CN108501924B - Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle - Google Patents
Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle Download PDFInfo
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- CN108501924B CN108501924B CN201810259119.9A CN201810259119A CN108501924B CN 108501924 B CN108501924 B CN 108501924B CN 201810259119 A CN201810259119 A CN 201810259119A CN 108501924 B CN108501924 B CN 108501924B
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- input power
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- brake pedal
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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
- B60T13/74—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 electrical assistance or drive
- B60T13/745—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 electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
Abstract
This application discloses a kind of force aid system of electric vehicle, electric vehicle and power-assisted implementation methods.Wherein, which includes: sensing device, is sent to controller to the braking information of brake pedal, and by braking information for obtaining target object；Controller is connect with sensing device, for generating control instruction according to braking information, and control instruction is sent to driving motor；Driving motor is connect with the master cylinder of controller and electric vehicle, for providing the first input power according to control instruction for master cylinder；Brake pedal is connect with master cylinder, for providing the second input power according to the input power of the target object detected for master cylinder.Present application addresses existing force aid systems there is technical issues that automatically controlled demand, Brake energy recovery, service life are short, noise is larger and complex circuit designs.
Description
Technical field
This application involves electric automobiles, real in particular to the force aid system, electric vehicle and power-assisted of a kind of electric vehicle
Existing method.
Background technique
Conventional fuel oil hydraulic braking system for automobile mostly uses greatly vacuum booster power-assisted, true with what is generated when engine suction
Sky is power source power-assisted, reaches reduction pedal force, improves driver comfort purpose.New energy (the electric mixed mode of pure electric vehicle, oil,
Pilotless automobile) automobile due to not having engine or not having engine operation under the operating mode of part, can not be continued
Vacuum source, at present new-energy automobile using increase electric vacuum pump, for vacuum booster provide vacuum source realization power-assisted
Traditional electric vehicle vacuum boost system.
Traditional electric vehicle still continues to use the vacuum booster power-assisted of fuel vehicle maturation, due to the vacuum source of not no engine,
Vacuum booster can not provide brake boost under no vacuum state, and the scheme that traditional electric vehicle uses is to increase Motorized vacuum
Pump, air accumulator, controller for vacuum pump replace engine vacuum source function.
Fig. 1 is traditional electric car force aid system for braking, as shown in Figure 1, the force aid system includes: electronic control unit
(Electronic Control Unit, referred to as ECU) 10, electric vacuum pump 12, air accumulator 14, vacuum transducer 16 and true
Empty booster 18.But this structure can have the following deficiencies: and be unable to satisfy automatically controlled demand, Brake energy recovery, service life
Short, the problems such as noise is larger, complex circuit designs.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the present application provides the force aid system, electric vehicle and power-assisted implementation method of a kind of electric vehicle, at least to solve
Certainly existing force aid system there are automatically controlled demand, Brake energy recovery, service life is short, noise is larger and complex circuit designs in
At least one of the technical issues of.
According to the one aspect of the embodiment of the present application, a kind of force aid system of electric vehicle is provided, comprising: sensing device,
Controller is sent to the braking information of brake pedal, and by braking information for obtaining target object；Controller is filled with perception
Connection is set, for generating control instruction according to braking information, and control instruction is sent to driving motor；Driving motor, with control
Device processed is connected with the master cylinder of electric vehicle, for providing the first input power according to control instruction for master cylinder；
Brake pedal is connect with master cylinder, for mentioning according to the input power of the target object detected for master cylinder
For the second input power.
Optionally, sensing device includes: displacement detector, for detecting the displacement of brake pedal；Pedal force perception dress
It sets, is connected with displacement detector, the second input power that brake pedal is inputted for detected target object.
Optionally, force aid system includes: propulsive mechanism, is connect with brake pedal, for according to the first input power and second
Input power provides power for master cylinder.
