A vehicle with controlled brakes to avoid brake failure

Abstract

The present application provides a vehicle for controlling a brake to avoid brake failure, comprising: at least one rotating device; at least one brake device; at least one processor; and a storage device, the storage device storing a plurality of instructions, such that when executed by the at least one processor, the at least one processor performs: obtaining at least one rotating parameter when the at least one brake device is started with a first brake parameter; determining whether to adjust the at least one brake device according to the at least one rotating parameter, so that the at least one brake device adjusts the at least one rotating parameter according to a second brake parameter; obtaining an adjustment time in which the second brake parameter is used; and determining whether to adjust the at least one brake device according to a comparison result of the adjustment time and a time threshold, so that the at least one brake device adjusts the at least one rotating parameter according to a third brake parameter, wherein the first brake parameter, the second brake parameter and the third brake parameter are different from each other.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and in particular, to a vehicle for controlling brakes to avoid brake failure. Background Technology

[0002] With the continuous improvement of living standards, vehicles such as cars have become increasingly common in people's lives. The speed and convenience of these vehicles provide great comfort. Although many existing vehicles are equipped with anti-lock braking systems (ABS), prolonged use of the brakes during continuous braking can still cause the ABS to malfunction, jeopardizing traffic safety. Summary of the Invention

[0003] The present invention was made in view of the above-mentioned problems, and provides a vehicle capable of effectively controlling brake failure.

[0004] To address the aforementioned issues, the present invention provides a vehicle for controlling braking to prevent brake failure. The vehicle includes: at least one rotating device for moving the vehicle; at least one braking device coupled to the at least one rotating device for adjusting at least one rotating parameter of the at least one rotating device according to a first braking parameter; at least one processor; and a storage device coupled to the at least one processor and storing a plurality of instructions, which, when executed by the at least one processor, cause the at least one processor to perform the following processes: when the at least one braking device is activated, obtaining the at least one rotating parameter; determining, based on the at least one rotating parameter, whether to adjust the at least one braking device to adjust the at least one rotating parameter according to a second braking parameter; obtaining an adjustment time for the second braking parameter to be used; comparing the adjustment time with a time threshold; and, based on the comparison result of the adjustment time and the time threshold, determining whether to adjust the at least one braking device to adjust the at least one rotating parameter according to a third braking parameter, wherein the first braking parameter, the second braking parameter, and the third braking parameter are different from each other.

[0005] In one embodiment, the time threshold may be a preset time value.

[0006] In one embodiment, when the plurality of instructions are executed by the at least one processor, the at least one processor performs the following processes: receiving sensing parameters obtained from the sensing device for the vehicle; and adjusting the time threshold for using the third braking parameter based on the sensing parameters.

[0007] In one embodiment, when the plurality of instructions are executed by the at least one processor, the at least one processor causes the at least one processor to perform the following processes: receiving sensing parameters obtained from the sensing device for the vehicle; and generating a fourth braking parameter for each of the at least one braking device based on the sensing parameters and the respective device positions of the at least one rotating device on the vehicle, wherein at least two of the at least one fourth braking parameter are different from each other.

[0008] In one embodiment, when the plurality of instructions are executed by the at least one processor, the at least one processor performs the following processes: receiving sensing parameters obtained from the sensing device for the vehicle; and adjusting the magnitude of the third braking parameter based on the sensing parameters, wherein the first braking parameter and the second braking parameter are both preset braking parameters.

[0009] In one embodiment, it includes: at least one drive device coupled to at least one rotating device, which drives the at least one rotating device to move the vehicle by rotation in a first direction, or decelerates the at least one rotating device by rotation in a second direction, wherein the first direction is opposite to the second direction.

[0010] In one embodiment, when the plurality of instructions are executed by the at least one processor, the at least one processor performs the following processes: receiving sensing parameters obtained from the sensing device for the vehicle; determining, based on the sensing parameters, whether the vehicle is traveling on a flat surface; and if the vehicle is not traveling on the flat surface, then when the at least one braking device is activated, the at least one driving device decelerates the at least one rotating device by rotating in the second direction.

[0011] In one embodiment, when the at least one processor is unable to obtain one of the at least one rotation parameters, the at least one braking device is activated to decelerate the vehicle.

[0012] In one embodiment, at least one of the brake release frequency and duty cycle of the braking device is set according to the moving speed of the vehicle.

[0013] In one embodiment, when the moving speed is a first speed, the brake release frequency and the duty cycle are a first frequency and a first ratio; when the moving speed is a second speed, the brake release frequency and the duty cycle are a second frequency and a second ratio; and when the first speed is greater than the second speed, the first frequency is greater than the second frequency and / or the first ratio is greater than the second ratio.

[0014] In one embodiment, when the at least one processor cannot obtain one of the at least one rotation parameters, the movement of the vehicle is restricted by a limiting parameter.

[0015] In one embodiment, the limiting parameter is a limiting speed of at least one drive device to limit the drive speed of the at least one drive device from not exceeding the limiting speed.

[0016] In one embodiment, the limiting parameter is a limiting power of the power source to limit the output power provided by the power source to the vehicle.

[0017] In one embodiment, when the at least one processor is unable to obtain all of the at least one rotational parameters, the power source of the vehicle is shut off.

[0018] In one embodiment, when the at least one processor is unable to obtain all of the at least one rotation parameters, the stationary state is maintained when the vehicle is stationary.

[0019] To address the aforementioned problems, the present invention also provides a method for controlling the braking of a vehicle to avoid brake failure. The method includes: when at least one braking device of the vehicle is activated with a first braking parameter, obtaining at least one rotation parameter of at least one rotating device of the vehicle; determining, based on the at least one rotation parameter, whether to adjust the at least one braking device to adjust the at least one rotation parameter according to a second braking parameter; obtaining an adjustment time for the second braking parameter; comparing the adjustment time with a time threshold; and, based on the comparison result of the adjustment time and the time threshold, determining whether to adjust the at least one braking device to adjust the at least one rotation parameter according to a third braking parameter, wherein the first braking parameter, the second braking parameter, and the third braking parameter are all different from each other.

