A braking method, system, storage medium

Abstract

The application discloses a kind of brake methods, comprising: obtaining the state information of vehicle;Detect the electronic emergency brake function state of the vehicle body electronic stability system of vehicle, and the state of the brake of redundancy electronic parking system;When detecting the electronic emergency brake function failure of the vehicle body electronic stability system of vehicle, and the single brake of redundancy electronic parking system of the vehicle fails, and the state information of the vehicle meets the preset multiple conditions, control the vehicle to carry out anti-lock braking and steering.The application provides a kind of brake method, system, storage medium, obtains the state information of vehicle, when the state information of vehicle meets the preset multiple conditions, control vehicle to carry out anti-lock braking and steering, can control vehicle to realize emergency braking when the vehicle body electronic stability system of vehicle and vehicle body electronic stability system function failure, further improve the safety of vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle braking, and more specifically, to a braking method, system, and storage medium. Background Technology

[0002] With the rapid development of the automotive industry, the number of automated control systems in automobiles is also increasing. Among them, the Electronic Stability Program (ESP) and the Redundancy Electronic Parking Brake (REPB) can control the vehicle to achieve anti-lock braking in emergency braking situations. However, as vehicles are used for longer periods, the ESP and REPB are likely to fail. Therefore, how to control the vehicle to achieve emergency braking when the ESP and REPB fail has become an urgent problem to be solved. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes a braking method that can control the vehicle to achieve emergency braking when the vehicle's electronic stability system fails, thereby further improving vehicle safety.

[0004] The present invention provides a braking method, characterized in that the method includes: acquiring vehicle status information; detecting the electronic emergency braking function status of the vehicle's electronic stability system and the status of multiple brakes of the redundant electronic parking system; and controlling the vehicle to perform anti-lock braking and steering when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system malfunctions, and the vehicle's status information meets multiple preset conditions.

[0005] In one embodiment, the vehicle's status information includes: operational information of the redundant electronic parking system, operational information of the electronic stability control system, operational information of the steering system, operational information of the inertial measurement unit, vehicle speed, and wheel speed.

[0006] In one embodiment, the preset conditions include: the brakes of the vehicle's redundant electronic parking system are in the released state; the vehicle's inertial measurement unit is in normal working condition; the vehicle's steering system is in normal working condition; and the vehicle's speed and wheel speed are greater than preset values.

[0007] In one embodiment, the step of controlling the vehicle to perform anti-lock braking and steering when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system malfunctions, and the vehicle's status information meets multiple preset conditions includes: detecting whether the pull-up time of the vehicle's redundant electronic parking system exceeds a preset duration; when the pull-up time of the vehicle's redundant electronic parking system exceeds the preset duration, controlling the non-malfunctioning brake to perform anti-lock braking based on the vehicle's speed and wheel speed, and controlling the vehicle to steer based on the working information of the vehicle's inertial measurement unit.

[0008] In one embodiment, the step of detecting whether the pull-up time of the vehicle's redundant electronic parking system exceeds a preset duration includes: obtaining the preset duration based on the operating information of the vehicle's inertial measurement unit.

[0009] In one embodiment, the step of controlling the vehicle to perform anti-lock braking and steering when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system malfunctions, and the vehicle's status information meets multiple preset conditions includes: when the pull-up time of the vehicle's redundant electronic parking system does not exceed a preset duration, determining whether the vehicle is yawing based on the working information of the vehicle's inertial measurement unit; when the vehicle is yawing, controlling the vehicle to perform pre-steering based on the yaw amplitude, controlling the non-faulty brake to perform anti-lock braking based on the vehicle's speed and wheel speed, and controlling the vehicle to steer based on the working information of the vehicle's inertial measurement unit.

[0010] In one embodiment, controlling the non-faulty brake to perform anti-lock braking based on the vehicle speed and wheel speed includes: obtaining the current slip ratio of the vehicle based on the vehicle speed and wheel speed; adjusting the braking force of the non-faulty brake according to the current slip ratio of the vehicle, so that the non-faulty brake controls the slip ratio of the vehicle within a preset range.

[0011] In one embodiment, the method includes: when controlling the vehicle to perform anti-lock braking and steering, adjusting the braking force of the non-faulty brakes based on the operating information of the vehicle's inertial measurement unit.

[0012] The present invention also provides a braking system based on a redundant electronic parking system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the braking method as described above.

[0013] The present invention also provides a storage medium storing a computer program that, when executed by a processor, implements the steps of the braking method described above.