Optionally, pedal force sensing device includes: spring, and one end of spring is connected with brake pedal, the other end and propulsion
Mechanism connection, for the second input power of brake pedal to be transmitted to propulsive mechanism；Displacement detector includes: magnetizer, magnetic
Iron, pedestal and displacement signal reception device；Wherein, pedestal is fixed on one end of propulsive mechanism, for the shifting with propulsive mechanism
It moves and moves；Magnet is fixed on pedestal, also, magnetizer and pedestal carry out relatively in the moving process with propulsive mechanism
It is mobile；Displacement signal reception device, for detecting the changes of magnetic field amount of magnetizer and magnet in relative movement thereof, and foundation
Changes of magnetic field amount determines the relative displacement of magnetizer and magnet.
Optionally, force aid system further include: deceleration mechanism is connect with driving motor and propulsive mechanism, is promoted for slowing down
The movement speed of mechanism.
Optionally, deceleration mechanism includes: gear mechanism, and the tooth of the gear mechanism and the tooth of driving motor cooperate, to
Propulsive mechanism provides power.
Optionally, propulsive mechanism includes: ball-screw.
Optionally, above-mentioned force aid system further include: condition checkout gear is connect with controller, for detecting electric vehicle
Status information, and status information is sent to controller；Controller is also used to generate according to status information and/or braking information
Control instruction.
Optionally, above-mentioned status information includes at least one of: around the travel speed of electric car, electric car
Environmental information, the remaining capacity information of electric car.
Optionally, controller is also used to generate the control instruction for realizing following functions: by target object in braking information
Input power is amplified according to preset ratio.
Optionally, controller is also used to obtain the movement speed of propulsive mechanism according to the duration of displacement and displacement；And root
Control instruction is generated according to movement speed and the second input power.
Optionally, controller is also used to obtain the braking energy of electric car recycling；Judge whether braking energy meets to subtract
Speed requires, and determines whether that trigger controller generates control instruction according to judging result.
Optionally, controller is also used to compare braking energy and designated value, wherein indicates braking energy in comparison result
Determination meets deceleration demand when more than or equal to designated value, determines when comparison result instruction braking energy is less than designated value discontented
Sufficient deceleration demand, designated value is corresponding with aimed acceleration, and aimed acceleration is for reducing the travel speed of electric vehicle.
According to the another aspect of the embodiment of the present application, a kind of electric vehicle is provided, comprising: force aid system for braking, the braking
Force aid system includes: the force aid system of above-described electric vehicle.
According to the another aspect of the embodiment of the present application, a kind of power-assisted implementation method of electric vehicle is provided, comprising: obtain mesh
Object is marked to the braking information of brake pedal；Control instruction is generated according to braking information, and control instruction is sent to driving electricity
Machine；Wherein, driving motor is connect with the master cylinder of controller and electric vehicle, for mentioning according to control instruction for master cylinder
For the first input power；Obtain the first input power and the second input power, wherein the second input power is that foundation detects on brake pedal
The input power of the target object arrived；Input power is provided according to the first input power and the second input power for master cylinder.
According to the embodiment of the present application in another aspect, providing a kind of displacement detector, comprising: displacement detector,
It include: magnetizer, magnet, pedestal and displacement signal reception device；Wherein, magnet is fixed on pedestal, also, magnetizer and base
Seat makes a relative move in the moving process with propulsive mechanism；Displacement signal reception device, for detecting magnetizer and magnetic
Changes of magnetic field amount of the iron in relative movement thereof, and determine according to changes of magnetic field amount the relative displacement of magnetizer and magnet.
