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WO2024105048A1 - A method and a system to assist in braking of a vehicle - Google Patents

A method and a system to assist in braking of a vehicle Download PDF

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Publication number
WO2024105048A1
WO2024105048A1 PCT/EP2023/081784 EP2023081784W WO2024105048A1 WO 2024105048 A1 WO2024105048 A1 WO 2024105048A1 EP 2023081784 W EP2023081784 W EP 2023081784W WO 2024105048 A1 WO2024105048 A1 WO 2024105048A1
Authority
WO
WIPO (PCT)
Prior art keywords
brake
event
pressure
brake pedal
vehicle
Prior art date
Application number
PCT/EP2023/081784
Other languages
French (fr)
Inventor
Alagarsamy PAPPURAJA
Prakash VIGNESH BABU
Original Assignee
Robert Bosch Gmbh
Bosch Global Software Technologies Private Limited
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 Robert Bosch Gmbh, Bosch Global Software Technologies Private Limited filed Critical Robert Bosch Gmbh
Publication of WO2024105048A1 publication Critical patent/WO2024105048A1/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
    • B60T8/32—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 a speed condition, e.g. acceleration or deceleration
    • B60T8/321—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 a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger

Definitions

  • the present disclosure relates to a method and a system to assist in braking of a vehicle and more particularly a method and a system to assist in braking of a vehicle in an event of a brake pedal slip.
  • a brake pedal slip is a pedal error where the foot of the driver slips the brake pedal while applying the brake. In one scenario while applying the brakes, the foot of the driver slips when the driver accidentally presses the edge of the brake pedal. In another scenario, the foot of the driver slips gradually due to less grip between foot and the brake pedal.
  • a hydraulic brake assistant controlling method for vehicle involves increasing brake pressure by low pressure supplied to booster, and adapting gradient threshold value to low pressure supplied to brake booster and/or to ambient air pressure.
  • the method involves automatically adjusting brake pressure acting on a brake of a vehicle by a brake assistant, and deriving brake pressure gradient from characteristic of the brake pressure.
  • the brake assistant is activated when the brake pressure gradient lies above a brake pressure gradient threshold value.
  • the brake pressure is increased by low pressure supplied to a brake booster.
  • the brake pressure gradient threshold value is adapted to the low pressure supplied to the brake booster and/or to ambient air pressure.
  • Figure 1 depicts a system to assist in braking of a vehicle in the event of a brake pedal slip.
  • Figure 2 depicts a flowchart of a method to assist in braking of a vehicle in the event of a brake pedal slip.
  • Figure 1 depicts a system to assist in braking of a vehicle in the event of a brake pedal slip.
  • a control module (1) is embedded in the Electronic Stability program ESP (10) as the- brake pedal slip assist (BPSA) -to assist in braking the vehicle in the event of brake pedal slip as a value added function.
  • the said control module can be present independently with a computation processor to execute the stored programs and with a storage unit.
  • the ESP (10) recognizes critical driving conditions and stabilizes the vehicle by wheel-individual braking and engine control intervention with no need for actuating the brake.
  • the ESP system is developed to help the driver avoid the danger of losing the control of the vehicle stability due to under-steering or oversteering during cornering.
  • the ESP has two active safety system: the Antilock Braking System (ABS) (7) and the Traction Control System (TCS) (8).
  • ABS (7) prevents the wheels from locking during braking
  • TCS (8) prevents the wheels from spinning when starting off and accelerating.
  • the ESP receives inputs (In the alternate embodiment, the control module (1 ) receives the input) from wheel speed sensors (11), inertial sensor (12), accelerator pedal position sensor (13), brake light switch (14), steering angle sensor (15) and the input of measured engine torque (16).
  • the wheel speed sensors (11) measure the wheel speed in a contact-free way via magnetic fields.
  • the inertial sensors (12) are used to measure translational and rotational accelerations.
  • the accelerator pedal position sensor (13) sense the accelerator position during the pressing of the accelerator pedal.
  • the brake light switch (14) controls the brake lights to indicate when brake is applied in the vehicle.
  • Steering angle sensor (15) measures the steering wheel position angle and rate of turn and the engine torque (16) is calculated by the engine control unit using torque sensors.
  • the ESP further has a human machine interface (5) to connect with the output devices in the instrument cluster (6). Additionally, a diagnosis system (9) can be provided to detect any errors and fix the entire brake pedal slip assist system.
  • a control module (1) to assist in braking of a vehicle in an event of a brake pedal slip configured to: -detect signals from a master cylinder pressure sensor (2);
  • the pressure gradient is calculated by obtaining the difference between the brake pressure obtained from a master cylinder pressure sensor (2) during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time.
  • the threshold pressure gradient is obtained based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure.
  • the control module (1) is in communication with a human machine interface (5) to provide BPS A activation indication to output devices in an instrument cluster (6).
