Brake mode control system for vehicle and brake mode control method

Abstract

This invention relates to a braking mode control system and braking mode control method for a vehicle. The braking mode control system includes a user interface unit, a driving information detection unit, a braking control unit, and a braking mode operation unit. The user interface unit is configured to receive a braking mode input by the driver. The driving information detection unit is configured to detect the vehicle's driving information. The braking control unit is configured to determine the vehicle's driving state based on the driving information detected by the driving information detection unit, and selectively change the braking mode received by the user interface unit according to the determined driving state to form a final braking mode. The braking mode operation unit is configured to generate different braking sensations based on the final braking mode and the pedal force required for pedal travel.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking control, and more specifically, to a braking mode control system and braking mode control method for vehicles. Background Technology

[0002] With the development of vehicle technology, people have placed higher demands on the power, economy, safety, handling, and comfort of vehicles. Electric braking technology is utilized in vehicles such as electric vehicles (EVs) or hybrid electric vehicles (HEVs). According to electric braking technology, when the driver presses the brake pedal, a linkage causes the input push rod to displace. The pedal travel sensor detects the signal generated by the input push rod displacement and sends this signal to the electronic control unit (ECU). The ECU calculates the torque that the motor should produce and sends a corresponding signal to the motor. Upon receiving the corresponding signal, the motor uses a ball screw and the master cylinder to convert the torque into braking force, thereby achieving braking. Therefore, the braking force in vehicles using electric braking technology is adjustable.

[0003] Recently, to improve vehicle safety, handling, and comfort, thereby enhancing marketability, vehicle manufacturers have offered different braking modes (hard mode, soft mode, normal mode, etc.) through in-vehicle instrument clusters or Audio Video Navigation Telematics (AVNT) systems, allowing drivers to select the braking mode according to their driving preferences. However, in existing technology, once the driver inputs a braking mode, the input braking mode cannot automatically change according to actual driving conditions during driving. For example, during driving, if an emergency braking situation occurs (e.g., pedestrians or other vehicles appear in front or behind the vehicle and need to be avoided), or if braking is not desired (e.g., the vehicle skids), the selected braking mode may need to be changed to cope with such sudden driving situations, thereby ensuring driving safety.

[0004] Therefore, there is a need for a braking control technology that can automatically change the braking mode pre-input by the driver according to the actual driving conditions, so as to cope with sudden driving situations.

[0005] The information disclosed in the background section of this invention is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] In view of the above-mentioned defects in the prior art, the embodiments of the present invention provide a braking control technology that can automatically change the braking mode pre-input by the driver according to the actual driving conditions, thereby responding to sudden driving situations.

[0007] According to one aspect of the present invention, a braking mode control system for a vehicle is provided, comprising: a user interface unit, a driving information detection unit, a braking control unit, and a braking mode operation unit; the user interface unit is configured to receive a braking mode input by a driver; the driving information detection unit is configured to detect driving information of the vehicle; the braking control unit is configured to determine the driving state of the vehicle based on the driving information detected by the driving information detection unit, and selectively change the braking mode received by the user interface unit according to the determined driving state of the vehicle to form a final braking mode; the braking mode operation unit is configured to generate different braking sensations based on the final braking mode and the pedal force required for pedal travel.

[0008] Preferably, the braking modes include hard mode, soft mode, and normal mode.

[0009] Preferably, the driving information detection unit includes a sideslip detection module, which includes at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor.

[0010] Preferably, the braking control unit is further configured to: determine whether the vehicle is in a sideslip state; when the vehicle is in a sideslip state, determine whether the input braking mode is a hard mode; when the input braking mode is a hard mode, keep the hard mode unchanged; when the input braking mode is not a hard mode, switch the braking mode to hard mode.

[0011] Preferably, the braking control unit is further configured to: calculate a yaw rate value based on the detection values ​​from the wheel speed sensor, steering angle sensor, lateral acceleration sensor and longitudinal acceleration sensor respectively; compare the yaw rate detection value from the yaw rate sensor with the calculated yaw rate value, and determine whether the vehicle is in a sideslip state based on the comparison result.

[0012] Preferably, the driving information detection unit includes an obstacle detection module, which includes at least: a front camera, a front radar, and at least two rear corner radars; the front camera is configured to acquire frontal image information of the vehicle and position and speed information of obstacles in front of the vehicle; the front radar is configured to acquire position and speed information of obstacles in front of the vehicle; the at least two rear corner radars are configured to acquire position and speed information of obstacles behind or to the side of the vehicle, and the obstacle detection module calculates the estimated collision time between the vehicle and obstacles in front of, behind, or to the side of the vehicle based on the acquired information.