In the embodiment of the present application, using the input for generating the input power of brake pedal and controller according to braking information
Power source of the power as force aid system realizes the effect that power-assisted is realized using motor, meanwhile, electric control braking may be implemented；It is real
Existing Brake energy recovery；And since electric booster system can support the faster reaction time, can reduce braking away from
From.In addition, due to the braking intention that can perceive driver by sensing device, it is thereby achieved that the accurate control to motor
System.Based on above content, it is found that technical solution provided by the embodiment of the present application solves existing force aid system, there are automatically controlled
The technical issues of demand, Brake energy recovery, service life are short, noise is larger and at least one of complex circuit designs.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to a kind of traditional brake of electric vehicle force aid system of the relevant technologies；
Fig. 2 is the structural schematic diagram according to a kind of force aid system of electric vehicle of the embodiment of the present application；
Fig. 3 is the structural schematic diagram according to a kind of force aid system of optional electric vehicle of the embodiment of the present application；
Fig. 4 is the curve synoptic diagram according to a kind of input power and power output of the embodiment of the present application；
Fig. 5 is the flow chart according to a kind of power-assisted implementation method of electric vehicle of the embodiment of the present application；
Fig. 6 a is according to the structural schematic diagram of optional displacement detector of the embodiment of the present application a kind of；
Fig. 6 b is according to the structural schematic diagram of the optional displacement detector of another kind of the embodiment of the present application；
Fig. 7 is another structural schematic diagram according to a kind of optional displacement detector of the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
In the related technology, it in the design process of the force aid system of electric car, uses and increases electric vacuum pump, for vacuum
Booster provides vacuum source to realize force aid system, and still, this structure has the following deficiencies: in actual operation
(1) electric control braking, active safety braking requirement are unable to satisfy.Vacuum booster be it is mechanically aided, only have routine
Foot pedal assist function, be unable to satisfy unmanned electric control braking, active safety braking requirement；
(2) it cannot achieve the Brake energy recovery of maximum efficiency.National requirements is down to the year two thousand twenty passenger car average fuel consumption
5.0 liters/100 kilometers, in order to meet this requirement, many vehicles have all installed brake power recovering device additional now, for new energy
For automobile, course continuation mileage is even more preciousness, is also related to single vehicle cost, and mainstream pure electric vehicle also has braking energy to return at present
It receives.Vacuum booster system can only using mechanical idle stroke Brake energy recovery scheme, brake pedal feel and recovery efficiency without
Method gets both, and is difficult to realize the Brake energy recovery of maximum efficiency；
(3) service life is short.The requirement of vehicle service life is not achieved in electric vacuum pump, generally needs replacing at 300,000 kilometers
Vacuum pump；
(4) noise is big.Electric vacuum pump noise, vibration are larger, for the lesser electric vehicle of vehicle noise, vacuum pump
Operating noise difficulty receives；
(5) volume is big, circuit, gas circuit difficult arrangement.Vacuum booster assembly, electric vacuum pump, air accumulator, electronic control
System adds up that volume is big, and circuit, gas circuit are complicated, and arrangement is difficult.
At least one problem in order to solve the above problem, the embodiment of the present application provide corresponding solution, below
It is described in detail.
Fig. 2 is the structural schematic diagram according to a kind of force aid system of electric vehicle of the embodiment of the present application.As shown in Fig. 2, should
The force aid system of electric vehicle includes: sensing device 20, controller 22, driving motor 24 and brake pedal 26.Wherein:
Sensing device 20 is sent to control for obtaining target object to the braking information of brake pedal, and by braking information
Device 22 processed；Optionally, which includes but is not limited to: the triggered time of brake pedal, the displacement of brake pedal, braking are stepped on
Change in displacement speed of plate etc..
As shown in figure 3, above-mentioned sensing device 20 can include but is not limited to: displacement detector 201, for detecting braking
The displacement of pedal；Pedal force sensing device 203 is connected with displacement detector 201, for detected target object to brake pedal
Second input power of input.
As shown in figure 3, force aid system can also include: propulsive mechanism 28, it is connect with brake pedal 26 and driving motor 24,
For being that master cylinder 32 provides power according to the first input power and the second input power.In one alternate embodiment, the propulsion
Mechanism 28 includes but is not limited to: ball-screw.
As shown in figure 3, pedal force sensing device 203 includes but is not limited to: spring, one end of spring and brake pedal 26 connect
It connects, the other end is connect with propulsive mechanism 28, for the second input power of brake pedal 26 to be transmitted to propulsive mechanism 28.
As shown in Figure 6 a, displacement detector 201 includes: magnetizer 2010, magnet 2012, pedestal 2014 and displacement signal
Reception device 2016；Wherein, pedestal 2014 is fixed on one end of propulsive mechanism 28, moves for the movement with propulsive mechanism 28
It is dynamic；Magnet 2012 is fixed on pedestal 2014, also, magnetizer 2010 and pedestal 2014 are in being moved through with propulsive mechanism 28
It is made a relative move in journey；Displacement signal reception device 2016, for detecting magnetizer and magnet in relative movement thereof
Changes of magnetic field amount, and determine according to changes of magnetic field amount the relative displacement of magnetizer and magnet.Optionally, it is displaced in practical applications
Detection device 201 may refer to shown in Fig. 6 b and Fig. 7.The pedestal receives magnetizer in any position in ball-screw total travel position
The relative shift of opposed magnet, the purpose is to the displacement informations for generating magnetizer opposed magnet to conduct, and solve winding displacement
Conducts information due to friction of motion, cause winding displacement damage problem.