  • the control module (1) is embedded into the ESP to provide assistance in braking of the vehicle in the event of brake pedal slip as a value-added function.
  • the control module (1) is in communication with a master cylinder pressure sensor (2).
  • the master cylinder pressure sensor (2) detects the brake fluid pressure differentials in the hydraulic system.
  • the control module computes the pressure gradient based on the difference in pressure between the event of applying the brake and releasing the brake pedal in a unit braking time (time taken from pressing the pedal till the release of the pedal).
  • the control module compares the said pressure gradient value so computed, with a threshold pressure gradient value.
  • the same threshold value is pre- computed, vehicle specific and is fed into the system.
  • the threshold pressure gradient is obtained based on comparing the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure, and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure.
  • the event of brake pedal slip is said to be detected.
  • the control module interacts with the brake system (3) to apply a brake pressure to the brake discs (4).
  • the brake system (3) uses a hydraulic brake mechanism wherein brake fluid is used to transfer pressure to brake discs (4).
  • the ‘brake pressure’ applied upon the detection of brake pedal slip event can be dynamic in nature.
  • the brake pressure for a vehicle when the brake pedal slip event is detected can be applied dynamically to provide deceleration incrementally from 0.1 g to 0.3g.
  • the magnitude of the dynamic brake pressure to be applied can be customized specific to the vehicle and fed into the system.
  • the ‘brake pressure’ applied upon the detection of brake pedal slip event can be constant in nature depending upon the vehicle speed.
  • a constant brake pressure can be applied.
  • a constant brake pressure can be applied to decelerate the vehicle by 0.3g.
  • the magnitude of the constant brake pressure to be applied and the threshold vehicle speed beyond which it is to be applied can be customized specific to the vehicle and fed into the system.
  • the brake pedal slip assist function of the control module (1) gets deactivated once the driver resumes to braking the vehicle.
  • control module (1) comprises of a computation processor to execute the stored programs and a storage unit.
  • the storage unit stores the programs, reference values and inputs from the sensors to execute the invention.
  • Figure 2 depicts a flowchart of a method to assist in braking of a vehicle in the event of a brake pedal slip.
  • the pressure gradient (100a) is calculated by obtaining the difference between the brake pressure obtained from a master cylinder pressure sensor (2) during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time.
  • the threshold pressure gradient is obtained (100b) based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus brake pressure.
  • the brake pressure is applied dynamically (200a) if the pressure gradient is greater than the threshold pressure gradient; and the brake pressure is applied at a constant rate (200b) if the vehicle speed is greater than a threshold speed.
  • the first step is detecting the event of brake pedal slip (100). In order to detect the brake pedal slip event the pressure gradient is compared to the threshold pressure gradient. The pressure gradient is calculated (100a) based on the difference in pressure between the event of applying the brake and releasing the brake pedal in a unit braking time (time taken from pressing the pedal till the release of the pedal). The said calculated pressure gradient value is compared with a threshold pressure gradient value. The same threshold value is pre-computed, vehicle specific and is fed into the system.
  • the threshold pressure gradient is obtained (100b) based on comparing the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure, and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure. If the value of pressure gradient computed by the control module is greater than the threshold pressure gradient value, the event of brake pedal slip is said to be detected.
  • the next step of applying a brake pressure (200) to decelerate the vehicle follows.
  • the brake pressure is applied dynamically (200a) if the pressure gradient is greater than the threshold pressure gradient; and the brake pressure is applied at a constant rate (200b) in the event if the vehicle speed is greater than a threshold speed.
  • the ‘brake pressure’ applied upon the detection of brake pedal slip event can be dynamic.
  • the brake pressure for a vehicle when the brake pedal slip event is detected can be applied dynamically to provide deceleration incrementally from 0.1 g to 0.3g.
  • the magnitude of the dynamic brake pressure to be applied can be customized specific to the vehicle and fed into the system.
  • the ‘brake pressure’ applied upon the detection of brake pedal slip event can be constant in nature depending upon the vehicle speed.
  • a constant brake pressure can be applied.
  • a constant brake pressure can be applied to decelerate the vehicle by 0.3g.
  • the magnitude of the constant brake pressure to be applied and the threshold vehicle speed beyond which it is to be applied can be customized specific to the vehicle and fed into the system.
  • the said brake pedal slip assist gets deactivated (300) once the driver resumes to braking the vehicle.
  • the disclosure advantageously assists in braking the vehicle in the event of a brake pedal slip.
  • the system takes over the task of braking the vehicle till the time the driver regains control over the brakes.
  • the disclosure has wide implications when it comes to preventing accidents and improving road safety.

