WO2019042374A1 - 一种紧急制动控制方法、装置、ecu和车辆 - Google Patents

一种紧急制动控制方法、装置、ecu和车辆 Download PDF

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Publication number
WO2019042374A1
WO2019042374A1 PCT/CN2018/103328 CN2018103328W WO2019042374A1 WO 2019042374 A1 WO2019042374 A1 WO 2019042374A1 CN 2018103328 W CN2018103328 W CN 2018103328W WO 2019042374 A1 WO2019042374 A1 WO 2019042374A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving mode
mode
emergency
brake
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/103328
Other languages
English (en)
French (fr)
Inventor
张士亮
刘甚宏
孔凡茂
孟祥禄
王立波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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 Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to US16/643,117 priority Critical patent/US10829119B1/en
Priority to RU2020112462A priority patent/RU2747828C1/ru
Priority to EP18851081.2A priority patent/EP3677480B1/en
Publication of WO2019042374A1 publication Critical patent/WO2019042374A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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    • B60W30/18109—Braking
    • 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
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
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    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
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Definitions

  • the present application relates to the field of vehicle technology, and in particular, to an emergency brake control method, apparatus, ECU, and vehicle.
  • EPB Electronic Park Brake
  • the EPB system is a one-button parking system that replaces the traditional trolley handbrake. Changing the lever to the button form not only saves the inside of the car.
  • the layout space, the most important is to add some additional features of safety and comfort based on the realization of the parking function.
  • it is limited to the normal use of the skilled driver.
  • the driver can perform the emergency braking by pulling the EPB switch, but the vehicle will also have the following conditions: Pulling the EPB switch to achieve a brake deceleration of only 0.4g or 0.6g, a serious traffic accident due to a long braking distance; braking by a long pull EPB switch, but the driver is nervous to continue to step on the accelerator pedal, at this time CDP (Controller Deceleration Parking)
  • CDP Controller Deceleration Parking
  • the system will exit the brakes, and the vehicle will accelerate and cause traffic accidents.
  • the driver always pulls up the EPB switch to perform braking. Once the EPB switch is released in the event of an emergency, the CDP system will exit, causing accidents such as traffic accidents, property losses, casualties and the like.
  • the present application aims to propose an emergency brake control method to solve the problem that the EPB system has a long braking distance in an emergency and is easy to exit the brake.
  • An emergency brake control method is applied to a vehicle, the method comprising:
  • the driving mode is activated
  • the control electronic stability program ESP decelerates the vehicle with a preset deceleration in the driving mode, and sends a fuel cut to the engine management system EMS. A signal is requested to cut off the output of the engine torque.
  • the method further includes:
  • the electronic stability program ESP is controlled to send a park request to the electronic parking brake EPB system to be parked by the electronic parking brake EPB system.
  • the method when receiving the emergency braking command, the method further comprises at least one of the following operations:
  • the parking indicator light in the control meter flashes and an alarm sounds
  • the brake tail light is illuminated after control.
  • the method further includes:
  • the driver mode is exited.
  • the driving mode is initiated, including:
  • the driving mode is activated when the brake pedal is operated while the pulling duration of the electronic parking brake EPB switch satisfies the set time length.
  • the emergency brake control method described in the present application has the following advantages:
  • the driver mode When receiving the first trigger signal of the vehicle entering the driver mode, the driver mode is activated; in the driver mode, when the emergency brake command is received, the ESP is controlled to perform the vehicle with the preset deceleration in the driver mode. Deceleration and send a fuel cut request signal to the EMS to cut off the output of the engine torque.
  • the ESP After the driving mode is activated, the ESP will decelerate the vehicle according to the preset deceleration during the emergency braking, and control the braking distance to avoid a traffic accident caused by the excessive braking distance of the EPB system.
  • the EMS cuts off the oil circuit. Even if the driver accidentally steps on the accelerator or releases the EPB switch, the vehicle will not accelerate and still brake effectively, avoiding traffic accidents, property damage and casualties.
  • Another object of the present application is to provide an emergency brake control device to solve the problem that the EPB system has a long braking distance in an emergency and is easy to exit the brake.