Controller 22 is connect with sensing device 20, for generating control instruction according to braking information, and control instruction is sent out
It send to driving motor 24；Wherein, controller 22 can be the ECU in electric vehicle, or what is separated with ECU is separately provided
Controller, for example, can be realized with individual central processing unit (CPU).
Driving motor 24 is connect with the master cylinder of controller 22 and electric vehicle, for being braking master according to control instruction
Cylinder provides the first input power.Wherein, above-mentioned control instruction is for the instruction for driving motor supplies power, which can
To be that the input power from brake pedal that will test amplifies according to a certain percentage, to save manpower, experience is promoted.
As an alternative embodiment, as shown in figure 3, force aid system can also include: deceleration mechanism 34, with driving motor
24 and propulsive mechanism 28 connect, that is, the mobile speed that driving motor 24 and propulsive mechanism 28 are used to slow down propulsive mechanism 28 is set
Degree.
Wherein, deceleration mechanism can be accomplished by the following way, but not limited to this, such as: deceleration mechanism 34 includes
Gear mechanism, the tooth of the gear mechanism and the tooth of driving motor 24 cooperate, and provide power to propulsive mechanism.
Brake pedal 26, connect with master cylinder, is master cylinder for the input power according to the target object detected
Second input power is provided.The brake pedal is limited the pedal of brake force, the i.e. pedal of service brake (running brake), for slowing down,
Parking etc..
When generating above-mentioned control instruction, other than the braking information of brake pedal to be considered transmission, in order to more accurately
It is controlled, it is also contemplated that the whole vehicle state of electric vehicle, for example, as shown in figure 3, above-mentioned force aid system further include: state inspection
Device 36 is surveyed, is connect with controller 22, is sent to controller 22 for detecting the status information of electric vehicle, and by status information；
Controller 22 is also used to generate control instruction according to status information and/or braking information.Wherein, above-mentioned status information include with
It is at least one lower: travel speed, the ambient condition information of electric car, the remaining capacity information of electric car of electric car.
As mentioned above, controller 22 can be also used for generating the control instruction for realizing following functions: by braking information
The input power of middle target object is amplified according to preset ratio.
In one alternate embodiment, can also judge to generate corresponding control instruction, example according to the urgency level of thing
Such as, controller 22 are also used to the movement speed according to displacement and the duration acquisition propulsive mechanism for generating displacement；And according to movement
Speed and the second input power generate control instruction.In this way, illustrate that user encounters emergency braking situation when movement speed is larger,
It can produce the control instruction of fast braking, otherwise can be braked according to normal speed.
In one alternate embodiment, electric vehicle can also recycle braking energy, for example, controller 22, is also used
In the braking energy for obtaining electric car recycling；Judge whether braking energy meets deceleration demand, and is determined according to judging result
Whether trigger controller generates control instruction.Wherein, above-mentioned deceleration demand includes but is not limited to: the acceleration of deceleration is greater than or small
In preset threshold.
For example, controller 22, is also used to compare braking energy and designated value, wherein indicate braking energy in comparison result
Determination meets deceleration demand when more than or equal to designated value, determines when comparison result instruction braking energy is less than designated value discontented
Sufficient deceleration demand, designated value is corresponding with aimed acceleration, and aimed acceleration is for reducing the travel speed of electric vehicle.On
Stating designated value can be determined by empirical value, can also be determined by way of machine learning, however it is not limited to this.
It is described in detail below in conjunction with specific example.As shown in figure 3, Electric booster system is filled by displacement detecting in this example
Set, pedal force perception spring constitute driving intention sensory perceptual system, perceive driver's braking intention, to controller input pedal force,
The generation speed signal of pedal displacement.Power module 38 and whole vehicle state signal input module 36 constitute the input of vehicle signal.
