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CN106004834A - Control method and system for emergency braking of automobile and automobile - Google Patents

Control method and system for emergency braking of automobile and automobile Download PDF

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Publication number
CN106004834A
CN106004834A CN201610371883.6A CN201610371883A CN106004834A CN 106004834 A CN106004834 A CN 106004834A CN 201610371883 A CN201610371883 A CN 201610371883A CN 106004834 A CN106004834 A CN 106004834A
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CN
China
Prior art keywords
automobile
emergency braking
rear axle
front axle
deflection rigidity
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Granted
Application number
CN201610371883.6A
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Chinese (zh)
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CN106004834B (en
Inventor
吴利军
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BAIC Motor Co Ltd
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BAIC Motor Co Ltd
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Priority to CN201610371883.6A priority Critical patent/CN106004834B/en
Publication of CN106004834A publication Critical patent/CN106004834A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a control method and system for emergency braking of an automobile and the automobile. The control method includes the steps that the front axle load, the rear axle load and the mass center height of the automobile are calculated according to the height of an automobile body; in the running process of the automobile, the current front axle cornering stiffness and the current rear axle cornering stiffness of the automobile are read; the current deceleration limit value for emergency braking of the automobile is calculated according to the mass center height, the front axle load, the rear axle load, the front axle cornering stiffness and the rear axle cornering stiffness; and emergency braking of the automobile is controlled according to the deceleration limit value. By means of the control method, collisions can be avoided or relieved, braking unstability is avoided, and the running safety is improved.