[0020] The above method enables the vehicle to adjust different braking parameters according to the condition and duration of use of the braking system, thereby effectively controlling the brakes and preventing brake failure.

[0021] The above method enables the vehicle to adjust at least one rotation parameter based on the current road conditions and the vehicle's own condition, thereby effectively controlling the brakes to avoid brake failure. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a block diagram of a vehicle for controlling braking to avoid brake failure according to an embodiment of the present invention.

[0024] Figure 2 This is a flowchart of the processor execution process in a vehicle according to one embodiment.

[0025] Figure 3 This is a flowchart of the processor execution process in a vehicle according to another embodiment.

[0026] Figure 4 This is a flowchart of the processor execution process in a vehicle according to another embodiment.

[0027] Figure 5 This is a flowchart of the processor execution process in a vehicle according to another embodiment.

[0028] Figure 6 This is a flowchart of the processor execution process in a vehicle according to another embodiment.

[0029] Figure 7 It is a flowchart of the specific process executed by the processor in the vehicle.

[0030] Figure 8 This is a flowchart of the method for controlling the brakes of a vehicle to avoid brake failure according to the present invention. Detailed Implementation

[0031] The following description contains specific information relating to exemplary embodiments of the invention. The accompanying drawings and detailed description are merely exemplary embodiments. However, the invention is not limited to these exemplary embodiments. Other variations and embodiments of the invention will occur to those skilled in the art. Unless otherwise stated, the same or corresponding components in the drawings are indicated by the same or corresponding reference numerals. Furthermore, the drawings and illustrations in this invention are generally not drawn to scale and are not intended to correspond to actual relative dimensions.

[0032] For the purposes of consistency and ease of understanding, the same features are indicated by reference numerals in the exemplary drawings (although not in some examples). However, features in different embodiments may differ in other respects, and therefore should not be narrowly limited to the features shown in the drawings.

[0033] The terms "at least one embodiment," "one embodiment," "multiple embodiments," "different embodiments," "some embodiments," and "this embodiment" indicate that the embodiments of the present invention described herein may include specific features, structures, or characteristics, but not every possible embodiment of the invention must include such specific features, structures, or characteristics. Furthermore, the repeated use of the phrases "in one embodiment" and "in this embodiment" does not necessarily refer to the same embodiment, although they may be identical. Moreover, the use of phrases such as "embodiment" in connection with "the present invention" does not imply that all embodiments of the invention must include specific features, structures, or characteristics, and should be understood as "at least some embodiments of the invention" including the stated specific features, structures, or characteristics. The term "coupled" is defined as a connection, whether direct or indirect through intermediate components, and is not necessarily limited to physical connections. When the term "comprising" is used, it means "including but not limited to," explicitly indicating an open inclusion or relationship of combinations, groups, series, and equivalents.

[0034] Furthermore, for illustrative and non-restrictive purposes, specific details such as functional entities, technologies, protocols, and standards are elaborated to provide an understanding of the described technologies. In other examples, detailed descriptions of well-known methods, technologies, systems, architectures, etc., are omitted to avoid obscuring the explanatory narrative with unnecessary details.

[0035] The terms "first," "second," and "third," etc., used in the specification and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to these processes, methods, products, or apparatuses.

[0036] Those skilled in the art will immediately recognize that any computational function or algorithm described in this invention can be implemented in hardware, software, or a combination of software and hardware. The modules corresponding to the described functions can be software, hardware, firmware, or any combination thereof. Software implementations may comprise computer-executable instructions stored on a computer-readable medium such as memory or other types of storage. For example, one or more microprocessors or general-purpose computers with communication processing capabilities may be programmed and executed using corresponding executable instructions. Processors, microprocessors, or general-purpose computers may be formed using application-specific integrated circuits (ASICs), programmable logic arrays, and / or using one or more digital signal processors (DSPs). Although some exemplary embodiments described in this specification tend to be software installed and executed on computer hardware, alternative exemplary embodiments using firmware or hardware or a combination of hardware and software are also within the scope of this invention.

[0037] The storage device may be a computer-readable medium, including but not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CDROM), magnetic cassette, magnetic tape, disk storage, or any other equivalent medium capable of storing computer-readable instructions.

[0038] The coupling between the devices of this invention can employ customized protocols or follow existing or de facto standards, including but not limited to Ethernet, IEEE 802.11 or IEEE 802.15 series, wireless USB, or telecommunications standards (including but not limited to GSM (Global System for Mobile Communications), CDMA2000 (Code Division Multiple Access), TD-SCDMA (Time Division-Synchronization Code Division Multiple Access), WiMAX (World Interoperability for Microwave Access), 3GPP-LTE (Long Term Evolution), or TD-LTE (Time Division Long Term Evolution)). Furthermore, each device of this invention may also include any device configured to transmit and / or store data to and from a computer-readable medium. Moreover, each device of this invention may include a computer system interface that enables data to be stored on or received from a storage device. For example, the devices of the present invention may include chipsets that support Peripheral Component Interconnect (PCI) and Peripheral Component Interconnect Express (PCIe) bus protocols, dedicated bus protocols, Universal Serial Bus (USB) protocols, I2C, or any other logical and physical structures that can be used to interconnect peer devices.

[0039] The anti-lock braking system referred to in this invention includes, but is not limited to, anti-lock braking system (ABS), electromechanical braking system (EMS), electronic stability control (ESC), or any other equivalent device capable of adjusting the braking parameters of the braking device.

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0041] Please see Figure 1The present invention provides a vehicle 100 for controlling braking to avoid brake failure. The vehicle 100 may be, but is not limited to, a car, motorcycle, tricycle, electric vehicle, electric motorcycle, electric bicycle, solar vehicle, fuel cell vehicle, etc., and is not limited thereto. The vehicle 100 includes at least one rotating device 10, at least one braking device 20, a storage device 30, and at least one processor 40.