[0013] Preferably, the braking control unit is configured to: when the vehicle is not in a skidding state, further determine whether the vehicle is in a collision hazard state; when the vehicle is in a collision hazard state, determine whether the input braking mode is a soft mode; when the input braking mode is a soft mode, keep the soft mode unchanged; when the input braking mode is not a soft mode, switch the braking mode to a soft mode.

[0014] Preferably, the braking control unit is further configured to determine whether the vehicle is in a collision hazard state by comparing the estimated collision time calculated by the obstacle detection module with a preset reference time.

[0015] Preferably, the braking control unit is further configured to: after switching the braking mode, when the vehicle is in a normal state, return the braking mode to the original input braking mode.

[0016] According to another aspect of the present invention, a braking mode control method for a vehicle is provided, comprising: receiving a braking mode input by a driver by a user interface unit; detecting driving information of the vehicle by a driving information detection unit; determining the driving state of the vehicle by a braking control unit based on the driving information detected by the driving information detection unit; selectively changing the braking mode received by the user interface unit according to the determined driving state of the vehicle to form a final braking mode; and generating different braking sensations by a braking mode operation unit based on the final braking mode and according to the pedal force required by the pedal travel.

[0017] Preferably, the braking modes include hard mode, soft mode, and normal mode.

[0018] Preferably, the driving information detection unit includes a sideslip detection module, which includes at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor.

[0019] The method may further include: determining whether the vehicle is in a skidding state by the brake control unit; when the vehicle is in a skidding state, determining whether the input braking mode is a hard mode by the brake control unit; when the input braking mode is a hard mode, keeping the hard mode unchanged; when the input braking mode is not a hard mode, switching the braking mode to a hard mode by the brake control unit.

[0020] Preferably, determining whether the vehicle is in a sideslip state may include: the brake control unit calculating a yaw rate value based on detection values ​​from wheel speed sensors, steering angle sensors, lateral acceleration sensors, and longitudinal acceleration sensors, respectively; the brake control unit comparing the yaw rate detection value from the yaw rate sensor with the calculated yaw rate value, and determining whether the vehicle is in a sideslip state based on the comparison result.

[0021] Preferably, the driving information detection unit includes an obstacle detection module, which includes at least: a front camera, a front radar, and at least two rear corner radars; the front camera acquires frontal image information of the vehicle and position and speed information of obstacles in front of the vehicle; the front radar acquires position and speed information of obstacles in front of the vehicle; the rear corner radar acquires position and speed information of obstacles behind or to the side of the vehicle; and the obstacle detection module calculates the estimated collision time between the vehicle and obstacles in front of, behind, or to the side of the vehicle based on the acquired information.

[0022] The method further includes: when the vehicle is not in a skidding state, the brake control unit determines whether the vehicle is in a collision hazard state; when the vehicle is in a collision hazard state, the brake control unit determines whether the input braking mode is a soft mode; when the input braking mode is a soft mode, the soft mode is kept unchanged; when the input braking mode is not a soft mode, the brake control unit switches the braking mode to a soft mode.

[0023] Preferably, determining whether a vehicle is in a collision hazard state includes: by comparing the estimated collision time calculated by the obstacle detection module with a preset reference time, the brake control unit determines whether there is a risk of the vehicle colliding with an obstacle, thereby determining whether the vehicle is in a collision hazard state.

[0024] The method further includes: after switching the braking mode, when the vehicle is in a normal state, the braking control unit returns the braking mode to the original input braking mode.

[0025] The present invention has the following beneficial effects:

[0026] After the driver inputs the braking mode, the system automatically changes the pre-input braking mode based on the actual driving conditions, whether emergency braking is required, or when braking is not desired, in order to cope with unexpected driving situations and thus improve driving safety while satisfying the driver's driving preferences. Attached Figure Description

[0027] Some aspects and / or other aspects of this application will become apparent and more readily understood from the following description of exemplary embodiments presented in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A configuration diagram of a braking mode control system for a vehicle according to an exemplary embodiment of the present invention is shown;

[0029] Figure 2 Show Figure 1 The diagram shown is a side slip detection module in a vehicle braking mode control system.

[0030] Figure 3 Show Figure 1 The diagram shows an obstacle detection module in a vehicle's braking mode control system.

[0031] Figure 4 A schematic diagram illustrating the switching of braking modes using a braking mode control system for a vehicle according to an exemplary embodiment of the present invention is shown.