  • An emergency brake control device is disposed in a vehicle, the device comprising:
  • the startup module is configured to start the driving mode when receiving a first trigger signal of the vehicle entering the driving mode
  • An emergency braking module configured to, when receiving the emergency braking command, the electronic stability program ESP decelerating the vehicle with a preset deceleration in the companion mode in the accompanying driving mode, and The engine management system EMS sends a fuel cut request signal to cut off the output of the engine torque.
  • the device further comprises:
  • a gear change transmitting module for transmitting a request to change to a neutral to the transmission control unit TCU;
  • a parking request sending module configured to, after the vehicle brakes to a standstill, control the electronic stability program ESP to send a parking request to the electronic parking brake EPB system to be parked by the electronic parking brake EPB system move.
  • the apparatus further comprises at least one of the following modules:
  • the instrument control module is configured to control the parking indicator light in the meter to flash and emit an alarm sound
  • Taillight control module for controlling the rear brake taillights to illuminate.
  • the device further comprises:
  • the emergency braking control device has the same advantages as the above-described emergency braking control method with respect to the prior art, and details are not described herein again.
  • Another object of the present application is to provide an electronic control unit ECU to solve the problem that the EPB system has a long braking distance in an emergency and is easy to exit the brake.
  • An electronic control unit ECU comprising an emergency brake control device as described above.
  • Another object of the present application is to propose a vehicle to solve the problem that the EPB system has a long braking distance in an emergency and is easy to exit the brake.
  • a vehicle comprising an emergency brake control device as described above.
  • the vehicle has the same advantages as the above-described emergency brake control device with respect to the prior art, and will not be described again.
  • Another object of the present application is to provide a storage medium that stores the emergency brake control method as described above to solve the problem that the EPB system has a long braking distance in an emergency and is easy to exit the brake.
  • FIG. 2 is a flow chart of steps of an emergency brake control method according to Embodiment 2 of the present application.
  • FIG. 3 is a structural block diagram of an emergency brake control apparatus according to Embodiment 3 of the present application.
  • FIG. 4 is a second structural block diagram of an emergency brake control apparatus according to Embodiment 3 of the present application.
  • FIG. 1 a flow chart of steps of an emergency brake control method provided by an embodiment of the present application is shown. The method is applied to a vehicle, including:
  • Step 101 When the first trigger signal of the vehicle entering the driver mode is received, the driver mode is activated.
  • the accompanying driving mode is a mode for assisting the driver to control the vehicle during driving, especially during the driving braking process, and assisting in controlling the vehicle to stop to improve safety performance.
  • the first trigger signal for entering the accompanying driving mode may be a signal triggered by a long press of the driver's button, or a signal of a brake pedal triggered by repeatedly stepping on the passenger's position, or the brake pedal may be operated while the pulling of the EPB switch continues.
  • the driver mode is activated. For example, when the vehicle detects that the driver has stepped on the brake pedal and simultaneously pulls the EPB switch for more than 3 seconds, the driver mode is activated.
  • the embodiment of the present application does not limit the setting duration in detail, and may be 3s or 5s or the like.
  • Step 102 in the driving mode, when an emergency braking command is received, the electronic stability program ESP (Electronic Stability Program) decelerates the vehicle with a preset deceleration in the driving mode, and A fuel cut request signal is sent to the engine management system EMS (Engine Management System) to cut off the output of the engine torque.
  • ESP Electronic Stability Program
  • the ESP decelerates. Specifically, during the driving process, the vehicle detects the first trigger signal, and sends a preset deceleration to the ESP, so that the hydraulic module decomposes the preset deceleration to the pressure control of the active four-wheel cylinder, thereby braking the vehicle.
  • the preset deceleration may be one or more. When a plurality of preset decelerations are set, the corresponding preset deceleration may be sent to the ESP according to the current vehicle speed; or the corresponding distance may be transmitted according to the safety distance detected by the distance sensor.
  • the preset deceleration may be specifically 0.4g or 0.6g.
  • the fuel cut request signal can be sent to the engine management system EMS (Engine Management System) at the same time; after the preset deceleration is sent, within the set time, such as within 5s, the oil is sent to the EMS.
