CN105109350A - Vehicle brake control method and device - Google Patents
Vehicle brake control method and device Download PDFInfo
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- CN105109350A CN105109350A CN201510518983.2A CN201510518983A CN105109350A CN 105109350 A CN105109350 A CN 105109350A CN 201510518983 A CN201510518983 A CN 201510518983A CN 105109350 A CN105109350 A CN 105109350A
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Abstract
The invention relates to a vehicle brake control method and device, belonging to the field of new energy vehicles. The method comprises the following steps: acquiring a control signal of a brake pedal; detecting whether the master cylinder pressure is greater than the pressure threshold or not; when the master cylinder pressure is not greater than the pressure threshold, braking through a first control strategy; and when the master cylinder pressure is greater than the pressure threshold, braking through a second control strategy. The first control strategy and the second control strategy are used for controlling regenerative brake torque and hydraulic brake torque so as to brake a vehicle. According to the invention, the vehicle is braked by detecting the master cylinder pressure and adopting different brake control strategies according to whether the master cylinder pressure is greater than the pressure threshold or not, thereby solving the problems in the related technologies that the brake method is single in brake strategy, the brake process can not be adjusted according to the practical situation of the vehicle and the brake effect is poor, so that the brake strategies are diverse, the brake process can be adjusted according to the practical situation of the vehicle, and the brake effect is better.
Description
Technical field
The present invention relates to new-energy automobile field, particularly a kind of brake control method of vehicle and device.
Background technology
Regenerative brake (Regenerativebraking), also known as regenerative braking, is a kind of braking technology be used on elec. vehicle.Kinetic transformation electrical energy for storage when car brakeing vehicle gets up.Regenerative Braking Technology, as a crucial energy-conserving and environment-protective technology of new-energy automobile, more and more receives the concern in vehicle research and development field.
A kind of brake control method of vehicle is had in correlation technique, whether the method carries out regenerative brake by chaufeur Non-follow control, when chaufeur choice for use regenerative brake, vehicle acts on wheel by regenerative braking moment and brakes, and reclaims kinetic energy during car brakeing simultaneously.
Contriver is realizing in process of the present invention, finds that aforesaid way at least exists following defect: above-mentioned braking method braking strategy is single, and cannot adjust braking procedure according to vehicle actual conditions, braking effect is poor.
Summary of the invention
Single in order to solve braking method braking strategy in correlation technique, braking procedure cannot be adjusted according to vehicle actual conditions, the problem that braking effect is poor, the invention provides a kind of brake control method and device of vehicle.Described technical scheme is as follows:
According to a first aspect of the invention, provide a kind of brake control method of vehicle, described method comprises:
Obtain the control signal of brake pedal;
Detect master cylinder pressure and whether be greater than pressure threshold;
Braked by the first control policy when described master cylinder pressure is not more than described pressure threshold;
Braked by the second control policy when described master cylinder pressure is greater than described pressure threshold;
Wherein, described first control policy and described second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
Optionally, in described control signal, include target braking force square,
Describedly to be braked by the first control policy when described master cylinder pressure is not more than described pressure threshold, comprising:
When described master cylinder pressure is not more than described pressure threshold, detects current vehicle speed and whether be greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
Optionally, after whether described detection current vehicle speed is greater than preset vehicle speed, described method also comprises:
Obtain front and back wheel braking torque distribution factor beta, described front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of described target braking force square;
Describedly improve described regenerative braking moment when described current vehicle speed is greater than described preset vehicle speed, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, comprising:
When current vehicle speed is greater than preset vehicle speed, described regenerative braking moment is increased Δ T, described front-wheel hydraulic braking moment is reduced β * Δ T, described trailing wheel hydraulic braking moment is reduced (1-β) * Δ T;
Describedly reduce described regenerative braking moment when described current vehicle speed is not more than described preset vehicle speed, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, comprising:
When current vehicle speed is not more than preset vehicle speed, described regenerative braking moment is reduced Δ T, described front-wheel hydraulic braking moment is increased β * Δ T, described trailing wheel hydraulic braking moment is increased (1-β) * Δ T.
