Intelligent driving automobile braking backup method and device

Abstract

The application discloses a kind of intelligent driving car brake backup method, it includes the following steps: when receiving brake backup request, if current vehicle speed v≦b, and v≦a, then control gearbox back P gear, vehicle deceleration parking, brake backup function is completed, wherein b is the highest parking speed of automatic parking function when 1 gear or reverse gear runs, a is the highest speed of control gearbox back P gear;The brake backup request is the failure mode of ESC system under remote parking function condition, and is sent by FAPA controller.This application also provides a kind of intelligent driving car brake backup device.The application can control vehicle active deceleration parking under the condition of ESC system failure brake failure in remote parking process.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile brake control, in particular to an intelligent driving automobile brake backup method and device. Background Art

[0002] Remote parking, also known as remote parking assist (RPA), can be controlled via software in a key or a mobile phone. A driver can first turn on the remote parking system in the vehicle, search for and confirm a target parking space, then shift into P gear, pull up the EPB and get out of the vehicle, and then control the vehicle to park by using a remote controller outside the vehicle.

[0003] For existing intelligent driving vehicles, the deceleration and braking of the vehicle during remote parking mainly depends on the ESC system. During remote parking, when the ESC system fails and the braking function is abnormal, since there is no driver on board to perform pedal braking, the vehicle cannot be controlled to decelerate and stop, and there is a parking safety risk. Summary of the Invention

[0004] The main objective of the present invention is to provide an intelligent driving automobile brake backup method and device, which can control the vehicle to actively decelerate and stop when the ESC system fails and braking fails during remote parking.

[0005] The technical scheme adopted by the present invention is as follows: An intelligent driving automobile brake backup method, comprising the following steps: Under the working condition of the remote parking function, check whether the ESC system is in a failure mode; if yes, send a brake backup request to the TCU through the FAPA controller; After the TCU receives the brake backup request sent by the FAPA controller, if the current vehicle speed v ≦ b and v ≦ a, the TCU controls the gearbox to shift back to P gear, the vehicle decelerates and stops, and the brake backup function is completed, wherein b is the maximum parking speed when the automatic parking function operates in 1st gear or reverse gear, and a is the maximum speed for the TCU to control the gearbox to shift back to P gear.

[0006] After the TCU receives the brake backup request sent by the FAPA controller, if the current vehicle speed v > b, the brake backup is exited.

[0007] A further solution is that after the TCU receives the brake backup request sent by the FAPA controller, if the current vehicle speed v ≦ b and a < v ≦ b, the EMS determines whether it has received the brake backup request signal sent by the FAPA controller, and if the EMS has not received the brake backup request signal sent by the FAPA controller, the EMS does not process the request.

[0008] If the EMS receives a brake backup request signal sent by the FAPA controller, the EMS determines whether a vehicle speed signal sent by the ESC is received. If the EMS does not receive the vehicle speed signal sent by the ESC, the EMS determines whether the current vehicle speed v satisfies a<v≦b; when the current vehicle speed v satisfies a<v≦b, the EMS controls the engine to stall, and the vehicle decelerates by coasting. When the current vehicle speed v does not satisfy a<v≦b, the EMS performs no control.

[0009] According to a further solution, if the EMS receives the vehicle speed signal sent by the ESC, the EMS determines whether the vehicle speed signal sent by the ESC is valid.

[0010] When the vehicle speed signal sent by the ESC is valid and the current vehicle speed v satisfies a<v≦b, the EMS controls the engine to stall, and the vehicle decelerates by coasting; the TCU determines whether the current vehicle speed v satisfies v≦a, when the current vehicle speed v satisfies v≦a, the gearbox is controlled to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed; when the current vehicle speed v does not satisfy v≦a, the TCU enables the vehicle to decelerate until the vehicle speed satisfies v≦a, the gearbox is controlled to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed; when the vehicle speed signal sent by the ESC is valid and a<v≦b is not satisfied, the EMS performs no control.

[0011] When the vehicle speed signal sent by the ESC is invalid, the EMS determines whether the current vehicle speed v satisfies a<v≦b; when the current vehicle speed v satisfies a<v≦b, the EMS controls the engine to stall, and the vehicle decelerates by coasting; when the current vehicle speed v does not satisfy a<v≦b, the EMS performs no control.