  • the request signal it is also possible to send a fuel cut request signal to the EMS when the acceleration is detected after the preset deceleration is transmitted.
  • the driver accidentally steps on the accelerator and detects the acceleration within 1 s or 3 s, and sends a fuel cut request signal to the EMS.
  • the EMS receives the fuel cut request signal, it can cut off the output of the engine torque. At this time, even if the driver accidentally steps on the accelerator, or the driver releases the EPB switch, the vehicle will not accelerate because the oil circuit is cut off, and the brake is still effective, thereby avoiding traffic accidents, property damage, and casualties.
  • the driver mode when the first trigger signal of the vehicle entering the driver mode is received, the driver mode is activated; in the driver mode, when the emergency brake command is received, the ESP is controlled to accompany The preset deceleration in the driving mode decelerates the vehicle and sends a fuel cut request signal to the EMS to cut off the output of the engine torque.
  • the ESP after the driving mode is activated, the ESP will decelerate the vehicle according to the preset deceleration during the emergency braking, and control the braking distance to avoid a traffic accident caused by the excessive braking distance of the EPB system.
  • the EMS cuts off the oil circuit. Even if the driver accidentally steps on the accelerator or releases the EPB switch, the vehicle will not accelerate and still brake effectively, avoiding traffic accidents, property damage and casualties.
  • FIG. 2 a flow chart of steps of an emergency brake control method provided by an embodiment of the present application is shown. The method is applied to a vehicle, including:
  • Step 201 When the first trigger signal of the vehicle entering is received, the driving mode is activated.
  • Step 202 in the driving mode, when receiving the emergency braking command, the control electronic stability program ESP decelerates the vehicle with the preset deceleration in the driving mode, and sends the vehicle to the EMS.
  • a fuel cut request signal is sent to cut off the output of the engine torque.
  • Step 203 when receiving the emergency brake command, transmits a request to change to neutral for the transmission control unit TCU (Transmission Control Unit).
  • TCU Transmission Control Unit
  • a request to change to the N position may be transmitted to the TCU, and after receiving the request to change to the N position, the TCU receives the request to change to the N position.
  • Change the current gear position to N gear that is, the power is not output to the drive wheel, and the vehicle does not turn off but does not drive.
  • the request to change to the N file can be sent when the preset deceleration is sent to the ESP, or when the fuel cut request signal is sent to the EMS, or can be sent according to the preset time, for example, when the emergency brake is received.
  • a request to change to the N file is sent after the instruction is 3s or 5s later.
  • Step 204 After the vehicle brakes to a standstill, the electronic stability program ESP is controlled to send a parking request to the electronic parking brake EPB system to be parked by the electronic parking brake EPB system.
  • control electronic stability program ESP sends a parking request to the electronic parking brake EPB system, and the parking brake is performed by the electronic parking brake EPB system.
  • Step 205 when receiving the emergency braking command, the parking indicator light in the control meter flashes and an alarm sound is emitted.
  • the working instruction when receiving the emergency braking command, can also be sent to the meter.
  • the meter controls the parking indicator light, that is, the P light flashes, and the meter can also issue a “ ⁇ ” alarm sound. To remind drivers and accompanying drivers.
  • step 206 when the emergency brake command is received, the rear brake tail lamp is illuminated.
  • a work command may be sent to the rear brake tail lamp, and the rear brake tail lamp is illuminated after receiving the work command to prompt the rear vehicle to avoid rear-end collision.
  • Step 207 after the vehicle stops, when the vehicle receives the second trigger signal or the vehicle restart signal of the driver mode in the driver mode, the driver mode is exited.
  • the accompanying driving mode may be exited when the second trigger signal of the vehicle exiting the driving mode is received, or the driving mode may be exited when the vehicle restart signal is received.
  • the second trigger signal may be the same as the first trigger signal or may be different from the first trigger signal.
  • the first trigger signal entering the driver mode is a signal triggered by the long press button
  • the second trigger signal exiting the driver mode is a signal that is triggered when the brake pedal is working and the duration of the pulling of the EPB switch meets the set duration.
  • the vehicle restart signal may be a vehicle ignition signal, or may be a signal that the vehicle is changed to a designated gear position, such as a first gear.