Optionally, described acquisition front and back wheel braking torque distribution factor beta, comprising:
Obtain front and back wheel hydraulic braking moment partition ratio β
liquid, described front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and described hydraulic braking moment;
Determine described front and back wheel braking torque distribution factor beta, at scope [β
liquid, 1] in.
Optionally, in described control signal, include target braking force square,
Describedly to be braked by the second control policy when described master cylinder pressure is greater than described pressure threshold, comprising:
Detect current vehicle speed when described master cylinder pressure is greater than described pressure threshold and whether be greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, described hydraulic braking moment be described front-wheel hydraulic braking moment with described trailing wheel hydraulic braking moment with;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described front-wheel hydraulic braking moment, described trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
According to a second aspect of the invention, provide a kind of braking force control system of vehicle, described device comprises:
Signal acquisition module, is configured to the control signal obtaining brake pedal;
Pressure detection module, is configured to detect master cylinder pressure and whether is greater than pressure threshold;
First brake module, is configured to be braked by the first control policy when described master cylinder pressure is not more than described pressure threshold;
Second brake module, is configured to be braked by the second control policy when described master cylinder pressure is greater than described pressure threshold;
Wherein, described first control policy and described second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
Optionally, in described control signal, include target braking force square,
Described first brake module, comprising:
Bus-Speed Monitoring submodule, is configured to when described master cylinder pressure is not more than described pressure threshold, detects current vehicle speed and whether is greater than preset vehicle speed;
First regenerative brake submodule, be configured to when described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square;
First hydraulic braking submodule, be configured to when described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
Optionally, described device also comprises:
Coefficient acquisition module, be configured to obtain front and back wheel braking torque distribution factor beta, described front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of described target braking force square;
Described first regenerative brake submodule, be configured to when current vehicle speed is greater than preset vehicle speed, described regenerative braking moment is increased Δ T, described front-wheel hydraulic braking moment is reduced β * Δ T, described trailing wheel hydraulic braking moment is reduced (1-β) * Δ T;
Described first hydraulic braking submodule, be configured to when current vehicle speed is not more than preset vehicle speed, described regenerative braking moment is reduced Δ T, described front-wheel hydraulic braking moment is increased β * Δ T, described trailing wheel hydraulic braking moment is increased (1-β) * Δ T.
Optionally, described coefficient acquisition module, comprising:
Coefficient obtains submodule, is configured to obtain front and back wheel hydraulic braking moment partition ratio β
liquid, described front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and described hydraulic braking moment;
Coefficient determination submodule, is configured to determine described front and back wheel braking torque distribution factor beta, at scope [β
liquid, 1] in.
Optionally, in described control signal, include target braking force square,
Described second brake module, is configured to detect current vehicle speed when described master cylinder pressure is greater than described pressure threshold and whether is greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, described hydraulic braking moment be described front-wheel hydraulic braking moment with described trailing wheel hydraulic braking moment with;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described front-wheel hydraulic braking moment, described trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
The technical scheme that the embodiment of the present invention provides can comprise following beneficial effect:
By detecting master cylinder pressure, and whether be greater than pressure threshold according to master cylinder pressure and by different braking control strategies, vehicle braked, solve braking method braking strategy in correlation technique single, braking procedure cannot be adjusted according to vehicle actual conditions, the problem that braking effect is poor; Reach braking strategy various, braking procedure can be adjusted according to vehicle actual conditions, the good effect of braking effect.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the present invention.
Accompanying drawing explanation
Accompanying drawing to be herein merged in specification sheets and to form the part of this specification sheets, shows embodiment according to the invention, and is used from specification sheets one and explains principle of the present invention.
