CN110667549B - Electric control braking method and electric control braking device - Google Patents
Electric control braking method and electric control braking device Download PDFInfo
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- CN110667549B CN110667549B CN201910960405.2A CN201910960405A CN110667549B CN 110667549 B CN110667549 B CN 110667549B CN 201910960405 A CN201910960405 A CN 201910960405A CN 110667549 B CN110667549 B CN 110667549B
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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
The invention discloses an electric control braking method and an electric control braking device, which are applied to an electric braking system, wherein the electric braking system comprises an electric control unit, a motor, a braking demand input unit and a braking force generation unit, the braking force generation unit comprises a rack and a master cylinder, and the master cylinder comprises a master cylinder shell, a piston and a braking fluid which are arranged in the master cylinder shell; the electric control unit is respectively connected with the motor and the braking demand input unit, and the motor is connected with the rack; the method comprises the following steps: receiving braking demand information, wherein the braking demand information comprises pedal braking speed information; judging whether the pedal braking speed exceeds a preset braking speed, outputting first torque information to the motor when the pedal braking speed exceeds the preset braking speed, controlling the motor to rotate according to the first torque information, driving the rack to move, and generating emergency braking force. The method improves the safety of the electric control brake system and ensures the driving safety.
Description
Technical Field
The embodiment of the invention relates to the field of electric brakes, in particular to an electric control braking method system and an electric control braking device.
Background
The safety and the stability of the braking system are improved all the time through the evolution from the early mechanical braking system to the later oil pressure braking system and then to the latest electronic mechanical braking system and electronic oil pressure braking system. The basic principle of braking is that the brake lining is tightly attached to a brake disc or a brake drum to generate friction force, and the kinetic energy of the forward or backward movement of the vehicle is converted into heat energy generated by friction and dissipated into the atmosphere.
The existing electric control brake system is characterized in that a pedal stroke sensor is used for sensing and acquiring pedal stroke information of a driver for braking, the pedal stroke information is related to brake force information, a control unit converts the pedal stroke information into a control signal of a motor, and the control signal is transmitted to the motor, so that a brake fluid main cylinder is controlled by the motor to generate hydraulic output, and the electric control brake is realized. However, no effective emergency braking strategy exists for emergency braking, so that the safety of the electric control braking system is improved, and the driving safety is ensured.
Disclosure of Invention
In order to solve the problems, the invention provides an electric control braking method and an electric control braking device, so as to improve the safety of an electric control braking system and ensure the driving safety.
In a first aspect, an embodiment of the present invention provides an electronically controlled braking method, which is applied to an electric braking system. The electric brake system comprises an electric control unit, a motor, a brake demand input unit and a brake force generation unit, wherein the brake force generation unit comprises a rack and a master cylinder, and the master cylinder comprises a master cylinder shell, a piston and brake fluid which are arranged in the master cylinder shell; the electric control unit is respectively connected with the motor and the braking demand input unit, and the motor is connected with the rack; the electric control braking method comprises the following steps: receiving braking demand information, wherein the braking demand information comprises pedal braking speed information; judging whether the pedal braking speed exceeds a preset braking speed, outputting first torque information to the motor when the pedal braking speed exceeds the preset braking speed, controlling the motor to rotate according to the first torque information, driving the rack to move, and generating emergency braking force.
Optionally, the braking demand information includes emergency braking end information and pedal travel information; when the pedal braking speed exceeds the preset braking speed, first torque information is output to the motor, the motor is controlled to rotate according to the first torque information, the rack is driven to move, and after emergency braking force is generated, the method further comprises the following steps: stopping outputting the first torque information to the motor according to the emergency braking end information; calculating the target displacement of the rack according to the pedal travel information; receiving motor position information in real time, and determining the actual displacement of the rack according to the motor position information; generating second torque information according to the target displacement and the actual displacement, and controlling the motor to continue to rotate according to the second torque information to drive the rack to continue to move; wherein the second torque information is less than or equal to the first torque information.
