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CN106864450A - vehicle brake control method, device and vehicle - Google Patents

vehicle brake control method, device and vehicle Download PDF

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Publication number
CN106864450A
CN106864450A CN201510907286.6A CN201510907286A CN106864450A CN 106864450 A CN106864450 A CN 106864450A CN 201510907286 A CN201510907286 A CN 201510907286A CN 106864450 A CN106864450 A CN 106864450A
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CN
China
Prior art keywords
vehicle
value
brake
control
difference
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510907286.6A
Other languages
Chinese (zh)
Other versions
CN106864450B (en
Inventor
李远杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Treasure Car Co Ltd
Original Assignee
Beiqi Foton Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beiqi Foton Motor Co Ltd filed Critical Beiqi Foton Motor Co Ltd
Priority to CN201510907286.6A priority Critical patent/CN106864450B/en
Publication of CN106864450A publication Critical patent/CN106864450A/en
Application granted granted Critical
Publication of CN106864450B publication Critical patent/CN106864450B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/28Wheel speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/10Accelerator pedal position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/804Relative longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/18Braking system

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)
  • Toys (AREA)

Abstract

The embodiment of the invention discloses a kind of vehicle brake control method, device and vehicle, wherein, method includes:Whether the opening value for detecting vehicle accelerator pedal is zero;Opening value in response to vehicle accelerator pedal is zero, the speed difference of vehicle and front truck is calculated with preceding vehicle velocity value according to the toy vehicle velocity value for obtaining, the range difference of actual range and target range is calculated with default minimum threshold of distance with the actual distance value of front truck according to the vehicle for obtaining;The speed difference and the corresponding brake torque value of the range difference are obtained, to carry out control for brake to vehicle according to the brake torque value.The embodiment of the present invention can realize the braking Based Intelligent Control of vehicle.