Fig. 1 is the diagram of circuit of the brake control method of a kind of vehicle that the invention process exemplifies;
Fig. 2-1 is the diagram of circuit of the brake control method of the another kind of vehicle that the invention process exemplifies;
Fig. 2-2 is the diagram of circuits adjusted regenerative braking moment and hydraulic braking moment in the brake control method of the vehicle that Fig. 2-1 illustrated embodiment provides;
Fig. 3-1 is the block diagram of the braking force control system of a kind of vehicle that the invention process exemplifies;
Fig. 3-2 is block diagrams of the first brake module in the braking force control system of the vehicle that Fig. 3-1 illustrated embodiment provides;
Fig. 3-3 is block diagrams of the braking force control system of the another kind of vehicle that the invention process exemplifies;
Fig. 3-4 is block diagrams of coefficient acquisition module in the braking force control system of the vehicle that Fig. 3-1 illustrated embodiment provides.
By above-mentioned accompanying drawing, illustrate the embodiment that the present invention is clear and definite more detailed description will be had hereinafter.These accompanying drawings and text description be not in order to limited by any mode the present invention design scope, but by reference to specific embodiment for those skilled in the art illustrate concept of the present invention.
Detailed description of the invention
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the present invention.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present invention are consistent.
Fig. 1 is the diagram of circuit of the brake control method of a kind of vehicle that the invention process exemplifies.The brake control method of this vehicle can comprise following several step:
In a step 101, the control signal of brake pedal is obtained.
In a step 102, detect master cylinder pressure and whether be greater than pressure threshold.Perform step 103 when master cylinder pressure is not more than pressure threshold, perform step 104 when master cylinder pressure is greater than pressure threshold.
In step 103, braked by the first control policy.
At step 104, braked by the second control policy.
Wherein, the first control policy and the second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
In sum, the brake control method of the vehicle that the embodiment of the present invention provides, by detecting master cylinder pressure, and whether be greater than pressure threshold according to master cylinder pressure and by different braking control strategies, vehicle braked, solve braking method braking strategy in correlation technique single, braking procedure cannot be adjusted, the problem that braking effect is poor according to vehicle actual conditions; Reach braking strategy various, braking procedure can be adjusted according to vehicle actual conditions, the good effect of braking effect.
Fig. 2-1 is the diagram of circuit of the brake control method of the another kind of vehicle that the invention process exemplifies.The executive agent of the brake control method of the vehicle that the embodiment of the present invention provides can be the control assembly be arranged in vehicle, and this control assembly can comprise one or more treater.The brake control method of this vehicle can comprise following several step:
In step 201, the control signal of brake pedal is obtained.Perform step 202.
During the brake control method of the vehicle provided utilizing the embodiment of the present invention, can the brake pedal of monitoring vehicle in real time, exemplary, control assembly can the aperture change of monitors brake pedal in real time or the pressure of master brake cylinder that is connected with brake pedal change to obtain control signal.Wherein brake pedal is controlled according to driving intention by chaufeur, and thus this control signal can reflect the driving intention of chaufeur.
In step 202., battery dump energy is detected whether in preset range.When battery dump energy is in preset range, perform step 203, when battery dump energy is not in preset range, perform step 210.
Control assembly is after obtaining the control signal of brake pedal, passable, and detect battery dump energy whether in preset range, this battery can be the electrokinetic cell of vehicle.Due to electrokinetic cell when SOC (StateofCharge, state-of-charge or dump energy) is too high or too low all should not with charge, thus first can detect battery dump energy whether in preset range, to avoid damaging electrokinetic cell.
In step 203, when master cylinder pressure is stablized, detect master cylinder pressure and whether be greater than pressure threshold.When master cylinder pressure is not more than pressure threshold, perform step 204, when master cylinder pressure is greater than pressure threshold, perform step 207.
Can master cylinder pressure be detected when battery dump energy is in preset range, and when master cylinder pressure is stablized, detect master cylinder pressure and whether be greater than pressure threshold.Wherein, brake pedal is in the process be operated, the pressure of master brake cylinder has a unstable process, if whether be greater than pressure threshold at master brake cylinder pressure instability timing detection master cylinder pressure can produce error, in addition, the pressure that chaufeur steps on brake pedal master brake cylinder by mistake also has a unstable process.And when master cylinder pressure is stablized, then detect master cylinder pressure and whether be greater than the accuracy that pressure threshold can improve detection.