[0012] The present invention also provides a brake backup device for an intelligent driving vehicle, which adopts the above brake backup method for an intelligent driving vehicle; the device comprises a full automatic parking assist (FAPA) system, an engine management system (EMS) and a transmission control unit (TCU); the full automatic parking assist system FAPA is configured to send an emergency braking signal to the engine control unit EMS and the transmission control unit TCU when the ESC system fails; the engine control unit EMS is configured to receive the emergency braking signal sent by the full automatic parking assist system FAPA, receive the vehicle speed signal sent by the ESC and determine the validity thereof, calculate a vehicle speed signal according to a transmission input shaft, and control the engine to stall for deceleration according to the vehicle speed signal; the transmission control unit TCU is configured to receive the emergency braking signal sent by the full automatic parking assist system FAPA, and control the gearbox to return to the P gear according to vehicle speed conditions, so as to realize braking and stopping of the vehicle.

[0013] The beneficial effects of the present invention lie in that: Through the full automatic parking assist system FAPA, engine control unit EMS, and transmission control unit TCU, the vehicle is controlled to actively decelerate and stop when the ESC system fails and braking fails during remote parking, so as to avoid safety risks; The method is simple and reliable, and can control the vehicle to actively decelerate and stop when the ESC system fails and braking fails during remote parking. Description of Drawings

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to these drawings without creative work.

[0015] Figure 1 is a schematic flow chart of the brake backup method for an intelligent driving vehicle; Figure 2 is a structural schematic diagram of a brake backup device for an intelligent driving vehicle. Detailed Description

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] Example 1 See Figure 1 , a brake backup method for an intelligent driving vehicle, comprising the following steps: 1) Under the working condition of the remote parking function, check whether the ESC system is in a fault mode. If yes, the controller of FAPA sends a brake backup request, and TCU calculates the current vehicle speed v according to the transmission input shaft. (The rotational speed of the transmission input shaft is obtained through a sensor).

[0018] 2) After the TCU receives the brake backup request sent by the FAPA controller, it calculates and judges the vehicle speed condition. If the vehicle speed v≦b, step 3) is executed. If v>b, the brake backup is exited. The automatic parking function operates in 1st gear or reverse gear, and the parking speed is very low. It is assumed that the maximum set parking speed is b.

[0019] 3) The TCU continues to judge the vehicle speed condition. If the vehicle speed v≦a, the TCU controls the transmission to return to P gear, the vehicle decelerates and stops, and the brake backup function is completed. If a<v≦b, step 4) is executed. The maximum vehicle speed for the TCU to control the transmission to return to P gear is a.

[0020] 4) The EMS determines whether a brake backup request signal is received; if no signal is received, no processing is performed; if the signal is received, step 5) is executed.

[0021] 5) It is determined whether a vehicle speed signal sent by ESC is received; if no signal is received, step 7) is executed; if the signal is received, it is determined whether the vehicle speed signal sent by ESC is valid.

[0022] 6) When the vehicle speed signal sent by ESC is invalid, step 7) is executed. When the vehicle speed v sent by ESC is valid and satisfies a < v ≦ b, the EMS controls the engine to stall, and the vehicle decelerates by coasting; if a < v ≦ b is not satisfied, the EMS does not perform control.

[0023] 7) The EMS calculates the vehicle speed v according to the rotation speed of the transmission input shaft, and determines its magnitude range. If the calculated vehicle speed satisfies a < v ≦ b, the EMS controls the engine to stall, and the vehicle decelerates by coasting; if a < v ≦ b is not satisfied, the EMS does not perform control. In this embodiment, the vehicle speed v = (0.377 wheel radius rotation speed of transmission input shaft) / transmission ratio.

[0024] 8) The vehicle decelerates by coasting, but when the TCU determines that the vehicle speed satisfies v ≦ a, it controls the transmission to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed.

[0025] Embodiment 2 Referring to Figure 2 , a brake backup device for an intelligent driving vehicle adopts the intelligent driving vehicle brake backup method in Embodiment 1; it comprises a full automatic parking assist system FAPA, an engine management system EMS, and a transmission control unit TCU; the full automatic parking assist system FAPA is configured to send an emergency braking signal to the engine management system EMS and the transmission control unit TCU when the ESC system fails; the engine management system EMS is configured to receive the emergency braking signal sent by the full automatic parking assist system FAPA, receive the vehicle speed signal sent by ESC and determine the validity thereof, calculate the vehicle speed signal according to the transmission input shaft, and control the engine to stall for deceleration according to the vehicle speed signal; the transmission control unit TCU is configured to receive the emergency braking signal sent by the full automatic parking assist system FAPA, and control the transmission to return to the P gear according to vehicle speed conditions, so as to achieve braking and stopping of the vehicle.