[0014] The present invention provides a braking method, system, and storage medium that acquires vehicle status information and controls the vehicle to perform anti-lock braking and steering when the vehicle status information meets multiple preset conditions. It can control the vehicle to achieve emergency braking when the vehicle's electronic stability system fails, thereby further improving vehicle safety. Attached Figure Description

[0015] Figure 1 This is a flowchart of the braking method according to the first embodiment of the present invention;

[0016] Figure 2 This is the first embodiment of the present invention. Figure 1 A schematic diagram of step S13 in the diagram;

[0017] Figure 3 This is a schematic diagram of a method for controlling a vehicle to perform anti-lock braking and steering according to the first embodiment of the present invention. Detailed Implementation

[0018] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of preferred embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the present invention.

[0019] To further illustrate the technical means and effects adopted by the present invention in order to achieve the intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0020] Figure 1 This is a flowchart of the braking method according to the first embodiment of the present invention.

[0021] like Figure 1 As shown, the braking method provided in this embodiment includes the following steps:

[0022] Step S11: Obtain vehicle status information.

[0023] Specifically, in one embodiment, the vehicle's status information may include at least one of the following: the operating information of the redundant electronic parking system, the operating information of the electronic stability system, the operating information of the electric power steering (EPS) system, the operating information of the inertial measurement unit (IMU), and the vehicle speed and wheel speed.

[0024] Step S12: Detect the status of the electronic emergency braking function of the vehicle's electronic stability system and the status of multiple brakes in the redundant electronic parking system.

[0025] Specifically, in one embodiment, when detecting the status of multiple brakes in the redundant electronic parking system, the operating status of two brakes in the redundant electronic parking system is obtained based on the operating information of the redundant electronic parking system. Based on the operating status of the two brakes, it is determined whether a single brake in the vehicle's redundant electronic parking system has malfunctioned. If one of the two brakes in the redundant electronic parking system is in normal working condition and the other is not in normal working condition, it is determined that a single brake in the vehicle's redundant electronic parking system has malfunctioned. If neither of the two brakes in the redundant electronic parking system is in normal working condition, or if both brakes are in normal working condition, it is determined that no single brake in the vehicle's redundant electronic parking system has malfunctioned.

[0026] Step S13: When the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system fails, and the vehicle's status information meets multiple preset conditions, control the vehicle to perform anti-lock braking and steering.

[0027] Specifically, in one embodiment, since the emergency braking function of the redundant electronic parking system serves as a backup braking method for the electronic emergency braking function of the vehicle's electronic stability system, this invention only checks whether the emergency braking function of the redundant electronic parking system can be used normally when the electronic emergency braking function of the vehicle's electronic stability system fails. Only when the emergency braking function of the redundant electronic parking system cannot be used normally (i.e., a single brake of the redundant electronic parking system fails) does the invention check whether the vehicle's status information meets several preset conditions. Only when the vehicle meets these preset conditions is the invention controlled to perform anti-lock braking and steering. In other words, this invention can provide emergency braking function when the backup braking method, the redundant electronic parking system, fails, further upgrading braking safety backup.

[0028] Specifically, in one embodiment, the preset conditions may include: the brake of the vehicle's redundant electronic parking system is in a released state, the vehicle's inertial measurement unit is in a normal working state, the vehicle's steering system is in a normal working state, and the vehicle speed and wheel speed are greater than at least one of the preset values.

[0029] Specifically, in one embodiment, step S13: when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system fails, and the vehicle's state information meets multiple preset conditions, controlling the vehicle to perform anti-lock braking and steering includes: when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system fails, and the vehicle's state information meets multiple preset conditions, detecting whether the pull-up time of the vehicle's redundant electronic parking system exceeds a preset duration; when the pull-up time of the vehicle's redundant electronic parking system exceeds the preset duration, obtaining the vehicle's current slip ratio based on the vehicle speed and wheel speed, and adjusting the braking force of the non-faulty brakes according to the vehicle's current slip ratio, so that the non-faulty brakes... The brakes control the vehicle's slip ratio within a preset range for anti-lock braking and steer the vehicle based on the information from the vehicle's inertial measurement unit. If the redundant electronic parking brake system's engagement time does not exceed a preset duration, the brakes determine whether the vehicle is yawing based on the inertial measurement unit's information. If yawing is detected, the brakes pre-steer based on the yaw amplitude, then obtain the vehicle's current slip ratio based on the vehicle's speed and wheel speed. The brakes adjust the braking force of the non-faulty brakes to ensure they control the vehicle's slip ratio within the preset range for anti-lock braking, and steer the vehicle based on the inertial measurement unit's information. If no yawing is detected, the brakes return to the step of checking whether the redundant electronic parking brake system's engagement time exceeds the preset duration. The preset duration can be initially set according to the time root input by the manufacturer or user, and / or adjusted according to the signal reading of the inertial measurement unit when the redundant electronic parking system is pulled up; the preset range of slip ratio can be set between 15% and 20% to obtain better braking performance and directional stability during braking.

