CN108116386B - Vehicle, electronic control unit and control method thereof - Google Patents
Vehicle, electronic control unit and control method thereof Download PDFInfo
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- CN108116386B CN108116386B CN201611080169.8A CN201611080169A CN108116386B CN 108116386 B CN108116386 B CN 108116386B CN 201611080169 A CN201611080169 A CN 201611080169A CN 108116386 B CN108116386 B CN 108116386B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001172 regenerating effect Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 21
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000010365 information processing Effects 0.000 claims 1
- 239000012530 fluid Substances 0.000 abstract description 25
- 238000011084 recovery Methods 0.000 abstract description 9
- 238000006424 Flood reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009760 functional impairment Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
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- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
Abstract
The vehicle and an electronic control unit and a control method thereof are disclosed, wherein the output end of the electronic control unit is connected with a brake system, the brake system comprises a plurality of wheel brake cylinders and hydraulic valves connected with the wheel brake cylinders, the input end of the electronic control unit is connected with a pre-brake input unit, and the control method comprises the following steps: the electronic control unit receives a signal from the pre-automatic input unit; and when the electronic control unit judges that the vehicle is about to perform braking operation, outputting an instruction to control the braking system to enter a pre-braking state, wherein the pre-braking state refers to that the electronic control unit controls a hydraulic valve which is connected with at least one wheel brake cylinder to be partially closed in advance when the vehicle is about to perform braking operation. Thus, when the brake operation is performed, the brake fluid is prevented from instantly rushing into the pipeline connected with the wheel brake cylinder to generate high brake pressure, thereby preventing accidental hydraulic brake caused by pressing part of the brake fluid into the wheel brake cylinder, ensuring the driving comfort and improving the regenerative energy recovery degree.
Description
Technical Field
The invention relates to a vehicle, an electronic control unit and a control method thereof.
Background
In regenerative braking, the electric motor of the vehicle is operated as a generator to brake the vehicle. The electrical energy obtained in this way is stored in a memory. Preferably, the stored energy can be used to accelerate the vehicle. The power losses that occur in conventional braking methods can be reduced by regenerative braking, the energy consumption and/or exhaust emissions of frequently braked vehicles can be reduced, and the wear or wear of the hydraulic brakes can be reduced. Hybrid vehicles and electric vehicles are usually braked regeneratively.
Disclosure of Invention
An object of the present invention is to provide a vehicle, an electronic control unit thereof, and a control method thereof, which can improve the degree of recovery of regenerative energy.
To this end, according to one aspect of the present application, a control method of an electronic control unit is provided, the output of which is connected to a brake system, wherein the brake system comprises a plurality of wheel brake cylinders and hydraulic valves connected to the wheel brake cylinders, wherein the input of the electronic control unit is connected to a pre-brake input unit, the control method comprising: the electronic control unit receives a signal from the pre-actuation input unit; and when the electronic control unit judges that the vehicle is about to perform braking operation, outputting a command for controlling the braking system to enter a pre-braking state, wherein the pre-braking state is that: when a braking operation is to be performed, at least one hydraulic valve connected to the wheel brake cylinder is partially closed in advance.
According to one possible embodiment, the electronic control unit controls the hydraulic valve to pass from a partially closed condition to a fully open condition during a subsequent braking operation.
According to one possible embodiment, before the step of outputting the command for controlling the brake system to enter the pre-braking state, the method further comprises the steps of: it is determined that the vehicle will be braked using a regenerative mode.
According to another aspect of the present application, there is provided an electronic control unit of a vehicle that executes the control method of the electronic control unit described above.
According to yet another aspect of the present application, a vehicle is provided that includes a braking system, a pre-brake input unit, and the electronic control unit described above.
According to one possible embodiment, the pre-operation input unit comprises a self-detection unit of the vehicle itself, the self-detection unit comprises a sensing device of the vehicle including at least one of a camera inside and/or outside the vehicle, an infrared sensor, an ultrasonic sensor, a radar sensor, a wheel speed sensor of the vehicle itself, a steering angle sensor, an acceleration sensor, and a yaw angle sensor, and/or a running control device including at least one of an anti-lock brake control device, an electronic stability control system, and an adaptive cruise control system.
