CN-115817425-B - Braking mode control system and braking mode control method for vehicle

CN115817425BCN 115817425 BCN115817425 BCN 115817425BCN-115817425-B

Abstract

A brake mode control system for a vehicle includes a user interface unit configured to receive a brake mode input by a driver, a travel information detection unit configured to detect travel information of the vehicle, a brake control unit configured to determine a travel state of the vehicle according to the travel information of the vehicle detected by the travel information detection unit, selectively change the brake mode received by the user interface unit according to the determined travel state of the vehicle to form a final brake mode, and a brake mode operation unit configured to generate different brake feeling according to pedal effort required for a pedal stroke based on the final brake mode.

Inventors

SONG RUI
Zhang Zaixu
CHEN QINGYI
SUN XITAI
ZHANG CHANG

Assignees

现代自动车株式会社
起亚株式会社

Dates

Publication Date: 20260505
Application Date: 20210917

Claims (14)

1. A brake mode control system for a vehicle, comprising: a user interface unit configured to receive a braking mode input by a driver; A travel information detection unit configured to detect travel information of a vehicle; a brake control unit configured to: determining a running state of the vehicle based on the running information of the vehicle detected by the running information detecting unit; Selectively changing the braking mode received by the user interface unit in accordance with the determined driving state of the vehicle to form a final braking mode, and A brake mode operation unit configured to generate different brake sensations according to a pedal effort required for a pedal stroke based on a final brake mode, Wherein the braking mode includes a hard mode, a soft mode and a normal mode, The running information detection unit includes a side-slip detection module including at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor, The brake control unit is further configured to selectively change the braking mode depending on whether the vehicle is in a sideslip state.
2. The brake mode control system for a vehicle according to claim 1, wherein the brake control unit is further configured to: Determining whether the vehicle is in a sideslip state; determining whether the input braking mode is a hard mode when the vehicle is in a sideslip state; When the input braking mode is the hard mode, the hard mode is kept unchanged, and when the input braking mode is not the hard mode, the braking mode is switched to the hard mode.
3. The brake mode control system for a vehicle according to claim 2, wherein the brake control unit is further configured to: calculating a yaw rate calculation value based on detection values from a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor, respectively; the yaw rate detection value from the yaw rate sensor is compared with the calculated yaw rate calculation value, and whether the vehicle is in a side-slip state is determined based on the comparison result.
4. The braking mode control system for a vehicle according to claim 3, wherein the running information detection unit includes an obstacle detection module including at least: A front camera configured to acquire front image information of a vehicle and position information and speed information of an obstacle in front of the vehicle; a front radar configured to acquire position information and speed information of an obstacle in front of the vehicle, and At least two rear angle radars configured to acquire position information and speed information of an obstacle behind or laterally behind the vehicle; Wherein the obstacle detection module calculates an estimated collision time between the vehicle and an obstacle in front of, behind, or behind the vehicle, based on the acquired information.
5. The brake mode control system for a vehicle according to claim 4, wherein the brake control unit is configured to: further determining whether the vehicle is in a collision risk state when the vehicle is not in a sideslip state; determining whether the input braking mode is a soft mode when the vehicle is in a collision risk state; when the input braking mode is a soft mode, the soft mode is kept unchanged, and when the input braking mode is not the soft mode, the braking mode is switched to the soft mode.
6. The braking mode control system for a vehicle according to claim 5, wherein the braking control unit is further configured to determine whether the vehicle is in a collision risk state by comparing the estimated collision time calculated by the obstacle detection module with a preset reference time to determine whether the vehicle is at risk of collision with an obstacle.
7. The brake mode control system for a vehicle according to any one of claims 2 and 5, wherein the brake control unit is further configured to return the brake mode to the originally input brake mode when the vehicle is in a normal state after the brake mode is switched.
8. A braking mode control method for a vehicle, comprising: Receiving, by the user interface unit, a braking mode input by the driver; detecting, by a travel information detecting unit, travel information of the vehicle; determining, by the brake control unit, a running state of the vehicle based on the running information of the vehicle detected by the running information detection unit; selectively changing, by the brake control unit, the braking mode received by the user interface unit in accordance with the determined driving state of the vehicle to form a final braking mode; Different braking sensations are generated by a braking mode operation unit based on a final braking mode according to a pedal effort required for a pedal stroke, Wherein the braking mode includes a hard mode, a soft mode and a normal mode, The running information detection unit includes a side-slip detection module including at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor, The braking mode is selectively changed by a brake control unit depending on whether the vehicle is in a sideslip state.
9. The braking mode control method for a vehicle according to claim 8, further comprising: determining, by the brake control unit, whether the vehicle is in a sideslip state; Determining, by the brake control unit, whether the input brake mode is a hard mode when the vehicle is in a sideslip state; When the input braking mode is the hard mode, the hard mode is kept unchanged, and when the input braking mode is not the hard mode, the braking mode is switched to the hard mode by the braking control unit.
10. The braking mode control method for a vehicle according to claim 9, wherein determining whether the vehicle is in a side-slip state includes: Calculating, by the brake control unit, a yaw rate calculation value based on detection values from the wheel speed sensor, the steering angle sensor, the lateral acceleration sensor, and the longitudinal acceleration sensor, respectively; The braking control unit compares the yaw rate detection value from the yaw rate sensor with the calculated yaw rate calculation value, and determines whether the vehicle is in a side-slip state based on the comparison result.
11. The braking mode control method for a vehicle according to claim 10, wherein the running information detection unit includes an obstacle detection module including at least a front camera, a front Fang Leida, and at least two rear angle radars, the front camera acquiring front image information of the vehicle and position information and speed information of an obstacle in front of the vehicle, the front radar acquiring position information and speed information of an obstacle in front of the vehicle, the rear angle radars acquiring position information and speed information of an obstacle behind or sideways behind the vehicle, The obstacle detection module calculates an estimated collision time between the vehicle and an obstacle in front of, behind, or behind the vehicle, based on the acquired information.
12. The braking mode control method for a vehicle according to claim 11, further comprising: determining, by the brake control unit, whether the vehicle is in a collision risk state when the vehicle is not in a sideslip state; determining, by the brake control unit, whether the input brake mode is a soft mode when the vehicle is in a collision risk state; when the input braking mode is a soft mode, the soft mode is kept unchanged, and when the input braking mode is not the soft mode, the braking mode is switched to the soft mode by the braking control unit.
13. The braking mode control method for a vehicle according to claim 12, wherein determining whether the vehicle is in a collision risk state includes: By comparing the estimated time of collision calculated by the obstacle detection module with a preset reference time, it is determined by the brake control unit whether the vehicle is at risk of collision with the obstacle, thereby determining whether the vehicle is in a collision risk state.
14. The braking mode control method for a vehicle according to any one of claims 9 and 12, further comprising: After the braking mode switching, when the vehicle is in a normal state, the braking mode is returned to the originally input braking mode by the braking control unit.