[0030] Specifically, in one embodiment, after controlling the vehicle to perform anti-lock braking and steering, if the rate of change of lateral acceleration and yaw rate of the inertial measurement unit is detected to be greater than a preset value, the braking force of the non-faulty brakes is reduced according to the overflow value to prevent over-braking.

[0031] The present invention provides a braking method that controls the vehicle to perform anti-lock braking and steering when the vehicle's state information meets multiple preset conditions. It can control the vehicle to achieve emergency braking when the vehicle's electronic stability system fails, thereby further improving vehicle safety.

[0032] Figure 2 This is the first embodiment of the present invention. Figure 1 A schematic diagram of step S13 in the diagram.

[0033] like Figure 2 As shown, this embodiment provides Figure 1 The method in step S13 includes the following steps:

[0034] Step S1311: Check whether the electronic emergency braking function of the vehicle's electronic stability system has failed.

[0035] Specifically, when the vehicle is detected to be powered on or ignited, the system checks whether the electronic emergency braking function of the vehicle's electronic stability system has failed. If it has failed, the system proceeds to step S1312: checking whether a single brake of the vehicle's redundant electronic parking system has failed. If it has not failed, the system either disables the single brake failure handling strategy for the vehicle from being enabled, or returns to step S1311: continuing to check whether the electronic emergency braking function of the vehicle's electronic stability system has failed.

[0036] Specifically, in one embodiment, when the vehicle is detected to be powered on or ignited, the vehicle's status information is acquired, which may include the operating information of the redundant electronic parking system, the operating information of the electronic stability system, the operating information of the steering system, the operating information of the inertial measurement unit, and one of the vehicle speed and wheel speed.

[0037] Specifically, when detecting whether a single brake of the vehicle's redundant electronic parking system has failed, the operating status of the two brakes of the redundant electronic parking system is obtained based on the operating information of the redundant electronic parking system. If one of the two brakes of the redundant electronic parking system is in normal working condition, the process proceeds to step S1313: detecting whether the vehicle's steering system is in normal working condition. If neither of the two brakes of the redundant electronic parking system is in normal working condition, or if both brakes are in normal working condition, the process either disables the single brake failure handling strategy of the vehicle from being enabled, or returns to step S1311: continuing to detect whether the electronic emergency braking function of the vehicle's electronic stability system has failed, or returns to step S1312: continuing to detect whether a single brake of the vehicle's redundant electronic parking system has failed.

[0038] Specifically, when determining the normal operating state of the brake, it is determined whether the brake's motor control unit (MUC) and brake motor are working properly. If both the motor control unit and brake motor are working properly, the brake is determined to be in a normal operating state; if one or both of the motor control unit and brake motor are not working properly, the brake is determined to be not in a normal operating state.

[0039] Specifically, when the vehicle's steering system is detected to be in normal working condition, proceed to step S1314: detect whether the vehicle speed and wheel speed are greater than preset values; when the vehicle's steering system is detected to be not in normal working condition, disable the vehicle's single brake failure handling strategy from being enabled, or return to step S1311: continue to detect whether the vehicle's electronic stability system's electronic emergency braking function is disabled, or return to step S1313: continue to detect whether the vehicle's steering system is in normal working condition.

[0040] Specifically, when the vehicle speed and wheel speed are detected to be greater than preset values, proceed to step S1315: check whether the vehicle's inertial measurement unit is in normal working condition; when the vehicle speed and wheel speed are detected not to be greater than preset values, disable the vehicle's single brake failure handling strategy, or return to step S1311: continue to check whether the vehicle's electronic stability system's electronic emergency braking function is malfunctioning, or return to step S1314: continue to check whether the vehicle speed and wheel speed are greater than preset values.

[0041] Specifically, when detecting whether the vehicle's inertial measurement unit (IMU) is in normal working condition, the IMU's signal readings are obtained based on its operating information, and the validity of the signal readings is determined. If the signal readings are valid, the IMU is determined to be in normal working condition, and the process proceeds to step S1316: detecting that the brakes of the vehicle's redundant electronic parking system are in the released state. If the signal readings are invalid, the IMU is determined to be not in normal working condition, and the single brake failure handling strategy is disabled, or the process returns to step S1311: continuing to detect whether the electronic emergency braking function of the vehicle's electronic stability system is malfunctioning, or returning to step S1315: continuing to detect whether the IMU is in normal working condition. The signal readings of the IMU include longitudinal acceleration, lateral acceleration, and yaw rate.