[0032] Figure 5 A flowchart illustrating a braking mode control method for a vehicle according to an exemplary embodiment of the present invention; and

[0033] Figure 6 A flowchart illustrating a braking mode control method for a vehicle according to another exemplary embodiment of the present invention is shown. Detailed Implementation

[0034] This invention is described by way of various modifications and exemplary embodiments, wherein particular exemplary embodiments are shown in the accompanying drawings and described in detail in the specification. However, it should be understood that the exemplary embodiments are not intended to limit the invention to the specific forms disclosed, but rather that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated feature, value, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated enumerated items. Throughout the specification, unless expressly stated to the contrary, the term “comprising” and variations such as “including” or “containing” should be understood to imply the inclusion of the stated element but not exclude any other element. Furthermore, the terms “unit,” “device,” “component,” and “module” described in the specification refer to a unit for performing at least one function and operation and can be implemented by hardware or software and combinations thereof.

[0036] In the following text, reference will be made to Figures 1 to 6 The embodiments of the present invention will be described.

[0037] Figure 1 A configuration diagram of a braking mode control system for a vehicle according to an exemplary embodiment of the present invention is shown. Figure 2 Show Figure 1 The diagram shown is a schematic of a sideslip detection module used in a vehicle's braking mode control system. Figure 3 Show Figure 1 The diagram shown is a schematic of an obstacle detection module in a vehicle's braking mode control system. Figure 4 A schematic diagram illustrating the switching of braking modes using a braking mode control system for a vehicle according to an exemplary embodiment of the present invention is shown. (Reference) Figure 1According to an exemplary embodiment of the present invention, a braking mode control system for a vehicle includes: a user interface unit 10, a braking detection unit 20, a driving information detection unit 30, a braking control unit 40, and a braking mode operation unit 50; the user interface unit 10 is configured to receive a braking mode input by the driver; the braking detection unit 20 is configured to detect whether the brake pedal is depressed; the driving information detection unit 30 is configured to detect the driving information of the vehicle; the braking control unit 40 is configured to, when the braking detection unit 20 detects that the brake pedal is depressed, determine the driving state of the vehicle based on the driving information detected by the driving information detection unit 30, and selectively change the braking mode received by the user interface unit 10 according to the determined driving state of the vehicle to implement a final braking mode; the braking mode operation unit 50 is configured to generate different braking sensations based on the final braking mode and the pedal force required for the pedal travel. According to another exemplary embodiment of the present invention, the braking control unit 40 can change the braking mode received by the user interface unit 10 according to the driving state of the vehicle without checking whether the brake pedal is depressed. Specifically, the brake control unit 40 is configured to determine the vehicle's driving state based on the vehicle's driving information detected by the driving information detection unit 30, and then selectively change the braking mode received by the user interface unit 10 according to the determined vehicle driving state to implement the final braking mode. The brake control unit 40 can be integrally formed with the vehicle's electronic control unit (ECU), or it can be connected to the vehicle's ECU via a separate connector and implemented separately from the vehicle's ECU.

[0038] The electronic components that make up the braking mode control system can communicate with each other via a vehicle communication network. For example, these electronic components can communicate data via Ethernet, Medium-Directed System Transmission (MOST), FlexRay, Controller Area Network (CAN), Local Interconnect Network (LIN), etc.

[0039] User interface unit 10 can be located on a combination dashboard or AVNT system and can include input and output devices. The input device is used to receive control commands from the user, and the output device is used to display information about functions being performed in the vehicle and / or information input by the user. In this case, the input device can include buttons and may include a mouse, joystick, knob, stylus, etc. Furthermore, the input device can include a soft keyboard implemented on a display. The output device can include a display. Where a touch sensor, such as a touch film, touch pad, or touch panel, is included in the display, the display can operate as a touchscreen, and the input and output devices can be implemented as a single unit.

[0040] In this case, the display may include at least one of a liquid crystal display (LCD), a thin-film transistor liquid crystal display (TFT-LCD), an organic light-emitting diode (OLED), a flexible display, a field emission display (FED), or a three-dimensional display (3D display).

[0041] User interface unit 10 can display at least one user settings menu (e.g., a user settings menu for driving mode selection, a user settings menu for braking mode selection, etc.), through which the driver can input a braking mode that matches their driving preferences. Braking modes may include, but are not limited to, hard mode, soft mode, and normal mode. (See reference) Figure 4 Hard mode refers to a braking mode that requires a larger pedal force to achieve the same braking force as normal mode. Conversely, soft mode refers to a braking mode that requires a smaller pedal force to achieve the same braking force as normal mode. When the driver inputs the braking mode through the user interface unit 10, the user interface unit 10 sends the driver's input braking mode information to the brake control unit 40 via the vehicle communication network.