Driving motor does work after controller analyzes each side's information, and motor via reducer structure superposition pedal force pushes master cylinder piston to move together
Trend four-wheel output hydraulic pressure.
Electric booster work in this example is divided into four kinds of modes:
(1) conventional brake mode: driver's pedal, Electric booster amplify input power with certain proportion, and output is to system
Dynamic master cylinder generates brake fluid pressure.
(2) active brake mode: vehicle gives Electric booster input brake signal, and Electric booster electric motor starting pushes
Master cylinder generates brake fluid pressure.
(3) Brake energy recovery braking mode: Electric booster receives operator brake pedal information and vehicle energy
The information of recycling is restarted when judging that the deceleration generated by energy regenerating is not able to satisfy driver to vehicle deceleration demand
Motor power brake reaches the required deceleration of driver.
(4) braking mode under electroless state: pedal pushes directly on propulsive mechanism, applies input power to master cylinder, generates
Brake fluid pressure, Electric booster does not generate power-assisted in this course, and deceleration mechanism and motor can invert loss part input power.
Driver, which steps on, steps on brake pedal, and push rod fork moves in the direction of arrows under pedal force effect, and pedal force perceives spring
Be pressurized and pressure simultaneously passed into ball-screw, push rod counter ball lead screw generates displacement, controller CPU according to shift length and when
Between calculate push rod velocity of displacement and input power, and control motor output torque generate power-assisted.In the feelings of noenergy recycling braking
Under condition, master cylinder power output is given by Fig. 4 power-assisted curve with a (such as 5,6,7,8 etc.) times of pedal input power, master cylinder is defeated
Hydraulic braking out.When driver feels that car deceleration degree reaches demand, when no longer increasing power to pedal and keeping pedal force, control
Device controls electric motor locking, and master cylinder is with constant hydraulic output.When driver feels that car deceleration spends big slight loose pedal,
Displacement detector detects that reversed displacement reduces signal, and controller CPU controls motor reversal and reduces the hydraulic output of master cylinder,
Driver feel deceleration reach demand no longer loose pedal when, controller controls electric motor locking to new position.When driver is complete
When release pedal is no longer braked, controller releases motor input, work of the Electric booster in return spring power and master cylinder returning place force
Initial position is returned to lower.Conventional brake Pattern completion, the input of Electric booster --- output characteristic curve are shown in Fig. 4 power-assisted
Curve.
For with active safety braking vehicle, in motion when automobile recognizes that there is barrier in front and driver does not have
When having avoiding action, automobile can issue brake signal to Electric booster, and controller CPU is connected to instruction control electric motor starting, leads to
Crossing The gear deceleration drives ball-screw that brake master cylinder piston is pushed to brake to four-wheel brake output hydraulic pressure.When danger releasing, vapour
Vehicle is issued to controller CPU and is instructed, and Electric booster releases braking.Entire braking process, which does not need driver, to be stepped on and steps on braking and step on
Plate, active brake are completed.
For there is the automobile of Brake energy recovery, driver unclamps throttle, and automobile will enter energy recovery state, automobile
A primary deceleration is had, when primary deceleration is not able to satisfy braking requirement, driver steps on brake pedal, and automobile increase energy returns
Receipts dynamics issues energy regenerating information to Electric booster, and displacement detector provides displacement information, and controller CPU identifies position
Information (pedal input power) corresponding vehicle deceleration, i.e. deceleration needed for identification driver are moved, with the existing deceleration of automobile
It compares, Electric booster motor output torque is controlled according to deceleration difference, brake fluid pressure needed for pushing master cylinder to generate.
Due to vehicle difference, the amplitude of energy regenerating is different, i.e. the deceleration of energy regenerating generation is different, therefore energy returns
The input of Electric booster under receipts state ----output characteristic curve needs are matched according to vehicle.
Vehicle does not power on, and steps on when stepping on brake pedal, and push rod pushes lead screw mobile, and brake master cylinder piston is given to apply thrust,
Master cylinder exports brake fluid pressure and generates braking, and under pedal force 500N input condition, automobile can achieve the deceleration of 0.3G.