According to one possible embodiment, the pre-operation input unit comprises a communication unit, the communication unit being an in-vehicle embedded telematics system or a smartphone mobile device.
According to one possible embodiment, wherein the communication unit comprises at least one of a vehicle-to-vehicle communication device and a vehicle-infrastructure communication device.
According to one possible embodiment, the hydraulic valve is a wheel inlet valve connected to a wheel brake cylinder, the degree of closing of the wheel inlet valve being determined by the acceleration of the brake pedal displacement.
According to one possible embodiment, the hydraulic valve is a wheel inlet valve of a wheel brake cylinder connected to the rear axle of the vehicle or a wheel inlet valve of a wheel brake cylinder connected to the front axle of the vehicle.
According to still another aspect of the present application, there is provided a vehicle that executes the control method of the electronic control unit described above.
The vehicle, the electronic control unit and the control method thereof can control a brake system to enter a pre-braking state and partially close at least one wheel inlet valve connected with a wheel brake cylinder according to a signal from a pre-braking input unit to judge that the vehicle is about to perform braking operation. Thus, when the brake operation is performed, the brake fluid can be prevented from instantly rushing into the pipeline connected with the wheel brake cylinder to generate high brake pressure, so that the accidental hydraulic brake caused by the fact that part of the brake fluid is pressed into the wheel brake cylinder is prevented, the driving comfort is ensured, and the regenerative energy recovery degree is improved.
Drawings
FIG. 1 is a circuit diagram example of a prior art brake system.
FIG. 2 is a schematic diagram of the connection of the electronic control unit to the pre-brake input unit and the brake system in accordance with one embodiment of the present invention.
Fig. 3 is a graph illustrating a stroke of a brake pedal during braking, a displacement acceleration, and a brake hydraulic pressure of a brake system controlled in a conventional manner and in a control method according to the present invention.
Fig. 4 is a flow chart illustrating a control method of the electronic control unit according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings.
Referring to fig. 1, the braking system includes a first brake circuit 10 for braking wheels 12a and 12b and other brake circuits (not specifically shown) for braking other wheels (not shown). The wheels 12a and 12b may be the rear wheels of the vehicle, or may be the front wheels of the vehicle, or may be wheels arranged on different sides of the vehicle, depending on the actual requirements. In the present embodiment, the wheels 12a and 12b are wheels arranged on diagonal lines of the vehicle, respectively, for example, the wheel 12a is a left front wheel, and the wheel 12b is a right rear wheel.
The brake system has a brake pedal 18 as a brake operating element. The brake pedal 18 may have a pedal displacement sensor, a booster diaphragm displacement sensor, or a lever sensor for detecting a braking operation applied to the brake pedal 18. However, the illustrated brake system is not limited to a brake pedal 18 for inputting a braking request by the driver. Alternatively, other sensor elements can also be used to detect the braking request of the driver, which are respectively connected to the front and/or rear brake circuits 10 and 14.
The brake pedal 18 is coupled to a master cylinder 22 via a brake booster 20. The brake booster 20 is, for example, an electronically controlled brake booster or a vacuum booster. The master cylinder 22 is connected to a brake medium reservoir 24, which brake medium reservoir 24 is, for example, a hydraulic and/or brake fluid reservoir.
Starting from the master cylinder 22, a first supply line 28 leads to the first brake circuit 10 and a second supply line 30 leads to the other brake circuits 14. A pressure sensor 32 can be connected to the first supply line 28. Furthermore, the delivery line 28 is connected to a high-pressure distributor valve 34 via a branching point 33 and to a changeover valve 36 via a branching point 35. The brake fluid from the master brake cylinder 22 can flow selectively through the high-pressure distribution valve 34 and the pump 44 or through the changeover valve 36 in the direction of the wheel brake cylinders 38a and 38b of the wheels 12a (front axle of the vehicle) and of the wheels 12b (rear axle of the vehicle).