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

Abstract

The present disclosure proposes a method and a system to assist in braking of a vehicle in an event of a brake pedal slip wherein a control module (1) is embedded in the Electronic Stability program ESP (10) as the- brake pedal slip assist (BPSA),to assist in braking the vehicle in the event of brake pedal slip as a value added function. The event of brake pedal slip is detected based on a pressure gradient being greater than a threshold pressure gradient. A brake pressure is applied to decelerate the vehicle in the event the brake pedal slip is detected. The brake pedal slip assist (BPSA) function of the control module (1) is deactivated in the event the driver resumes braking.

Description

COMPLETE SPECIFICATION
Title of the Invention:
A method and a system to assist in braking of a vehicle
Complete Specification:
The following specification describes and ascertains the nature of this invention and the manner in which it is to be performed.
Field of the invention
[0001] The present disclosure relates to a method and a system to assist in braking of a vehicle and more particularly a method and a system to assist in braking of a vehicle in an event of a brake pedal slip.
Background of the invention
[0002] As per the 2019 data by the National Highway Traffic Safety Administration (an agency of the U.S. federal government, the Department of Transportation), 24% of the total accidents occur due to pedal errors by the drivers. A brake pedal slip is a pedal error where the foot of the driver slips the brake pedal while applying the brake. In one scenario while applying the brakes, the foot of the driver slips when the driver accidentally presses the edge of the brake pedal. In another scenario, the foot of the driver slips gradually due to less grip between foot and the brake pedal.
[0003] In the prior art DE102009053824 A1 a hydraulic brake assistant controlling method for vehicle, involves increasing brake pressure by low pressure supplied to booster, and adapting gradient threshold value to low pressure supplied to brake booster and/or to ambient air pressure. The method involves automatically adjusting brake pressure acting on a brake of a vehicle by a brake assistant, and deriving brake pressure gradient from characteristic of the brake pressure. The brake assistant is activated when the brake pressure gradient lies above a brake pressure gradient threshold value. The brake pressure is increased by low pressure supplied to a brake booster. The brake pressure gradient threshold value is adapted to the low pressure supplied to the brake booster and/or to ambient air pressure.
[0004] The available prior arts assist in braking when enough brake pressure is not applied in times of panic braking, however, there are no solutions to detect a brake pedal slip event to initiate a brake assist system. An efficient brake pedal slip assist is therefore needed that can either be an independent system or can be embedded into the ESPs of a vehicle as a value-added function.
Brief description of the accompanying drawings
An embodiment of the invention is described with reference to the following accompanying drawings:
[0005] Figure 1 depicts a system to assist in braking of a vehicle in the event of a brake pedal slip.
[0006] Figure 2 depicts a flowchart of a method to assist in braking of a vehicle in the event of a brake pedal slip.
Detailed description of the drawings
[0007] Figure 1 depicts a system to assist in braking of a vehicle in the event of a brake pedal slip.
[0008] Referring to Figure 1 , a control module (1) is embedded in the Electronic Stability program ESP (10) as the- brake pedal slip assist (BPSA) -to assist in braking the vehicle in the event of brake pedal slip as a value added function. In an alternative embodiment the said control module can be present independently with a computation processor to execute the stored programs and with a storage unit. The ESP (10) recognizes critical driving conditions and stabilizes the vehicle by wheel-individual braking and engine control intervention with no need for actuating the brake. The ESP system is developed to help the driver avoid the danger of losing the control of the vehicle stability due to under-steering or oversteering during cornering. The ESP has two active safety system: the Antilock Braking System (ABS) (7) and the Traction Control System (TCS) (8). ABS (7) prevents the wheels from locking during braking, TCS (8) prevents the wheels from spinning when starting off and accelerating. The ESP receives inputs (In the alternate embodiment, the control module (1 ) receives the input) from wheel speed sensors (11), inertial sensor (12), accelerator pedal position sensor (13), brake light switch (14), steering angle sensor (15) and the input of measured engine torque (16).