When unclamping pedal, lead screw returns to initial position, brake release under the action of return spring power and master cylinder returning place force.Lead screw moves
It is dynamic to will drive ball-screw nut reversion, while reduction gearing and motor reversal are driven, resistance is generated, energy loss is brought,
Lost force is not more than 300N, curve as shown in Figure 4.
Electric booster (or force aid system for electric vehicle) provided by the embodiments of the present application has the advantage that
One, Electric booster does not need vacuum source, realizes power-assisted using motor.After solving new-energy automobile removal engine
Brake boost problem.
Two, Electric booster can realize electric control braking, provide hardware to unmanned technology and active safety braking technology
It supports.Former vacuum booster is mechanical structure, is difficult to realize and automatically controls, when needing to automatically control braking, substantially borrow ABS
System or electronics parking brake provide braking, and available severity of braking is lower, is unable to satisfy service braking demands.
Three, Electric booster is combined with regeneration brake system, and full decoupled, farthest realization braking may be implemented
Energy regenerating can save energy 17% or so, and can feel ABS feedback force as traditional vacuum booster, can discover brake
The decline of vehicle piece.Traditional vacuum booster, can only be by regenerative braking and vacuum booster power-assisted system in energy regenerating
Dynamic simple superposition, Brake energy recovery efficiency are lower.
Four, the adjustment of a variety of brake pedal modes may be implemented in Electric booster, realizes the switching of different driving styles.Electricity
The assist rate of dynamic booster is easy to adjust by software control, can be set according to different road surfaces, varying environment operating condition, personal preference
Set different braking style.For example pedal force is more softly suitble to the comfort type opened of Ms, sports type that suitable man opens, braking are thick
Sudden and violent type.
Five, Electric booster is small in size, and arrangement is convenient.Electric booster is directly arranged in front wall, is only equivalent to tradition 8
The arrangement space of very little booster having brake master cylinder.Former vacuum booster is needed on electric vehicle with electric vacuum pump, air accumulator, vacuum
Pump controller, vacuum line use, and the more volumes of part are big, and electric vacuum pump vibration and noise is all larger, want to arrangement environment
It asks harsh, is the vibration and noise source that electric vehicle mainly solves.
Six, Electric booster specification is few, and it is wide that same specification covers vehicle.2 specifications of Electric booster can substantially be covered
Cover whole vehicles.Traditional vacuum booster is limited by final vacuum, and the servo force of Yao Tigao booster can only increase booster
Active area, therefore vacuum booster size specification is more, from minibus to motorbus etc..
Seven, the Electric booster reaction time is fast.The reaction time of Electric booster can control at 0.2 second hereinafter, can
Braking distance is effectively reduced, vehicle security is improved.Traditional double diaphragm vacuum booster reaction time will be at 0.3 second or so.
Eight, Electric booster accurately controls motor by the realization of driving intention sensory perceptual system.The driving intention of the application
Sensory perceptual system perceives spring by pedal force and cooperates displacement detector, and the braking intention total travel of driver is quantified, is decomposed
For push rod input force value, push rod is with respect to lead screw shift value, push rod velocity of displacement value.Motor is matched respectively by these three quantized values
Output torque, the turnning circle of motor, the revolving speed of motor realizes accurate control to motor.
According to the another aspect of the embodiment of the present application, a kind of electric vehicle is provided, comprising: force aid system for braking, the braking
Force aid system includes: the force aid system of Fig. 2 or electric vehicle shown in Fig. 3.
According to the embodiment of the present application, embodiment is provided a method, it should be noted that illustrate in the process of attached drawing
The step of can execute in a computer system such as a set of computer executable instructions, although also, showing in flow charts
Go out logical order, but in some cases, it can be with the steps shown or described are performed in an order that is different from the one herein.
The embodiment of the present application also provides a kind of power-assisted implementation methods of electric vehicle, as shown in figure 5, this method comprises: step
Rapid S502 obtains target object to the braking information of brake pedal；Step S504 generates control instruction according to braking information, and
Control instruction is sent to driving motor；Wherein, shown driving motor is connect with the master cylinder of controller and electric vehicle, is used
The first input power is provided in foundation control instruction for master cylinder；Step S506 obtains the first input power and the second input power,
In, the second input power is the input power according to the target object detected on brake pedal；Step S508 is inputted according to first
Power and the second input power provide input power for master cylinder.