  • the driver mode when the first trigger signal of the vehicle entering the driver mode is received, the driver mode is activated; in the driver mode, when the emergency brake command is received, the ESP is controlled to accompany The preset deceleration in the driving mode decelerates the vehicle and sends a fuel cut request signal to the EMS to cut off the output of the engine torque.
  • the ESP decelerates the vehicle according to the preset deceleration during the emergency braking, and controls the braking distance to avoid a traffic accident caused by the excessive braking distance of the EPB system.
  • the EMS cuts off the oil circuit. Even if the driver accidentally steps on the accelerator or releases the EPB switch, the vehicle will not accelerate and still brake effectively, avoiding traffic accidents, property damage and casualties.
  • FIG. 3 it is a structural block diagram of an emergency brake control apparatus provided by an embodiment of the present application.
  • the apparatus is deployed in a vehicle, and includes:
  • the startup module 301 is configured to start the driving mode when receiving a first trigger signal of the vehicle entering the driving mode;
  • the emergency braking module 302 is configured to: when receiving the emergency braking command, the control electronic stability program ESP decelerates the vehicle in a preset deceleration in the driving mode, and A fuel cut request signal is sent to the engine management system EMS to cut off the output of the engine torque.
  • the driver mode is entered.
  • the preset deceleration is sent to the ESP, so that the hydraulic module decomposes the preset deceleration into the pressure control of the actively pressurized four wheel cylinders, thereby braking the vehicle.
  • the fuel cut request signal is sent to the EMS, and the EMS cuts off the output of the engine torque after receiving the fuel cut request signal.
  • the vehicle will not accelerate because the oil circuit is cut off, and the brake is still effective, thereby avoiding traffic accidents, property damage, and casualties.
  • the device further includes:
  • a gear change transmitting module 303 for transmitting a request to change to a neutral to the transmission control unit TCU;
  • the parking request sending module 304 is configured to, after the vehicle brakes to a standstill, control the electronic stability program ESP to send a parking request to the electronic parking brake EPB system to be parked by the electronic parking brake EPB system brake.
  • the request to change to neutral is sent to the TCU.
  • the TCU changes the current gear position to neutral, that is, the power is not output to the drive wheel, and the vehicle does not turn off but does not travel.
  • the control electronic stability program ESP sends a parking request to the electronic parking brake EPB system, and the parking brake is performed by the electronic parking brake EPB system.
  • the device further includes at least one of the following modules:
  • the meter control module 305 is configured to control the parking indicator light in the meter to flash and emit an alarm sound;
  • the taillight control module 306 is configured to control the rear brake taillight to illuminate.
  • the device further includes:
  • the exiting module 307 is configured to exit the driving mode when the second trigger signal or the vehicle restart signal of the vehicle exiting the driving mode is received in the driving mode after the vehicle is stopped.
  • the driver mode when the first trigger signal of the vehicle entering the driver mode is received, the driver mode is activated; in the driver mode, when the emergency brake command is received, the ESP is controlled to accompany The preset deceleration in the driving mode decelerates the vehicle and sends a fuel cut request signal to the EMS to cut off the output of the engine torque.
  • the ESP decelerates the vehicle according to the preset deceleration during the emergency braking, and controls the braking distance to avoid a traffic accident caused by the excessive braking distance of the EPB system.
  • the EMS cuts off the oil circuit. Even if the driver accidentally steps on the accelerator or releases the EPB switch, the vehicle will not accelerate and still brake effectively, avoiding traffic accidents, property damage and casualties.
  • the electronic control unit ECU provided by the embodiment of the present application includes the emergency brake control device as described in the third embodiment.
  • the emergency brake control device deployed in the vehicle, includes:
  • the startup module is configured to start the driving mode when receiving a first trigger signal of the vehicle entering the driving mode
  • An emergency braking module configured to, when receiving the emergency braking command, the electronic stability program ESP decelerating the vehicle with a preset deceleration in the companion mode in the accompanying driving mode, and The engine management system EMS sends a fuel cut request signal to cut off the output of the engine torque.
  • the embodiment of the present application further provides a vehicle including the emergency brake control device as described in Embodiment 3.
