阅读说明：本技术 一种智能驾驶减速控制方法及系统、车辆 (Intelligent driving deceleration control method and system and vehicle ) 是由 冉勇 刘佳勇 胡浩 张磊光 卢天义 于 2021-05-31 设计创作，主要内容包括：本发明公开一种智能驾驶减速控制方法及系统、车辆,该方法步骤包括：电控制动系统检测本车当前的实际车速V；若检测到实际车速V小于等于预设车速阈值V-(X),电控制动系统将ADAS系统请求的目标减速度ɑ加上减速度增量去进行PID控制,根据PID控制后的减速度请求对应马达转速,马达转动给车辆轮缸施加制动力矩让车辆减速,同时将车辆当前的实际减速度反馈给ADAS系统,ADAS系统根据车辆实际减速度修正目标减速度ɑ进行闭环控制。通过本发明的智能驾驶减速控制方法,能够解决低速至停车阶段轮缸压力不足,导致停车不稳和频繁二次增压问题。(The invention discloses an intelligent driving deceleration control method, an intelligent driving deceleration control system and a vehicle, wherein the method comprises the following steps: the electric control braking system detects the current actual speed V of the vehicle; if the detected actual vehicle speed V is less than or equal to the preset vehicle speed threshold value V X Adding the target deceleration alpha requested by the ADAS system to the deceleration increment alpha by the electronic control brake system And performing PID control, wherein the motor rotates to apply braking torque to a wheel cylinder of the vehicle to decelerate the vehicle according to the motor rotating speed corresponding to the deceleration request after the PID control, and simultaneously feeding back the current actual deceleration of the vehicle to an ADAS system, and the ADAS system corrects the target deceleration alpha according to the actual deceleration of the vehicle to perform closed-loop control. The intelligent driving deceleration control method can solve the problems of unstable parking and frequent secondary pressurization caused by insufficient wheel cylinder pressure in the low-speed to parking stage.)

1. An intelligent driving deceleration control method is characterized by comprising the following steps:

the electric control braking system detects the current actual speed V of the vehicle;

if the detected actual vehicle speed V is less than or equal to the preset vehicle speed threshold value V_XThe electric control brake system adds the deceleration increment delta a to the target deceleration alpha requested by the ADAS system to perform PID control, the motor rotates to apply braking torque to the wheel cylinder of the vehicle to decelerate the vehicle according to the deceleration request corresponding to the motor rotating speed after the PID control, and simultaneously the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system corrects the target deceleration alpha according to the actual deceleration of the vehicle to perform closed-loop control;

the preset vehicle speed threshold Vx and the deceleration increment delta a are obtained by performing real vehicle test on each slope and each road surface respectively.

2. The intelligent driving deceleration control method according to claim 1,

if the detected actual vehicle speed V is larger than the preset vehicle speed threshold value V_X；

The electric control brake system performs PID control on the received target deceleration alpha, the motor rotates to apply brake torque to the wheel cylinder of the vehicle to decelerate the vehicle according to the deceleration request corresponding to the motor rotating speed after the PID control, meanwhile, the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system performs closed-loop control on the target deceleration alpha according to the actual deceleration of the vehicle.

3. An intelligent driving deceleration control system, comprising:

an ADAS system for calculating and outputting a target deceleration;

the electronic control brake system is used for carrying out PID control on the input target deceleration and carrying out deceleration control on the vehicle;

a sensor for detecting and feeding back to the ADAS system the actual deceleration of the current vehicle;

the ADAS system is connected to an electronically controlled brake system, the sensor is connected to the ADAS system, and the intelligent driving deceleration control system is configured to perform the steps of the intelligent driving deceleration control method of any of claims 1 to 2.

4. A vehicle characterized by comprising the intelligent driving deceleration control system of claim 3.

Technical Field

The invention relates to the technical field of intelligent driving, in particular to an intelligent driving deceleration control method and system and a vehicle.

Background

In recent years, intelligent driving of automobiles is developed rapidly, more and more automobile models carry intelligent driving functions, deceleration control is an important link of intelligent driving, the deceleration control logic of the most commonly used electronic control brake system does not distinguish speed sections, and the electronic control brake system responds to upper-layer target deceleration in a medium-speed and high-speed stage, so that a deceleration request can be well met, and the driving experience of comfortable deceleration is provided for a driver; however, in the stage from deceleration to brake, the brake is executed according to the target deceleration requested by the upper layer, so that the problem of insufficient parking pressure is easily caused, and further the problems of vehicle static signal jumping and frequent secondary pressurization of an electronic control brake system are caused.

Disclosure of Invention

The invention aims to provide an intelligent driving deceleration control method, an intelligent driving deceleration control system and a vehicle, which can solve the problems of unstable parking and frequent secondary pressurization caused by insufficient wheel cylinder pressure in the low-speed to parking stage.