The embodiment of the present application also provides a kind of displacement detectors, as shown in Figure 6 a, displacement detector 201: magnetic conduction
Body 2010, magnet 2012, pedestal 2014 and displacement signal reception device 2016；Wherein, magnet 2012 is fixed on pedestal 2014,
Also, magnetizer 2010 and pedestal 2014 make a relative move in the moving process with propulsive mechanism 28；Displacement signal connects
Receiving apparatus 2016, for detecting the changes of magnetic field amount of magnetizer and magnet in relative movement thereof, and according to changes of magnetic field amount
Determine the relative displacement of magnetizer and magnet.Optionally, displacement detector 201 may refer to Fig. 6 b and figure in practical applications
Shown in 7
The force aid system of electric vehicle provided by the embodiments of the present application, will by deceleration mechanism directly using motor as power source
Motor rotary motion is converted into linear motion, and is controlled by motion state of the control system to motor, so that obtaining can
The stabilization power-assisted of adjusting.Active brake is realized in the case where there is signal input, preferably serves Unmanned Systems.
The application can better adapt to new-energy automobile in the above scheme that embodiment provides and pacify to electric control braking, actively
Full application of brake, energy regenerating demand, realize that automatic Pilot provides support step by step for automobile.
Above-mentioned the embodiment of the present application serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
In above-described embodiment of the application, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the application whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only the preferred embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (12)
1. a kind of force aid system of electric vehicle characterized by comprising
Sensing device is sent to control for obtaining target object to the braking information of brake pedal, and by the braking information
Device；
Controller is connect with the sensing device, for generating control instruction according to the braking information, and the control is referred to
Order is sent to driving motor；
The driving motor is connect with the master cylinder of the controller and electric vehicle, for being institute according to the control instruction
It states master cylinder and the first input power is provided；
The brake pedal is connect with the master cylinder, is institute for the input power according to the target object detected
It states master cylinder and the second input power is provided；
Wherein, the sensing device includes: displacement detector, for detecting the displacement of the brake pedal；Pedal force perception
Device is connected with institute displacement sensing device, described second inputted for detecting the target object to the brake pedal
Input power；
The force aid system further include: propulsive mechanism is connect with the brake pedal, for according to first input power and the
Two input powers provide power for the master cylinder；
Wherein, the pedal force sensing device includes: spring, and one end of the spring is connected with the brake pedal, the other end
It is connect with the propulsive mechanism, for second input power of the brake pedal to be transmitted to the propulsive mechanism；
Institute's displacement sensing device includes: magnetizer, magnet, pedestal and displacement signal reception device；Wherein, the pedestal is fixed
In one end of the propulsive mechanism, moved for the movement with the propulsive mechanism；The magnet is fixed on the pedestal
On, also, the magnetizer and the pedestal make a relative move in the moving process with the propulsive mechanism；Institute's rheme
Shifting signal reception device, for detecting the changes of magnetic field amount of the magnetizer and magnet in relative movement thereof, and according to institute
State the relative displacement that changes of magnetic field amount determines the magnetizer and magnet；
Wherein, the controller is also used to obtain the braking energy of the electric vehicle recycling；Judge whether the braking energy is full
Sufficient deceleration demand, and determine whether that triggering the controller generates the control instruction according to judging result.
2. force aid system according to claim 1, which is characterized in that the force aid system further include: deceleration mechanism, with institute
It states driving motor to connect with the propulsive mechanism, for slowing down the movement speed of the propulsive mechanism.
3. force aid system according to claim 2, which is characterized in that the deceleration mechanism includes: gear mechanism, the gear
The tooth of the tooth of mechanism and the driving motor cooperates, and Xiang Suoshu propulsive mechanism provides power.
4. force aid system according to claim 1, which is characterized in that the propulsive mechanism includes: ball-screw.
5. force aid system according to claim 1, which is characterized in that further include:
Condition checkout gear is connect with the controller, is believed for detecting the status information of the electric vehicle, and by the state
Breath is sent to the controller；
The controller is also used to generate the control instruction according to the status information and/or the braking information.