[0042] The brake detection unit 20 may include a pedal travel sensor that detects the driver's braking intention from the brake pedal. When the driver depresses the brake pedal, the brake detection unit 20 sends a brake pedal detection signal to the brake control unit 40 via the vehicle communication network.

[0043] According to an exemplary embodiment of the present invention, when a brake pedal detection signal is received from the brake detection unit 20, the brake control unit 40 determines the vehicle's driving state (normal state, skidding state, collision hazard state, etc.). Alternatively, according to another exemplary embodiment of the present invention, the brake control unit 40 can determine the vehicle's driving state even if a brake pedal detection signal is not received from the brake detection unit 20.

[0044] Specifically, the brake control unit 40 first determines whether the vehicle is in a skidding state. During vehicle operation, skidding may occur due to the following reasons: steering in conditions with low road surface adhesion (e.g., wet roads due to rain or snow, oil stains on the road surface, or icy roads); improper braking operation (e.g., excessive or sudden braking); improper steering operation (e.g., rapid steering wheel operation). When a vehicle skids, if the driver slams on the brake pedal, the vehicle is prone to overturning. Therefore, according to an exemplary embodiment of the present invention, the brake control unit 40 automatically adjusts the braking mode input by the driver to obtain an appropriate braking mode for the vehicle's skidding state.

[0045] Therefore, the driving information detection unit 30 according to an exemplary embodiment of the present invention includes a sideslip detection module 310. (See reference...) Figure 2 The sideslip detection module 310 includes a yaw rate sensor 311, a wheel speed sensor 312, a steering angle sensor 313, a lateral acceleration sensor 314, and a longitudinal acceleration sensor 315. The sideslip detection module 310 uses the yaw rate sensor 311, wheel speed sensor 312, steering angle sensor 313, lateral acceleration sensor 314, and longitudinal acceleration sensor 315 to detect the vehicle's yaw rate, wheel speed, steering wheel angle, lateral acceleration, and longitudinal acceleration, respectively, and sends the detected values ​​to the brake control unit 40 via the vehicle communication network. The brake control unit 40 calculates the yaw rate based on the received detection values ​​from the wheel speed sensor 312, steering angle sensor 313, lateral acceleration sensor 314, and longitudinal acceleration sensor 315, and compares the received yaw rate detection value from the yaw rate sensor 311 with the calculated yaw rate value. Based on the comparison results, when the difference between the detected yaw rate and the calculated yaw rate exceeds a preset range of the brake control unit 40, the brake control unit 40 determines that the vehicle has sideslipped. Specifically, when the detected yaw rate is greater than the calculated yaw rate, the brake control unit 40 determines that the vehicle has oversteered; when the detected yaw rate is less than the calculated yaw rate, the brake control unit 40 determines that the vehicle has understeered. The braking mode control system for a vehicle according to an exemplary embodiment of the present invention further includes a storage unit, in which the preset range of the brake control unit 40 can be pre-stored.

[0046] The storage unit can be implemented by at least one of a non-volatile storage device, a volatile storage device, or a storage medium. The non-volatile storage device is, for example, a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and flash memory. The volatile storage device is, for example, a random access memory (RAM). The storage medium is, for example, a hard disk drive (HDD) or a CD-ROM, but is not limited thereto.

[0047] When a vehicle skid is detected, the brake control unit 40 determines whether the driver's input braking mode is hard mode. If the input braking mode is determined to be hard mode, the brake control unit 40 maintains the hard mode. If the input braking mode is determined not to be hard mode (e.g., soft mode or normal mode), the brake control unit 40 switches the input braking mode to hard mode to ensure vehicle driving safety. In hard mode, when the driver applies the same force, braking is relatively more difficult compared to soft mode or normal mode. That is, a greater force is required to achieve the same braking effect.

[0048] Alternatively, the brake control unit 40 can determine whether the vehicle is in a skidding state based on the activation status of the Electronic Stability Program (ESP). When ESP is activated, the brake control unit 40 can determine that the vehicle is in a skidding state.

[0049] After switching the braking mode to hard mode, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, the brake control unit 40 returns the braking mode to the originally input braking mode, thereby using a braking mode that matches the driver's driving preferences.