Description

Control method and system for automobile emergency braking and vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a control method and a control system for automobile emergency braking and an automobile.
Background
The vehicle-mounted active braking system detects the position and the motion relation of a front vehicle and a self vehicle by using sensors such as a millimeter wave radar, a laser radar and a camera, gives out a warning when collision danger exists, and automatically applies braking when necessary so as to achieve the purpose of avoiding danger or reducing the collision damage degree.
In the related art, the vehicle brake is controlled by providing the lateral deceleration to avoid the collision with the vehicle ahead, and although this technique can avoid the collision with the vehicle ahead or reduce the collision strength, it does not consider the lateral movement state when the own vehicle performs the emergency braking, and particularly, the brake instability that may occur when the curve emergency braking is performed cannot be avoided.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a method for controlling emergency braking of an automobile, which can avoid or reduce collision, avoid brake instability, and improve driving safety.
A second object of the present invention is to provide a control system for emergency braking of a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling emergency braking of a vehicle, including the steps of: calculating the front axle load mass, the rear axle load mass and the height of the mass center of the automobile according to the height of the automobile body; reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile at present in the running process of the automobile; calculating a deceleration limit value of the current automobile in emergency braking according to the height of the center of mass, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity; and controlling the emergency braking of the automobile according to the deceleration limit value.
According to the control method for the emergency braking of the automobile, the deceleration limit value of the current emergency braking of the automobile is obtained through the calculation of the height of the mass center of the automobile, the mass of the front axle load, the mass of the rear axle load, the lateral deflection rigidity of the front axle and the lateral deflection rigidity of the rear axle of the automobile, and the emergency braking of the automobile is controlled according to the deceleration limit value, so that the collision can be avoided or alleviated, meanwhile, the braking instability is avoided, and the driving safety is improved.
In addition, the control method for emergency braking of the automobile according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, the reading of the front axle cornering stiffness and the rear axle cornering stiffness of the current automobile comprises: inquiring preset calibration inquiry data according to the current lateral acceleration of the automobile; and reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity corresponding to the current lateral acceleration from the preset calibration query data.
According to an embodiment of the present invention, the preset calibration query data is obtained by: calibrating the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile under different lateral accelerations according to steady-state steering tests at different automobile speeds; and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain the preset calibration query data.
According to one embodiment of the invention, calculating the deceleration limit of the automobile in emergency braking according to the center of mass height, the front axle load mass, the rear axle load mass, the front axle cornering stiffness and the rear axle cornering stiffness comprises: calculating the deceleration limit value of the automobile during emergency braking through the following formula:
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g ,
wherein,for the deceleration limit, mfIs the front axle load mass mrFor the rear axle load mass, k1For the deflection stiffness of the front axle, k2And L is the deflection rigidity of the rear axle, L is the distance between the front axle and the rear axle, h is the height of the center of mass, and g is the gravity acceleration.
According to one embodiment of the invention, said controlling said emergency braking of said vehicle according to said deceleration limit comprises: and controlling the emergency braking of the automobile at the deceleration which is less than or equal to the deceleration limit value.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control system for emergency braking of a vehicle, including: the first calculation module is used for calculating the front axle load mass, the rear axle load mass and the height of the mass center of the automobile according to the height of the automobile body; the reading module is used for reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile currently in the running process of the automobile; the second calculation module is used for calculating a deceleration limit value of the automobile during emergency braking according to the center of mass height, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity; and the control module is used for controlling the emergency braking of the automobile according to the deceleration limit value.
According to the control system for the emergency braking of the automobile, the deceleration limit value of the current emergency braking of the automobile is obtained through the second calculation module according to the height of the mass center of the automobile, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity, and the emergency braking of the automobile is controlled through the control module according to the deceleration limit value, so that the collision can be avoided or relieved, meanwhile, the braking instability is avoided, and the driving safety is improved.
In addition, the control system for emergency braking of the automobile according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the reading module is specifically configured to: inquiring preset calibration inquiry data according to the current lateral acceleration of the automobile; and reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity corresponding to the current lateral acceleration from the preset calibration query data.
According to an embodiment of the present invention, the preset calibration query data is obtained by: calibrating the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile under different lateral accelerations according to steady-state steering tests at different automobile speeds; and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain the preset calibration query data.
According to an embodiment of the present invention, the second calculating module is specifically configured to: calculating the deceleration limit value of the automobile during emergency braking through the following formula:
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g ,
wherein,for the deceleration limit, mfIs the front axle load mass mrIs the rear axle carrierAmount, k1For the deflection stiffness of the front axle, k2And L is the deflection rigidity of the rear axle, L is the distance between the front axle and the rear axle, h is the height of the center of mass, and g is the gravity acceleration.
According to an embodiment of the present invention, the control module is specifically configured to: and controlling the emergency braking of the automobile at the deceleration which is less than or equal to the deceleration limit value. .
Further, the embodiment of the third aspect of the invention provides a vehicle, which comprises the control system for emergency braking of the automobile. The vehicle can avoid or reduce collision, avoid brake instability and improve driving safety.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling emergency braking of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the components of an automotive emergency braking system according to one embodiment of the present invention;
fig. 3 is a block diagram of a control system for emergency braking of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method, a system and a vehicle for emergency braking of an automobile according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method for emergency braking of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the control method includes:
and S101, calculating the front axle load mass, the rear axle load mass and the centroid height of the automobile according to the height of the automobile body.
Specifically, in an embodiment of the present invention, before the vehicle starts or when the longitudinal acceleration is zero, the vehicle height of the vehicle may be obtained by using the vehicle height sensor, and then the front axle sprung mass and the rear axle sprung mass are calculated, and the front axle sprung mass, the rear axle sprung mass, and the centroid height may be calculated by combining the suspension parameters and the unsprung mass.
S102, reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the current automobile in the driving process of the automobile.