[0042] At least one rotating device 10 is used to move the vehicle 100. In this embodiment, the rotating device 10 is the wheel of the vehicle 100.

[0043] At least one braking device 20 is coupled to at least one rotating device 10 for adjusting at least one rotation parameter of the at least one rotating device 10 according to a first braking parameter. In this embodiment, the rotation parameter is wheel speed. In one embodiment, the first braking parameter is a preset braking parameter of the at least one braking device 20 when it is activated. In one embodiment, the preset braking parameter may be the braking parameter of the vehicle 100 under normal braking conditions. In this embodiment, when the vehicle 100 brakes under normal conditions, the at least one braking device 20 continuously applies a braking force to the at least one rotating device 10 according to the preset braking parameter to decelerate the vehicle 100. In one embodiment, the at least one braking device 20 and the at least one rotating device 10 may correspond one-to-one. In another embodiment, the at least one braking device 20 and the at least one rotating device 10 may correspond two-to-one or multiple-to-one, so that a single braking device 20 can simultaneously decelerate multiple rotating devices 10.

[0044] The storage device 30 is coupled to at least one processor 40 and stores multiple instructions; please refer to [reference needed]. Figure 1 and Figure 2 When executed by at least one processor 40, the multiple instructions cause at least one processor 40 to perform the following processes:

[0045] Step S101: When at least one braking device 20 is activated, at least one rotation parameter is obtained. In one embodiment, at least one processor 40 obtains the at least one rotation parameter via at least one sensing device (not shown) coupled to at least one rotating device 10. In this embodiment, the at least one sensing device is a wheel speed sensor to obtain the respective wheel speeds of the at least one rotating device 10 as the rotation parameter.

[0046] Step S102: Based on the at least one rotation parameter, determine whether at least one brake device 20 needs to be adjusted. If it is determined that at least one brake device 20 does not need to be adjusted, proceed to step S103. If it is determined that at least one brake device 20 needs to be adjusted, proceed to step S104.

[0047] In one embodiment, at least one processor 40 determines whether at least one rotating device 10 has locked up or is likely to lock up based on the speed of each wheel. If it is determined that at least one rotating device 10 has locked up or is likely to lock up, the process proceeds to step S104. If it is determined that no rotating device 10 has locked up or is likely to lock up, the process proceeds to step S103. In this embodiment, the determination of whether at least one rotating device 10 has locked up or is likely to lock up can be performed by at least one processor 40 through a brake anti-lockup system built into the storage device 30, based on the speed of each wheel to determine whether any rotating device 10 has locked up or is likely to lock up.

[0048] In step S103, at least one brake device 20 is not adjusted. When it is determined that no rotating device 10 is locked or may lock, at least one processor 40 will return to step S102 and continue to determine whether it is necessary to proceed to step S104.

[0049] In step S104, the at least one braking device 20 adjusts at least one rotation parameter based on the second braking parameter. In one embodiment, at least one processor 40 can adjust the corresponding braking device 20 for a rotation device 10 that is already locked or may lock. In other words, at least one processor 40 may not adjust the braking device 20 corresponding to a normally operating rotation device 10. In one embodiment, the second braking parameter may be an anti-lock braking parameter of the at least one braking device 20 when the anti-lock braking system is activated. In one embodiment, the anti-lock braking parameter may be at least one of an anti-lock brake release frequency and an anti-lock duty cycle of the vehicle 100 when the anti-lock braking system is activated. In one embodiment, brake release is the actuation behavior of the anti-lock braking system. Therefore, the anti-lock brake release frequency is the actuation frequency of the anti-lock braking system, and the anti-lock duty cycle is the actuation duty cycle of the anti-lock braking system. In one embodiment, the anti-lock brake release frequency may be preset to 3 Hz. In this embodiment, the first braking parameter is continuous and uninterrupted braking, while the second braking parameter is intermittent braking due to the braking release. Because the first braking parameter does not change periodically, there is no corresponding anti-lock brake release frequency, actuation cycle, or actuation duty cycle for the second braking parameter.

[0050] Step S105: Obtain the adjustment time used for the second braking parameter. In one embodiment, the adjustment time may be the time for the brake anti-lock system to adjust the actuation time of the braking device.

[0051] Step S106: Compare the adjusted time with a time threshold. In one embodiment, the time threshold may be a preset time value. In one embodiment, the preset time value is greater than the braking time of the vehicle 100 on a normal road. In one embodiment, the preset time value is less than the continuous operating time for which the anti-lock braking system can operate continuously without failure. In this embodiment, the braking time and the continuous operating time may be results obtained through experimental testing and preset in the storage device 30 of the vehicle 100. In one embodiment, the braking time may be 3 seconds. In one embodiment, the continuous operating time may be 120 seconds. In one embodiment, the preset time value may be 15 seconds. In another embodiment, the time threshold may be a variable time value. In one embodiment, at least one processor 40 may detect different driving parameters of the vehicle 100 under different driving conditions through a sensing device, and then adjust the variable time value according to the driving parameters.

[0052] Step S107: Based on the comparison result between the adjustment time and the time threshold, determine whether the at least one braking device 20 needs adjustment. If it is determined that the at least one braking device 20 does not need adjustment, proceed to step S105; if it is determined that the at least one braking device 20 needs adjustment, proceed to step S108. In one embodiment, when the adjustment time is greater than or equal to the time threshold, it is determined that the at least one braking device 20 needs further adjustment. When the adjustment time has not exceeded the time threshold, it is determined that the at least one braking device 20 does not need further adjustment. In this embodiment, since the brake anti-lock system can adjust the activation time of the second braking parameter of each corresponding braking device 20 according to the operating status of each rotating device 10, at least one processor 40 can also determine the adjustment time of the second braking parameter of different braking devices 20, and then determine the comparison result of each adjustment time with the time threshold.