In step 204, detect current vehicle speed and whether be greater than preset vehicle speed.When current vehicle speed is greater than preset vehicle speed, perform step 205, when current vehicle speed is not more than preset vehicle speed, perform step 206
When master cylinder pressure is not more than pressure threshold, shows that current brake is small intensity braking, current vehicle speed can be detected and whether be greater than preset vehicle speed.Wherein preset vehicle speed can be the minimum speed of a motor vehicle of carrying out regenerative brake, this is due to when car speed is too low, moment required during braking is very little, the recover kinetic energy efficiency of this kind of situation is very low, therefore for ensureing the braking safety of vehicle, when the speed of a motor vehicle of vehicle is lower than preset vehicle speed, regenerative braking moment can be reduced.Exemplary, this preset vehicle speed can be 20km/h (thousand ms/h).
In step 205, improve regenerative braking moment, reduce hydraulic braking moment, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
When current vehicle speed is greater than preset vehicle speed, can regenerative braking moment be improved, reduce hydraulic braking moment, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
It should be noted that, as shown in Fig. 2-2, this step, in the process adjusted regenerative braking moment and hydraulic braking moment, can comprise two sub-steps below:
In sub-step 251, obtain front and back wheel braking torque distribution factor beta, front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of target braking force square.
The process that this step obtains front and back wheel braking torque distribution factor beta can be:
1) front and back wheel hydraulic braking moment partition ratio β is obtained
liquid, front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and hydraulic braking moment.
Front and back wheel hydraulic braking moment partition ratio β
liquidmeet T
f/ (T
f+ T
r)=β
liquid, T
ffor front-wheel hydraulic braking force, T
rfor trailing wheel hydraulic braking force, T
fand T
rbe real-time observed reading, real-time front and back wheel hydraulic braking moment partition ratio β can be learnt with this
liquid.
2) described front and back wheel braking torque distribution factor beta is determined, at scope [β
liquid, 1] in.
Obtaining front and back wheel hydraulic braking moment partition ratio β
liquidafterwards, can determine the scope of front and back wheel braking torque distribution factor beta, this scope can be [β
liquid, 1], the recover kinetic energy efficiency of regenerative brake can be improved like this.
In sub-step 252, regenerative braking moment is increased Δ T, front-wheel hydraulic braking moment is reduced β * Δ T, trailing wheel hydraulic braking moment is reduced (1-β) * Δ T.
After obtaining front and back wheel braking torque distribution factor beta, regenerative braking moment can be increased Δ T, front-wheel hydraulic braking moment is reduced β * Δ T, trailing wheel hydraulic braking moment is reduced (1-β) * Δ T, namely when increasing according to regenerative braking moment, reduce the hydraulic braking force of hydraulic pressure front and back wheel according to front and back wheel braking torque distribution factor beta, recover kinetic energy efficiency during small intensity braking can be improved like this.
In step 206, reduce regenerative braking moment, improve hydraulic braking moment, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
When current vehicle speed is not more than preset vehicle speed, regenerative braking moment can be reduced Δ T, front-wheel hydraulic braking moment be increased β * Δ T, trailing wheel hydraulic braking moment is increased (1-β) * Δ T.Namely when the speed of a motor vehicle is less than preset vehicle speed, can mainly use hydraulic braking moment to brake, to ensure braking safety.
In step 207, detect current vehicle speed and whether be greater than preset vehicle speed.When current vehicle speed is greater than preset vehicle speed, perform step 208, when current vehicle speed is not more than preset vehicle speed, perform step 209.
When master cylinder pressure is greater than pressure threshold, shows that current brake is the braking of large intensity, now first can detect current vehicle speed and whether be greater than preset vehicle speed.