Specifically, preset calibration query data are queried according to the current lateral acceleration of the automobile, and the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity corresponding to the current lateral acceleration are read from the preset calibration query data.
In an embodiment of the present invention, the preset calibration query data is obtained by the following steps:
step 1: and calibrating the lateral deflection rigidity of the front axle and the lateral deflection rigidity of the rear axle of the automobile under different lateral accelerations according to the steady-state steering test under different automobile speeds.
Wherein the lateral acceleration can be obtained by a lateral acceleration sensor.
Step 2: and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain preset calibration query data.
And S103, calculating a deceleration limit value of the current automobile in emergency braking according to the height of the mass center, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity.
Specifically, the deceleration limit at the time of emergency braking of the automobile can be calculated by the following formula (1):
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g - - - ( 1 )
wherein,for deceleration limit, mfIs front axle load mass, mrFor rear axle load mass, k1For front axle deflection stiffness, k2The deflection stiffness of the rear axle, L the distance between the front axle and the rear axle, h the height of the center of mass, and g the acceleration of gravity.
In the formula (1), m isf、mrL, h and g are constant values, k1And k2And reading from preset calibration query data according to the lateral acceleration.
And S104, controlling the emergency braking of the automobile according to the deceleration limit value.
Specifically, when the vehicle starts automatic emergency braking, especially when the vehicle is in curve running emergency braking, the vehicle emergency braking is controlled with a deceleration less than or equal to the deceleration limit.
To facilitate understanding of the control method of an embodiment of the present invention, the derivation of the deceleration limit may be illustrated by the following description:
the front axle load mass and the rear axle load mass under the static working condition of the whole vehicle are respectively marked as mf、mrAt this time, distances a and b of the centroid of the automobile from the front and rear axes can be expressed by equations (2) and (3), respectively:
a = m r m f + m r · L - - - ( 2 )
b = m f m f + m r · L - - - ( 3 )
wherein L is the distance between the front and rear axles.
When controlling the longitudinal deceleration of the emergency brake of the vehicle to beThe center of mass of the automobile is changed due to the distribution of the axle load, and the distance between the center of mass of the automobile and the front axle and the rear axle is equal to the distance between the center of mass of the automobile and the rear axleAndcan be represented by formula (4) and formula (5), respectively:
a ~ = m r - Δ m m f + m r · L - - - ( 4 )
b ~ = m f + Δ m m f + m r · L - - - ( 5 )
wherein,h is the height of the mass center,respectively the distance between the dynamic mass center and the front axle and the distance between the dynamic mass center and the rear axle, g is the gravity acceleration, and the value is 9.8m/s2。
According to the control theory of the lateral stability of the automobile, if the lateral deflection rigidity of the front axle and the rear axle is respectively k1、k2Then the steering stability of the automobile is maintained, and the stability factor is requiredTherefore, the temperature of the molten metal is controlled,formula (6) should be satisfied:
a ~ ≤ k 2 b ~ k 1 - - - ( 6 )
the deceleration limit can be obtained by substituting equations (4) and (5) for equation (6)
v · d ≤ v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g - - - ( 7 )
Wherein,for deceleration limit, mfIs front axle load mass, mrFor rear axle load mass, k1For front axle deflection stiffness, k2The deflection stiffness of the rear axle, L the distance between the front axle and the rear axle, h the height of the center of mass, and g the acceleration of gravity.
In an embodiment of the present invention, as shown in fig. 2, when it is determined that the vehicle needs emergency braking based on the driving speed displayed by hmi (human Machine interface) and the distance measured by the distance sensor, the controller automatically controls the actuator to execute decelerationLess than or equal to the deceleration limitTo avoid emergency brake instability.
According to the control method for the emergency braking of the automobile, the deceleration limit value of the current emergency braking of the automobile is obtained through the calculation of the height of the mass center of the automobile, the mass of the front axle load, the mass of the rear axle load, the lateral deflection rigidity of the front axle and the lateral deflection rigidity of the rear axle of the automobile, and the emergency braking of the automobile is controlled according to the deceleration limit value, so that the collision can be avoided or alleviated, meanwhile, the braking instability is avoided, and the driving safety is improved.
Fig. 3 is a block diagram of a control system for emergency braking of a vehicle according to an embodiment of the present invention.
As shown in fig. 3, the control system includes: a first calculation module 10, a reading module 20, a second calculation module 30 and a control module 40.
The first calculation module 10 is used for calculating the front axle load mass, the rear axle load mass and the height of the mass center of the automobile according to the height of the automobile body.
The reading module 20 is used for reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the current automobile in the automobile driving process.
Specifically, the reading module 20 is configured to query preset calibration query data according to the current lateral acceleration of the automobile, and read a front axle lateral deflection stiffness and a rear axle lateral deflection stiffness corresponding to the current lateral acceleration from the preset calibration query data.
In an embodiment of the present invention, the preset calibration query data is obtained by the following steps:
step 1: and calibrating the lateral deflection rigidity of the front axle and the lateral deflection rigidity of the rear axle of the automobile under different lateral accelerations according to the steady-state steering test under different automobile speeds.
Step 2: and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain preset calibration query data.
The second calculating module 30 is used for calculating the deceleration limit value of the current automobile in emergency braking according to the height of the center of mass, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity.
Specifically, the second calculating module 30 may calculate the deceleration limit value of the vehicle during emergency braking by the following formula (1):
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g - - - ( 1 )
wherein,for deceleration limit, mfIs front axle load mass, mrFor rear axle load mass, k1For front axle yaw stiffness, k2For the rear axle lateral deflection stiffness, L is the distance between the front axle and the rear axle, h is the height of the center of mass, and g is the acceleration of gravity.
In the formula (1), m isf、mrL, h and g are constant values, k1And k2And reading from preset calibration query data according to the lateral acceleration.
The control module 40 is configured to control emergency braking of the vehicle based on the deceleration limit.
Specifically. The control module 40 controls the vehicle to reduce or equal to the deceleration limitThe deceleration of the vehicle controls the emergency braking of the vehicle.
It should be noted that the specific implementation manner of the control system for emergency braking of an automobile according to the embodiment of the present invention is the same as the specific implementation manner of the control method for emergency braking of an automobile according to the above embodiment of the present invention, and for reducing redundancy, no further description is provided here.
According to the control system for the emergency braking of the automobile, the deceleration limit value of the current emergency braking of the automobile is obtained through the second calculation module according to the height of the mass center of the automobile, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity, and the emergency braking of the automobile is controlled through the control module according to the deceleration limit value, so that the collision can be avoided or relieved, meanwhile, the braking instability is avoided, and the driving safety is improved.
Further, the invention provides a vehicle, which comprises the control system for emergency braking of the automobile of the embodiment of the invention.
The vehicle provided by the embodiment of the invention can avoid or reduce collision, avoid brake instability and improve driving safety.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (11)