[0053] Step S108 involves the at least one braking device 20 adjusting at least one rotation parameter based on a third braking parameter. In one embodiment, the third braking parameter may be a fail-safe braking parameter. In one embodiment, the fail-safe braking parameter may be at least one of a fail-safe brake release frequency and a fail-safe duty cycle to prevent the anti-lock braking system of the vehicle 100 from failing due to continuous operation. In one embodiment, the fail-safe brake release frequency is the operating frequency of the anti-lock braking system when operating according to the third braking parameter, and the fail-safe duty cycle is the operating duty cycle of the anti-lock braking system when operating according to the third braking parameter. In one embodiment, the fail-safe brake release frequency may be less than the anti-lock braking release frequency, and the fail-safe duty cycle may be further less than the anti-lock duty cycle, thereby reducing the overall operation of the at least one braking device 20 to avoid brake failure. In other words, the third braking parameter is less than the second braking parameter.

[0054] The first braking parameter, the second braking parameter, and the third braking parameter are all different.

[0055] It is understandable that, through the above method, the vehicle 100 can adjust different braking parameters according to the usage status and duration of the braking device, thereby effectively controlling the brakes to avoid brake failure.

[0056] Furthermore, please refer to the following: Figure 1 and Figure 3 When executed by at least one processor 40, the multiple instructions cause at least one processor 40 to perform the following processes:

[0057] Step S201: Receive sensing parameters from the sensing device for the vehicle 100; and

[0058] Step S202: Adjust the time threshold for using the third braking parameter based on the sensing parameter.

[0059] It is understood that the sensing parameters may be the moving speed of the vehicle 100, the current weight of the vehicle 100, the tilt angle of the rotating device 10, the steering wheel direction of the vehicle 100, or a combination thereof. Information such as the moving speed, the current weight, the tilt angle, and the steering wheel direction can be obtained through the sensing device, and is not limited thereto. In one embodiment, the sensing device may be a six-axis sensing device. In one embodiment, the six-axis sensing device may include a three-axis accelerometer and a three-axis gyroscope.

[0060] In one specific implementation, when the sensing device detects that the vehicle 100 is heavily loaded, it means that the vehicle 100 needs a longer time to complete braking. In this case, the time threshold can be increased based on the sensing parameters detected by the sensing device to avoid the third braking parameter being overused, which would cause the vehicle 100 to excessively prolong the braking time. Conversely, when the sensing device detects that the vehicle is lightly loaded, the time threshold can be decreased based on the sensing parameters detected by the sensing device.

[0061] In another specific embodiment, when the sensing device detects that the vehicle 100 is moving at a relatively high speed, it means that the vehicle 100 needs a longer time to complete braking. In this case, the time threshold can be increased based on the sensing parameters detected by the sensing device to avoid the third braking parameter being overused, which would cause the vehicle 100 to excessively prolong the braking time. Conversely, when the sensing device detects that the vehicle is moving at a relatively low speed, the time threshold can be decreased based on the sensing parameters detected by the sensing device.

[0062] According to the above method, the time threshold can be flexibly adjusted, so that at least one braking device 20 can be used flexibly according to the current state of the vehicle, thereby effectively preventing the braking system from failing without excessively affecting the braking time.

[0063] Furthermore, in another embodiment, please refer to [reference needed]. Figure 1 and Figure 4 When executed by at least one processor 40, the multiple instructions cause at least one processor 40 to perform the following processes:

[0064] Step S301: Receive sensing parameters from the sensing device for the vehicle 100; and

[0065] Step S302: Based on the sensing parameters and the respective device positions of at least one rotating device 10 on the vehicle 100, generate a fourth braking parameter for each of at least one braking device 20, wherein at least two of the at least one fourth braking parameters are different from each other.

[0066] It is understood that the sensing parameter can be the tilt angle of the rotating device 10, the steering wheel direction, or a combination thereof. When the vehicle 100 tilts or turns, at least one rotating device 10 will generate different frictional forces with the road surface due to its different position on the vehicle 100, resulting in different environmental factors faced by at least one rotating device 10 when at least one braking device 20 is activated. Thus, the processor 40 can further adjust the third braking parameter based on the device position of each rotating device 10 and the tilt or turning condition of the vehicle 100, thereby causing each braking device 20 to generate different fourth braking parameters to adjust the different rotating devices 10.

[0067] For example, when the vehicle 100 tilts, resulting in greater available friction between the front wheels and the road surface than the rear wheels, at least one of the brake release frequency and duty cycle for the front wheels can be further reduced when the third braking parameter is activated. Conversely, at least one of the brake release frequency and duty cycle for the rear wheels can be further increased when the third braking parameter is activated. In one specific embodiment, since each fourth braking parameter is generated based on the third braking parameter, and its purpose is still to prevent the anti-lock braking system from malfunctioning due to overuse, each fourth braking parameter must still be lower than the second braking parameter.

[0068] It is understandable that when the vehicle 100 has two wheels, the fourth braking parameters of the two wheels are different from each other; when the vehicle 100 has three wheels, the braking parameters of the three wheels can be different from each other, or the braking parameters of two wheels can be the same but different from the braking parameters of the other wheel; when the vehicle 100 has four wheels, the braking parameters of the four wheels can be different from each other, the braking parameters of two wheels can be the same but different from the braking parameters of the other two wheels, or the braking parameters of three wheels can be the same but different from the braking parameters of the other wheel.

[0069] According to the above method, a corresponding fourth braking parameter can be generated based on the state of each wheel, and the braking device 20 can be adjusted accordingly based on the state of each wheel, thereby effectively preventing brake system failure.

