehicle still has speed, indicating that the vehicle's movement in this situation is not a controlled (or driven) purposeful safe movement and poses a certain degree of danger. In this case, step S120 determines that the vehicle is in an indirect control driving state (Y). Further, when it is determined in step S120 that the vehicle is in an indirect control driving state (Y), it continues to determine if the vehicle speed is greater than or equal to a preset first speed threshold, for example, if the vehicle speed is greater than or equal to 5 kilometers per hour, then step S130 is executed. When the vehicle is in an indirect control driving state (Y), if its speed is low, such as below 5 kilometers per hour, people outside or near the vehicle may still enter the vehicle to manually control the braking (such as stepping on the brake pedal or pulling the handbrake), or the vehicle may gradually stop on its own due to the frictional resistance of the road surface. In this case, the vehicle's braking function does not need to be activated. Understandably, when the determination result in step S120 is negative, the vehicle's driving status continues to be acquired. Those skilled in the art will also understand that when the vehicle has a speed in "one-pedal" mode, and the displacement of the pedal and the change in the steering wheel angle are both zero, it is also determined that the vehicle is in a non-direct control driving state (Y).

[0025] When step S120 determines that the vehicle is in a non-directly controlled driving state (Y), step S130 further determines other reasons for the vehicle's movement. If the vehicle is in an indirectly controlled driving state due to a controllable external force, braking is not required. Specifically, in step S130, the vehicle's driving state obtained in step S110 is processed. For example, the vehicle's wheel speed data is calculated to determine the vehicle's speed, displacement, and the external force acting on it. Based on the processing results, it is determined whether the vehicle is moving purposefully under the control of an external force (i.e., the "indirectly controlled driving state" mentioned above). If it is determined that the vehicle is in a purposeful movement without external force control (i.e., the "non-indirectly controlled driving state" mentioned above), then the vehicle's movement is determined to be aimless drifting and unsafe, requiring braking. Specifically, when the vehicle body undergoes relative displacement with respect to the road surface on which the vehicle is located and the wheel speeds of at least three wheels of the vehicle are not zero (excluding situations where the vehicle is safe and does not require braking, such as all four wheels being placed on a trailer or two wheels being placed on a trailer for transport / towing), step S130 determines that the vehicle is in a state of aimless drifting and requires braking; or when the external force on the vehicle other than gravity is less than or equal to a preset force threshold (excluding situations where the vehicle is safe and does not require braking, such as all four wheels being on the road surface but being towed by a trailer), step S130 determines that the vehicle is in a state of aimless drifting and requires braking. Here, the external force used for judgment excludes the vehicle's gravity, or rather, excludes the component of the vehicle's gravity along the sloped road surface. Only the magnitude of other external forces (such as the towing force of a trailer) is considered. This external force can be calculated using mechanical formulas based on vehicle speed (e.g., calculated from wheel speed), acceleration, vehicle weight, and road inclination angle (obtained from the vehicle's slope sensor), which will not be elaborated further. Optionally, the aforementioned force threshold can be preset to, for example, 300N. The pushing force of an average adult is between 300N and 400N. When the calculated external force on the vehicle, excluding gravity, is less than the pushing force of an average adult, it is determined that the vehicle is not being effectively controlled or intentionally moving. Optionally, the external force on the vehicle, excluding gravity, is the force acting in the direction of the vehicle's movement. Judging whether the vehicle's movement is effectively controlled by the external force acting in its direction of movement is more direct and accurate. This step more effectively and accurately identifies situations where the vehicle needs braking, avoiding false triggering of the braking function. Understandably, if the judgment result in step S130 is negative, the vehicle's driving status will continue to be acquired.

[0026] Furthermore, in step S130, the continuity of the vehicle's non-indirect controlled driving state can be monitored. When the duration of this state reaches a certain time threshold, such as 5 seconds, or when the displacement of the vehicle relative to its road surface in this state is greater than or equal to a preset displacement threshold, such as 10 meters, a vehicle braking signal is generated, so that the braking function is only triggered when absolutely necessary. The braking function can be implemented by controlling the vehicle's electronic parking module or the vehicle's hydraulic braking system to brake the vehicle.

[0027] When it is determined that the vehicle needs to activate the braking function of this application, a warning signal can also be generated at the same time. The warning signal triggers and controls the vehicle to remind people outside or near the vehicle to take timely measures to brake the vehicle or avoid the vehicle through sound (such as the dashboard, horn, etc.) or light.