The changeover valve 36 is provided in parallel with a bypass line having a check valve 40. By means of this bypass line, even in the event of a functional impairment of the changeover valve 36, it is possible to prevent the hydraulic connection between the master cylinder 22 and the wheel brake cylinders from being interrupted by this functional impairment. Thus, even if the changeover valve 36 fails and/or is completely stuck, braking of the wheels 12a and 12b can be achieved by control of the brake pedal 18.
The line 46 leading from the high-pressure distributor valve 34 is connected via a branch 45 to a line 48, which line 48 leads from the suction side of the pump 44 to a non-return valve 50. A line 52 extends from the non-return valve 50 to a wheel outlet valve 54b assigned to the wheel brake cylinder 38b, which wheel outlet valve 54b is connected to a line 62b via a branching point 64 b. The wheel outlet valve 54a assigned to the wheel brake cylinder 38a is connected to the line 52 via a junction point 37, and the wheel outlet valve 54a is connected to the line 62a via a junction point 64 a. Furthermore, a storage chamber 56 is coupled to the line 52 via a branch point 55.
Valves 34, 36, 54a, 54b, 58a, and 58b of first brake circuit 10 may be configured as hydraulic valves. Preferably, the switching valve 36 and the wheel inlet valves 58a and 58b are designed as currentless open valves, and the high-pressure distributor valve 34 and the wheel outlet valves 54a and 54b are designed as currentless closed valves, which reliably ensures that the pressure prevailing in the wheel brake cylinders 38a and 38b, which is required by the driver, is built up during normal braking operation of the brake system, and accordingly, that the pressure prevailing in the wheel brake cylinders 38a and 38b quickly drops again.
During braking, the total braking torque desired by the driver can be detected by means of suitable sensor devices on the brake pedal 18. When braking by hydraulic pressure is required, the electronic control unit controls the opening and closing of the control valves 34, 36, 54a, 54b, 58a, and 58b in the conventional manner to complete hydraulic braking. The operation of hydraulic braking is well known to those skilled in the art and will not be described in detail herein. When the regenerative braking is required, the hydraulic braking force is cancelled, so that the braking force generated by the generator is completely utilized to act on the wheels 12a and 12b, and the regenerative energy recovery is completed. The manner of canceling the hydraulic braking force is, for example: with the electronic control unit control, current is supplied to the wheel inlet valve 58a and the wheel inlet valve 58a is closed, and brake fluid is pressed into the storage chamber 56 through the wheel inlet valve 58b, thereby canceling the hydraulic braking force of the brake fluid on the wheel brake cylinders 38a and 38 b.
In general, in order to obtain a high regenerative energy recovery degree, braking is performed by using a regenerative method as much as possible while ensuring safe braking. For example, when the driver applies a light pressure to the brake pedal 18, braking may be performed in a fully regenerative manner, provided that: the hydraulic braking force needs to be removed and the brake fluid is forced into the storage chamber 56. However, when the driver quickly applies a slight pressure to the brake pedal 18, the brake fluid cannot be quickly entirely pressed into the storage compartment 56, and a part of the brake fluid is pressed into the wheel cylinders 38a, 38b due to the dynamic effect of the brake fluid, thereby causing an instantaneous and quickly rising brake pressure in the wheel cylinders 38a, 38b, generating an instantaneous hydraulic pressure peak P0 shown in fig. 3, causing an unexpected hydraulic brake, which affects both the driving comfort and the regenerative energy recovery degree.
Referring to fig. 2, one end of the electronic control unit 6 of the present invention is connected to the pre-brake input unit 7, and the other end is connected to the brake system. The electronic control unit 6 receives a signal from the pre-braking input unit 7, and when it is determined that the vehicle is about to perform a braking operation based on the signal from the pre-braking input unit 7, the electronic control unit 6 outputs a command to control the brake system to enter a pre-braking state. The pre-actuation state means: when a braking operation is to be performed, at least one hydraulic valve connected to the wheel brake cylinder is partially closed in advance. During the subsequent braking operation, the hydraulic valve is changed from the partially closed state to the fully open state, so that the speed of brake fluid rushing into a pipeline connected with the wheel brake cylinder can be reduced, the brake fluid pressure which is increased instantly in the pipeline due to the rapid rushing of the brake fluid is prevented, and the accidental hydraulic braking in the wheel brake cylinder is further prevented. It can be seen that the partially closed wheel inlet valve slows the rate at which brake fluid floods the conduit associated with the wheel cylinder, acting as a buffer.