In a step 208, improve regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
When current vehicle speed is greater than preset vehicle speed, regenerative braking moment can be improved, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make regenerative braking moment and hydraulic braking moment and equal target braking force square, hydraulic braking moment be front-wheel hydraulic braking moment with trailing wheel hydraulic braking moment with.Namely, when large intensity braking, can improve regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, makes β
liquid=β (β
liquidfor front and back wheel hydraulic braking moment partition ratio, β is front and back wheel braking torque distribution coefficient), so not only ensure that the recover kinetic energy efficiency of regenerative brake, also make chaufeur brake feel during car brakeing change, improve Consumer's Experience.
In step 209, reduce regenerative braking moment, improve front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
When current vehicle speed is not more than preset vehicle speed, can regenerative braking moment be reduced, improve front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.Due to the speed of a motor vehicle be not more than preset vehicle speed time, recover kinetic energy efficiency is very low, therefore can mainly use hydraulic braking moment to brake, to ensure braking safety.
In step 210, hydraulic braking moment is used to brake.
When battery dump energy is not in preset range, hydraulic braking moment can be used to brake.Because now the electric current of battery is too low or too high, for ensureing life-span and the safety of battery, the electric energy being not suitable for using regenerative brake to reclaim charges.
It should be added that, the brake control method of the vehicle that the embodiment of the present invention provides, by detecting battery dump energy whether in preset range, and do not use regenerative braking moment to brake when battery dump energy is not in preset range, reach the effect improving battery.
It should be added that, the brake control method of the vehicle that the embodiment of the present invention provides, by making front and back wheel hydraulic braking moment partition ratio equal with front and back wheel braking torque distribution coefficient, reach when large intensity braking, the effect that chaufeur brake feel can not change, improves Consumer's Experience.
In sum, the brake control method of the vehicle that the embodiment of the present invention provides, by detecting master cylinder pressure, and whether be greater than pressure threshold according to master cylinder pressure and by different braking control strategies, vehicle braked, solve braking method braking strategy in correlation technique single, braking procedure cannot be adjusted, the problem that braking effect is poor according to vehicle actual conditions; Reach braking strategy various, braking procedure can be adjusted according to vehicle actual conditions, the good effect of braking effect.
Following is apparatus of the present invention embodiment, may be used for performing the inventive method embodiment.For the details do not disclosed in apparatus of the present invention embodiment, please refer to the inventive method embodiment.
Fig. 3-1 is the block diagram of the braking force control system of a kind of vehicle that the invention process exemplifies.The braking force control system of this vehicle can comprise:
Signal acquisition module 310, is configured to the control signal obtaining brake pedal.
Pressure detection module 320, is configured to detect master cylinder pressure and whether is greater than pressure threshold.
First brake module 330, is configured to be braked by the first control policy when master cylinder pressure is not more than pressure threshold.
Second brake module 340, is configured to be braked by the second control policy when master cylinder pressure is greater than pressure threshold.
Wherein, the first control policy and the second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
In sum, the braking force control system of the vehicle that the embodiment of the present invention provides, by detecting master cylinder pressure, and whether be greater than pressure threshold according to master cylinder pressure and by different braking control strategies, vehicle braked, solve braking method braking strategy in correlation technique single, braking procedure cannot be adjusted, the problem that braking effect is poor according to vehicle actual conditions; Reach braking strategy various, braking procedure can be adjusted according to vehicle actual conditions, the good effect of braking effect.
Optionally, target braking force square is included in control signal.
As shown in figure 3-2, the first brake module 330, comprising:
Bus-Speed Monitoring submodule 331, is configured to when master cylinder pressure is not more than pressure threshold, detects current vehicle speed and whether is greater than preset vehicle speed.
First regenerative brake submodule 332, is configured to when current vehicle speed is greater than preset vehicle speed, improves regenerative braking moment, reduces hydraulic braking moment, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
First hydraulic braking submodule 333, is configured to when current vehicle speed is not more than preset vehicle speed, reduces regenerative braking moment, improves hydraulic braking moment, and make regenerative braking moment and hydraulic braking moment with equal target braking force square.