1. A control method for automobile emergency braking is characterized by comprising the following steps:
calculating the front axle load mass, the rear axle load mass and the height of the mass center of the automobile according to the height of the automobile body;
reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile at present in the running process of the automobile;
calculating a deceleration limit value of the current automobile in emergency braking according to the height of the center of mass, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity;
and controlling the emergency braking of the automobile according to the deceleration limit value.
2. The method for controlling emergency braking of a vehicle according to claim 1, wherein said reading the current front and rear cornering stiffnesses of the vehicle comprises:
inquiring preset calibration inquiry data according to the current lateral acceleration of the automobile;
and reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity corresponding to the current lateral acceleration from the preset calibration query data.
3. The method for controlling emergency braking of a vehicle according to claim 2, wherein the preset calibration query data is obtained by:
calibrating the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile under different lateral accelerations according to steady-state steering tests at different automobile speeds;
and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain the preset calibration query data.
4. The method of claim 1, wherein calculating a deceleration limit for emergency braking of the vehicle based on the center of mass height, the front axle load mass, the rear axle load mass, the front axle cornering stiffness and the rear axle cornering stiffness comprises:
calculating the deceleration limit value of the automobile during emergency braking through the following formula:
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g ,
wherein,for the deceleration limit, mfIs the front axle load mass mrFor the rear axle load mass, k1For the deflection stiffness of the front axle, k2And L is the deflection rigidity of the rear axle, L is the distance between the front axle and the rear axle, h is the height of the center of mass, and g is the gravity acceleration.
5. The method of claim 4, wherein said controlling the emergency braking of the vehicle in accordance with the deceleration limit comprises:
and controlling the emergency braking of the automobile at the deceleration which is less than or equal to the deceleration limit value.
6. A control system for emergency braking of a vehicle, comprising:
the first calculation module is used for calculating the front axle load mass, the rear axle load mass and the height of the mass center of the automobile according to the height of the automobile body;
the reading module is used for reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile in the driving process of the automobile;
the second calculation module is used for calculating a deceleration limit value of the automobile during emergency braking according to the center of mass height, the front axle load mass, the rear axle load mass, the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity;
and the control module is used for controlling the emergency braking of the automobile according to the deceleration limit value.
7. The vehicle emergency brake control system of claim 6, wherein the reading module is specifically configured to:
inquiring preset calibration inquiry data according to the current lateral acceleration of the automobile; and
and reading the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity corresponding to the current lateral acceleration from the preset calibration query data.
8. The vehicle emergency brake control system according to claim 7, wherein the preset calibration query data is obtained by:
calibrating the front axle lateral deflection rigidity and the rear axle lateral deflection rigidity of the automobile under different lateral accelerations according to steady-state steering tests at different automobile speeds;
and establishing a corresponding relation between the lateral acceleration and the lateral deflection rigidity of the front shaft and the lateral deflection rigidity of the rear shaft so as to obtain the preset calibration query data.
9. The system of claim 6, wherein the second computing module is specifically configured to:
calculating the deceleration limit value of the automobile during emergency braking through the following formula:
v · x d = m r k 1 - m f k 2 ( m f + m r ) ( k 1 + k 2 ) · L h g ,
wherein,for the deceleration limit, mfIs the front axle load mass mrFor the rear axle load mass, k1For the deflection stiffness of the front axle, k2And L is the deflection rigidity of the rear axle, L is the distance between the front axle and the rear axle, h is the height of the center of mass, and g is the gravity acceleration.
10. The system of claim 9, wherein the control module is configured to:
and controlling the emergency braking of the automobile at the deceleration which is less than or equal to the deceleration limit value.
11. A vehicle comprising a control system for emergency braking of a motor vehicle as claimed in any one of claims 6 to 10.
CN201610371883.6A 2016-05-30 2016-05-30 Control method, system and the vehicle of automobile emergency brake Active CN106004834B (en)

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Application Number Priority Date Filing Date Title
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CN106004834B CN106004834B (en) 2019-01-08

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108657067A (en) * 2018-05-10 2018-10-16 安徽工程大学 A kind of lorry with overload early warning speed-limiting device
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