[0070] Furthermore, in another embodiment, please refer to [reference needed]. Figure 1 and Figure 5 When executed by at least one processor 40, the multiple instructions cause at least one processor 40 to perform the following processes:

[0071] Step S401: Receive sensing parameters from the sensing device for the vehicle 100; and

[0072] Step S402: Adjust the magnitude of the third braking parameter based on the sensing parameters. Both the first and second braking parameters are preset braking parameters. In this embodiment, the first braking parameter may be a preset braking parameter for the vehicle 100 under normal braking conditions, while the second braking parameter may be a preset braking parameter for the at least one braking device 20 when the anti-lock braking system is activated.

[0073] In this embodiment, the sensing parameter may be the moving speed of the vehicle 100, the current weight of the vehicle 100, the tilt angle of the rotating device 10, the steering wheel direction of the vehicle 100, or a combination thereof. The moving speed, the current weight, the tilt angle, the steering wheel direction, and other information can be obtained by the sensing device, and are not limited here.

[0074] It is understandable that when the sensing device detects a relatively high movement speed, it indicates that a longer braking time is required. Therefore, when the third braking parameter is activated, to avoid prolonging the braking time, the value of the third braking parameter can be slightly increased without exceeding the value of the second braking parameter. In this way, the braking can still be effectively controlled without excessively affecting the braking time, thus preventing brake system failure and ensuring safety. Conversely, if the movement speed is slow, the current weight is light, or the vehicle is traveling uphill, the value of the third braking parameter can be further reduced.

[0075] In one embodiment, the vehicle 100 further includes at least one drive device coupled to at least one rotating device 10. Rotation in a first direction drives the at least one rotating device 10 to move the vehicle 100, or rotation in a second direction decelerates the at least one rotating device 10. The first direction is opposite to the second direction. In one embodiment, if the first direction is clockwise rotation, the second direction is counterclockwise rotation. Therefore, when the drive device drives the vehicle 100 forward by rotating clockwise, the force of the rotating device 10 driving the vehicle 100 forward can be counteracted by changing the drive device to rotate counterclockwise, thereby reducing the forward speed of the vehicle 100.

[0076] It is understood that the drive device is a drive motor. The at least one rotating device 10 can be coupled one-to-one or many-to-one with the drive motor. The drive motor can provide deceleration force to reduce the use of the brake device 20, thereby reducing the use of the anti-lock braking system. Therefore, by using the drive motor, the time threshold and the value of the third braking parameter can be further adjusted. In one embodiment, the drive device can also be directly used as the brake device 20 of the vehicle 100 to assist the vehicle 100 in deceleration.

[0077] In one embodiment, on uneven road surfaces, in addition to providing braking force through the braking device 20, the deceleration effect of the vehicle 100 can be enhanced by reversing the drive motor until the vehicle's acceleration drops to zero or the vehicle comes to a standstill, at which point the power braking effect of the reversed drive motor is released. In one embodiment, whether the vehicle 100 is traveling on an uneven road surface can be determined by sensing parameters from a sensing device. In this embodiment, the sensing device can be a triaxial sensor to sense the movement of the vehicle 100 in different directions.

[0078] In one embodiment, when the vehicle has 100 units equipped with at least one drive unit, please refer to [reference needed]. Figure 1 and Figure 6 When executed by at least one processor 40, the multiple instructions cause at least one processor 40 to perform the following processes:

[0079] Step S501: Receive sensing parameters obtained from the sensing device for the vehicle 100.

[0080] Step S502: Based on the sensing parameters, determine whether the vehicle 100 is traveling on a flat surface. In one embodiment, the flat surface is a flat road surface.

[0081] In step S503, if the vehicle 100 is not traveling on a flat surface, when at least one braking device 20 is activated, at least one driving device decelerates at least one rotating device 10 by rotating in the second direction.

[0082] In this embodiment, the sensing device can be a triaxial sensor. Of course, in other embodiments, the sensing device can be other types of sensors, which are not limited here.

[0083] Furthermore, in another embodiment, when at least one processor 40 fails to obtain one of at least one rotation parameter, at least one braking device 20 is activated to forcibly decelerate the vehicle 100. In one embodiment, when a sensing device fails to sense the rotation parameter of the rotating device 10, the sensing device will not transmit the rotation parameter to the processor 40, and therefore the processor 40 cannot obtain the rotation parameter. In one embodiment, when the sensing device successfully senses the rotation parameter of the rotating device 10, but the sensing device fails to transmit the rotation parameter to the processor 40 due to a connection transmission problem with the processor 40, therefore the processor 40 cannot obtain the rotation parameter. In one embodiment, when the sensing device successfully senses data and successfully transmits the data to the processor 40, and the processor 40, after referring to the driving status of the vehicle 100, determines that the data is not the rotation parameter of the rotating device, the processor 40 can determine that it cannot obtain the rotation parameter. For example, when the vehicle 100 is stationary, if at least one of the sensing devices provides a non-zero value, the processor 40 can determine that the value is not a rotation parameter and therefore cannot obtain the corresponding rotation parameter.

[0084] It is understandable that if at least one processor 40 fails to obtain one of the at least one rotational parameters, and a sudden braking situation arises, the anti-lock braking system may not be able to activate in a timely and accurate manner if the vehicle speed is too high. Therefore, by activating at least one braking device 20 to slow down the vehicle 100 beforehand, even if the aforementioned situation occurs after the speed has been reduced to a certain level, braking can be performed in time to avoid an accident. Therefore, regardless of whether the sensing device can detect the rotational parameter normally, if the processor 40 fails to receive the rotational parameter correctly, the movement speed needs to be adjusted accordingly.