  • the embodiment of the present application further provides a storage medium, which stores the emergency brake control method according to the first embodiment.
  • the ECU includes the emergency brake control device described above, and the vehicle includes the emergency brake control device, and the emergency brake control device includes a start module and an emergency brake module.
  • the ESP decelerates the vehicle according to the preset deceleration during the emergency braking, and controls the braking distance to avoid a traffic accident caused by the excessive braking distance of the EPB system.
  • the EMS cuts off the oil circuit. Even if the driver accidentally steps on the accelerator or releases the EPB switch, the vehicle will not accelerate and still brake effectively, avoiding traffic accidents, property damage and casualties.

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Abstract

一种紧急制动控制方法，包括：当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以陪驾模式下的预设减速度对车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出，该紧急制动控制方法，在启动陪驾模式后，紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故，同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆也不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡；还涉及一种紧急制动控制装置、ECU和车辆。

Description

一种紧急制动控制方法、装置、ECU和车辆
本申请要求在2017年08月30日提交中国专利局、申请号为201710765303.6、申请名称为“一种紧急制动控制方法、装置和ECU”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆技术领域，特别涉及一种紧急制动控制方法、装置、ECU和车辆。
背景技术
目前，大多数大汽车品牌都在开发EPB(Electrical Park Brake，电子驻车制动)系统，EPB系统是取代传统拉杆手刹的一键式驻车系统，将拉杆改为按钮形式不仅节省了车内布置空间，最主要的是在实现驻车功能的基础上增加了一些安全舒适性的附加功能。但是EPB系统在使用中，仅限于熟练驾驶员正常使用的情况，在新手练车遇到紧急情况时，驾驶员可以通过长拉EPB开关进行紧急制动，但是车辆也会出现以下情况：通过长拉EPB开关实现的制动减速度只有0.4g或0.6g，由于制动距离长而导致发生严重交通事故；通过长拉EPB开关实现制动，但驾驶员紧张继续踩下油门踏板，此时CDP(Controller Deceleration Parking，减速度控制)系统会退出制动，车辆会加速行驶，容易造成交通事故。并且，驾驶员一直拉起EPB开关执行制动，一旦遇到突发情况松开EPB开关，CDP系统将会退出，进而造成交通事故、财产损失、人员伤亡等意外情况。
申请内容
有鉴于此，本申请旨在提出一种紧急制动控制方法，以解决EPB系统在紧急情况下制动距离长，并且容易退出制动的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种紧急制动控制方法，应用于车辆，所述方法包括：
当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
优选地，当接收到紧急制动指令时，所述方法还包括：
向变速箱控制单元TCU发送变更为空档的请求；
在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
优选地，当接收到紧急制动指令时，所述方法还包括下列至少一种操作：
控制仪表中的驻车指示灯闪烁并发出报警音；
控制后制动尾灯点亮。
优选地，所述方法还包括：
所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
优选地，所述当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式，包括：
当制动踏板工作同时电子驻车制动EPB开关的拉动持续时间满足设定时长时，启动所述陪驾模式。
相对于现有技术，本申请所述的紧急制动控制方法具有以下优势：