Optionally, the braking demand information further includes pedal travel information; the electronic control braking method further comprises the following steps: when the pedal braking speed is less than or equal to the preset braking speed, calculating the target displacement of the rack according to the pedal travel information; receiving motor position information in real time, and determining the actual displacement of the rack according to the motor position information; generating second torque information according to the target displacement and the actual displacement, and controlling the motor to rotate according to the second torque information to drive the rack to move; wherein the second torque information is less than or equal to the first torque information.
Optionally, calculating a target displacement amount of the rack according to the pedal stroke information includes: inquiring the corresponding relation between the pedal stroke and the master cylinder pressure demand according to the pedal stroke information, and determining the target master cylinder pressure; inquiring the corresponding relation between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure, and determining the target master cylinder piston stroke; and determining the target displacement according to the target master cylinder piston stroke.
Optionally, the emergency braking end information includes a change in a moving direction of the rack and a difference between the target displacement and the actual displacement is smaller than a preset difference.
In a second aspect, an embodiment of the present invention further provides an electronically controlled braking device. The electric control brake system is applied to an electric brake system, the electric brake system comprises an electric control unit, a motor, a brake demand input unit and a brake force generation unit, the brake force generation unit comprises a rack and a master cylinder, and the master cylinder comprises a master cylinder shell, a piston and brake fluid which are arranged in the master cylinder shell; the electric control unit is respectively connected with the motor and the braking demand input unit, and the motor is connected with the rack; the electrically controlled brake device includes: the braking demand information receiving module is used for receiving braking demand information, wherein the braking demand information comprises pedal braking speed information and is used for determining that the pedal braking speed exceeds a preset braking speed; and the first torque information output module is used for outputting first torque information to the motor when the pedal braking speed exceeds a preset braking speed, and controlling the motor to rotate according to the first torque information to drive the rack to move so as to generate emergency braking force.
Optionally, the braking demand information further includes emergency braking end information and pedal travel information; the electrically controlled brake device further comprises: the emergency braking ending module is used for outputting the first torque information to the motor when the pedal braking speed exceeds the preset braking speed, controlling the motor to rotate according to the first torque information to drive the rack to move, and stopping outputting the first torque information to the motor according to the emergency braking ending information after emergency braking force is generated; the target displacement calculation module is used for calculating the target displacement of the rack according to the pedal stroke information; the actual displacement calculation module is used for receiving motor position information in real time and determining the actual displacement of the rack according to the motor position information; the second torque information output module is used for generating second torque information according to the target displacement and the actual displacement, controlling the motor to continue to rotate according to the second torque information and driving the rack to continue to move; wherein the second torque information is less than or equal to the first torque information.
Optionally, the braking demand information further includes pedal travel information; the braking demand information receiving module is further used for determining that the pedal braking speed is less than or equal to the preset braking speed; the target displacement calculation module is used for calculating the target displacement of the rack according to the pedal stroke information; the actual displacement calculation module is used for receiving motor position information in real time and determining the actual displacement of the rack according to the motor position information; the second torque information output module is used for generating second torque information according to the target displacement and the actual displacement, and controlling the motor to rotate according to the second torque information to drive the rack to move; wherein the second torque information is less than or equal to the first torque information.
Optionally, the target displacement amount calculating module includes: the target master cylinder pressure determining unit is used for inquiring the corresponding relation between the pedal stroke and the master cylinder pressure demand according to the pedal stroke information and determining the target master cylinder pressure; the master cylinder piston stroke determining unit is used for inquiring the corresponding relation between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure and determining the target master cylinder piston stroke; and the target displacement driving unit is used for determining the target displacement according to the target master cylinder piston stroke.
Optionally, the emergency braking ending module includes: a rack movement direction detection unit for detecting a change in a movement direction of the rack; and the displacement difference calculation unit is used for calculating a displacement difference according to the target displacement and the actual displacement.