Description

Vehicle brake control method, device and vehicle
Technical field
The invention belongs to automobile technical field, more particularly to a kind of vehicle brake control method, device and Vehicle.
Background technology
At present on urban road, especially peak period on and off duty, major urban arterial highway, main traffic road Mouthful, vehicle flowrate is big, vehicle low running speed, or even traffic congestion has become normality, and traffic congestion section distance compared with It is long., it is necessary to frequently start and brake when driver drives over, therefore driver will frequently trample and add Speed pedal and brake pedal.Require that driver attention will concentrate in this process, easily cause driver Fatigue, the accident such as is easy for causing unless you give your whole attention to it scraping, knocks into the back.
At present, can only be detected between this car and front truck by installing a kind of prior-warning device on vehicle Spacing, the spacing between Ben Che and front truck carries out early warning when reaching setting spacing.However, this early warning Device can only carry out early warning to the spacing between Ben Che and front truck, can not control between this car and front truck Distance.
The content of the invention
An embodiment of the present invention technical problem to be solved is:A kind of vehicle braking control side is provided Method, device and vehicle, can realize the braking Based Intelligent Control of vehicle.
One side according to embodiments of the present invention, there is provided a kind of vehicle brake control method, including:
Whether the opening value for detecting vehicle accelerator pedal is zero;
Opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value and preceding vehicle speed that obtain Value calculates the speed difference of vehicle and front truck, the actual distance value according to the vehicle for obtaining and front truck with it is default most The range difference of small distance threshold calculations actual range and target range;
The speed difference and the corresponding brake torque value of the range difference are obtained, so as to according to the braking torque Value carries out control for brake to vehicle.
Method according to another embodiment of the present invention, it is described vehicle is braked according to the brake torque value Control includes:Control motor exports the brake torque value.
Method according to another embodiment of the present invention, it is described vehicle is braked according to the brake torque value Control also includes:Controller dial plate shows on-position, and control brake lamp is lighted.
Method according to another embodiment of the present invention, the acquisition speed difference and range difference correspondence Brake torque value include:Corresponding braking is obtained according to the speed difference and the range difference inquiry table to turn round Square value, the table is the brake torque value and speed difference and the mapping table of range difference for pre-setting;
Methods described also includes:
By the opening information of accelerator pedal sensor collection vehicle accelerator pedal;
Front truck velocity information is gathered by front truck vehicle speed sensor;
By spacing sensor collection vehicle and the actual range information of front truck;
By wheel speed sensors collection vehicle wheel speed information;
Toy vehicle velocity value is calculated according to the vehicle wheel speed value for obtaining;Or vehicle speed is obtained from vehicle bus Angle value;
When the opening value for detecting vehicle accelerator pedal is more than zero, control for brake pattern is released.
Method according to another embodiment of the present invention, in response to receiving control for brake mode starting signal, Or the toy vehicle velocity value in response to detecting is less than default threshold speed, starts to perform the detection car Whether the opening value of accelerator pedal is zero.
Other side according to embodiments of the present invention, there is provided a kind of vehicle brake control apparatus, bag Include:
Detection unit, whether the opening value for detecting vehicle accelerator pedal is zero;
Computing unit, the opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value for obtaining With the speed difference that preceding vehicle velocity value calculates vehicle and front truck, the actual range of vehicle and front truck according to acquisition It is worth the range difference that actual range and target range are calculated with default minimum threshold of distance;
Acquiring unit, for obtaining the speed difference and the corresponding brake torque value of the range difference;
Control unit, for carrying out control for brake to vehicle according to the brake torque value.
Device according to another embodiment of the present invention, described control unit, with specific reference to the knot of acquiring unit Really, control motor exports the brake torque value.
Device according to another embodiment of the present invention, described control unit is additionally operable to according to acquiring unit As a result, controller dial plate display on-position, and control brake lamp is lighted.
Device according to another embodiment of the present invention, also includes:
Accelerator pedal sensor, for the opening information of collection vehicle accelerator pedal;
Front truck vehicle speed sensor, for gathering front truck velocity information;
Spacing sensor, for collection vehicle and the actual range information of front truck;
Wheel speed sensors, for collection vehicle wheel speed information;
The computing unit, is additionally operable to calculate toy vehicle velocity value according to the vehicle wheel speed value for obtaining;Or from Toy vehicle velocity value is obtained on vehicle bus;
The acquiring unit, tables look-up with specific reference to the speed difference and the range difference and obtains corresponding braking Torque value, the table is the brake torque value and speed difference and the mapping table of range difference for pre-setting;
Described control unit, is additionally operable to, when the opening value for detecting vehicle accelerator pedal is more than zero, release system Dynamic control model.
Another aspect according to embodiments of the present invention, there is provided a kind of vehicle, including:Above-mentioned vehicle Brake control.
Vehicle brake control method, device and the vehicle provided based on the above embodiment of the present invention, in vehicle When needing frequently to start and brake, brake pedal is trampled without driver, it is only necessary to which driver's control adds Speed pedal drives vehicle traveling, accelerator pedal is lifted when braking is needed, by vehicle brake control apparatus Control for brake is carried out to vehicle, you can control and the distance of front truck, vehicle is kept suitable car with front truck Away from realizing the braking Based Intelligent Control of vehicle.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description of the drawings