Description

Braking mode control system and braking mode control method for vehicle Technical Field The present invention relates to the field of brake control of vehicles, and more particularly, to a brake mode control system and a brake mode control method for a vehicle. Background With the development of vehicle technology, higher demands are being placed on the dynamics, economy, safety, handling and comfort of the vehicle. In a vehicle such as an Electric Vehicle (EV) or a Hybrid Electric Vehicle (HEV), an electronically controlled braking technique is utilized. According to the electric control braking technology, when a driver presses a brake pedal, the input push rod is caused to generate displacement by the action of a connecting rod, a pedal stroke sensor detects a signal generated by the displacement of the input push rod and sends the signal to an Electronic Control Unit (ECU), the ECU calculates torque to be generated by a motor and sends the corresponding signal to the motor, and the motor converts the torque into braking force by using a ball screw and a brake master cylinder after receiving the corresponding signal, so that braking is realized. Thus, the braking force in a vehicle using electronically controlled braking techniques is adjustable. Recently, in order to improve safety, drivability, and comfort of vehicles, thereby improving marketability, vehicle manufacturers provide different braking modes (hard mode, soft mode, normal mode, etc.) through a cluster board or audio video navigation and telematics (Audio Video Navigation Telematics, AVNT) system in the vehicles, allowing drivers to select the braking modes according to driving preferences. However, in the related art, once a driver inputs a braking mode, the input braking mode cannot be automatically changed according to an actual driving situation during driving. For example, during driving, once an emergency braking situation occurs (e.g., pedestrians or other vehicles need to avoid before and after the vehicle), or a braking situation does not occur (e.g., the vehicle sideslips), the selected braking mode may need to be changed to cope with such sudden driving conditions, thereby ensuring driving safety. Accordingly, a brake control technique capable of automatically changing a brake mode input in advance by a driver according to an actual running condition, thereby coping with a sudden running condition is demanded. The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Disclosure of Invention In view of the above-described drawbacks of the related art, embodiments of the present invention provide a brake control technique capable of automatically changing a brake mode input in advance by a driver according to an actual running condition, thereby coping with a sudden running condition. According to one aspect of the present invention, there is provided a brake mode control system for a vehicle, including a user interface unit configured to receive a brake mode input by a driver, a travel information detection unit configured to detect travel information of the vehicle, a brake control unit configured to determine a travel state of the vehicle according to the travel information of the vehicle detected by the travel information detection unit, selectively change the brake mode received by the user interface unit according to the determined travel state of the vehicle to form a final brake mode, and a brake mode operation unit configured to generate different brake feeling according to pedal effort required for a pedal stroke based on the final brake mode. Preferably, the braking mode includes a hard mode, a soft mode, and a normal mode. Preferably, the running information detection unit includes a sideslip detection module including at least a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor. Preferably, the brake control unit is further configured to determine whether the vehicle is in a sideslip state, determine whether the input brake mode is a hard mode when the vehicle is in the sideslip state, maintain the hard mode unchanged when the input brake mode is the hard mode, and switch the brake mode to the hard mode when the input brake mode is not the hard mode. Preferably, the brake control unit is further configured to calculate a yaw rate calculation value based on detection values from the wheel speed sensor, the steering angle sensor, the lateral acceleration sensor, and the longitudinal acceleration sensor, respectively, and compare the yaw rate detection value from the yaw rate sensor with the calculated yaw rate calculation value, and determine whether the vehicle is in a side-slip state acc