[0042] Specifically, when it is detected that the brake of the vehicle's redundant electronic parking system is in a released state, the single brake failure handling strategy of the vehicle is enabled; when it is detected that the brake of the vehicle's redundant electronic parking system is not in a released state, the single brake failure handling strategy of the vehicle is disabled, or the process returns to step S1311: continue to detect whether the electronic emergency braking function of the vehicle's electronic stability system is in failure, or returns to step S1316: continue to detect whether the brake of the vehicle's redundant electronic parking system is in a released state.

[0043] The present invention provides a braking method that controls the vehicle to perform anti-lock braking and steering when the vehicle's state information meets multiple preset conditions. It can control the vehicle to achieve emergency braking when the vehicle's electronic stability system fails, thereby further improving vehicle safety.

[0044] Figure 3 This is a schematic diagram of a method for controlling a vehicle to perform anti-lock braking and steering according to the first embodiment of the present invention.

[0045] like Figure 3 As shown, the method for controlling a vehicle to perform anti-lock braking and steering provided in this embodiment includes the following steps:

[0046] Step S1321: Detect whether the pull-up time of the vehicle's redundant electronic parking system is less than the preset time.

[0047] Specifically, when the vehicle's single brake failure handling strategy is enabled, the system checks whether the pull-up time of the vehicle's redundant electronic parking brake system is less than a preset duration. If it is less, the process proceeds to step S1324: determining whether the vehicle is yawing based on the operating information of the vehicle's inertial measurement unit. If it is not less, the process proceeds to step S1322: controlling the vehicle's non-faulty brakes to perform anti-lock braking. The preset duration can initially be set based on a time root input by the manufacturer or user.

[0048] Specifically, in one embodiment, in step S1321: when detecting whether the pull-up time of the vehicle's redundant electronic parking system is less than a preset duration, the vehicle's yaw amplitude is obtained based on the lateral acceleration and yaw rate acquired by the inertial measurement unit, and it is determined whether the vehicle's yaw amplitude exceeds a threshold value. If it exceeds the threshold value, the preset duration is shortened based on the vehicle's yaw amplitude; if it does not exceed the threshold value, the preset duration is obtained based on the time input by the manufacturer or user.

[0049] Specifically, in step S1324: when determining whether the vehicle is yawing based on the working information of the vehicle's inertial measurement unit, the lateral acceleration and yaw rate of the inertial measurement unit are obtained based on the working information of the inertial measurement unit, and it is determined whether the lateral acceleration and yaw rate of the vehicle's inertial measurement unit exceed the threshold value. If they exceed the threshold value, it is determined that the vehicle is yawing; if they do not exceed the threshold value, it is determined that the vehicle is not yawing.

[0050] Specifically, when it is determined that the vehicle is yawing, proceed to step S1325: control the vehicle to perform pre-steering based on the working information of the vehicle's inertial measurement unit; when it is determined that the vehicle is not yawing, return to step S1321: continue to detect whether the pull-up time of the vehicle's redundant electronic parking system is less than the preset time.

[0051] Specifically, in one embodiment, when controlling the vehicle to perform pre-steering based on the working information of the vehicle's inertial measurement unit, the lateral acceleration and yaw rate of the inertial measurement unit are obtained based on the working information of the inertial measurement unit, the yaw direction and yaw amplitude of the vehicle are obtained based on the lateral acceleration and yaw rate of the inertial measurement unit, and the vehicle is controlled to perform pre-steering based on the yaw direction and yaw amplitude of the vehicle to pre-correct the vehicle's attitude.

[0052] Specifically, in step S1322: when controlling the vehicle's non-faulty brakes to perform anti-lock braking, the current slip ratio of the vehicle is obtained based on the vehicle speed and wheel speed. The braking force of the non-faulty brakes is adjusted according to the current slip ratio to ensure that the non-faulty brakes control the vehicle's slip ratio within a preset range during braking. For example, if the vehicle's current non-faulty brake is the right brake, the current slip ratio of the right rear wheel is obtained based on the vehicle speed and the wheel speed of the right rear wheel. The braking force of the right brake is adjusted according to the current slip ratio of the right rear wheel to ensure that the right brake controls the slip ratio of the right rear wheel within a preset range during braking. If the vehicle's current non-faulty brake is the left brake, the current slip ratio of the left rear wheel is obtained based on the vehicle speed and the wheel speed of the left rear wheel. The braking force of the left brake is adjusted according to the current slip ratio of the left rear wheel to ensure that the left brake controls the slip ratio of the right rear wheel within a preset range during braking.