[0028] Furthermore, the method also includes step S150, where, after the vehicle brakes, the vehicle speed continues to be acquired (or, for example, the vehicle speed is calculated by acquiring the vehicle's wheel speed). When it is determined that the vehicle speed is greater than or equal to a preset second speed threshold, such as 4 kilometers per hour, step S140 is executed to generate a vehicle braking signal to continue braking the vehicle until the vehicle speed is reduced below the second speed threshold. Afterward, the vehicle can gradually stop using the friction of the road surface (and the component of its gravity in the downhill direction when the vehicle is traveling uphill on a slope); or, for greater safety considerations, the second speed threshold is preset to 0, and the vehicle is continuously braked until it stops. Understandably, when the determination result in step S150 is negative, the generation of the vehicle braking signal stops.

[0029] The vehicle braking method described in this application can accurately identify whether a vehicle is indeed in a state of aimless drifting, thus avoiding accidental triggering of the braking function.

[0030] Figure 3A vehicle braking device 2000 according to an embodiment of this application is shown, comprising an acquisition module 100, a judgment module 200, and a control module 300 communicatively connected to each other. The acquisition module 100 is configured to acquire the vehicle's driving state when the vehicle speed is not zero, the driving state including brake pedal position, accelerator pedal position, steering wheel angle, wheel speed, acceleration, etc. The judgment module 200 includes a first judgment module 201 and a second judgment module 202. The first judgment module 201 is configured to determine whether the vehicle is in a non-directly controlled driving state. The second judgment module 202 is configured to, when the first judgment module 201 determines that the vehicle is in a non-directly controlled driving state, continue to determine whether the vehicle is in a non-indirectly controlled driving state. The control module 300 is configured to, in the case of the second judgment module 201... 02. When it is determined that the vehicle is in an indirect controlled driving state, a braking signal is generated for the vehicle; wherein, the first determination module 201 is configured to determine that the vehicle is in an indirect controlled driving state when the brake pedal displacement, accelerator pedal displacement, and steering wheel angle change of the vehicle acquired by the acquisition module 100 are all zero; the second determination module 202 is configured to process the driving state of the vehicle acquired by the acquisition module 300, and according to the processing result, when the vehicle body has no relative displacement with respect to the road surface where the vehicle is located and the wheel speeds of at least three wheels of the vehicle are not zero, or when the external force on the vehicle other than gravity is less than or equal to a preset force threshold, the second determination module 202 determines that the vehicle is in an indirect controlled driving state (Y).

[0031] The vehicle braking device 2000 of this application can effectively and accurately identify situations where braking is truly necessary, thus avoiding accidental triggering of the braking function.

[0032] The first judgment module 201 is further configured such that when it is determined that the vehicle is in an indirect control driving state (Y) and the vehicle speed is greater than or equal to a preset first speed threshold, for example, when the vehicle speed is greater than or equal to 5 kilometers per hour, the second control module 202 continues to determine whether the vehicle is in an indirect control driving state. When the vehicle is in an indirect control driving state (Y), if its speed is low, such as below 5 kilometers per hour, people outside or near the vehicle may still be able to enter the vehicle to manually control the braking (such as stepping on the brake pedal or pulling the handbrake), or the vehicle may gradually stop on its own due to the frictional resistance of the road surface. In this case, the vehicle's braking function does not need to be activated.

[0033] The second judgment module 202 may be further configured to generate a vehicle braking signal when it is determined that the vehicle is in an indirect controlled driving state (Y) and the duration of the indirect controlled driving state (Y) is greater than or equal to a preset time threshold, or when it is determined that the vehicle is in an indirect controlled driving state (Y) and the displacement of the vehicle relative to its road surface in the indirect controlled driving state (Y) is greater than or equal to a preset displacement threshold.

[0034] Furthermore, when the speed of the vehicle after braking, as acquired by the acquisition module 100, is greater than or equal to a preset second speed threshold, such as 4 kilometers per hour, the control module 300 continues to generate a vehicle braking signal to brake the vehicle; or, for greater safety considerations, the second speed threshold is preset to 0, and the control module 300 generates a vehicle braking signal to brake the vehicle until it stops.

