A method and system for controlling brakes in a closed loop through a distance sensor

Abstract

The present invention provides a method and system for closed-loop control of braking through a distance sensor. The specific scheme is as follows: S11, obtaining the sensor obstacle distance; S12, obtaining the minimum safe speed for vehicle braking; S13, performing braking control according to whether the actual speed of the vehicle is greater than the minimum safe speed. After redundant sensor data is realized, the braking is controlled in an anthropomorphic manner. By introducing feedforward control, the problem of slow mechanical response is solved. The distance obtained by the distance measuring sensor is converted into the speed limit value of the vehicle, which can simulate the process of braking when a person recognizes an obstacle. The closer the distance, the deeper the braking. Let the vehicle give the driver a better experience while ensuring safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control safety, and specifically relates to a method and system for controlling braking through a closed loop of a distance sensor. Background Art

[0002] With the development of radar and other related distance sensors and servo motor related technologies, various sensor redundancies are used to simulate people stepping on the brakes. In the existing technology, laser radar anti-collision devices are often used to control the braking of electric vehicles. Summary of the invention

[0003] The problem solved by the present invention is to improve the braking experience while ensuring safety.

[0004] To solve the above problems, the present invention provides a method and system for controlling braking in a closed loop through a distance sensor. The specific scheme is as follows:

[0005] The following methods are included:

[0006] S11, obtaining the sensor obstacle distance;

[0007] S12, obtaining the minimum safe speed for vehicle braking;

[0008] S13, performing braking control according to whether the actual speed of the vehicle is greater than the minimum safe speed.

[0009] The method for obtaining the minimum safe speed is: obtaining a value through calculation by dividing the obstacle distance by a preset safety factor.

[0010] If the actual speed is greater than the minimum safe speed, braking is performed.

[0011] In S13, braking is performed. A method for controlling the depth of braking is to calculate a braking depth control amount by using a PID algorithm. Specifically, PID is a proportional-integral-differential controller.

[0012] The specific method of PID algorithm calculation is: actual speed - the minimum safe speed = speed difference err, braking depth control amount = P*speed difference + I*(speed difference++); where P is: the preset proportional loop coefficient, I is: the preset integral loop coefficient.

[0013] S13, the braking control judgment also includes the motor advance action control; the difference v_diff between the actual speed of each cycle and the speed of the previous cycle is used as the feedforward factor of the speed change trend; the vehicle forward acceleration k1*acc is obtained; the feedforward control quantity feedback=k2*feedforward factor is obtained; the brake motor is advanced through the feedforward control quantity, wherein k1 is the preset vehicle acceleration coefficient, acc is the obtained vehicle acceleration value, and k2 is the preset brake motor speed coefficient.

[0014] In S13, the calculation method of the braking depth of the brake control is deepth_brake=P*err+I*(err++)+k1*acc+k2*feedforward factor.

[0015] A system for controlling braking in a closed loop through a distance sensor, and a system formed by the above method.

[0016] The beneficial effects of the present invention are:

[0017] After achieving redundant sensor data, the brakes are controlled in an anthropomorphic manner.

[0018] The problem of slow mechanical response is solved by introducing feedforward control.

[0019] Converting the distance obtained by the ranging sensor into the speed limit of the vehicle can simulate the process of a person stepping on the brakes when he recognizes an obstacle. The closer the distance, the deeper the brake is pressed. This allows the vehicle to provide a better experience for the driver while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the patented method of the present invention. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] A preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings. As shown in the figure:

[0023] A method and system for controlling brakes in a closed loop through a distance sensor, the specific scheme is as follows:

[0024] The following methods are included:

[0025] S11, obtaining the sensor obstacle distance;

[0026] S12, obtaining the minimum safe speed for vehicle braking;

[0027] S13, performing braking control according to whether the actual speed of the vehicle is greater than the minimum safe speed.

[0028] The method for obtaining the minimum safe speed is: obtaining a value through calculation by dividing the obstacle distance by a preset safety factor.

[0029] If the actual speed is greater than the minimum safe speed, braking is performed.

[0030] In S13, braking is performed, and a method for controlling the depth of braking is to calculate a braking depth control amount by using a PID algorithm.

[0031] The specific method of PID algorithm calculation is: actual speed - the minimum safe speed = speed difference err, braking depth control amount = P*speed difference + I*(speed difference++); where P is: the preset proportional loop coefficient, I is: the preset integral loop coefficient.

[0032] S13, the braking control judgment also includes the motor advance action control; the difference v_diff between the actual speed of each cycle and the speed of the previous cycle is used as the feedforward factor of the speed change trend; the vehicle forward acceleration k1*acc is obtained; the feedforward control quantity feedback=k2*feedforward factor is obtained; the brake motor is advanced through the feedforward control quantity, wherein k1 is the preset vehicle acceleration coefficient, acc is the obtained vehicle acceleration value, and k2 is the preset brake motor speed coefficient.

[0033] In S13, the calculation method of the braking depth of the brake control is deepth_brake=P*err+I*(err++)+k1*acc+k2*feedforward factor.

[0034] A system for controlling brakes in a closed loop through a distance sensor, and a system formed by the above method. The beneficial effects of the present invention are: after redundant sensor data is realized, brakes can be controlled in an anthropomorphic manner. The problem of slow mechanical response is solved by introducing feedforward control. The distance obtained by the distance measuring sensor is converted into the speed limit value of the vehicle, which can simulate the process of braking when a person recognizes an obstacle, and the closer the distance, the deeper the brake is pressed. The vehicle can provide the driver with a better experience while ensuring safety.

[0035] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for controlling braking in a closed loop by a distance sensor, characterized in that , including the following methods: S11, obtain the obstacle distance of the sensor; S12, obtaining the minimum safe speed for vehicle braking; S13, performing brake control according to whether the actual speed of the vehicle is greater than the minimum safe speed; The method for obtaining the minimum safe speed is: obtaining a value by calculating the obstacle distance / preset safety factor; If the actual speed is greater than the minimum safety speed, brakes are applied; In S13, braking is performed, and a method for controlling the depth of braking is to calculate a braking depth control amount by using a PID algorithm; The specific method of PID algorithm calculation is: actual speed - the minimum safe speed = speed difference err, brake depth control amount = P*speed difference + I*(speed difference++); where P is: the preset proportional loop coefficient, I is: the preset integral loop coefficient; S13, the braking control determination also includes the motor advance action control; the actual speed of each cycle and the speed of the previous cycle are used as the feedforward factor of the speed change trend; the vehicle forward acceleration k1*acc is obtained; the feedforward control quantity feedback=k2*feedforward factor is obtained; the brake motor advances the action through the feedforward control quantity, wherein k1 is the preset vehicle acceleration coefficient, acc is the obtained vehicle acceleration value, and k2 is the preset brake motor speed coefficient; In S13, the calculation method of the brake depth of the brake control is deepth_brake = P*err + I*(err++)+ k1*acc + k2*feedforward factor.

2. A system for controlling braking method by closed loop using a distance sensor, characterized in that: The system comprises a system formed by the method of claim 1.

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