The Description of Drawings embodiments of the invention of a part for specification are constituted, and together with description For explaining principle of the invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood from, wherein:
Fig. 1 is the flow chart of one embodiment of vehicle brake control method of the present invention.
Fig. 2 is the structural representation of one embodiment of vehicle brake control apparatus of the present invention.
Fig. 3 is a structural representation for specific embodiment of vehicle brake control apparatus of the present invention.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that:Remove It is non-to illustrate in addition, positioned opposite, the numerical expression of the part for otherwise illustrating in these embodiments Do not limited the scope of the invention with numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not It is to be drawn according to actual proportionate relationship.
The description only actually at least one exemplary embodiment is illustrative, never conduct below To the present invention and its application or any limitation for using.
May not make to beg in detail for technology, method and apparatus known to person of ordinary skill in the relevant By, but in the appropriate case, the technology, method and apparatus should be considered as a part for specification.
It should be noted that:Similar label and letter represents similar terms in following accompanying drawing, therefore, once It is defined in a certain Xiang Yi accompanying drawing, then it need not be further begged in subsequent accompanying drawing By.
Refer to shown in Fig. 1, be the flow chart of one embodiment of vehicle brake control method of the present invention. The vehicle brake control method of the present embodiment includes:
102, whether the opening value for detecting vehicle accelerator pedal is zero.
104, the opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value and front truck that obtain Velocity amplitude calculates the speed difference of vehicle and front truck, the actual distance value according to the vehicle for obtaining and front truck with it is pre- If minimum threshold of distance calculates the range difference of actual range and target range.
106, the speed difference and the corresponding brake torque value of the range difference are obtained, so as to according to the braking Torque value carries out control for brake to vehicle.
Based on the vehicle brake control method that the above embodiment of the present invention is provided, need frequently to open in vehicle During dynamic and braking, brake pedal is trampled without driver, it is only necessary to which driver's control accelerator pedal drives car Traveling, need braking when lift accelerator pedal, by vehicle brake control apparatus to vehicle system Dynamic control, you can control and the distance of front truck, makes vehicle keep suitable spacing with front truck, realizes vehicle Braking Based Intelligent Control.
The vehicle brake control method of the present embodiment is in response in receiving control for brake mode starting signal, Or the toy vehicle velocity value in response to detecting is less than default threshold speed, start to perform operation 102.
Wherein, control for brake mode starting signal is to manually select control for brake pattern by driver to produce. When toy vehicle velocity value is detected less than default threshold speed, show that vehicle is in low-speed running state. When driver manually selects control for brake pattern, vehicle enters control for brake pattern to the present embodiment, or When vehicle is in low-speed running state, automatically into control for brake pattern.
The vehicle brake control method of the present embodiment also includes:Added by accelerator pedal sensor collection vehicle The opening information of speed pedal;Front truck velocity information is gathered by front truck vehicle speed sensor;Sensed by spacing The actual range information of device collection vehicle and front truck;By wheel speed sensors collection vehicle wheel speed information, root Toy vehicle velocity value is calculated according to the vehicle wheel speed value for obtaining;Or toy vehicle velocity value is obtained from vehicle bus; When the opening value for detecting vehicle accelerator pedal is more than zero, control for brake pattern is released.
Wherein, the opening value of the accelerator pedal in operation 102 is obtained by accelerator pedal sensor.If inspection The opening value of accelerator pedal is measured more than zero, shows the positive step on the accelerator of driver, vehicle is in and drives State, control for brake pattern is not entered.If the opening value for detecting accelerator pedal is zero, show driver Release the gas pedal, is not driven to vehicle, then into control for brake pattern.
Preceding vehicle velocity value V in operation 104fIt is to be obtained by front truck vehicle speed sensor.The reality of vehicle and front truck Border distance value S is obtained by spacing sensor.Toy vehicle velocity value VcIt is the vehicle gathered by wheel speed sensors Wheel speed value is calculated, or GES from vehicle bus is obtained.Default minimum threshold of distance SoIt is the minimum target distance of vehicle set in advance and front truck.The speed difference of vehicle and front truck and it is actual away from It is specifically according to formula Δ V=V from the range difference with target rangec-VfAnd Δ S=S-SoIt is calculated.
The operation 106 of the present embodiment is specifically to table look-up and obtain corresponding according to speed difference Δ V and range difference Δ S Brake torque value TBreakReg, wherein to be the brake torque value that pre-sets right with speed difference and range difference for table Relation table is answered, as shown in Table 1 below.
Table 1
0
0 0 0 0 0 0
In the vehicle brake control method of the present embodiment, vehicle is braked according to the brake torque value Control is specifically included:Control motor exports the brake torque value, also includes:Controller dial plate display system Dynamic state, and control brake lamp is lighted.
Wherein, control for brake is carried out to vehicle, the brake torque value that will specifically be obtained is sent to electronic Machine, control motor is braked according to the demand of the brake torque value to vehicle, realizes that braking energy is returned Receive, while sending instrument display control signal and brake lamp control signal, control the instrument board of vehicle to show On-position, and control brake lamp to light, to warn rear car.
