阅读说明：本技术 一种无人驾驶电动汽车的制动方法、储存介质及其开发方法 (A kind of braking method of driverless electric automobile, storage medium and its development approach ) 是由 陈章芳 于 2019-08-22 设计创作，主要内容包括：本发明提供一种无人驾驶电动汽车的制动方法、储存介质及其开发方法,该制动方法充分考虑了制定场景的多样性,根据制动场景的特性将制动分为紧急制动、即时制动和延时制动,并根据衡量制动紧急程度的全局变量来调用不同的制动步骤(既不同的制动模式),并且为紧急制动步骤、即时制动步骤和延时制动步骤分别配置与其场景相适应的制动算法,从而令该制动控制方法能够较为灵活的应对不同的场景。此外,分为多种制动模式也能够方便的采用基于模型的设计进行开发；因此,在测试过程中仅需要对调试目标相关的模块进行调整即可,避免了对程序进行反复大幅修改的问题,有效提高了开发效率,降低了开发和维护成本。(The present invention provides a kind of braking method of driverless electric automobile, storage medium and its development approach, the braking method has fully considered the diversity for formulating scene, braking is divided into emergency braking according to the characteristic of braking scene, immediately braking and delay braking, and different braking steps (both different braking modes) is called according to the global variable for measuring braking urgency level, it and is emergency braking step, the braking algorithm being adapted with its scene is respectively configured in instant braking step and delay braking step, to enable the brake control method more can flexibly cope with different scenes.In addition, also can easily be developed using the design based on model there are many braking mode；Therefore, it only needs to be adjusted the relevant module of debugging target during the test, avoids the problem of substantially being modified repeatedly program, effectively increase development efficiency, reduce development and maintenance cost.)

1. a kind of braking method of driverless electric automobile, characterized by comprising:

First judgment step: reading braking-distance figures, and the global variable for measuring braking urgency level is calculated according to braking-distance figures, according to Whether the global variable is more than first threshold to determine whether needing to carry out emergency braking, if it is, starting emergency braking step Suddenly, if it is not, then jumping to the second judgment step；

Second judgment step: people/unmanned mode switching signal is read, whether judgement is currently unmanned, if it is, jumping To unmanned mode step, if it is not, then starting remote controlled braking step；

Unmanned mode step: judging whether global variable is more than first threshold, if it is, start instant braking step, if It is no, then start-up study braking step；

Wherein, emergency braking step, instant braking step and delay braking step are respectively according to braking-distance figures and preset urgent Braking algorithm brakes algorithm and delay braking algorithm immediately to export different control for brake parameters to braking motor, with control The output torque of braking motor.

2. the braking method of unmanned electric vehicle as described in claim 1, which is characterized in that the remote controlled braking step obtains Remote control signal data is taken, and exports according to remote-control data signal and preset remote control algorithm control for brake parameter to braking electricity Machine.

3. the braking method of unmanned electric vehicle as described in claim 1, it is characterised in that including the first initialization step: When obtaining braking instruction, each output variable related with braking function is initialized, brake command signal is then read in.

4. the braking method of unmanned electric vehicle as described in claim 1, it is characterised in that walked including the unmanned mode The rapid and/or described remote controlled braking step includes the second initialization step: switching to the unmanned mode step and/or the remote control When braking step, the relevant parameter of the unmanned mode step and/or the remote controlled braking step is initialized.

5. a kind of storage medium, it is characterised in that: the storage medium is stored with computer program, and described program is performed energy Enough realize the braking method of unmanned electric vehicle described in any one of claim 1-4.

6. a kind of unmanned electric parking brake system development approach based on modelling, characterized by comprising:

Module division is carried out to braking function；And according to the model parameter preset of ECU, to enable the output signal and bottom mould of model Block library is corresponding, and the bottom module library can be with automatic code generating；

Modelling step: calling module constructs brake model from module library, and the brake model includes emergency braking module With common brake module, the common brake module includes unmanned mode module and remote controlled braking module, the unmanned mode mould Block includes delay brake module and instant brake module；The emergency braking module, instant brake module and delay braking module Braking-distance figures are generated different control for brake and joined by emergency braking algorithm, immediately braking algorithm and delay braking algorithm respectively Number；

Code building step: the brake model is imported in code generator to generate brake control routine code；

Code tester step: the control program code is imported in test equipment, is connected relevant device and is carried out test verifying.

Technical field

The present invention relates to unmanned electric vehicle engineering field, in particular to a kind of braking method of unmanned electric vehicle, Storage medium and its development approach.