According to the electric control braking method provided by the embodiment of the invention, the pedal braking speed in the received braking demand information is compared with the preset braking speed, whether the pedal braking speed exceeds the preset braking speed is judged, when the pedal braking speed exceeds the preset braking speed, the electric braking system enters emergency braking, first torque information is output to the motor, the motor is controlled to rotate according to the first torque information, the rack is driven to move, emergency braking force is generated, and emergency braking is finished; the pedal braking speed is greater than the preset braking speed, the first torque information is directly triggered to be output to the motor, excessive calculation time is not needed in the generation process of the first torque information, and therefore the locking time of the electric brake system is reduced, the safety of the electric brake system is improved, and the driving safety is guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of an electric brake system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an electronically controlled braking method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another electronically controlled braking method provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another electronically controlled braking method provided by the embodiment of the invention;
FIG. 5 is a schematic flow chart of a method for calculating a target displacement of a rack based on pedal travel according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electrically controlled braking device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another electrically controlled brake device provided in the embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another electrically controlled braking device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a target displacement calculation module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of an electric brake system according to an embodiment of the present invention. As shown in fig. 1, the electric brake system 100 includes: an electronic control unit 110, a motor 120, a braking demand input unit 130, and a braking force generation unit 140; the braking force generation unit 140 includes: the brake system comprises a rack 141 and a master cylinder 142, wherein the master cylinder 142 comprises a master cylinder housing 142a, and a piston 142b and a brake fluid 142c which are arranged in the master cylinder housing 142a, the electric control unit 110 is respectively connected with the motor 120 and the brake demand input unit 130, and the motor 120 is connected with the rack 141.
Specifically, the electronic control unit 110 is connected to the braking demand input unit 130, generates a control signal in response to a braking demand, and controls the rotation of the motor 120, the motor 120 is connected to the rack 141, the rotation of the motor 120 controls the rack 141 to move horizontally left and right, the piston 142b is connected to the rack 141, and the piston 142b can also move horizontally left and right; the brake fluid 142c is contained in the master cylinder case 142a, the right liquid surface of the brake fluid 142c contacts the piston 142b, and the piston 142b moves leftward to push the brake fluid 142c to be output, thereby generating a braking force.
Fig. 2 is a schematic flow chart of an electrically controlled braking method according to an embodiment of the present invention. The electric control braking method shown in fig. 2 is applied to the electric braking system shown in fig. 1, and comprises the following specific steps:
210, receiving braking demand information, wherein the braking demand information comprises pedal braking speed information;
220, judging whether the pedal braking speed exceeds a preset braking speed or not;
and 230, outputting first torque information to the motor when the pedal braking speed exceeds a preset braking speed, and controlling the motor to rotate according to the first torque information to drive the rack to move so as to generate emergency braking force.
Specifically, the pedal braking speed information of the braking demand information is received, the pedal braking speed information in the braking demand information is compared with a preset braking speed which is set in advance, illustratively, the preset braking speed is 300mm/s, whether the pedal braking speed exceeds 300mm/s or not is judged, when the pedal braking speed exceeds 300mm/s, the electric braking system is in an emergency braking mode, the electric control unit outputs first torque information to the motor, and the motor rotates according to the first torque information to drive the rack to move horizontally, push and pull the piston and generate emergency braking force.
According to the electronic control braking method provided by the embodiment of the application, the received pedal braking speed is compared with the preset braking speed, whether the pedal braking speed exceeds the preset braking speed is judged, whether the electric braking system enters the emergency braking mode is determined, if the pedal braking speed exceeds the preset braking speed, the electric braking system enters the emergency braking mode, in the emergency braking mode, the first torque information is directly output, excessive calculation time is not needed in the generation process of the first torque information, therefore, the locking time of the electric braking system is reduced, the safety of the electric braking system is improved, and the driving safety is guaranteed.