当接收到车辆进入陪驾模式的第一触发信号时，启动陪驾模式；在陪驾模式下，当接收到紧急制动指令时，控制ESP以陪驾模式下的预设减速度对车辆进行减速，并向EMS发送断油请求信号，以切断发动机扭矩的输出。通过本申请实施例，启动陪驾模式后，紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故。同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆也不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡。
本申请的另一目的在于提出一种紧急制动控制装置，以解决EPB系统在紧急情况下制动距离长，并且容易退出制动的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种紧急制动控制装置，部署在车辆，所述装置包括：
启动模块，用于当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
紧急制动模块，用于在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
优选地，所述装置还包括：
档位变更发送模块，用于向变速箱控制单元TCU发送变更为空档的请求；
驻车请求发送模块，用于在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
优选地，所述装置还包括下列至少一种模块：
仪表控制模块，用于控制仪表中的驻车指示灯闪烁并发出报警音；
尾灯控制模块，用于控制后制动尾灯点亮。
优选地，所述装置还包括：
退出模块，用于所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
所述紧急制动控制装置与上述紧急制动控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本申请的另一目的在于提出一种电子控制单元ECU，以解决EPB系统在紧急情况下制动距离长，并且容易退出制动的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种电子控制单元ECU，包括如上述的紧急制动控制装置。
所述ECU与上述紧急制动控制装置相对于现有技术所具有的优势相同，在此不再赘述。
本申请的另一目的在于提出一种车辆，以解决EPB系统在紧急情况下制动距离长，并且容易退出制动的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种车辆，包括如上述的紧急制动控制装置。
所述车辆与上述紧急制动控制装置相对于现有技术所具有的优势相同，在 此不再赘述。
本申请的另一目的在于提出一种存储介质，所述存储介质存储如上述的紧急制动控制方法，以解决EPB系统在紧急情况下制动距离长，并且容易退出制动的问题。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请实施例一所述的一种紧急制动控制方法的步骤流程图；
图2为本申请实施例二所述的一种紧急制动控制方法的步骤流程图；
图3为本申请实施例三所述的一种紧急制动控制装置的结构框图之一；
图4为本申请实施例三所述的一种紧急制动控制装置的结构框图之二。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
实施例一
详细介绍了本申请实施例提供的一种紧急制动控制方法。
参照图1，示出了本申请实施例提供的一种紧急制动控制方法的步骤流程图，所述方法应用于车辆，包括：
步骤101，当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式。
本实施例中，车辆接收到进入陪驾模式的第一触发信号后，启动陪驾模式。陪驾模式为行车过程中用于辅助驾驶员控制车辆的模式，尤其在行车制动过程中，辅助控制车辆停止，以提高安全性能。例如，在新手学车或开车时，通过使用陪驾模式，可以在用户紧急刹车时辅助控制车辆停车，避免新手驾驶员操作失误发生危险。进入陪驾模式的第一触发信号可以是长按陪驾按键触发的信号，也可以是多次踩踏副驾驶位置的制动踏板触发的信号，还可以是制动踏板工作同时EPB开关的拉动持续时间满足设定时长时触发的信号。当接收到进入陪驾模式的第一触发信号后，启动陪驾模式。例如，当车辆检测到驾驶人员踩下制动踏板，同时长拉EPB开关超过3s时，启动陪驾模式。本申请实施例对 设定时长不作详细限定，可以是3s或者5s等。进入陪驾模式后，可以控制陪驾指示灯点亮，或者在显示屏中进行显示进入陪驾模式，以提示用户当前处于陪驾模式。
步骤102，在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP(Electronic Stability Program)以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS(Engine Management System)发送断油请求信号，以切断发动机扭矩的输出。