[0085] Furthermore, in another embodiment, the processor 40 can, based on the moving speed of the vehicle 100, set at least one of the brake release frequency and duty cycle of the corresponding braking device 20 for the rotating device 10 where the rotation parameters cannot be obtained. Since the processor 40 cannot obtain the rotation parameters and therefore cannot determine whether to activate the anti-lock braking system, the processor 40 can directly replace the anti-lock braking system by adjusting the braking parameters. In one embodiment, the faster the moving speed of the vehicle 100, the longer the braking time required, thus requiring higher braking parameters to ensure braking is completed. In one embodiment, the higher braking parameters can be determined based on the braking parameters corresponding to the anti-lock braking system. For example, since the anti-lock braking system is unusable, the corresponding duty cycle must be lower than the preset duty cycle, but the duty cycle can be adjusted according to the moving speed by referring to the anti-lock duty cycle corresponding to the anti-lock braking system.

[0086] Specifically, when the moving speed is a first speed, the brake release frequency and duty cycle are a first frequency and a first ratio, respectively; when the moving speed is a second speed, the brake release frequency and duty cycle are a second frequency and a second ratio, respectively. When the first speed is greater than the second speed, the first frequency is greater than the second frequency and / or the first ratio is greater than the second ratio. In one embodiment, both the first frequency and the second frequency are less than the preset brake release frequency of the first brake parameter. In one embodiment, both the first ratio and the second ratio are less than the preset duty cycle of the first brake parameter.

[0087] It is understandable that if the set braking parameter is the brake release frequency, then the first frequency is greater than the second frequency; if the set braking parameter is the duty cycle, then the first ratio is greater than the second ratio; if the set braking parameter is both the brake release frequency and the duty cycle, then at least one of the brake release frequency and the duty cycle must satisfy the above conditions, while the other can be the former being equal to or greater than the latter. For example, the first frequency is greater than the second frequency, and the first ratio is greater than or equal to the second ratio, or the first frequency is greater than or equal to the second frequency, and the first ratio is greater than the second ratio.

[0088] It is understandable that at higher vehicle speeds, braking takes longer, thus requiring a relatively higher brake release frequency and duty cycle. Conversely, at lower vehicle speeds, braking takes less time, allowing for a relatively lower brake release frequency and duty cycle. Therefore, when the processor 40 directly controls braking parameters to replace the anti-lock braking system, accidents are avoided through dynamic adjustment of the braking device.

[0089] Furthermore, in another embodiment, when at least one processor 40 cannot obtain one of at least one rotational parameters, the movement of the vehicle 100 is limited by a limiting parameter. The limiting parameter can be a limiting rotational speed of at least one drive unit to limit the drive speed of the at least one drive unit from exceeding a limited rotational speed; alternatively, the limiting parameter can be a limiting power of a power source to limit the output power provided by the power source to the vehicle 100. In one embodiment, the power source can be an engine or an electric motor.

[0090] It is understandable that when at least one processor 40 fails to obtain one of at least one rotational parameters, it means that the anti-lock braking system cannot be started normally. At this time, through the aforementioned speed limit, rotational speed limit, and power limit, the speed of the vehicle 100 can be reduced in advance, thereby avoiding accidents caused by excessive speed and untimely braking. Even when the anti-lock braking system is not working properly, accidents can still be avoided, thus effectively ensuring safety.

[0091] In another embodiment, the power source of the vehicle 100 is shut off when at least one processor 40 is unable to obtain all at least one rotation parameter.

[0092] It is understandable that when at least one processor 40 cannot obtain all the rotation parameters, it means that the anti-lock braking system is completely unusable. In this case, to avoid an accident, the power source of the vehicle 100 is shut off, for example, by not supplying power to the motor, shutting off the output power of the battery (e.g., controlling voltage, current, or PWM), or stopping the power output of the gasoline engine, so that the vehicle 100 comes to a slow stop, thereby avoiding an accident.

[0093] In another embodiment, when at least one processor 40 is unable to obtain all at least one rotation parameter, the vehicle 100 remains stationary when it is stationary.

[0094] It is understood that, through the above method, if at least one processor 40 is found to be unable to obtain all at least one rotation parameter during the operation of the vehicle 100, it indicates that there is an abnormality in the vehicle 100. At this time, when the vehicle 100 is stationary, the stationary state of the vehicle 100 can be maintained, that is, the parking brake is maintained and the parking brake is not released. In this way, the vehicle 100 can be prevented from moving and causing an accident.

[0095] In one embodiment, the stationary state is a parking brake state.

[0096] Please refer to the following: Figure 1 and Figure 7Further, for cases where at least one processor 40 cannot obtain at least one of at least one rotation parameter, the specific embodiment is described.

[0097] Step S10: Vehicle 100 starts.

[0098] Step S11, Start Detection. In one embodiment, the sensing device of the vehicle 100 begins sensing the rotation device 10 to obtain the rotation parameters of the rotation device 10. In this embodiment, since the vehicle 100 has just started, the rotation parameter is 0.

[0099] Step S12: Determine if the processor 40 has any unreceived rotation parameters. If the processor 40 has any unreceived rotation parameters, proceed to step S13; if the processor 40 has received all the rotation parameters, proceed to step S17. In this embodiment, when the processor 40 has unreceived rotation parameters, it means that the anti-lock braking system corresponding to the rotation device for which the rotation parameters were not received cannot operate normally, so proceed to step S13. In another embodiment, since the vehicle 100 has just started, the rotation parameter is 0. If at this time, the processor 40 receives at least one non-zero value among the at least one rotation parameter, the processor 40 can also determine that the rotation parameter is abnormal, causing the anti-lock braking system to malfunction, and proceed to step S13.

[0100] Step S13: The malfunction indicator light is displayed, proceeding to step S14. In this embodiment, the malfunction indicator light is used to alert the user of the vehicle 100.

[0101] Step S14: Determine whether the processor 40 has not received all the rotation parameters. If it is determined that not all the rotation parameters have been received, proceed to step S15; if it is determined that not all the rotation parameters have been received, proceed to step S16.

[0102] Step S15: Engine power is stopped, i.e., the vehicle 100 comes to a stop. In one embodiment, if the vehicle 100 is stationary, it remains stationary. In another embodiment, if the vehicle 100 has a non-zero speed, the engine power output is stopped, forcing the vehicle 100 to reduce its speed to zero due to friction with the road surface.