[0050] Once it is determined that the vehicle has not skidded, the brake control unit 40 further determines whether the vehicle is in a collision hazard state, for example, whether there is a possibility that the vehicle will collide with obstacles (other vehicles, pedestrians, etc.) in front, behind, or to the side. When the vehicle is moving forward or reversing, and emergency braking is required due to obstacles in front, behind, or to the side, the vehicle needs to increase braking force to shorten the braking distance. Therefore, according to an exemplary embodiment of the present invention, the brake control unit 40 automatically adjusts the braking mode input by the driver to obtain an appropriate braking mode for the vehicle's collision hazard state.

[0051] Therefore, the driving information detection unit 30 according to an exemplary embodiment of the present invention further includes an obstacle detection module 320. (See reference...) Figure 3The obstacle detection module 320 includes a front camera 321, a front radar 322, and at least two rear corner radars 323. Specifically, the front camera 321 can be mounted on the front windshield of the vehicle, or on the front panel or rearview mirror inside the vehicle, or exposed on the roof panel. The front camera 321 can also be mounted on the license plate, grille, or emblem at the front of the vehicle. The front camera 321 can capture images of the front of the vehicle, acquiring image information of the front of the vehicle and the position and speed information of obstacles in front of the vehicle. The front radar 322 can be mounted, for example, on the grille or front bumper of the vehicle. The at least two rear corner radars 323 can include a rear corner radar mounted on the left side of the rear bumper and a rear corner radar mounted on the right side of the rear bumper. The front radar 322 and rear corner radars 323 calculate the relative distance to the obstacle based on the phase difference (or time difference) between the emitted and reflected waves, and calculate the relative speed of the obstacle based on the frequency difference between the emitted and reflected waves. Furthermore, when the vehicle is moving forward, the obstacle detection module 320 can use the front camera 321 or the front radar 322 to calculate the estimated time-to-collision (TTC) between the vehicle and the obstacle based on the position information (relative distance) and speed information (relative speed) of the obstacle obtained by the front camera 321 or the front radar 322, and send the calculated estimated time-to-collision (TTC) to the brake control unit 40 via the vehicle communication network. Alternatively, the obstacle detection module 320 can use the front image information of the vehicle and the position information (relative distance) and speed information (relative speed) of the obstacle obtained by the front camera 321 and the front radar 322 respectively, and calculate the estimated time-to-collision (TTC) between the vehicle and the obstacle based on data fusion, and send the calculated estimated time-to-collision (TTC) to the brake control unit 40 via the vehicle communication network. Similarly, when the vehicle is reversing, the obstacle detection module 320 calculates the estimated time of collision (TTC) between the vehicle and the obstacle based on the position information (relative distance) and speed information (relative speed) of the obstacle behind or to the side obtained by the rear corner radar 323, and sends the calculated estimated time of collision (TTC) to the brake control unit 40 via the vehicle communication network.

[0052] To this end, the obstacle detection module 320 may further include a memory (not shown) and a processor (not shown), wherein the memory stores data related to an algorithm for calculating the estimated time of collision (TTC) between the vehicle and obstacles in front of (behind, to the side and rear of) the vehicle, or a program for reproducing the algorithm, and the processor performs the aforementioned operation using the data stored in the memory. In this case, the memory and processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

[0053] The brake control unit 40 compares the received estimated time to collision (TTC) with a preset reference time. When the estimated time to collision (TTC) is less than the preset reference time, the brake control unit 40 determines that there is a risk of the vehicle colliding with an obstacle in front of (behind, or to the side of) the vehicle, thus determining that the vehicle is in a collision hazard state. When the vehicle is determined to be in a collision hazard state, the brake control unit 40 determines whether the braking mode input by the driver is a soft mode. If the input braking mode is determined to be a soft mode, the brake control unit 40 continues to maintain the soft mode. If the input braking mode is determined not to be a soft mode (e.g., the input braking mode is a hard mode or normal mode), the brake control unit 40 switches the input braking mode to a soft mode, thereby avoiding a collision between the vehicle and the obstacle. In this case, when the driver applies the same force, braking is relatively easier compared to hard mode or normal mode. That is, the same braking force can be obtained by applying less force. The preset reference time can be stored in advance in a storage unit.

[0054] The obstacle detection module 320 may further include at least one of an optical detection and ranging (Lidar) sensor and an ultrasonic sensor.