Optionally, the first torque information is a maximum torque of the motor. Therefore, the first torque information is the maximum torque reached by the electric brake system, the maximum braking force is generated, the locking time is further reduced to 180ms, the safety of the electric brake system is improved, and the driving safety is ensured; meanwhile, the critical vertex angle speed can be increased to 600mm/s, the critical vertex angle speed means that when a driver steps on a pedal, the driver brake pedal can feel the maximum pedal speed when the push rod end touches a master cylinder piston, when the pedal end feels a footstep, the foot feeling of the driver is seriously influenced, and the 600mm/s basically covers the use working condition of the driver, so that the driving comfort is improved.
The preset brake speed of 300mm/s in the embodiment of the present application is only an exemplary illustration and is not limited to the preset brake speed.
Fig. 3 is a schematic flow chart of another electronically controlled braking method according to an embodiment of the present invention. Fig. 3 is a specific example of fig. 2, which specifically includes the following steps:
310, receiving braking demand information, wherein the braking demand information comprises pedal braking speed information;
320, judging whether the pedal braking speed exceeds a preset braking speed or not;
330, when the pedal braking speed exceeds a preset braking speed, outputting first torque information to the motor, controlling the motor to rotate according to the first torque information, driving the rack to move, and generating an emergency braking force;
340, stopping outputting the first torque information to the motor according to the emergency braking end information;
350, calculating a target displacement of the rack according to the pedal stroke information;
360, receiving the position information of the motor in real time, and determining the actual displacement of the rack according to the position information of the motor;
370, generating second torque information according to the target displacement and the actual displacement, and controlling the motor to continue to rotate according to the second torque information to drive the rack to continue to move; wherein the second torque information is less than or equal to the first torque information.
Specifically, the emergency braking ending information in the braking demand information is received, the first torque information is stopped being output to the motor, the electric brake system exits the emergency braking mode and enters the normal braking mode, namely, the target displacement of the rack is calculated according to the pedal travel information in the braking demand information, the actual displacement of the rack is determined according to the received motor position information, the target displacement and the actual displacement are input into the closed-loop PID controller, the displacement difference value between the target displacement and the actual displacement is calculated, and the second torque information is generated according to the displacement difference value.
The closed-loop PID controller is a closed-loop feedback controller, the feedback quantity of the closed-loop PID controller is the actual displacement quantity, the closed-loop PID controller generates corresponding second torque information according to the displacement difference value between the target displacement quantity and the actual displacement quantity, and because the actual position of the motor is changed all the time and the actual displacement quantity serving as the feedback quantity is also changed in the braking process, the displacement difference value is a variable, and the output second torque information is a variable. And since the second torque information is less than or equal to the first torque information, the braking force generated in the normal braking mode is less than the braking force generated in the emergency braking mode.
Optionally, the emergency braking end information includes a change in a moving direction of the rack and a difference between the target displacement and the actual displacement is smaller than a preset difference.
For example, as shown in fig. 1, when the rack 141 moves to the left, the piston 142b pushes to the left to generate a braking force, and when the rack 141 moves to the right, the piston 142b moves to the right to release pressure; on the other hand, for example, when the difference between the target displacement amount and the actual displacement amount is less than 2mm, it can be considered that the actual position of the rack has reached the target position of the rack, and it is considered that braking has been completed. And simultaneously meeting the two conditions of pressure relief and brake completion, generating emergency brake ending information, and considering that the emergency brake is ended.
Fig. 4 is a schematic flow chart of another electronically controlled braking method according to an embodiment of the present invention. Fig. 4 is a further specific example of fig. 2, which specifically includes the following steps:
410, receiving braking demand information, wherein the braking demand information comprises pedal braking speed information;
420, judging whether the pedal braking speed exceeds a preset braking speed;
430, when the pedal braking speed exceeds a preset braking speed, outputting first torque information to the motor, controlling the motor to rotate according to the first torque information, driving the rack to move, and generating an emergency braking force;
440, when the pedal braking speed is less than or equal to a preset braking speed, calculating a target displacement of the rack according to the pedal travel information;
450, receiving the position information of the motor in real time, and determining the actual displacement of the rack according to the position information of the motor;
460, generating second torque information according to the target displacement and the actual displacement, and controlling the motor to rotate according to the second torque information to drive the rack to move; wherein the second torque information is less than or equal to the first torque information.