[0035] The vehicle braking device 2000 of this application can accurately determine whether the vehicle is indeed in a state of aimless drifting, thus avoiding accidental triggering of the braking function.

[0036] This application also provides a method such as Figure 3 The illustrated vehicle braking system 5000 includes a sensor unit 3000 for detecting the driving state of the vehicle, a braking unit 4000 for performing braking on the vehicle, and the aforementioned vehicle braking device 2000. The device 2000 is communicatively connected to the sensor unit 3000 and the braking unit 4000. The vehicle braking device 2000 generates a vehicle braking signal based on the driving state of the vehicle obtained from the sensor unit 3000 and controls the braking unit 4000 to perform braking on the vehicle.

[0037] This application also provides a controller, including a processor and a memory, wherein the memory stores executable instructions, which, when executed, cause the processor to perform the method 1000 of this application.

[0038] This application also provides a readable storage medium having executable instructions stored thereon, which, when executed, cause a machine to perform the method 1000 of this application.

[0039] This application also provides a vehicle with vehicle braking function, the vehicle including the vehicle braking device 2000 of this application. The vehicle is a pure electric vehicle or a plug-in hybrid electric vehicle.

[0040] Those skilled in the art will understand that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in connection with the aspects disclosed herein can be implemented as electronic hardware or a combination of hardware and software. The various illustrative components, blocks, modules, and circuits have been generally described above in terms of their functionality. Whether such functionality is implemented as hardware or a combination of hardware and software will depend on the specific application and the design constraints imposed on the overall system.

[0041] Those skilled in the art can implement the described functionality in different ways for specific applications; however, such implementation decisions should not be construed as causing a departure from the scope of this application.

[0042] The above specific embodiments are for illustrative purposes only and are not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art without departing from the scope of this application; therefore, all equivalent technical solutions also fall within the scope of this application, and the patent protection scope of this application should be defined by the claims.

Claims

1. A method of braking a vehicle, characterized by, The method comprises the following steps: Step (S110): When the vehicle speed is not zero, the driving state of the vehicle is obtained, including brake pedal position, accelerator pedal position, steering wheel angle, wheel speed, acceleration; Step (S120): According to the driving state of the vehicle obtained in step (S110), it is determined whether the vehicle is in a non-directly manipulated driving condition not directly manipulated by a person; when it is determined that the vehicle is in a non-directly manipulated driving condition (Y), step (S130) is executed; Step (S130): According to the driving state of the vehicle obtained in step (S110), it is determined whether the vehicle is in a non-externally controlled non-indirectly manipulated driving condition; when it is determined that the vehicle is in a non-indirectly manipulated driving condition (Y), step (S140) is executed; Wherein, according to the driving state of the vehicle obtained in step (S110), it is determined whether the vehicle is in a non-indirectly manipulated driving condition, including: processing the driving state of the vehicle obtained in step (S110), according to the processing result, when the vehicle body relative to the road surface on which the vehicle is located has a relative displacement and the wheel speed of at least three wheels of the vehicle is not zero, or when the external force on the vehicle other than gravity is less than or equal to a pre-set force threshold, it is determined that the vehicle is in a non-indirectly manipulated driving condition (Y); Step (S140): A vehicle braking signal is generated.

2. The method of vehicle braking of claim 1, wherein, The step (S120) comprises: when the brake pedal displacement, accelerator pedal displacement and steering wheel angle change of the vehicle obtained in step (S110) are all zero, it is determined that the vehicle is in a non-directly manipulated driving condition (Y).

3. The method of vehicle braking of claim 2, wherein, The step (S120) further comprises: when it is determined that the vehicle is in a non-directly manipulated driving condition (Y) and the vehicle speed is greater than or equal to a pre-set first vehicle speed threshold, step (S130) is executed.

4. The method of vehicle braking of claim 1, wherein, The step (S130) further comprises: when it is determined that the vehicle is in a non-indirectly manipulated driving condition (Y), and the duration of the non-indirectly manipulated driving condition (Y) is greater than or equal to a pre-set time threshold, or when it is determined that the vehicle is in a non-indirectly manipulated driving condition (Y), and the displacement of the vehicle relative to the road surface on which it is located is greater than or equal to a pre-set displacement threshold, step (S140) is executed.

5. The method of vehicle braking of claim 1, wherein, The generated vehicle braking signal controls the electronic parking module of the vehicle or the hydraulic braking system of the vehicle to brake the vehicle.