[0053] Specifically, in one embodiment, the preset range of slip ratio can be set to 15% to 20% to obtain better braking performance and directional stability during braking.

[0054] Specifically, in step S1323: when controlling the vehicle to steer based on the working information of the vehicle's inertial measurement unit, the lateral acceleration and yaw rate of the inertial measurement unit are obtained based on the working information of the inertial measurement unit, and the vehicle is controlled to steer based on the lateral acceleration and yaw rate of the inertial measurement unit to correct the vehicle's attitude and counteract the vehicle attitude deviation caused by unilateral braking.

[0055] Specifically, the pre-steering wheel rotation amplitude is smaller than the steering wheel rotation amplitude.

[0056] Specifically, in one embodiment, after controlling the vehicle to perform anti-lock braking and steering, if the rate of change of lateral acceleration and yaw rate of the inertial measurement unit is detected to be greater than a preset value, the braking force of the non-faulty brakes is reduced according to the overflow value to prevent over-braking.

[0057] The present invention also provides a braking system based on a redundant electronic parking system, including a memory, a processor, and a computer program stored in the memory and executable on the left processor. When the processor executes the left computer program, it implements the steps of the braking method described above.

[0058] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the braking method described above.

[0059] The present invention provides a braking method, system, and storage medium that acquires vehicle status information and controls the vehicle to perform anti-lock braking and steering when the vehicle status information meets multiple preset conditions. It can control the vehicle to achieve emergency braking when the vehicle's electronic stability system fails, thereby further improving vehicle safety.

[0060] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A braking method, characterized in that, The method includes: The vehicle status information includes: the working information of the redundant electronic parking system, the working information of the electronic stability system, the working information of the steering system, the working information of the inertial measurement unit, the vehicle speed and wheel speed; The status of the electronic emergency braking function of the vehicle's electronic stability system and the status of multiple brakes in the redundant electronic parking system are detected. When the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system fails, and the vehicle's status information meets multiple preset conditions, the vehicle is controlled to perform anti-lock braking and steering. The preset conditions include: The brakes of the vehicle's redundant electronic parking system are in the released state; The vehicle's inertial measurement unit is in normal working order; The vehicle's steering system is in normal working order; The vehicle's speed and wheel speed are greater than the preset values; Specifically, when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake in the vehicle's redundant electronic parking system malfunctions, and the vehicle's status information meets multiple preset conditions, the vehicle is controlled to perform anti-lock braking and steering, including: Detect whether the engagement time of the vehicle's redundant electronic parking system exceeds a preset duration; When the redundant electronic parking brake system of the vehicle engages for a period exceeding a preset time, the non-faulty brakes are controlled to perform anti-lock braking based on the vehicle speed and wheel speed, and the vehicle is steered based on the working information of the vehicle's inertial measurement unit.

2. The braking method as described in claim 1, characterized in that, The step of detecting whether the engagement time of the vehicle's redundant electronic parking system exceeds a preset duration includes: The preset duration is obtained based on the working information of the vehicle's inertial measurement unit.

3. The braking method as described in claim 1, characterized in that, The step of controlling the vehicle to perform anti-lock braking and steering when the electronic emergency braking function of the vehicle's electronic stability system fails, a single brake of the vehicle's redundant electronic parking system fails, and the vehicle's status information meets multiple preset conditions includes: If the pull-up time of the vehicle's redundant electronic parking system does not exceed a preset duration, the system determines whether the vehicle is yawing based on the working information of the vehicle's inertial measurement unit. When the vehicle yaws, the vehicle is pre-steering according to the yaw amplitude, and then the non-faulty brakes are used for anti-lock braking according to the vehicle speed and wheel speed. The vehicle is then steered according to the working information of the vehicle's inertial measurement unit.

4. The braking method as described in claim 3, characterized in that, The step of controlling the non-faulty brakes to perform anti-lock braking based on the vehicle speed and wheel speed includes: The current slip ratio of the vehicle is obtained based on the vehicle speed and wheel speed. The braking force of the non-faulty brake is adjusted according to the current slip ratio of the vehicle so that the non-faulty brake controls the slip ratio of the vehicle within a preset range.

5. The braking method as described in claim 1, characterized in that, The method includes: The braking force of the non-faulty brakes is adjusted based on the operating information of the vehicle's inertial measurement unit.

6. A braking system based on a redundant electronic parking system, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the braking method as described in any one of claims 1 to 5.

7. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the braking method as described in any one of claims 1 to 5.

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