Background technique

At present brake system of car it is usual there are two types of: electro-hydraulic brake and electric mechanical braking.And in unmanned electricity Motor-car field, relatively conventional is using electromechanical braking system.As shown in Figure 1, electromechanical braking system usually exists Braking motor nearby is arranged in the tire of automobile, braking motor according to electronic control unit (Electronic Control Unit, Call ECU in the following text) control parameter that sends adjusts the torque of output, and then reaches braking purpose.Specifically, for unmanned Electric vehicle, in braking, it usually needs the detection parameters that each related sensor is obtained by ECU are come further according to detection parameters Generate control parameter.

However, the scene for needing to brake is complicated and multiplicity, therefore, unmanned electronic in practical environment The braking control strategy of vehicle needs enough flexible, efficient.In this regard, generating the braking of control parameter using the parameter of sensor Control method is most important.In order to consider various application scenarios as far as possible, brake control method just becomes to get at present Come more complicated, this results in two problems: (1) algorithm in control method is often attended to one thing and lose sight of another, it is difficult to effectively take into account more The demand of kind braking scene.(2) control method becomes increasingly complex, and control program is also more and more numerous and more jumbled, so development difficulty is also got over Come bigger；Also, since braking ability is directly concerning traffic safety, brake control routine must be repeatedly into emulation excessively, reality The testing processs such as border operation, are also required to modification control method repeatedly in test process, since the complexity of control method is very high, Therefore the modification difficulty of testing process is also quite huge, therefore causes development cycle length, the development cost of brake control routine high.

Summary of the invention

It is an object of the invention to avoid above-mentioned shortcoming in the prior art and provide can adapt to it is a variety of different Brake scene, and braking method, storage medium and its exploitation side of development cycle short, at low cost driverless electric automobile Method.

The purpose of the present invention is achieved through the following technical solutions:

Provide a kind of braking method of driverless electric automobile, comprising:

First judgment step: reading braking-distance figures, and the global variable for measuring braking urgency level is calculated according to braking-distance figures, It whether is more than first threshold to determine whether needing to carry out emergency braking according to the global variable, if it is, the urgent system of starting Dynamic step, if it is not, then jumping to the second judgment step；

Second judgment step: reading people/unmanned mode switching signal, and whether judgement is currently unmanned, if it is, Unmanned mode step is jumped to, if it is not, then starting remote controlled braking step；

Unmanned mode step: judging whether global variable is more than first threshold, if it is, start instant braking step, If it is not, then start-up study braking step；

Wherein, emergency braking step, instant braking step and delay braking step are respectively according to braking-distance figures and preset Emergency braking algorithm, immediately braking algorithm and delay braking algorithm export different control for brake parameters to braking motor, with Control the output torque of braking motor.

Wherein, the remote controlled braking step obtains remote control signal data, and according to remote-control data signal and preset remote control Algorithm exports control for brake parameter to braking motor.

Wherein, further include the first initialization step: when obtaining braking instruction, initializing related with braking function each defeated Then variable out reads in brake command signal.

Wherein, the unmanned mode step and/or the remote controlled braking step include the second initialization step: switching to institute When stating unmanned mode step and/or the remote controlled braking step, the unmanned mode step and/or the remote controlled braking are initialized The relevant parameter of step.

A kind of storage medium is also provided, the storage medium is stored with computer program, and described program is performed can Realize the braking method of unmanned electric vehicle above-mentioned.

A kind of unmanned electric parking brake system development approach based on modelling is also provided, comprising:

Module division is carried out to braking function；And according to the model parameter preset of ECU, to enable output signal and the bottom of model Layer module library is corresponding, and the bottom module library can be with automatic code generating；

Modelling step: calling module constructs brake model from module library, and the brake model includes emergency braking Module and common brake module, the common brake module include unmanned mode module and remote controlled braking module, the unmanned mould Formula module includes delay brake module and instant brake module；The emergency braking module, instant brake module and delay braking Module distinguishes emergency braking algorithm, immediately braking algorithm and delay braking algorithm, and braking-distance figures are generated to different braking controls Parameter processed；

Code building step: the brake model is imported in code generator to generate brake control routine code； Code tester step: the control program code is imported in test equipment, is connected relevant device and is carried out test verifying.