Refer to shown in Fig. 2, be the structural representation of one embodiment of vehicle brake control apparatus of the present invention Figure.The vehicle brake control apparatus of the present embodiment include:Detection unit 202, computing unit 204, acquisition Unit 206 and control unit 208.Wherein:
Detection unit 202, whether the opening value for detecting vehicle accelerator pedal is zero.
Computing unit 204, the opening value in response to vehicle accelerator pedal is zero, according to the vehicle speed for obtaining Angle value calculates the speed difference of vehicle and front truck with preceding vehicle velocity value, according to the vehicle and the reality of front truck that obtain Distance value calculates the range difference of actual range and target range with default minimum threshold of distance.
Acquiring unit 206, for obtaining the speed difference and the corresponding brake torque value of the range difference.
Control unit 208, for carrying out control for brake to vehicle according to the brake torque value.
Based on the vehicle brake control apparatus that the above embodiment of the present invention is provided, need frequently to open in vehicle During dynamic and braking, brake pedal is trampled without driver, it is only necessary to which driver's control accelerator pedal drives car Traveling, need braking when lift accelerator pedal, by vehicle brake control apparatus to vehicle system Dynamic control, you can control and the distance of front truck, makes vehicle keep suitable spacing with front truck, realizes vehicle Braking Based Intelligent Control.
The detection unit 202 of the present embodiment be in response to receiving control for brake mode starting signal, or When person is less than default threshold speed in response to the toy vehicle velocity value for detecting, starts detection vehicle and accelerate to step on Whether the opening value of plate is zero.
Wherein, control for brake mode starting signal is to manually select control for brake pattern by driver to produce. When toy vehicle velocity value is detected less than default threshold speed, show that vehicle is in low-speed running state. When driver manually selects control for brake pattern, vehicle enters control for brake pattern to the present embodiment, or When vehicle is in low-speed running state, automatically into control for brake pattern.
The vehicle brake control apparatus of the present embodiment also include:Accelerator pedal sensor, for collection vehicle The opening information of accelerator pedal;Front truck vehicle speed sensor, for gathering front truck velocity information;Spacing is sensed Device, for collection vehicle and the actual range information of front truck;Wheel speed sensors, for collection vehicle wheel speed Information.
Wherein, detection unit 202 is the aperture of the accelerator pedal that detection is obtained by accelerator pedal sensor Value.If detecting the opening value of accelerator pedal more than zero, show the positive step on the accelerator of driver, vehicle In driving condition, control for brake pattern is not entered.If the opening value for detecting accelerator pedal is zero, table Bright driver release the gas pedal, is not driven, then into control for brake pattern to vehicle.
Computing unit 204 is according to the preceding vehicle velocity value V obtained by front truck vehicle speed sensorf, passed by spacing Vehicle and the actual distance value S of front truck that sensor is obtained, the vehicle wheel speed value meter obtained by wheel speed sensors Calculate toy vehicle velocity value Vc, or the toy vehicle velocity value V that GES from vehicle bus is obtainedc, and in advance What is first set represents the default minimum threshold of distance S of vehicle and the minimum target distance of front trucko, according to formula Δ V=Vc-VfAnd Δ S=S-SoVehicle is calculated with the speed difference and actual range of front truck and the distance of target range Difference.
Acquiring unit 206 is specifically to be tabled look-up to obtain corresponding braking torsion according to speed difference Δ V and range difference Δ S Square value TBreakReg, wherein table is the brake torque value and speed difference and the corresponding relation of range difference for pre-setting Table, as shown in Table 1 above.
In the vehicle brake control apparatus of the present embodiment, control unit 208 is specifically according to acquiring unit 206 result, control motor exports the brake torque value, while according to the knot of acquiring unit 206 Really, controller dial plate display on-position, and control brake lamp is lighted.
Wherein, control unit 208, the brake torque value that will specifically be obtained is sent to motor, control Motor processed is braked according to the demand of the brake torque value to vehicle, realizes Brake energy recovery, together When send instrument display control signal and brake lamp control signal, control vehicle instrument board display braking shape State, and control brake lamp to light, to warn rear car.
The control unit 208 of the present embodiment, is additionally operable to be more than zero when the opening value of detection vehicle accelerator pedal When, release control for brake pattern.
Refer to shown in Fig. 3, be a structure for specific embodiment of vehicle brake control apparatus of the present invention Schematic diagram.The detection unit 202 of the vehicle brake control apparatus of the present embodiment, computing unit 204 are obtained Unit 206 and control unit 208 are integrated in entire car controller, and detection unit is completed by entire car controller 202nd, the function of computing unit 204, acquiring unit 206 and control unit 208.On detection unit 202nd, the concrete function of computing unit 204, acquiring unit 206 and control unit 208 is referred to Fig. 2 Explanation.Wherein, in the present embodiment, toy vehicle velocity value is that GES from vehicle bus is obtained .
In addition, the present embodiment additionally provides a kind of vehicle with above-mentioned vehicle brake control apparatus, especially It is that a kind of electric motor car and hybrid electric vehicle etc. possess the power assembly form that motor direct-drive vehicle is travelled Vehicle.
Each embodiment is described by the way of progressive in this specification, what each embodiment was stressed All it is the difference with other embodiments, same or analogous part cross-reference between each embodiment .
Description of the invention in order to example and description for the sake of and be given, and be not exhaustively or Limit the invention to disclosed form.Many modifications and variations are for one of ordinary skill in the art Speech is obvious.Selection and description embodiment be in order to more preferably illustrate principle of the invention and practical application, And make one of ordinary skill in the art it will be appreciated that the present invention is suitable to carrying for special-purpose so as to design The various embodiments of various modifications.