[0103] Step S16, engine power decreases, that is, the speed of the vehicle 100 is reduced. In one embodiment, if the vehicle 100 is stationary or the vehicle 100 has a moving speed that is not equal to 0, the movement of the vehicle is limited by a limiting parameter to prevent it from exceeding the limit of the limiting parameter during subsequent movement.

[0104] Step S17, standby detection, that is, the rotation parameter is continuously detected during the operation of the vehicle 100. In one embodiment, when the vehicle 100 is not using the braking device during operation, it is the standby time of the braking device, during which the processor 40 will still continue to try to obtain the rotation parameter.

[0105] Step S18: Determine if the processor 40 has any unreceived rotation parameters. If the processor 40 has any unreceived rotation parameters, return to step S13; if the processor 40 has received all the rotation parameters, proceed to step S19.

[0106] Step S19, in-operation detection, that is, when the vehicle 100 is provided with a braking signal (from step S190), the vehicle 100 is detected. In one embodiment, when the braking device 20 adjusts the rotation parameter of the at least one rotating device 10 with the first braking parameter, the processor 40 continues to sense the rotation parameter.

[0107] Step S20: Determine if the processor 40 has any unreceived rotation parameters. If the processor 40 has any unreceived rotation parameters, return to step S13. If the processor 40 has received all the rotation parameters, proceed to step S21.

[0108] Step S21 involves detecting the actuation time, specifically detecting the braking parameters when the anti-lock braking system begins to operate. In one embodiment, while the braking device 20 adjusts the rotation parameters of the at least one rotating device 10 using the second braking parameters, the processor 40 continues to sense the rotation parameters. During this actuation time, the processor 40 continues to determine whether there are any unreceived rotation parameters to decide whether to proceed to step S13.

[0109] Step S22: Determine whether the actuation time exceeds a time threshold. If the actuation time exceeds the time threshold, proceed to step S23; if the actuation time does not exceed the time threshold, proceed to step S24. In one embodiment, when the braking device 20 adjusts the rotation parameter of the at least one rotating device 10 using the second braking parameter, the processor 40 confirms that the adjustment time used by the second braking parameter is the actuation time of the anti-lock braking system. Therefore, the processor 40 can compare the adjustment time with the time threshold.

[0110] Step S23: Reduce the actuation frequency, for example, by reducing at least one of the brake release frequency and duty cycle. In one embodiment, since the actuation time exceeds the time threshold, the processor can use a third braking parameter lower than the second braking parameter to prevent the braking device from failing.

[0111] Step S24: Determine whether the operation has ended, i.e., determine whether the braking signal of the vehicle 100 has ended. If it is determined that the braking signal has ended, return to step S17; if it is determined that the braking signal has not ended, return to step S19. In one embodiment, when the braking device 20 stops decelerating the rotating device 10, return to step S17. At this time, the processor 40 will still continue to determine whether all rotation parameters have been received. When the braking device 20 continues to decelerate the rotating device 10, return to step S19. In addition to continuing to determine whether all rotation parameters have been received, the processor 40 will also continue to confirm whether the operation time exceeds the time threshold.

[0112] It is understood that, through the embodiments of the present invention, the vehicle 100 continuously detects wheel speeds using the wheel speed sensor (which serves as the sensing device) under different operating conditions, and determines whether the processor 40 has received all rotation parameters, thereby effectively preventing accidents when the rotation parameters cannot be obtained normally. That is, even when the anti-lock braking system cannot be activated normally, accidents can still be effectively avoided.

[0113] Please refer to the following: Figure 1 and Figure 8 The present invention also provides a method for controlling the braking device 20 of a vehicle 100 to avoid brake failure, the method comprising:

[0114] Step S601: When at least one braking device 20 of the vehicle 100 is activated with a first braking parameter, at least one rotation parameter of at least one rotating device of the vehicle is obtained. In one embodiment, at least one processor 40 obtains the at least one rotation parameter via at least one sensing device coupled to at least one rotating device 10. In one embodiment, the first braking parameter is a preset braking parameter of the at least one braking device 20 when it is activated.

[0115] Step S602: Based on the at least one rotation parameter, determine whether to adjust at least one braking device. If it is determined that no adjustment of at least one braking device is required, proceed to step S603; if it is determined that adjustment of at least one braking device is required, proceed to step S604. In one embodiment, at least one processor 40 determines whether at least one rotating device 10 has locked or may lock based on each rotation parameter. If it is determined that at least one rotating device 10 has locked or may lock, proceed to step S604. If it is determined that no rotating device 10 has locked or may lock, proceed to step S603.

[0116] In step S603, at least one brake device 20 is not adjusted. When it is determined that no rotating device 10 is locked or may lock, at least one processor 40 will return to step S602 to continue determining whether it is necessary to proceed to step S604.

[0117] In step S604, the at least one braking device 20 adjusts at least one rotation parameter based on the second braking parameter. In one embodiment, the at least one processor 40 can adjust the corresponding braking device 20 for the rotation device 10 that is already locked or may lock up. In one embodiment, the second braking parameter can be an anti-lock braking parameter of the at least one braking device 20 when the anti-lock braking system is activated.

[0118] Step S605: Obtain the adjustment time used for the second braking parameter. In one embodiment, the adjustment time may be the time for the brake anti-lock system to adjust the actuation time of the braking device.

[0119] Step S606: Compare the adjustment time with a time threshold. In one embodiment, the time threshold may be a preset time value. In another embodiment, the time threshold may be a variable time value.

[0120] Step S607: Based on the comparison result between the adjustment time and the time threshold, determine whether the at least one braking device needs adjustment. If it is determined that the at least one braking device does not need adjustment, proceed to step S605; if it is determined that the at least one braking device needs adjustment, proceed to step S608. In one embodiment, when the adjustment time is equal to or greater than the time threshold, it is determined that the at least one braking device 20 needs further adjustment. When the adjustment time has not exceeded the time threshold, it is determined that the at least one braking device 20 does not need further adjustment.