Optionally, as shown in Fig. 3-3, this device also comprises:
Coefficient acquisition module 350, be configured to obtain front and back wheel braking torque distribution factor beta, front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of target braking force square.
Accordingly, the first regenerative brake submodule 332, is configured to, when current vehicle speed is greater than preset vehicle speed, regenerative braking moment be increased Δ T, front-wheel hydraulic braking moment is reduced β * Δ T, trailing wheel hydraulic braking moment is reduced (1-β) * Δ T.
First hydraulic braking submodule 333, is configured to, when current vehicle speed is not more than preset vehicle speed, regenerative braking moment be reduced Δ T, front-wheel hydraulic braking moment is increased β * Δ T, trailing wheel hydraulic braking moment is increased (1-β) * Δ T.
Optionally, as shown in Figure 3-4, coefficient acquisition module 350, comprising:
Coefficient obtains submodule 351, is configured to obtain front and back wheel hydraulic braking moment partition ratio β
liquid, front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and hydraulic braking moment.
Coefficient determination submodule 352, is configured to determine front and back wheel braking torque distribution factor beta, at scope [β
liquid, 1] in.
Optionally, target braking force square is included in control signal.
Second brake module 340, is configured to detect current vehicle speed when master cylinder pressure is greater than pressure threshold and whether is greater than preset vehicle speed; When current vehicle speed is greater than preset vehicle speed, improve regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make regenerative braking moment and hydraulic braking moment and equal target braking force square, hydraulic braking moment be front-wheel hydraulic braking moment with trailing wheel hydraulic braking moment with; When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described front-wheel hydraulic braking moment, described trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
It should be added that, the braking force control system of the vehicle that the embodiment of the present invention provides, by detecting battery dump energy whether in preset range, and do not use regenerative braking moment to brake when battery dump energy is not in preset range, reach the effect improving battery.
In sum, the braking force control system of the vehicle that the embodiment of the present invention provides, by detecting master cylinder pressure, and whether be greater than pressure threshold according to master cylinder pressure and by different braking control strategies, vehicle braked, solve braking method braking strategy in correlation technique single, braking procedure cannot be adjusted, the problem that braking effect is poor according to vehicle actual conditions; Reach braking strategy various, braking procedure can be adjusted according to vehicle actual conditions, the good effect of braking effect.
About the device in above-described embodiment, wherein the concrete mode of modules executable operations has been described in detail in about the embodiment of the method, will not elaborate explanation herein.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a brake control method for vehicle, is characterized in that, described method comprises:
Obtain the control signal of brake pedal;
Detect master cylinder pressure and whether be greater than pressure threshold;
Braked by the first control policy when described master cylinder pressure is not more than described pressure threshold;
Braked by the second control policy when described master cylinder pressure is greater than described pressure threshold;
Wherein, described first control policy and described second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
2. method according to claim 1, is characterized in that, includes target braking force square in described control signal,
Describedly to be braked by the first control policy when described master cylinder pressure is not more than described pressure threshold, comprising:
When described master cylinder pressure is not more than described pressure threshold, detects current vehicle speed and whether be greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
3. method according to claim 2, is characterized in that, after whether described detection current vehicle speed is greater than preset vehicle speed, described method also comprises:
Obtain front and back wheel braking torque distribution factor beta, described front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of described target braking force square;
Describedly improve described regenerative braking moment when described current vehicle speed is greater than described preset vehicle speed, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, comprising:
When current vehicle speed is greater than preset vehicle speed, described regenerative braking moment is increased Δ T, described front-wheel hydraulic braking moment is reduced β * Δ T, described trailing wheel hydraulic braking moment is reduced (1-β) * Δ T;
Describedly reduce described regenerative braking moment when described current vehicle speed is not more than described preset vehicle speed, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, comprising:
When current vehicle speed is not more than preset vehicle speed, described regenerative braking moment is reduced Δ T, described front-wheel hydraulic braking moment is increased β * Δ T, described trailing wheel hydraulic braking moment is increased (1-β) * Δ T.