[0009] The wheel speed sensors (11) measure the wheel speed in a contact-free way via magnetic fields. The inertial sensors (12) are used to measure translational and rotational accelerations. The accelerator pedal position sensor (13) sense the accelerator position during the pressing of the accelerator pedal. The brake light switch (14) controls the brake lights to indicate when brake is applied in the vehicle. Steering angle sensor (15) measures the steering wheel position angle and rate of turn and the engine torque (16) is calculated by the engine control unit using torque sensors. The ESP further has a human machine interface (5) to connect with the output devices in the instrument cluster (6). Additionally, a diagnosis system (9) can be provided to detect any errors and fix the entire brake pedal slip assist system.
[0010] Referring to Figure 1 , disclosed is a control module (1) to assist in braking of a vehicle in an event of a brake pedal slip, the said control module configured to: -detect signals from a master cylinder pressure sensor (2);
-estimate a brake pressure;
-estimate a braking time;
-detect the event of brake pedal slip, wherein, the event of brake pedal slip is detected based on a pressure gradient being greater than a threshold pressure gradient;
-communicate with a brake system (3) to apply the brake pressure in a dynamic manner when the pressure gradient is greater than a threshold pressure gradient;
-communicate with the brake system (3) to provide deceleration of the vehicle at a constant rate if the vehicle speed is greater than a threshold speed; and
-deactivate the brake pedal slip assist when the driver resumes braking.
[0011] The pressure gradient is calculated by obtaining the difference between the brake pressure obtained from a master cylinder pressure sensor (2) during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time.
[0012] The threshold pressure gradient is obtained based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure. The control module (1) is in communication with a human machine interface (5) to provide BPS A activation indication to output devices in an instrument cluster (6). [0013] The control module (1) is embedded into the ESP to provide assistance in braking of the vehicle in the event of brake pedal slip as a value-added function. The control module (1) is in communication with a master cylinder pressure sensor (2). The master cylinder pressure sensor (2) detects the brake fluid pressure differentials in the hydraulic system. The control module computes the pressure gradient based on the difference in pressure between the event of applying the brake and releasing the brake pedal in a unit braking time (time taken from pressing the pedal till the release of the pedal). The control module then compares the said pressure gradient value so computed, with a threshold pressure gradient value. The same threshold value is pre- computed, vehicle specific and is fed into the system. The threshold pressure gradient is obtained based on comparing the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure, and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure.
[0014] If the value of pressure gradient computed by the control module is greater than the threshold pressure gradient value, the event of brake pedal slip is said to be detected. Once the event of brake pedal slip is detected the control module interacts with the brake system (3) to apply a brake pressure to the brake discs (4). The brake system (3) uses a hydraulic brake mechanism wherein brake fluid is used to transfer pressure to brake discs (4). [0015] According to an aspect of the invention, the ‘brake pressure’ applied upon the detection of brake pedal slip event can be dynamic in nature. For example, the brake pressure for a vehicle when the brake pedal slip event is detected can be applied dynamically to provide deceleration incrementally from 0.1 g to 0.3g. The magnitude of the dynamic brake pressure to be applied can be customized specific to the vehicle and fed into the system.
[0016] According to another aspect of the invention, the ‘brake pressure’ applied upon the detection of brake pedal slip event can be constant in nature depending upon the vehicle speed. In the event the brake pedal slip is detected; and the vehicle speed is greater than a threshold vehicle speed, a constant brake pressure can be applied. For instance, for a vehicle in motion for which the event of brake pedal is detected and the vehicle speed is greater than a threshold vehicle speed of 50Kmph, a constant brake pressure can be applied to decelerate the vehicle by 0.3g. The magnitude of the constant brake pressure to be applied and the threshold vehicle speed beyond which it is to be applied can be customized specific to the vehicle and fed into the system.