Specifically, when the pedal braking speed does not exceed the preset braking speed, the electric brake system enters a normal braking mode. The normal braking mode is described in the embodiment of fig. 3, and is not described herein.
In the embodiment of the application, the electric brake system generates smaller braking force during normal braking and generates larger braking force during emergency braking, so that the electric brake system in the emergency braking mode has shorter locking time, the safety of the electric brake system is further improved, and the driving safety is ensured; meanwhile, the critical vertex angle speed is improved, and the driving comfort is improved.
Fig. 5 is a flowchart illustrating a method for calculating a target displacement of a rack according to a pedal stroke according to an embodiment of the present invention. As shown in fig. 5, the specific steps include:
510, inquiring the corresponding relation between the pedal stroke and the master cylinder pressure demand according to the pedal stroke information, and determining the target master cylinder pressure;
520, inquiring the corresponding relation between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure, and determining the target master cylinder piston stroke;
530, determining the target displacement amount according to the target master cylinder piston stroke.
Specifically, the relationship between the pedal stroke and the target master cylinder piston stroke can be determined by inquiring the corresponding relationship between the pedal stroke and the master cylinder pressure requirement and the corresponding relationship between the master cylinder pressure and the master cylinder piston stroke, so that the master cylinder piston stroke information can be obtained according to the pedal stroke information, and the target displacement of the rack is the master cylinder piston stroke, so that the target displacement is obtained.
Based on the same inventive concept, the embodiment of the invention also provides an electric control braking device which can execute the electric control braking method provided by any embodiment of the invention and has corresponding functions and beneficial effects of the execution method.
Fig. 6 is a schematic structural diagram of an electrically controlled braking device according to an embodiment of the present invention. The electric brake apparatus shown in fig. 6 is applied to the electric brake system shown in fig. 1, and the electric brake apparatus 600 includes:
the braking demand information receiving module 610 is configured to receive braking demand information, where the braking demand information includes pedal braking speed information;
the first torque information output module 620 is configured to output first torque information to the motor when the pedal braking speed exceeds a preset braking speed, and control the motor to rotate according to the first torque information to drive the rack to move, so as to generate an emergency braking force.
According to the electric control brake device provided by the embodiment of the application, the brake demand information is received through the brake demand information receiving module 610, if the pedal brake speed in the brake demand information exceeds the preset brake speed, the electric control brake device enters the emergency brake mode, the first torque information output module 620 directly outputs the first torque information to the motor in the emergency brake mode, excessive calculation time is not needed in the generation process of the first torque information, the locking time is reduced, the safety of an electric brake system is improved, and the driving safety is ensured; meanwhile, the critical vertex angle speed is improved, and the driving comfort is improved.
Fig. 7 is a schematic structural diagram of another electrically controlled brake device according to an embodiment of the present invention. Fig. 7 is a specific example of fig. 6, and the electronically controlled braking device 700 specifically includes:
braking demand information receiving module 610, first torque information output module 620, and
the emergency braking ending module 730 is configured to output the first torque information to the motor when the pedal braking speed exceeds the preset braking speed, control the motor to rotate according to the first torque information, drive the rack to move, and stop outputting the first torque information to the motor according to the emergency braking ending information after an emergency braking force is generated;
a target displacement amount calculation module 740, configured to calculate a target displacement amount of the rack according to the pedal stroke information;
the actual displacement calculation module 750 is configured to receive motor position information in real time, and determine an actual displacement of the rack according to the motor position information;
a second torque information output module 760, configured to generate second torque information according to the target displacement and the actual displacement, and control the motor to continue to rotate according to the second torque information to drive the rack to continue to move; wherein the second torque information is less than or equal to the first torque information.
Specifically, the emergency braking ending module 730 stops outputting the first torque information to the motor according to the emergency braking ending information, exits the emergency braking mode, and enters the normal braking mode, which is described in the previous embodiment and is not described herein again.