In order to achieve the aim, the invention provides an intelligent driving deceleration control method, which comprises the following steps:

the electric control braking system detects the current actual speed V of the vehicle;

if the detected actual vehicle speed V is less than or equal to the preset vehicle speed threshold value V_XThe electric control brake system adds the deceleration increment delta a to the target deceleration alpha requested by the ADAS system to perform PID control, the motor rotates to apply braking torque to the wheel cylinder of the vehicle to decelerate the vehicle according to the deceleration request corresponding to the motor rotating speed after the PID control, and simultaneously the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system corrects the target deceleration alpha according to the actual deceleration of the vehicle to perform closed-loop control;

the preset vehicle speed threshold Vx and the deceleration increment delta a are obtained by performing real vehicle test on each slope and each road surface respectively.

Further, if the detected actual vehicle speed V is larger than the preset vehicle speed threshold value V_X；

The electric control brake system performs PID control on the received target deceleration alpha, the motor rotates to apply brake torque to the wheel cylinder of the vehicle to decelerate the vehicle according to the deceleration request corresponding to the motor rotating speed after the PID control, meanwhile, the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system performs closed-loop control on the target deceleration alpha according to the actual deceleration of the vehicle.

The invention also provides an intelligent driving deceleration control system, which comprises:

an ADAS system for calculating and outputting a target deceleration;

the electronic control brake system is used for carrying out PID control on the input target deceleration and carrying out deceleration control on the vehicle;

a sensor for detecting and feeding back to the ADAS system the actual deceleration of the current vehicle;

the ADAS system is connected with the electric control brake system, the sensor is connected with the ADAS system, and the intelligent driving deceleration control system is configured to execute the steps of the intelligent driving deceleration control method.

The invention also provides a vehicle comprising the intelligent driving deceleration control system.

Compared with the prior art, the invention has the following advantages:

the intelligent driving deceleration control method can solve the problems of unstable parking and frequent secondary pressurization caused by insufficient wheel cylinder pressure in the low-speed to parking stage; this application divides full speed section speed reduction control split into fast section speed reduction control, great reduction intelligent driving speed reduction to the parking stage parking unstability and frequent secondary supercharging problem.

Drawings

Fig. 1 is a schematic structural diagram of the intelligent driving deceleration control method of the invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

Referring to fig. 1, the present embodiment discloses an intelligent driving deceleration control method, which includes the steps of:

the electric control braking system detects the current actual speed V of the vehicle;

if the detected actual vehicle speed V is less than or equal to the preset vehicle speed threshold value V_XThe electric control brake system adds the target deceleration alpha requested by the ADAS system to the deceleration increment delta a to perform PID control, and performs PID control according to the target deceleration alpha and the deceleration increment delta a after the PID controlThe deceleration request corresponds to the motor rotating speed, the motor rotates to apply braking torque to the wheel cylinder of the vehicle to decelerate the vehicle, meanwhile, the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system corrects the target deceleration alpha according to the actual deceleration of the vehicle to carry out closed-loop control;

the preset vehicle speed threshold Vx and the deceleration increment delta a are obtained by performing real vehicle test on each slope and each road surface respectively. The electric control brake system performs PID control, and can improve the robustness of the system.

In the present embodiment, if the detected actual vehicle speed V is greater than the preset vehicle speed threshold V_X；

The electric control brake system performs PID control on the received target deceleration alpha, the motor rotates to apply brake torque to the wheel cylinder of the vehicle to decelerate the vehicle according to the deceleration request corresponding to the motor rotating speed after the PID control, meanwhile, the current actual deceleration of the vehicle is fed back to the ADAS system, and the ADAS system performs closed-loop control on the target deceleration alpha according to the actual deceleration of the vehicle.

The control mode distinguishes speed sections, and in the middle and high speed stages, the electric control brake system responds to the upper layer target deceleration, so that the deceleration request can be well met, and the comfortable deceleration driving experience is provided for a driver. In the stage of decelerating to stopping, the electronic control brake system increases two parameters of a speed threshold Vx and a deceleration increment delta a, and the speed is lower in the stage, so that the deceleration is properly increased, uncomfortable deceleration experience can not be brought to a driver, the pressure of a parking wheel cylinder can be increased, and the problem probability of unstable parking and frequent secondary pressurization in the stage of intelligently decelerating to stop is greatly reduced.

The invention also provides an intelligent driving deceleration control system, which comprises:

an ADAS system for calculating and outputting a target deceleration;

the electronic control brake system is used for carrying out PID control on the input target deceleration and carrying out deceleration control on the vehicle;

a sensor for detecting and feeding back to the ADAS system the actual deceleration of the current vehicle;

the ADAS system is connected with the electric control brake system, the sensor is connected with the ADAS system, and the intelligent driving deceleration control system is configured to execute the steps of the intelligent driving deceleration control method.

The invention also provides a vehicle which comprises the intelligent driving deceleration control system.

The intelligent driving deceleration control method can solve the problems of unstable parking and frequent secondary pressurization caused by insufficient wheel cylinder pressure in the low-speed to parking stage; this application divides full speed section speed reduction control split into fast section speed reduction control, great reduction intelligent driving speed reduction to the parking stage parking unstability and frequent secondary supercharging problem.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.