[0026] During automatic parking, existing control modules, sensors and CAN signals on the vehicle are used to determine whether there is an abnormality in the vehicle ESC system.

[0027] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0028] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for brake backup in an intelligent driving vehicle, characterized in that, Comprising the following steps: After receiving a brake backup request, if the current vehicle speed v ≤ b and v ≤ a, controlling the gearbox to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed, wherein b is the maximum parking vehicle speed when the automatic parking function operates in 1st gear or reverse gear, and a is the maximum vehicle speed for controlling the gearbox to return to the P gear; After a TCU receives a brake backup request sent by an FAPA controller, if the current vehicle speed v ≤ b and a < v ≤ b, determining whether an EMS has received the brake backup request signal sent by the FAPA controller, and if the EMS has not received the brake backup request signal sent by the FAPA controller, the EMS does not process the request; The brake backup request is sent by the FAPA controller when the ESC system is in a fault mode under the working condition of the remote parking function.

2. The intelligent driving vehicle braking backup method according to claim 1, characterized in that: After a TCU receives a brake backup request sent by an FAPA controller, if the current vehicle speed v > b, the brake backup is exited.

3. The intelligent driving vehicle braking backup method according to claim 1, characterized in that: If the EMS receives the brake backup request signal sent by the FAPA controller, determining whether the vehicle speed signal sent by the ESC has been received.

4. The intelligent driving vehicle braking backup method according to claim 3, characterized in that: If the EMS does not receive the vehicle speed signal sent by the ESC, determining whether the current vehicle speed v satisfies a < v ≤ b; when the current vehicle speed v satisfies a < v ≤ b, controlling the engine to stall, and the vehicle slides to decelerate.

5. The intelligent driving vehicle braking backup method according to claim 4, characterized in that: When the current vehicle speed v does not satisfy a < v ≤ b, no control is performed.

6. The intelligent driving vehicle braking backup method according to claim 3, characterized in that: If the EMS receives the vehicle speed signal sent by the ESC, determining whether the vehicle speed signal sent by the ESC is valid.

7. The intelligent driving vehicle braking backup method according to claim 6, characterized in that: When the vehicle speed signal sent by the ESC is valid and the current vehicle speed v satisfies a < v ≤ b, controlling the engine to stall, and the vehicle slides to decelerate; determining whether the current vehicle speed v satisfies v ≤ a, when the current vehicle speed v satisfies v ≤ a, controlling the gearbox to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed; when the current vehicle speed v does not satisfy v ≤ a, decelerating the vehicle until the vehicle speed satisfies v ≤ a, controlling the gearbox to return to the P gear, the vehicle decelerates and stops, and the brake backup function is completed; When the vehicle speed signal sent by the ESC is valid and a < v ≤ b is not satisfied, the EMS does not perform control.

8. The intelligent driving vehicle braking backup method according to claim 6, characterized in that: When the vehicle speed signal sent by the ESC is invalid, determining whether the current vehicle speed v satisfies a < v ≤ b; when the current vehicle speed v satisfies a < v ≤ b, controlling the engine to stall, and the vehicle slides to decelerate; when the current vehicle speed v does not satisfy a < v ≤ b, no control is performed.

9. A braking backup device for an intelligent driving vehicle, characterized in that: The device adopts the intelligent driving vehicle brake backup method according to any one of claims 1 to 8; The device comprises a full automatic parking assist system FAPA, an engine management system EMS, and a transmission control unit TCU; The full automatic parking assist system FAPA is configured to send emergency braking signals to the engine management system EMS and the transmission control unit TCU when the ESC system fails; The engine management system EMS is configured to receive the emergency braking signal sent by the full automatic parking assist system FAPA, receive the vehicle speed signal sent by the ESC and judge the validity thereof, calculate the vehicle speed signal according to an input shaft of the gearbox, and control the engine to stall for deceleration according to the vehicle speed signal; The transmission control unit (TCU) receives emergency braking signals from the fully automatic parking assist system (FAPA) and controls the transmission to return to P gear based on vehicle speed conditions to bring the vehicle to a stop.

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