Claims (10)

1. a kind of vehicle brake control method, it is characterised in that including:
Whether the opening value for detecting vehicle accelerator pedal is zero;
Opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value and preceding vehicle speed that obtain Value calculates the speed difference of vehicle and front truck, the actual distance value according to the vehicle for obtaining and front truck with it is default most The range difference of small distance threshold calculations actual range and target range;
The speed difference and the corresponding brake torque value of the range difference are obtained, so as to according to the braking torque Value carries out control for brake to vehicle.
2. method according to claim 1, it is characterised in that described according to the brake torque value pair Vehicle carries out control for brake to be included:Control motor exports the brake torque value.
3. method according to claim 2, it is characterised in that described according to the brake torque value pair Vehicle carries out control for brake also to be included:Controller dial plate shows on-position, and control brake lamp is lighted.
4. method according to claim 1, it is characterised in that
The acquisition speed difference and the corresponding brake torque value of the range difference include:According to the speed Degree difference and the range difference are tabled look-up and obtain corresponding brake torque value, and the table is that the braking for pre-setting is turned round Square value and speed difference and the mapping table of range difference;
Methods described also includes:When the opening value for detecting vehicle accelerator pedal is more than zero, braking control is released Molding formula.
5. method according to claim 1, it is characterised in that in response to receiving control for brake mould Formula enabling signal, or start to hold less than default threshold speed in response to the toy vehicle velocity value that detects Whether the opening value of the row detection vehicle accelerator pedal is zero.
6. a kind of vehicle brake control apparatus, it is characterised in that including:
Detection unit, whether the opening value for detecting vehicle accelerator pedal is zero;
Computing unit, the opening value in response to vehicle accelerator pedal is zero, according to the toy vehicle velocity value for obtaining With the speed difference that preceding vehicle velocity value calculates vehicle and front truck, the actual range of vehicle and front truck according to acquisition It is worth the range difference that actual range and target range are calculated with default minimum threshold of distance;
Acquiring unit, for obtaining the speed difference and the corresponding brake torque value of the range difference;
Control unit, for carrying out control for brake to vehicle according to the brake torque value.
7. device according to claim 6, it is characterised in that described control unit, with specific reference to The result of the acquiring unit, control motor exports the brake torque value.
8. device according to claim 7, it is characterised in that described control unit, is additionally operable to root According to the result of the acquiring unit, controller dial plate display on-position, and control brake lamp is lighted.
9. device according to claim 6, it is characterised in that also include:
Accelerator pedal sensor, for the opening information of collection vehicle accelerator pedal;
Front truck vehicle speed sensor, for gathering front truck velocity information;
Spacing sensor, for collection vehicle and the actual range information of front truck;
Wheel speed sensors, for collection vehicle wheel speed information;
The computing unit, is additionally operable to calculate toy vehicle velocity value according to the vehicle wheel speed value for obtaining;Or from Toy vehicle velocity value is obtained on vehicle bus;
The acquiring unit, tables look-up with specific reference to the speed difference and the range difference and obtains corresponding braking Torque value, the table is the brake torque value and speed difference and the mapping table of range difference for pre-setting;
Described control unit, is additionally operable to, when the opening value for detecting vehicle accelerator pedal is more than zero, release system Dynamic control model.
10. a kind of vehicle, it is characterised in that including:Will according to any right in claim 6 to 9 Seek described vehicle brake control apparatus.
CN201510907286.6A 2015-12-09 2015-12-09 Vehicle brake control method, device and vehicle Expired - Fee Related CN106864450B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN106864450B CN106864450B (en) 2019-04-16

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CN108556844A (en) * 2018-06-15 2018-09-21 北京新能源汽车股份有限公司 Vehicle control method, device and equipment and vehicle
CN109753056A (en) * 2017-11-07 2019-05-14 北京图森未来科技有限公司 A kind of the speed dynamic control method and device of automatic navigation of vehicle
CN109760679A (en) * 2017-11-06 2019-05-17 本田技研工业株式会社 The travel controlling system of automatic driving vehicle
CN111216728A (en) * 2020-03-17 2020-06-02 江铃汽车股份有限公司 Brake control method and system
CN112441000A (en) * 2019-08-16 2021-03-05 华为技术有限公司 Vehicle braking control method and device

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