[0055] Alternatively, the brake control unit 40 can determine whether the vehicle is in a collision hazard state based on the activation status of an advanced driver assistance system (ADAS). When an ADAS (e.g., a forward collision warning (FCW) or a rear cross-traffic collision warning (RCCW)) is activated, the brake control unit 40 can determine that the vehicle is in a collision hazard state where a collision may occur.

[0056] After switching the input braking mode to soft mode, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, the brake control unit 40 returns the braking mode to the original input braking mode, thereby using a braking mode that matches the driver's driving preferences.

[0057] According to an exemplary embodiment of the present invention, the brake control unit 40 sends a signal corresponding to the determined braking mode to the brake mode operation unit 50, thereby causing the brake mode operation unit 50 to brake the vehicle based on the received braking mode.

[0058] refer to Figure 1 and Figure 4 According to an exemplary embodiment of the present invention, the braking mode operation unit 50 includes a brake actuator 510 and a brake pedal simulator 520. The brake actuator 510 includes two types of brake actuator components: a brake actuator hydraulic system component and a brake actuator motor component. Specifically, the brake actuator motor component rotates to push or pull a ball screw to control the movement of the pump piston, thereby generating or releasing pressure in the brake master cylinder. The brake control unit 40 controls the rotation of the brake valve and the motor component based on the relationship between the brake master cylinder pressure and the pedal stroke, thereby changing the brake master cylinder pressure in the brake actuator hydraulic system component. The brake pedal simulator 520 is connected to the brake master cylinder via a brake valve. Therefore, the braking feel can be changed by different brake master cylinder pressures.

[0059] Figure 5 A flowchart illustrating the process of a braking mode control method for a vehicle according to an exemplary embodiment of the present invention is shown.

[0060] In step S501, the user interface unit 10 receives the braking mode input by the driver.

[0061] In step S502, the brake detection unit 20 detects whether the brake pedal is pressed.

[0062] As a result of step S502, when it is detected that the brake pedal has been pressed, in step S503, the brake control unit 40 determines the driving state of the vehicle based on the driving information detected by the driving information detection unit 30. When it is not detected that the brake pedal has been pressed, the process proceeds to step S509, and the brake control unit 40 maintains the original input braking mode.

[0063] In step S504, the brake control unit 40 determines whether sideslip is detected, that is, whether the vehicle is in a sideslip state.

[0064] As a result of step S504, when the vehicle is in a skidding state, in step S505, the brake control unit 40 determines whether the input braking mode is a hard mode.

[0065] As a result of step S505, when the input braking mode is hard mode, the process proceeds to step S509, where the brake control unit 40 maintains the original input braking mode. When the input braking mode is not hard mode, in step S506, the brake control unit 40 switches the braking mode to hard mode.

[0066] In step S507, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, in step S508, the brake control unit 40 returns the braking mode to the original input braking mode. When it is determined that the vehicle has not yet returned to normal driving status, the current braking mode is maintained.

[0067] As a result of step S504, when the vehicle is not in a skidding state, in step S510, the brake control unit 40 determines whether an obstacle has been detected, that is, whether the vehicle is in a collision hazard state.

[0068] As a result of step S510, when the vehicle is in a collision hazard state, in step S511, the brake control unit 40 determines whether the input braking mode is a soft mode.

[0069] As a result of step S511, when the input braking mode is soft mode, the process proceeds to step S509, and the braking control unit 40 maintains the original input braking mode. When the input braking mode is not soft mode, in step S512, the braking control unit 40 switches the braking mode to soft mode.

[0070] In step S513, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, in step S514, the brake control unit 40 returns the braking mode to the original input braking mode. When it is determined that the vehicle has not yet returned to normal driving status, the current braking mode is maintained.

[0071] As a result of step S510, when the vehicle is not in a collision danger state, the process proceeds to step S509, and the brake control unit 40 maintains the original input braking mode.

[0072] Figure 6 A flowchart illustrating the process of a braking mode control method for a vehicle according to another exemplary embodiment of the present invention is shown.

[0073] In step S601, the user interface unit 10 receives the braking mode input by the driver.

[0074] In step S602, the brake control unit 40 determines the vehicle's driving status based on the vehicle's driving information detected by the driving information detection unit 30.

[0075] In step S603, the brake control unit 40 determines whether sideslip is detected, that is, whether the vehicle is in a sideslip state.

[0076] As a result of step S603, when the vehicle is in a skidding state, in step S604, the brake control unit 40 determines whether the input braking mode is a hard mode.

[0077] As a result of step S604, when the input braking mode is hard mode, the process proceeds to step S608, where the braking control unit 40 maintains the original input braking mode. When the input braking mode is not hard mode, in step S605, the braking control unit 40 switches the braking mode to hard mode.