Specifically, when the electronic control unit 6 judges that the vehicle is about to perform a braking operation based on the signal from the pre-braking input unit 7, the electronic control unit 6 outputs a command to control the brake system to enter a pre-braking state. In the present embodiment, in order to bring the braking system into the pre-braking state, current is supplied to the wheel inlet valves 58a, 58b, and the wheel inlet valve 58a is closed, the wheel inlet valve 58b is partially closed, controlled by the electronic control unit 6; during a braking operation, the electronic control unit 6 controls the wheel outlet valve 54b to be opened, and controls the wheel inlet valve 58b to be changed from the partially closed state to the fully open state, slowing down the speed at which the brake fluid floods the conduits 62a and 52, avoiding causing a momentarily high brake fluid pressure. In the present embodiment, the wheel inlet valve 58b of the rear axle of the vehicle (connected to the rear wheel, e.g., the right rear wheel 12 b) is partially closed in advance. In other embodiments, the wheel inlet valve 58a of the front axle of the vehicle (connected to the front wheel, e.g., the left front wheel 12 a) may be partially closed in advance. Thus, when the brake operation is performed, the brake fluid in the first brake circuit 10 can be prevented from flowing into the pipe connected to the wheel cylinder, thereby preventing an unexpected hydraulic brake due to a part of the brake fluid being pressed into the wheel cylinders 38a, 38b, and ensuring both the driving comfort and a high regenerative energy recovery degree.
Referring to fig. 3 in conjunction, for example, from time t1, the driver quickly applies pressure to the brake pedal 18 and then continues the braking operation with the braking force kept constant, specifically, during a time period t1 to t2, the driver quickly lightly depresses the brake pedal 18, the stroke of the brake pedal 18 is quickly increased from 0 to S1, the acceleration of the displacement of the brake pedal 18 is increased to a1, a substantially constant pressure is applied to the brake pedal 18 after time t2, the displacement acceleration of the brake pedal is 0, if the brake system is controlled in the existing manner, a brake pressure curve as shown by P0 in fig. 3 will be generated in the first brake circuit 10, with a higher brake pressure wave peak value; in contrast, in the control method of the electronic control unit 6 according to the present invention, the brake pressure curve shown by P1 in fig. 3 is generated in the first brake circuit 10, and the peak value of the brake hydraulic pressure wave is relatively gentle. It can be seen that the electronic control unit 6 according to the present invention can effectively prevent the brake fluid in the first brake circuit 10 from rushing into the pipe connected to the wheel brake cylinder and instantaneously generating a high brake fluid pressure, thereby preventing an unexpected hydraulic brake from being caused by a part of the brake fluid being pressed into the wheel brake cylinders 38a, 38b, and ensuring both the driving comfort and a high regenerative energy recovery degree.
Preferably, the degree of closing the wheel inlet valve 58b may be determined by the acceleration of the displacement of the brake pedal 18, the greater the acceleration, the greater the degree of closing the wheel inlet valve 58b, for example, 20%, 50%, 80%, etc. of closing the wheel inlet valve 58b may be determined according to the acceleration of the displacement of the brake pedal 18.
It will be appreciated that, for the same reason, the electronic control unit 6 may also control other brake circuits of the brake system, not specifically described, into a pre-braking state. Likewise, the electronic control unit 6 may also control other kinds of brake systems to enter the pre-braking state as long as the other kinds of brake systems are hydraulic brake systems having hydraulic valves, accumulators, etc.