[0017] According to another aspect of the invention, the brake pedal slip assist function of the control module (1) gets deactivated once the driver resumes to braking the vehicle.
[0018] It is to be noted that the control module (1) comprises of a computation processor to execute the stored programs and a storage unit. The storage unit stores the programs, reference values and inputs from the sensors to execute the invention.
[0019] Referring to figure 2, Figure 2 depicts a flowchart of a method to assist in braking of a vehicle in the event of a brake pedal slip.
[0020] Disclosed is a method to assist in braking of a vehicle in an event of a brake pedal slip, the method comprising the steps of:
-detecting the event of brake pedal slip (100), wherein, the event of brake pedal slip is detected based on a pressure gradient being greater than a threshold pressure gradient;
-applying a brake pressure (200) to decelerate the vehicle in the event the brake pedal slip is detected; and
-deactivating the brake pedal slip assist (BPSA) (300) in the event the driver resumes braking . The pressure gradient (100a) is calculated by obtaining the difference between the brake pressure obtained from a master cylinder pressure sensor (2) during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time.
[0021] The threshold pressure gradient is obtained (100b) based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus brake pressure.
[0022] The brake pressure is applied dynamically (200a) if the pressure gradient is greater than the threshold pressure gradient; and the brake pressure is applied at a constant rate (200b) if the vehicle speed is greater than a threshold speed. [0023] Referring to figure 2, the first step is detecting the event of brake pedal slip (100). In order to detect the brake pedal slip event the pressure gradient is compared to the threshold pressure gradient. The pressure gradient is calculated (100a) based on the difference in pressure between the event of applying the brake and releasing the brake pedal in a unit braking time (time taken from pressing the pedal till the release of the pedal). The said calculated pressure gradient value is compared with a threshold pressure gradient value. The same threshold value is pre-computed, vehicle specific and is fed into the system. The threshold pressure gradient is obtained (100b) based on comparing the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure, and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure. If the value of pressure gradient computed by the control module is greater than the threshold pressure gradient value, the event of brake pedal slip is said to be detected.
[0024] Once the event of brake pedal slip is detected the next step of applying a brake pressure (200) to decelerate the vehicle follows. The brake pressure is applied dynamically (200a) if the pressure gradient is greater than the threshold pressure gradient; and the brake pressure is applied at a constant rate (200b) in the event if the vehicle speed is greater than a threshold speed. The ‘brake pressure’ applied upon the detection of brake pedal slip event can be dynamic. To cite an example, the brake pressure for a vehicle when the brake pedal slip event is detected can be applied dynamically to provide deceleration incrementally from 0.1 g to 0.3g. The magnitude of the dynamic brake pressure to be applied can be customized specific to the vehicle and fed into the system.
[0025] The ‘brake pressure’ applied upon the detection of brake pedal slip event can be constant in nature depending upon the vehicle speed. In the event the brake pedal slip is detected, and the vehicle speed is greater than a threshold vehicle speed, a constant brake pressure can be applied. For instance, for a vehicle in motion for which the event of brake pedal is detected and the vehicle speed is greater than a threshold vehicle speed of 50Kmph, a constant brake pressure can be applied to decelerate the vehicle by 0.3g. The magnitude of the constant brake pressure to be applied and the threshold vehicle speed beyond which it is to be applied can be customized specific to the vehicle and fed into the system. The said brake pedal slip assist gets deactivated (300) once the driver resumes to braking the vehicle. [0026] The disclosure advantageously assists in braking the vehicle in the event of a brake pedal slip. The system takes over the task of braking the vehicle till the time the driver regains control over the brakes. The disclosure has wide implications when it comes to preventing accidents and improving road safety.