本实施例中，启动陪驾模式后，如果接收到紧急制动指令，则ESP进行减速。具体地，在行车过程中，车辆检测到第一触发信号，向ESP发送预设减速度，使液压模块将预设减速度分解到主动增压四个轮缸的压力控制，从而制动车辆。预设减速度可以是一个也可以是多个，在设置有多个预设减速度时，可以根据当前车速向ESP发送对应的预设减速度；也可以根据距离传感器检测到的安全距离发送对应的预设减速度，所述预设减速度具体可以是0.4g或者0.6g。在发送预设减速度时，可以同时向发动机管理系统EMS(Engine Management System)发送断油请求信号；也可以在发送预设减速度后，设定时间内，如5s内，向EMS发送断油请求信号；还可以在发送预设减速度后又检测到加速时，向EMS发送断油请求信号。例如，向ESP发送预设减速度后，驾驶员误踩油门，在1s或3s内检测到加速，则向EMS发送断油请求信号。EMS接收到断油请求信号后，即可切断发动机扭矩的输出。此时，即使驾驶人员误踩油门，或者陪驾人员松开EPB开关，由于切断了油路，车辆也不会加速行驶，制动仍然有效，从而避免造成交通事故、财产损失以及人员伤亡。
综上所述，本申请实施例中，当接收到车辆进入陪驾模式的第一触发信号时，启动陪驾模式；在陪驾模式下，当接收到紧急制动指令时，控制ESP以陪驾模式下的预设减速度对车辆进行减速，并向EMS发送断油请求信号，以切断发动机扭矩的输出。通过本申请实施例，启动陪驾模式后，紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故。同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆也不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡。
实施例二
参照图2，示出了本申请实施例提供的一种紧急制动控制方法的步骤流程图，所述方法应用于车辆，包括：
步骤201，当接收到车辆进入的第一触发信号时，启动所述陪驾模式。
步骤202，在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
步骤203，当接收到紧急制动指令时，向变速箱控制单元TCU(Transmission Control Unit)发送变更为空档的请求。
本实施例中，当接收到紧急制动指令时，除了对车辆进行减速以及切断油路，还可以向TCU发送变更为N档即空档的请求，TCU接收到变更为N档的请求后，将当前的档位变更为N档，即动力不输出给驱动轮，车辆不熄火但是不会行驶。变更为N档的请求，可以在向ESP发送预设减速度的时候发送，也可以在向EMS发送断油请求信号的时候发送，还可以根据预设时间发送，例如，在接收到紧急制动指令后间隔3s或5s后发送变更为N档的请求。
步骤204，在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
本实施例中，紧急制动使车辆到静止后，控制电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，由电子驻车制动EPB系统进行驻车制动。
步骤205，当接收到紧急制动指令时，控制仪表中的驻车指示灯闪烁并发出报警音。
本实施例中，在接收到紧急制动指令时，还可以向仪表发送工作指令，仪表接收到工作指令后控制驻车指示灯即P灯闪烁，同时仪表还可以发出“嘀嘀”的报警音，以提示驾驶人员和陪驾人员。
步骤206，当接收到紧急制动指令时，控制后制动尾灯点亮。
本实施例中，在接收到紧急制动指令时，还可以向后制动尾灯发送工作指令，后制动尾灯接收到工作指令后点亮，以提示后车，避免后车追尾。
步骤207，所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
本实施例中，车辆停止后，可以在接收到车辆退出陪驾模式的第二触发信 号时退出陪驾模式，也可以在接收到车辆重新启动信号时退出陪驾模式。第二触发信号可以与第一触发信号相同，也可以与第一触发信号不同。例如，进入陪驾模式的第一触发信号为长按陪驾按键触发的信号，退出陪驾模式的第二触发信号为制动踏板工作同时EPB开关的拉动持续时间满足设定时长时触发的信号。车辆重新启动信号可以是车辆打火信号，也可以是车辆变更为指定档位如1档的信号。
综上所述，本申请实施例中，当接收到车辆进入陪驾模式的第一触发信号时，启动陪驾模式；在陪驾模式下，当接收到紧急制动指令时，控制ESP以陪驾模式下的预设减速度对车辆进行减速，并向EMS发送断油请求信号，以切断发动机扭矩的输出。通过本申请实施例，启动陪驾模式后，在紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故。同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡。
实施例三
参照图3，示出了本申请实施例提供的一种紧急制动控制装置的结构框图，所述装置部署在车辆，包括：
启动模块301，用于当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
紧急制动模块302，用于在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
本实施例中，接收到第一触发信号后，进入陪驾模式。在陪驾模式下，接收到紧急制动指令，则向ESP发送预设减速度，使液压模块将预设减速度分解到主动增压四个轮缸的压力控制，从而制动车辆。并且，向EMS发送断油请求信号，EMS在接收到断油请求信号后，切断发动机扭矩的输出。此时，即使驾驶人员误踩油门，或者陪驾人员松开EPB开关，由于切断了油路，车辆也不会加速行驶，制动仍然有效，从而避免造成交通事故、财产损失以及人员伤亡。
可选地，见图4，所述装置还包括：
档位变更发送模块303，用于向变速箱控制单元TCU发送变更为空档的请 求；
驻车请求发送模块304，用于在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