The pre-operation input unit 7 may include at least one of a self-detection unit 71 and a communication unit 72 of the vehicle itself. The self-test unit 71 may include at least one of a sensing device of the vehicle such as a camera outside and/or inside the vehicle, an infrared sensor, an ultrasonic sensor, a radar sensor, other sensors of the vehicle itself such as a wheel speed sensor, a steering angle sensor, an acceleration sensor, a yaw angle sensor, and the like, to sense an environment in front of and/or around the vehicle, and/or to detect a driving state of the vehicle itself such as a vehicle speed, a driving direction, an acceleration, and the like. The self-test unit 71 may also be a running control device of the vehicle itself, such as an anti-lock brake control device, an electronic stability control system, an adaptive cruise system, or the like. For example, the electronic control unit 6 controls the brake system to enter the pre-braking state if it determines that the preceding vehicle and/or the preceding vehicle of the preceding vehicle is braking, and the vehicle is close to the preceding vehicle and can be braked by a regenerative method, based on a signal from the camera of the self-detection unit 71 or a signal from the radar sensor. For example, when the electronic control unit 6 determines that the vehicle is about to be braked, based on a sensor signal from the detection unit 71, a signal from the adaptive cruise system, or the like, the brake system is controlled to enter the pre-braking state. As for the implementation manner of the self-detection unit 71, it is sufficient that the electronic control unit 6 can determine that the vehicle itself is going to be braked and control the brake system to enter the pre-braking state according to the signal of the self-detection unit 71 of the vehicle itself, which is not listed here.
The communication unit 72 may be an in-vehicle embedded telematics system or a mobile device such as a smart phone. The communication unit 72 may include a vehicle-to-vehicle (vehicle-to-vehicle) communication device 721, through which the vehicle can communicate with other vehicles, and receive signals transmitted from other vehicles, such as brake signals or brake prompt signals of nearby vehicles, a front vehicle or several vehicles ahead; the communication unit may also communicate with the vehicle-infrastructure communication device 722, the vehicle-infrastructure communication device 722 may communicate with the road infrastructure, for example, receive signals from traffic lights, school districts, railroad crossings, and the like, and the vehicle-infrastructure communication device 722 may communicate with remote communication devices, for example, internet servers, traffic information centers, navigation satellites, and the like, for example, receive traffic condition information, road maintenance information, information on dangerous traveling sections of roads ahead, and navigation information. As for the implementation of the communication unit 72, it is sufficient that the electronic control unit 6 can determine that the vehicle is about to perform a braking operation and control the braking system to enter the pre-braking state according to the signal of the communication unit 72. The configuration pre-operation input unit 7 described above can be selected as the signal input of the electronic control unit 6 according to actual requirements.
The invention provides a vehicle including the electronic control unit described above. The inventive vehicle further comprises a pre-braking input unit 7 and a braking system.
Referring to fig. 4, a control method according to an embodiment of the invention includes:
step 65: the electronic control unit receives a signal from the pre-actuation input unit; and
step 67: when the electronic control unit judges that the vehicle is about to be braked, the electronic control unit outputs an instruction to control the brake system to enter a pre-braking state, wherein the pre-braking state is as follows: when a braking operation is to be performed, at least one hydraulic valve connected to the wheel brake cylinder is partially closed in advance.
Optionally, before step 67, the control method according to an embodiment of the present invention further includes step 66: it is determined that the vehicle will be braked using a regenerative mode.
The vehicle, the electronic control unit and the control method thereof can control a brake system to enter a pre-braking state and partially close at least one wheel inlet valve connected with a wheel brake cylinder according to a signal from a pre-braking input unit to judge that the vehicle is about to perform braking operation. Thus, when the brake operation is performed, the brake fluid can be prevented from instantly rushing into the pipeline connected with the wheel brake cylinder to generate high brake pressure, so that the accidental hydraulic brake caused by the fact that part of the brake fluid is pressed into the wheel brake cylinder is prevented, the driving comfort is ensured, and the regenerative energy recovery degree is improved.
Although the invention is illustrated and described herein with reference to specific embodiments, the scope of the invention is not intended to be limited to the details shown. Various modifications may be made to these details without departing from the underlying principles of the invention.
Claims (11)
1. A method for controlling an electronic control unit, the output of which is connected to a brake system, wherein the brake system comprises a plurality of wheel brake cylinders and hydraulic valves connected to the wheel brake cylinders, characterized in that: the input end of the electronic control unit is connected with the pre-actuating input unit, and the control method comprises the following steps:
the electronic control unit receives a signal from the pre-actuation input unit; and
when the electronic control unit judges that the vehicle is about to perform braking operation based on the received signals, the electronic control unit outputs a command for controlling the braking system to enter a pre-braking state, wherein the pre-braking state is that: when it is determined, on the basis of the received signals, that a braking operation is to be performed, at least one hydraulic valve connected to the wheel brake cylinder is partially closed in advance.