Claims

We Claim . A method to assist in braking of a vehicle in an event of a brake pedal slip, the method comprising the steps of: detecting the event of brake pedal slip (100), wherein, the event of brake pedal slip is detected based on a pressure gradient being greater than a threshold pressure gradient; applying a brake pressure (200) to decelerate the vehicle in the event the brake pedal slip is detected; and deactivating the brake pedal slip assist (BPSA) (300) in the event the driver resumes braking. . The method to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 1 , wherein, the pressure gradient is calculated (100a) by obtaining a difference between the brake pressure obtained from a master cylinder pressure sensor during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time. . The method to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 1 , wherein, the threshold pressure gradient is obtained (100b) based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus brake pressure. . The method to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 1 , wherein, the brake pressure is applied dynamically (200a) if the pressure gradient is greater than the threshold pressure gradient; and the brake pressure is applied at a constant rate (200b) if the vehicle speed is greater than a threshold speed. A control module (1) to assist in braking of a vehicle in an event of a brake pedal slip, the said control module configured to: detect signals from a master cylinder pressure sensor (2); estimate the brake pressure estimate the braking time detect the event of brake pedal slip, wherein, the event of brake pedal slip is detected based on a pressure gradient being greater than a threshold pressure gradient; communicate with the brake system (3) to apply the brake pressure in a dynamic manner when the pressure gradient is greater than a threshold pressure gradient; communicate with the brake system (3) to provide deceleration of the vehicle at a constant rate if the vehicle speed is greater than a threshold speed; and deactivate the brake pedal slip assist when the driver resumes braking. The control module (1) to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 5, the pressure gradient is calculated by obtaining the difference between the brake pressure obtained from a master cylinder pressure sensor (2) during application of brake and the brake pressure obtained from the master cylinder pressure sensor when the brake pedal is released; and the difference so obtained divided by the braking time. The control module (1) to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 5, wherein, the threshold pressure gradient is obtained based on comparing: the graphical plot of pressure gradient values during an intentional pedal release versus the brake pressure; and the graphical plot of pressure gradient values during a pedal slip event versus the brake pressure. The control module (1) to assist in braking of a vehicle in an event of a brake pedal slip, as claimed in Claim 5, wherein, the said control module is in communication with a human machine interface (5) to provide Brake pedal slip assist (BPSA) activation indication to output devices in an instrument cluster (6).
PCT/EP2023/081784 2022-11-14 2023-11-14 A method and a system to assist in braking of a vehicle WO2024105048A1 (en)

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IN202241065029 2022-11-14

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EP1155934A2 (en) * 2000-05-15 2001-11-21 Hitachi, Ltd. Brake pedal with foot rest function and vehicle speed control on curved roads
US20170254284A1 (en) * 2016-03-03 2017-09-07 Mazda Motor Corporation Engine control device and method for estimating brake pedal depressing force
US20210213942A1 (en) * 2020-01-09 2021-07-15 Toyota Jidosha Kabushiki Kaisha Driving assist apparatus
JP2021183430A (en) * 2020-05-21 2021-12-02 覚 上本 Emergency stop device at the time of pedal error

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Publication number Priority date Publication date Assignee Title
EP0895914A1 (en) * 1996-04-26 1999-02-10 Toyota Jidosha Kabushiki Kaisha Braking force control device
EP1155934A2 (en) * 2000-05-15 2001-11-21 Hitachi, Ltd. Brake pedal with foot rest function and vehicle speed control on curved roads
US20170254284A1 (en) * 2016-03-03 2017-09-07 Mazda Motor Corporation Engine control device and method for estimating brake pedal depressing force
US20210213942A1 (en) * 2020-01-09 2021-07-15 Toyota Jidosha Kabushiki Kaisha Driving assist apparatus
JP2021183430A (en) * 2020-05-21 2021-12-02 覚 上本 Emergency stop device at the time of pedal error

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