[0121] In step S608, the at least one braking device adjusts at least one rotation parameter based on a third braking parameter. In one embodiment, the third braking parameter may be a fail-safe braking parameter.

[0122] The first braking parameter, the second braking parameter, and the third braking parameter are all different.

[0123] The above method enables the vehicle to adjust different braking parameters according to the condition and duration of use of the braking system, thereby effectively controlling the brakes and preventing brake failure.

[0124] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0125] In conclusion, this invention meets the requirements for an invention patent, and therefore a patent application is filed in accordance with the law. However, the above description is only a preferred embodiment of this invention, and any equivalent modifications or variations made by those skilled in the art in accordance with the spirit of this invention should be included within the scope of the following patent application.

[0126] Explanation of reference numerals in the attached figures

[0127] 100: Transportation

[0128] 10: Rotating device

[0129] 20: Braking device

[0130] 30: Storage device

[0131] 40: Processor

[0132] S101-S108: Steps

[0133] S201-S202: Steps

[0134] S301-S302: Steps

[0135] S401-S402: Steps

[0136] S501-S503: Steps

[0137] S10-S24, S190: Steps

[0138] S601-S608: Steps

Claims

1. A vehicle for controlling braking to avoid brake failure, characterized in that, The means of transportation include: At least one rotating device for moving the vehicle; At least one braking device, coupled to the at least one rotating device, is used to adjust at least one rotation parameter of the at least one rotating device according to a first braking parameter, wherein the first braking parameter includes a preset braking parameter for braking of the vehicle under normal conditions. At least one processor; and A storage device coupled to the at least one processor and storing a plurality of instructions, which, when executed by the at least one processor, cause the at least one processor to: When the at least one braking device is activated, the at least one rotation parameter is obtained; Based on the at least one rotation parameter, determine whether to adjust the at least one braking device so that the at least one braking device adjusts the at least one rotation parameter according to a second braking parameter, wherein the second braking parameter includes at least one of an anti-lock brake release frequency and an anti-lock duty cycle when the vehicle is activated by an anti-lock brake system. The adjustment time for which the second braking parameter is used is obtained; The adjustment time is compared with a time threshold; and Based on the comparison result between the adjustment time and the time threshold, it is determined whether to adjust the at least one braking device so that the at least one braking device adjusts the at least one rotation parameter according to a third braking parameter. The third braking parameter includes at least one of a fail-safe brake release frequency and a fail-safe duty cycle to prevent the brake anti-lock system from failing due to continuous operation. The first braking parameter, the second braking parameter, and the third braking parameter are all different from each other.

2. The means of transportation according to claim 1, characterized in that, The time threshold can be a preset time value.

3. The means of transportation according to claim 1, characterized in that, When these instructions are executed by the at least one processor, the at least one processor causes the at least one processor to: Receive a sensing parameter obtained from a sensing device for the vehicle; and Based on the sensing parameter, the time threshold for using the third braking parameter is adjusted.

4. The means of transportation according to claim 1, characterized in that, When these instructions are executed by the at least one processor, the at least one processor causes the at least one processor to: Receive a sensing parameter obtained from a sensing device for the vehicle; and Based on the sensing parameters and the respective device positions of the at least one rotating device on the vehicle, a fourth braking parameter is generated for each of the at least one braking device, wherein, The fourth braking parameter of each of the at least one braking device is generated based on at least one of the fail-safe brake release frequency and the fail-safe duty cycle, and is less than the second braking parameter. At least two of the at least one fourth braking parameter are different from each other.

5. The means of transportation according to claim 1, characterized in that, When these instructions are executed by the at least one processor, the at least one processor causes the at least one processor to: Receive a sensing parameter obtained from a sensing device for the vehicle; and Based on the sensing parameters, the magnitude of the third braking parameter is adjusted, wherein both the first braking parameter and the second braking parameter are preset braking parameters.

6. The means of transportation according to claim 1, characterized in that, The mode of transport also includes: At least one drive device, coupled to the at least one rotating device, drives the at least one rotating device to move the vehicle by rotation in a first direction, or decelerates the at least one rotating device by rotation in a second direction, wherein the first direction is opposite to the second direction.

7. The means of transport according to claim 6, characterized in that, When these instructions are executed by the at least one processor, the at least one processor causes the at least one processor to: Receive a sensing parameter obtained from a sensing device for the vehicle; Based on these sensing parameters, it is determined whether the vehicle is traveling on a flat surface; as well as If the vehicle is not traveling on the flat surface, when the at least one braking device is activated, the at least one driving device decelerates the at least one rotating device by rotating in the second direction.

8. A method for preventing brake failure in a vehicle, characterized in that, include: When at least one braking device of the vehicle is actuated with a first braking parameter, at least one rotation parameter of at least one rotating device of the vehicle is obtained, wherein the first braking parameter includes a preset braking parameter for braking of the vehicle under normal conditions. Based on the at least one rotation parameter, determine whether to adjust the at least one braking device so that the at least one braking device adjusts the at least one rotation parameter according to a second braking parameter, wherein the second braking parameter includes at least one of an anti-lock brake release frequency and an anti-lock duty cycle when the vehicle is activated by an anti-lock brake system. The adjustment time for which the second braking parameter is used is obtained; The adjustment time is compared with a time threshold; and Based on the comparison result between the adjustment time and the time threshold, it is determined whether to adjust the at least one braking device so that the at least one braking device adjusts the at least one rotation parameter according to a third braking parameter. The third braking parameter includes at least one of a fail-safe brake release frequency and a fail-safe duty cycle to prevent the brake anti-lock system from failing due to continuous operation. The first braking parameter, the second braking parameter, and the third braking parameter are all different from each other.

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