[0078] In step S606, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, in step S607, the brake control unit 40 returns the braking mode to the original input braking mode. When it is determined that the vehicle has not yet returned to normal driving status, the current braking mode is maintained.

[0079] As a result of step S603, when the vehicle is not in a skidding state, in step S610, the brake control unit 40 determines whether an obstacle has been detected, that is, whether the vehicle is in a collision hazard state.

[0080] As a result of step S610, when the vehicle is in a collision hazard state, in step S611, the brake control unit 40 determines whether the input braking mode is a soft mode.

[0081] As a result of step S611, when the input braking mode is soft mode, the process proceeds to step S608, and the braking control unit 40 maintains the original input braking mode. When the input braking mode is not soft mode, in step S612, the braking control unit 40 switches the braking mode to soft mode.

[0082] In step S613, the brake control unit 40 continuously monitors the vehicle's driving status. When it is determined that the vehicle has returned to normal driving status, in step S614, the brake control unit 40 returns the braking mode to the original input braking mode. When it is determined that the vehicle has not yet returned to normal driving status, the current braking mode is maintained.

[0083] As a result of step S610, when the vehicle is not in a collision danger state, the process proceeds to step S608, and the brake control unit 40 maintains the original input braking mode.

[0084] The braking mode control system and braking mode control method for vehicles disclosed in the above implementation scheme can automatically change the braking mode pre-input by the driver according to the actual driving conditions of the vehicle, in cases where emergency braking is required or where braking is not desired, thereby improving driving safety while satisfying the driver's driving preferences.

[0085] Although the exemplary methods of the present invention described above are represented as a series of operations for clarity of description, they are not intended to limit the order of execution of the steps, and each step may be performed simultaneously or in a different desired order. To implement the method according to the invention, the steps shown may further include other steps, including steps other than certain steps, or additional steps other than certain steps.

[0086] Furthermore, various embodiments of the present invention can be implemented through hardware, firmware, software, or a combination thereof. The hardware can be implemented using one or more of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field-programmable gate array (FPGA), a general-purpose processor, a controller, a microcontroller, a microprocessor, etc.

[0087] The scope of this invention is intended to include software or machine-executable instructions (e.g., operating systems, applications, firmware, programs, etc.) and non-volatile computer-readable media, the software or machine-executable instructions causing operations according to various embodiments to be performed on a device or computer, and the non-volatile computer-readable media being executable on a device or computer storing such software or instructions, etc.

[0088] The descriptions of the exemplary embodiments presented above are merely illustrative of the technical solutions of the present invention and are not intended to be exhaustive or to limit the invention to the precise forms described. Obviously, those skilled in the art can make many changes and variations based on the above teachings. The exemplary embodiments were chosen and described to explain the specific principles of the invention and its practical applications, thereby enabling others skilled in the art to understand, implement, and utilize the various exemplary embodiments of the invention and their various alternatives and modifications. The scope of protection of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A braking mode control system for a vehicle, comprising: User interface unit, configured to receive braking mode input by the driver; A driving information detection unit, configured to detect the driving information of the vehicle; The brake control unit is configured as follows: The vehicle's driving status is determined based on the driving information detected by the driving information detection unit. The braking mode received by the user interface unit is selectively changed according to the determined driving state of the vehicle to form the final braking mode. as well as The braking mode operation unit is configured to generate different braking sensations based on the final braking mode and the pedal force required for pedal travel. The braking modes include hard mode, soft mode, and normal mode. The driving information detection unit includes a sideslip detection module, which includes at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor. The braking control unit is further configured to selectively change the braking mode depending on whether the vehicle is in a skidding state.

2. The braking mode control system for a vehicle according to claim 1, wherein, The braking control unit is further configured as follows: Determine if the vehicle is skidding; When the vehicle is in a skidding state, determine whether the input braking mode is hard mode; When the input braking mode is hard mode, keep the hard mode unchanged; when the input braking mode is not hard mode, switch the braking mode to hard mode.

3. The braking mode control system for a vehicle according to claim 2, wherein, The braking control unit is further configured as follows: The yaw rate is calculated based on the detection values ​​from the wheel speed sensor, steering angle sensor, lateral acceleration sensor, and longitudinal acceleration sensor, respectively. The yaw rate detection value from the yaw rate sensor is compared with the calculated yaw rate value, and the vehicle is determined to be in a skidding state based on the comparison result.