Beneficial effects of the present invention: compared with prior art, one aspect of the present invention has fully considered the multiplicity for formulating scene Property, braking is divided by emergency braking, immediately braking and delay braking according to the characteristic of braking scene, and urgent according to braking is measured The global variable of degree calls different braking steps (both different braking modes), and for emergency braking step, immediately The adaptable braking algorithm of the scene targeted with it is respectively configured in braking step and delay braking step, to enable the braking control Method processed more can flexibly cope with different scenes, avoid the problem that attending to one thing and lose sight of another.In addition, there are many braking modes Can easily be developed by the way of mode development, therefore in test process, if necessary to debug, it is only necessary to tune The model of the relevant module of examination target is adjusted, and avoids the need for the problem of substantially being modified program repeatedly, has Effect improves development efficiency, reduces development cost.

Detailed description of the invention

The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings Other attached drawings.

Fig. 1 is the structural schematic diagram of electromechanical braking system.

Fig. 2 is the flow chart of the braking method of this unmanned electric vehicle

Specific embodiment

The invention will be further described with the following Examples.

The invention discloses a kind of braking methods of unmanned electric vehicle, as shown in Fig. 2, ECU executes following steps

First initialization step: when obtaining braking instruction, each output variable related with braking function is initialized, so After read in braking-distance figures.

First judgment step: reading braking-distance figures, and the global variable for measuring braking urgency level is calculated according to braking-distance figures, It whether is more than first threshold to determine whether needing to carry out emergency braking according to the global variable, if it is, the urgent system of starting Dynamic step, if it is not, then jumping to the second judgment step.Wherein, braking-distance figures are mainly the dependency number that each sensor obtains According to, such as image data, the obstacle distance data of laser radar acquisition, the speed of velocity sensor acquisition that camera obtains Data.

Emergency braking step: being arranged braking target position according to braking-distance figures, and then preset emergency braking is calculated and braked Data generate control for brake parameter, and control for brake parameter has ECU to be sent to control motor through CAN bus, with control braking electricity The output torque of machine is with emergency braking.

Second judgment step: reading people/unmanned mode switching signal, and whether judgement is currently unmanned, if it is, Unmanned mode step is jumped to, if it is not, then starting remote controlled braking step.

Remote controlled braking step: the second initialization step of starting, the relevant parameter for initializing the remote controlled braking step obtain Then remote control signal data obtains remote control signal data, and system is exported according to remote-control data signal and preset remote control algorithm Control parameter is moved to braking motor.

Unmanned mode step: the second initialization step of starting, the relevant parameter for initializing the unmanned mode step obtain Remote control signal data judges whether global variable is more than first threshold, if it is, start instant braking step, if it is not, then Start-up study braking step；

Instant braking step: i.e. braking target position is arranged according to braking-distance figures in commonly braking (conventional brake in other words), Then preset instant braking, which is calculated with braking-distance figures, generates control for brake parameter, and control for brake parameter has ECU to send out through CAN bus It send to control motor, to control the output torque of braking motor with emergency braking.

Delay braking step: being arranged braking target position according to braking-distance figures, and then preset delay braking is calculated and braked Data generate control for brake parameter, and control for brake parameter has ECU to be sent to control motor through CAN bus, with control braking electricity The output torque of machine is with emergency braking.

Using above-mentioned control method, it is suitable that pilotless automobile can more brake environment/braking scene flexible choice Braking mode avoids the problem that attending to one thing and lose sight of another to flexibly cope with different scenes.For example, when unmanned vehicle needed it is red green When lamp, if perception front is red light, but distance is still remote, it is not necessary to stop at once, can execute delay braking；When driving to from spot When horse line relatively nearly (or closer with leading vehicle distance), then instant braking should be executed.If will crimping (or will be chased after with front truck Tail), then answer emergency braking.

Common, the above method is realized by the control program being stored in storage medium.In order to obtain the control program, It can be developed using following development approaches.

Module division is carried out to braking function；And according to the model parameter preset of ECU, to enable output signal and the bottom of model Layer module library is corresponding, and the bottom module library can be with automatic code generating；

Modelling step: calling module constructs brake model from module library, and the brake model includes emergency braking Module and common brake module, the common brake module include unmanned mode module and remote controlled braking module, the unmanned mould Formula module includes delay brake module and instant brake module；The emergency braking module, instant brake module and delay braking Module distinguishes emergency braking algorithm, immediately braking algorithm and delay braking algorithm, and braking-distance figures are generated to different braking controls Parameter processed；

Code building step: the brake model is imported in code generator to generate brake control routine code；

Code tester step: the control program code is imported in test equipment, is connected relevant device and is tested Verifying.

Above-mentioned development approach is developed by the way of mode development, therefore in test process, if necessary to debug, only It needs the model to module relevant to debugging target to be adjusted, avoids the need for repeatedly substantially modifying program The problem of, development efficiency is effectively increased, development cost is reduced.

Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention Matter and range.