本实施例中，向TCU发送变更为空档的请求，TCU接收到变更为空档的请求后，将当前的档位变更为空档，即动力不输出给驱动轮，车辆不熄火但是不会行驶。紧急制动使车辆到静止后，控制电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，由电子驻车制动EPB系统进行驻车制动。
可选地，见图4，所述装置还包括下列至少一种模块：
仪表控制模块305，用于控制仪表中的驻车指示灯闪烁并发出报警音；
尾灯控制模块306，用于控制后制动尾灯点亮。
可选地，见图4，所述装置还包括：
退出模块307，用于所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
综上所述，本申请实施例中，当接收到车辆进入陪驾模式的第一触发信号时，启动陪驾模式；在陪驾模式下，当接收到紧急制动指令时，控制ESP以陪驾模式下的预设减速度对车辆进行减速，并向EMS发送断油请求信号，以切断发动机扭矩的输出。通过本申请实施例，启动陪驾模式后，在紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故。同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡。
实施例四
详细介绍了本申请实施例提供的一种电子控制单元ECU。
本申请实施例提供的电子控制单元ECU包括如实施例三所述的紧急制动控制装置。
所述紧急制动控制装置，部署在车辆，包括：
启动模块，用于当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
紧急制动模块，用于在所述陪驾模式下，当接收到紧急制动指令时，控制 电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
本申请实施例还提供了一种车辆，所述车辆包括如实施例三所述的紧急制动控制装置。
本申请实施例还提供了一种存储介质，所述存储介质存储如实施例一所述的紧急制动控制方法。
综上所述，本申请实施例中，ECU包括上述紧急制动控制装置，车辆包括上述紧急制动控制装置，紧急制动控制装置包括启动模块和紧急制动模块。通过本申请实施例，启动陪驾模式后，在紧急制动时ESP会根据预设减速度对车辆进行减速，控制制动距离，避免由于EPB系统制动距离过长导致的交通事故。同时，EMS切断油路，即使驾驶人员误踩油门，或者松开EPB开关，车辆不会加速，仍然有效制动，避免退出制动造成交通事故、财产损失及人员伤亡。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (12)

  1. 一种紧急制动控制方法，应用于车辆，其特征在于，所述方法包括：
    当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
    在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
  2. 根据权利要求1所述的方法，其特征在于，当接收到紧急制动指令时，所述方法还包括：
    向变速箱控制单元TCU发送变更为空档的请求；
    在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
  3. 根据权利要求1所述的方法，其特征在于，当接收到紧急制动指令时，所述方法还包括下列至少一种操作：
    控制仪表中的驻车指示灯闪烁并发出报警音；
    控制后制动尾灯点亮。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
  5. 根据权利要求1所述的方法，其特征在于，所述当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式，包括：
    当制动踏板工作同时电子驻车制动EPB开关的拉动持续时间满足设定时长时，启动所述陪驾模式。
  6. 一种紧急制动控制装置，部署在车辆，其特征在于，所述装置包括：
    启动模块，用于当接收到车辆进入陪驾模式的第一触发信号时，启动所述陪驾模式；
    紧急制动模块，用于在所述陪驾模式下，当接收到紧急制动指令时，控制电子稳定程序ESP以所述陪驾模式下的预设减速度对所述车辆进行减速，并向发动机管理系统EMS发送断油请求信号，以切断发动机扭矩的输出。
  7. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    档位变更发送模块，用于向变速箱控制单元TCU发送变更为空档的请求；
    驻车请求发送模块，用于在所述车辆制动到静止后，控制所述电子稳定程序ESP向电子驻车制动EPB系统发送驻车请求，以由电子驻车制动EPB系统驻车制动。
  8. 根据权利要求6所述的装置，其特征在于，所述装置还包括下列至少一种模块：
    仪表控制模块，用于控制仪表中的驻车指示灯闪烁并发出报警音；
    尾灯控制模块，用于控制后制动尾灯点亮。
  9. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    退出模块，用于所述车辆停止后，当在所述陪驾模式下接收到车辆退出所述陪驾模式的第二触发信号或车辆重新启动信号时，退出所述陪驾模式。
  10. 一种电子控制单元ECU，其特征在于，所述电子控制单元ECU包括如权利要求6至权利要求9中任一项所述的紧急制动控制装置。
  11. 一种车辆，其特征在于，所述车辆包括如权利要求6至权利要求9中任一项所述的紧急制动控制装置。
  12. 一种存储介质，其特征在于，所述存储介质存储如权利要求1至权利要求5中任一项所述的紧急制动控制方法。
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