2. The control method according to claim 1, characterized in that: during a subsequent braking operation, the electronic control unit controls the hydraulic valve to change from a partially closed state to a fully open state.
3. The control method according to claim 1, characterized in that: before the step of outputting a command for controlling the brake system to enter a pre-braking state, the method further comprises the steps of: it is determined that the vehicle will be braked using a regenerative mode.
4. An electronic control unit of a vehicle that executes the control method of the electronic control unit according to claim 1 or 3.
5. A vehicle comprising a braking system, a pre-braking input unit and an electronic control unit as claimed in claim 4.
6. The vehicle according to claim 5, characterized in that: the pre-operation input unit includes a self-detection unit of the vehicle itself, the self-detection unit includes a sensing device of the vehicle and/or a driving control device, the sensing device includes at least one of a camera inside and/or outside the vehicle, an infrared sensor, an ultrasonic sensor, a radar sensor, a wheel speed sensor of the vehicle itself, a steering angle sensor, an acceleration sensor, and a yaw angle sensor, and the driving control device includes at least one of an anti-lock brake control device, an electronic stability control system, and an adaptive cruise system.
7. The vehicle according to claim 5, characterized in that: the pre-operation input unit comprises a communication unit, and the communication unit is an in-vehicle embedded type remote information processing system or a smart phone mobile device.
8. The vehicle according to claim 7, characterized in that: the communication unit includes at least one of a vehicle-to-vehicle communication device and a vehicle-infrastructure communication device.
9. The vehicle according to claim 5, characterized in that: the hydraulic valve is a wheel inlet valve connected to a wheel brake cylinder, the degree of closing of which is determined by the acceleration of the brake pedal displacement.
10. The vehicle according to claim 5, characterized in that: the hydraulic valve is a wheel inlet valve of a wheel brake cylinder connected to the rear axle of the vehicle or a wheel inlet valve of a wheel brake cylinder connected to the front axle of the vehicle.
11. A vehicle characterized by executing the control method of the electronic control unit according to claim 1 or 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611080169.8A CN108116386B (en) | 2016-11-30 | 2016-11-30 | Vehicle, electronic control unit and control method thereof |
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|---|---|---|---|
| CN201611080169.8A CN108116386B (en) | 2016-11-30 | 2016-11-30 | Vehicle, electronic control unit and control method thereof |
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| CN108116386A CN108116386A (en) | 2018-06-05 |
| CN108116386B true CN108116386B (en) | 2022-02-25 |
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| WO2020246866A1 (en) * | 2019-06-07 | 2020-12-10 | 주식회사 만도 | Control device of brake system |
| CN113320506B (en) * | 2021-06-23 | 2022-02-15 | 岚图汽车科技有限公司 | Comfortable braking control method, storage medium, equipment and device |
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| CN105793629A (en) * | 2013-12-12 | 2016-07-20 | 日立汽车系统株式会社 | Electromagnetic valve and brake unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102822025A (en) * | 2010-01-28 | 2012-12-12 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method for operating a brake system for a motor vehicle and brake system |
| CN201677873U (en) * | 2010-03-30 | 2010-12-22 | 比亚迪股份有限公司 | Hydraulic brake system |
| CN101973261A (en) * | 2010-08-27 | 2011-02-16 | 浙江亚太机电股份有限公司 | Electromobile energy feedback braking and ABS (Anti-skid Brake System) integration hydraulic pressure unit |
| CN102963326A (en) * | 2011-08-30 | 2013-03-13 | 通用汽车环球科技运作有限责任公司 | Detection apparatus and method for detecting a carrier of a transceiver, motor vehicle |
| CN105793629A (en) * | 2013-12-12 | 2016-07-20 | 日立汽车系统株式会社 | Electromagnetic valve and brake unit |
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