6. The method of vehicle braking of claim 5, wherein, When it is determined that the vehicle is in a non-indirectly manipulated driving condition (Y), an alarm signal is generated, which controls the vehicle to alarm by sound and / or light.

7. The method of vehicle braking according to any one of claims 1 to 6, wherein, Further comprising step (S150), it is determined whether the obtained vehicle speed of the vehicle after braking is greater than or equal to a pre-set second vehicle speed threshold, if it is determined that it is (Y), step (S140) is continued.

8. A device for braking a vehicle, characterized in that The device is used for executing the method of vehicle braking according to any one of claims 1 to 7, and the device comprises an acquisition module (100), a judgment module (200) and a control module (300) which are connected with each other in communication, wherein, The acquisition module (100) is configured to acquire the driving state of the vehicle when the vehicle speed is not zero, and the driving state of the vehicle comprises the brake pedal position, the accelerator pedal position, the steering wheel angle, the wheel speed and the acceleration; The judgment module (200) comprises a first judgment module (201) and a second judgment module (202), the first judgment module (201) is configured to judge whether the vehicle is in the non-direct operation driving condition; the second judgment module (202) is configured to continue to judge whether the vehicle is in the non-indirect operation driving condition when the first judgment module (201) judges that the vehicle is in the non-direct operation driving condition (Y); The control module (300) is configured to generate the signal of vehicle braking when the second judgment module (202) judges that the vehicle is in the non-indirect operation driving condition (Y); Wherein, The first judgment module (201) is configured to judge that the vehicle is in the non-direct operation driving condition (Y) when the brake pedal displacement, the accelerator pedal displacement and the steering wheel angle change of the vehicle acquired by the acquisition module (100) are all zero; The second judgment module (202) is configured to process the driving state of the vehicle acquired by the acquisition module (300), and according to the processing result, when the vehicle body of the vehicle relative to the road surface on which the vehicle is located has a relative displacement and the wheel speed of at least three wheels of the vehicle is not zero, or when the external force other than gravity acting on the vehicle is less than or equal to the pre-set force threshold, the second judgment module (202) judges that the vehicle is in the non-indirect operation driving condition (Y).

9. The device for braking of a vehicle according to claim 8, characterized in that, The first judgment module (201) is further configured to continue to judge whether the vehicle is in the non-indirect operation driving condition when judging that the vehicle is in the non-direct operation driving condition (Y) and the vehicle speed is greater than or equal to the pre-set first speed threshold.

10. The apparatus for braking a vehicle of claim 8, wherein, The second judgment module (202) is further configured to generate the signal of vehicle braking when judging that the vehicle is in the non-indirect operation driving condition (Y) and the duration of the state of being in the non-indirect operation driving condition (Y) is greater than or equal to the pre-set time threshold, or when judging that the vehicle is in the non-indirect operation driving condition (Y) and the displacement of the vehicle relative to the road surface on which the vehicle is located in the state of being in the non-indirect operation driving condition (Y) is greater than or equal to the pre-set displacement threshold.

11. A device for braking a vehicle as claimed in any one of claims 8 to 10, characterised in that, When the vehicle speed of the vehicle after braking acquired by the acquisition module (100) is greater than or equal to a second preset vehicle speed threshold, the control module (300) continues to generate a signal for braking the vehicle.

12. A controller characterized by comprising: Comprising a processor; and a memory having stored thereon executable instructions that, when executed, cause the processor to perform the method of any one of claims 1 to 8.

13. A readable storage medium, characterized by, a machine-readable medium having stored thereon executable instructions that, when executed, cause the machine to perform the method of any one of claims 1 to 8.

14. A system for braking of a vehicle, characterized in that Comprising, a sensor unit (3000) configured to detect a driving state of the vehicle; a braking unit (4000) configured to perform braking of the vehicle; and a device (2000) for braking the vehicle according to any one of claims 8 to 11, which is in communication connection with the sensor unit (3000) and the braking unit (4000), and controls the braking unit (4000) to perform braking of the vehicle according to the driving state of the vehicle acquired from the sensor unit (3000).

15. A vehicle having a vehicle brake function, characterized by comprising: The vehicle comprises the device (2000) for braking the vehicle according to any one of claims 8 to 11.

Images