4. method according to claim 1, is characterized in that, described acquisition front and back wheel braking torque distribution factor beta, comprising:
Obtain front and back wheel hydraulic braking moment partition ratio β
liquid, described front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and described hydraulic braking moment;
Determine described front and back wheel braking torque distribution factor beta, at scope [β
liquid, 1] in.
5. method according to claim 1, is characterized in that, includes target braking force square in described control signal,
Describedly to be braked by the second control policy when described master cylinder pressure is greater than described pressure threshold, comprising:
Detect current vehicle speed when described master cylinder pressure is greater than described pressure threshold and whether be greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, described hydraulic braking moment be described front-wheel hydraulic braking moment with described trailing wheel hydraulic braking moment with;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described front-wheel hydraulic braking moment, described trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
6. a braking force control system for vehicle, is characterized in that, described device comprises:
Signal acquisition module, is configured to the control signal obtaining brake pedal;
Pressure detection module, is configured to detect master cylinder pressure and whether is greater than pressure threshold;
First brake module, is configured to be braked by the first control policy when described master cylinder pressure is not more than described pressure threshold;
Second brake module, is configured to be braked by the second control policy when described master cylinder pressure is greater than described pressure threshold;
Wherein, described first control policy and described second control policy are for controlling regenerative braking moment and hydraulic braking moment is braked vehicle.
7. device according to claim 6, is characterized in that, includes target braking force square in described control signal,
Described first brake module, comprising:
Bus-Speed Monitoring submodule, is configured to when described master cylinder pressure is not more than described pressure threshold, detects current vehicle speed and whether is greater than preset vehicle speed;
First regenerative brake submodule, be configured to when described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square;
First hydraulic braking submodule, be configured to when described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described hydraulic braking moment, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
8. device according to claim 7, is characterized in that, described device also comprises:
Coefficient acquisition module, be configured to obtain front and back wheel braking torque distribution factor beta, described front and back wheel braking torque distribution coefficient is distribute to the lock torque of front-wheel and the ratio of described target braking force square;
Described first regenerative brake submodule, be configured to when current vehicle speed is greater than preset vehicle speed, described regenerative braking moment is increased Δ T, described front-wheel hydraulic braking moment is reduced β * Δ T, described trailing wheel hydraulic braking moment is reduced (1-β) * Δ T;
Described first hydraulic braking submodule, be configured to when current vehicle speed is not more than preset vehicle speed, described regenerative braking moment is reduced Δ T, described front-wheel hydraulic braking moment is increased β * Δ T, described trailing wheel hydraulic braking moment is increased (1-β) * Δ T.
9. device according to claim 6, is characterized in that, described coefficient acquisition module, comprising:
Coefficient obtains submodule, is configured to obtain front and back wheel hydraulic braking moment partition ratio β
liquid, described front and back wheel hydraulic braking moment partition ratio is the ratio of front-wheel hydraulic braking moment and described hydraulic braking moment;
Coefficient determination submodule, is configured to determine described front and back wheel braking torque distribution factor beta, at scope [β
liquid, 1] in.
10. device according to claim 6, is characterized in that, includes target braking force square in described control signal,
Described second brake module, is configured to detect current vehicle speed when described master cylinder pressure is greater than described pressure threshold and whether is greater than preset vehicle speed;
When described current vehicle speed is greater than described preset vehicle speed, improve described regenerative braking moment, reduce front-wheel hydraulic braking moment, trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square, described hydraulic braking moment be described front-wheel hydraulic braking moment with described trailing wheel hydraulic braking moment with;
When described current vehicle speed is not more than described preset vehicle speed, reduce described regenerative braking moment, improve described front-wheel hydraulic braking moment, described trailing wheel hydraulic braking force moment preserving, and make described regenerative braking moment and described hydraulic braking moment and equal described target braking force square.
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| CN117584757B (en) * | 2023-12-18 | 2024-06-04 | 三一重型装备有限公司 | Vehicle braking control method and device, whole vehicle controller and storage medium |
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