Optionally, the emergency braking ending module includes: a rack movement direction detection unit for detecting a change in a movement direction of the rack; and the displacement difference calculation unit is used for calculating a displacement difference according to the target displacement and the actual displacement. For example, when the rack moving direction detecting unit detects that the moving direction of the rack is the pressure relief direction, and the displacement difference calculating unit calculates that the charging displacement difference is smaller than 2mm, the emergency braking ending module is considered to generate the emergency braking ending information.
In this embodiment, in the normal braking mode, the second torque information output module 760 generates the second torque information that is at most equal to the first torque information, and the second torque information is a variable amount, so that the generated braking force is small, and the braking force of the electric brake system during the normal braking process is small.
Fig. 8 is a schematic structural diagram of another electrically controlled brake device according to an embodiment of the present invention. Fig. 8 is a specific example of fig. 6, and the electronically controlled braking device 800 specifically includes:
brake demand information receiving module 610, first torque information output module 620, target displacement amount calculating module 740, actual displacement amount calculating module 750, and second torque information output module 760
Specifically, the braking demand information receiving module 610 determines that the pedal braking speed is less than or equal to the preset braking speed, and the electric brake system enters a normal braking mode. The normal braking mode is described in the embodiment of fig. 7, and is not described herein.
In the embodiment of the application, the braking force generated by the electric braking system during normal braking is smaller, and the braking force generated during emergency braking is larger, so that the electric braking system has shorter locking time in an emergency braking mode, the safety of the electric braking system is further improved, and the driving safety is ensured; meanwhile, the critical vertex angle speed is improved, and the driving comfort is improved.
Fig. 9 is a schematic structural diagram of a target displacement calculation module according to an embodiment of the present invention. As shown in fig. 9, the target displacement calculation module includes:
a target master cylinder pressure determining unit 910, configured to query a corresponding relationship between a pedal stroke and a master cylinder pressure demand according to the pedal stroke information, and determine a target master cylinder pressure;
a master cylinder piston stroke determining unit 920, configured to query a corresponding relationship between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure, and determine a target master cylinder piston stroke;
a target displacement amount driving unit 930 for determining the target displacement amount according to the target master cylinder piston stroke.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. An electric control braking method is characterized by being applied to an electric braking system, wherein the electric braking system comprises an electric control unit, a motor, a braking demand input unit and a braking force generation unit, the braking force generation unit comprises a rack and a master cylinder, and the master cylinder comprises a master cylinder shell, a piston and braking fluid which are arranged in the master cylinder shell; the electric control unit is respectively connected with the motor and the braking demand input unit, and the motor is connected with the rack;
the electric control braking method comprises the following steps:
receiving braking demand information, wherein the braking demand information comprises pedal braking speed information;
judging whether the pedal braking speed exceeds a preset braking speed, outputting first torque information to the motor when the pedal braking speed exceeds the preset braking speed, controlling the motor to rotate according to the first torque information, driving the rack to move and generating emergency braking force;
the first torque information is a maximum torque of the motor;
the braking demand information comprises emergency braking ending information and pedal travel information;
when the pedal braking speed exceeds the preset braking speed, first torque information is output to the motor, the motor is controlled to rotate according to the first torque information, the rack is driven to move, and after emergency braking force is generated, the method further comprises the following steps:
stopping outputting the first torque information to the motor according to the emergency braking end information;
calculating the target displacement of the rack according to the pedal travel information;
receiving motor position information in real time, and determining the actual displacement of the rack according to the motor position information;
generating second torque information according to the target displacement and the actual displacement, and controlling the motor to continue to rotate according to the second torque information to drive the rack to continue to move; wherein the second torque information is less than or equal to the first torque information;
the emergency braking end information includes a change in a moving direction of the rack and a difference between the target displacement amount and the actual displacement amount is smaller than a preset difference.