4. The braking mode control system for a vehicle according to claim 3, wherein, The driving information detection unit includes an obstacle detection module, and the obstacle detection module includes at least: The front camera is configured to acquire image information of the front of the vehicle, as well as the position and speed information of obstacles in front of the vehicle. A forward radar, configured to acquire the position and speed information of obstacles in front of the vehicle; and At least two rear corner radars are configured to acquire the position and speed information of obstacles behind or to the side of the vehicle; The obstacle detection module calculates the estimated collision time between the vehicle and obstacles in front of, behind, or to the side of the vehicle based on the acquired information.

5. The braking mode control system for a vehicle according to claim 4, wherein, The braking control unit is configured as follows: If the vehicle is not in a skidding state, further determine whether the vehicle is in a collision risk state. When the vehicle is in a collision risk situation, determine whether the input braking mode is soft mode; When the input braking mode is soft mode, keep the soft mode unchanged; when the input braking mode is not soft mode, switch the braking mode to soft mode.

6. The braking mode control system for a vehicle according to claim 5, wherein, The braking control unit is further configured to determine whether the vehicle is at risk of colliding with an obstacle by comparing the estimated collision time calculated by the obstacle detection module with a preset reference time, thereby determining whether the vehicle is in a collision hazard state.

7. The braking mode control system for a vehicle according to any one of claims 2 and 5, wherein, The braking control unit is further configured to: after switching braking modes, when the vehicle is in a normal state, return the braking mode to the original input braking mode.

8. A braking mode control method for a vehicle, comprising: The braking mode input by the driver is received by the user interface unit; The vehicle's driving information is detected by the driving information detection unit; The braking control unit determines the vehicle's driving status based on the vehicle's driving information detected by the driving information detection unit. Based on the determined driving state of the vehicle, the braking control unit selectively changes the braking mode received by the user interface unit to form the final braking mode. The braking mode operation unit generates different braking sensations based on the final braking mode and the pedal force required for pedal travel. The braking modes include hard mode, soft mode, and normal mode. The driving information detection unit includes a sideslip detection module, which includes at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor. The braking control unit selectively changes the braking mode based on whether the vehicle is in a skidding state.

9. The braking mode control method for a vehicle according to claim 8, further comprising: The brake control unit determines whether the vehicle is in a skidding state. When the vehicle is in a skidding state, the brake control unit determines whether the input braking mode is hard mode; When the input braking mode is hard mode, the hard mode remains unchanged; when the input braking mode is not hard mode, the braking control unit switches the braking mode to hard mode.

10. The braking mode control method for a vehicle according to claim 9, wherein, Determining whether a vehicle is skidding includes: The brake control unit calculates the yaw rate based on the detection values ​​from the wheel speed sensor, steering angle sensor, lateral acceleration sensor, and longitudinal acceleration sensor, respectively. The brake control unit compares the yaw rate detected by the yaw rate sensor with the calculated yaw rate value, and determines whether the vehicle is in a skidding state based on the comparison result.

11. The braking mode control method for a vehicle according to claim 10, wherein, The driving information detection unit includes an obstacle detection module, which includes at least a front camera, a front radar, and at least two rear corner radars. The front camera acquires image information of the front of the vehicle, as well as the position and speed information of obstacles in front of the vehicle. The front radar acquires the position and speed information of obstacles in front of the vehicle. The rear corner radar acquires the position and speed information of obstacles behind or to the side of the vehicle. The obstacle detection module calculates the estimated collision time between the vehicle and obstacles in front of, behind, or to the side of the vehicle based on the acquired information.

12. The braking mode control method for a vehicle according to claim 11, further comprising: When the vehicle is not in a skidding state, the brake control unit determines whether the vehicle is in a collision risk state. When a vehicle is in a collision-prone situation, the brake control unit determines whether the input braking mode is a soft mode. When the input braking mode is soft mode, the soft mode remains unchanged; when the input braking mode is not soft mode, the braking control unit switches the braking mode to soft mode.

13. The braking mode control method for a vehicle according to claim 12, wherein, Determining whether a vehicle is in a collision-hazardous situation includes: By comparing the estimated collision time calculated by the obstacle detection module with a preset reference time, the braking control unit determines whether the vehicle is at risk of colliding with an obstacle, thereby determining whether the vehicle is in a collision hazard state.

14. The braking mode control method for a vehicle according to any one of claims 9 and 12, further comprising: After switching braking modes, when the vehicle is in normal condition, the braking control unit will return the braking mode to the original input braking mode.

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