6. force aid system according to claim 5, which is characterized in that the status information includes at least one of: institute
State the travel speed of electric vehicle, the ambient condition information of the electric vehicle, the remaining capacity information of the electric vehicle.
7. force aid system according to claim 1, which is characterized in that the controller is also used to generate and realizes following function
The control instruction of energy: the input power of target object described in the braking information is amplified according to preset ratio.
8. force aid system according to claim 2, which is characterized in that the controller, be also used to according to it is described displacement and
The duration for generating the displacement obtains the movement speed of propulsive mechanism；And according to the movement speed and second input power
Generate the control instruction.
9. force aid system according to claim 1, which is characterized in that the controller is also used to Brake Energy described in comparison
Amount and designated value, wherein determine to meet when comparison result indicates that the braking energy is greater than or equal to the designated value and slow down
It is required that determination is unsatisfactory for deceleration demand, the designated value when comparison result indicates that the braking energy is less than the designated value
It is corresponding with aimed acceleration, and the aimed acceleration is for reducing the travel speed of the electric vehicle.
10. a kind of electric vehicle, comprising: force aid system for braking, which is characterized in that the force aid system for braking includes: claim 1
To the force aid system of electric vehicle described in any one of 9.
11. a kind of power-assisted implementation method of electric vehicle characterized by comprising
Target object is obtained to the braking information of brake pedal；
Control instruction is generated according to the braking information, and the control instruction is sent to driving motor；Wherein, the driving
Motor is connect with the master cylinder of controller and electric vehicle, defeated for providing first according to the control instruction for master cylinder
Enter power；
Obtain first input power and the second input power, wherein second input power is that foundation detects on brake pedal
The input power of the target object arrived；
Input power is provided according to first input power and the second input power for the master cylinder；
Target object is obtained to the braking information of brake pedal by sensing device, wherein the sensing device includes:
Displacement detector, for detecting the displacement of the brake pedal；Pedal force sensing device, with institute's displacement sensing device
It is connected, second input power that the brake pedal is inputted for detecting the target object；
Wherein, the pedal force sensing device includes: spring, and one end of the spring is connected with the brake pedal, the other end
It is connect with propulsive mechanism, for second input power of the brake pedal to be transmitted to the propulsive mechanism, the propulsion
Mechanism is connect with the brake pedal, defeated for providing according to first input power and the second input power for the master cylinder
Enter power；
Institute's displacement sensing device includes: magnetizer, magnet, pedestal and displacement signal reception device；Wherein, the pedestal is fixed
In one end of the propulsive mechanism, moved for the movement with the propulsive mechanism；The magnet is fixed on the pedestal
On, also, the magnetizer and the pedestal make a relative move in the moving process with the propulsive mechanism；Institute's rheme
Shifting signal reception device, for detecting the changes of magnetic field amount of the magnetizer and magnet in relative movement thereof, and according to institute
State the relative displacement that changes of magnetic field amount determines the magnetizer and magnet；
The method also includes: obtain the braking energy of the electric vehicle recycling；Judge whether the braking energy meets deceleration
It is required that and determining whether that triggering the controller generates the control instruction according to judging result.
12. a kind of displacement detector characterized by comprising
Institute's displacement sensing device, comprising: magnetizer, magnet, pedestal and displacement signal reception device；Wherein, the magnet is solid
Due on the pedestal, also, the magnetizer and the pedestal carry out opposite move in the moving process with propulsive mechanism
It is dynamic；Institute's displacement signal reception device, for detecting the changes of magnetic field amount of the magnetizer and magnet in relative movement thereof,
And the relative displacement of the magnetizer and magnet is determined according to the changes of magnetic field amount.
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| CN201810259119.9A CN108501924B (en) | 2018-03-27 | 2018-03-27 | Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle |
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| CN201810259119.9A CN108501924B (en) | 2018-03-27 | 2018-03-27 | Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle |
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| CN108501924B true CN108501924B (en) | 2019-05-28 |
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| CN111361537B (en) * | 2020-04-08 | 2021-09-24 | 上海高爱特汽车电子股份有限公司 | Vehicle brake control method and vehicle system |
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