2. The electronically controlled braking method of claim 1, wherein the braking demand information further includes pedal travel information;
the electronic control braking method further comprises the following steps:
when the pedal braking speed is less than or equal to the preset braking speed, calculating the target displacement of the rack according to the pedal travel information;
receiving motor position information in real time, and determining the actual displacement of the rack according to the motor position information;
generating second torque information according to the target displacement and the actual displacement, and controlling the motor to rotate according to the second torque information to drive the rack to move; wherein the second torque information is less than or equal to the first torque information.
3. The electronically controlled braking method according to claim 1 or 2, wherein calculating a target displacement amount of the rack bar from the pedal stroke information includes:
inquiring the corresponding relation between the pedal stroke and the master cylinder pressure demand according to the pedal stroke information, and determining the target master cylinder pressure;
inquiring the corresponding relation between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure, and determining the target master cylinder piston stroke;
and determining the target displacement according to the target master cylinder piston stroke.
4. An electric control brake device is characterized by being applied to an electric brake system, wherein the electric brake system comprises an electric control unit, a motor, a brake demand input unit and a brake force generation unit, the brake force generation unit comprises a rack and a master cylinder, and the master cylinder comprises a master cylinder shell, a piston and brake fluid which are arranged in the master cylinder shell; the electric control unit is respectively connected with the motor and the braking demand input unit, and the motor is connected with the rack;
the electrically controlled brake device includes:
the braking demand information receiving module is used for receiving braking demand information, wherein the braking demand information comprises pedal braking speed information and is used for determining that the pedal braking speed exceeds a preset braking speed;
the first torque information output module is used for outputting first torque information to the motor when the pedal braking speed exceeds a preset braking speed, controlling the motor to rotate according to the first torque information, driving the rack to move and generating emergency braking force;
the first torque information is a maximum torque of the motor;
the braking demand information also comprises emergency braking ending information and pedal travel information;
the electrically controlled brake device further comprises:
the emergency braking ending module is used for outputting the first torque information to the motor when the pedal braking speed exceeds the preset braking speed, controlling the motor to rotate according to the first torque information to drive the rack to move, and stopping outputting the first torque information to the motor according to the emergency braking ending information after emergency braking force is generated;
the target displacement calculation module is used for calculating the target displacement of the rack according to the pedal stroke information;
the actual displacement calculation module is used for receiving motor position information in real time and determining the actual displacement of the rack according to the motor position information;
the second torque information output module is used for generating second torque information according to the target displacement and the actual displacement, controlling the motor to continue to rotate according to the second torque information and driving the rack to continue to move; wherein the second torque information is less than or equal to the first torque information;
the emergency braking ending module comprises:
a rack movement direction detection unit for detecting a change in a movement direction of the rack;
and the displacement difference calculation unit is used for calculating a displacement difference according to the target displacement and the actual displacement.
5. The electrically controlled brake device according to claim 4, wherein the brake demand information further includes pedal stroke information;
the braking demand information receiving module is further used for determining that the pedal braking speed is less than or equal to the preset braking speed;
the electrically controlled brake device further comprises:
the target displacement calculation module is used for calculating the target displacement of the rack according to the pedal stroke information;
the actual displacement calculation module is used for receiving motor position information in real time and determining the actual displacement of the rack according to the motor position information;
the second torque information output module is used for generating second torque information according to the target displacement and the actual displacement, and controlling the motor to rotate according to the second torque information to drive the rack to move; wherein the second torque information is less than or equal to the first torque information.
6. The electrically controlled brake device according to claim 4 or 5, wherein the target displacement amount calculation module includes:
the target master cylinder pressure determining unit is used for inquiring the corresponding relation between the pedal stroke and the master cylinder pressure demand according to the pedal stroke information and determining the target master cylinder pressure;
the master cylinder piston stroke determining unit is used for inquiring the corresponding relation between the master cylinder pressure and the master cylinder piston stroke according to the target master cylinder pressure and determining the target master cylinder piston stroke;
and the target displacement driving unit is used for determining the target displacement according to the target master cylinder piston stroke.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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