CN110775032B - Control method and device of electronic brake booster and vehicle - Google Patents
Control method and device of electronic brake booster and vehicle Download PDFInfo
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- CN110775032B CN110775032B CN201911023683.1A CN201911023683A CN110775032B CN 110775032 B CN110775032 B CN 110775032B CN 201911023683 A CN201911023683 A CN 201911023683A CN 110775032 B CN110775032 B CN 110775032B
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- electronic brake
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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 relates to the technical field of vehicles, and provides a control method and a control device of an electronic brake booster and a vehicle, wherein the method comprises the following steps: receiving a pre-actuation signal; and controlling the motor of the electronic brake booster to output an initial torque to eliminate a gap between an input rod of the electronic brake booster and a feedback disc based on the pre-braking signal before receiving a signal of braking by a driver. The invention can reduce the reaction time of the electronic brake booster and ensure the running safety of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method and device of an electronic brake booster and a vehicle.
Background
Compared with a vacuum boosting type hydraulic brake system, the electronic brake booster has the advantages of small volume, high function integration and the like, and provides higher safety guarantee. However, when the current electronic brake booster detects the change of the pedal stroke, firstly, the sensor signal needs to be processed, then the intention of the driver is judged, then the motor is controlled to start to act, and finally the motor reaches a stable output state, which takes several seconds. Therefore, when the driver needs emergency braking, the vehicle cannot be quickly decelerated to the required deceleration, the accident probability is increased, and the accident severity is also improved.
Disclosure of Invention
In view of this, the present invention is directed to a method for controlling an electronic brake booster to reduce a response time of the electronic brake booster and ensure a driving safety of a vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method of controlling an electronic brake booster, the method comprising: receiving a pre-actuation signal; and controlling the motor of the electronic brake booster to output an initial torque to eliminate a gap between an input rod of the electronic brake booster and a feedback disc based on the pre-braking signal before receiving a signal of braking by a driver.
Further, controlling the motor of the electric brake booster to output an initial torque based on the pre-braking signal includes: calculating an actual torque and a target torque of the motor after receiving the pre-braking signal; calculating a difference between an actual torque of the motor and a target torque of the motor as the initial torque; and controlling the motor to output the initial torque.
Further, calculating the actual torque of the motor includes: detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotation angle; and calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotation angle.
Further, calculating the target torque of the motor includes: acquiring the size of a gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the electronic brake booster shell and the master cylinder reaction force of the electronic brake booster; and calculating the target torque of the motor according to the size of the gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the shell of the electronic brake booster and the main cylinder reaction force of the electronic brake booster.
Further, the pre-actuation signal is provided by an adaptive cruise system.
Compared with the prior art, the control method of the electronic brake booster has the following advantages:
firstly, a pre-braking signal is received, and then before a signal for braking by a driver is received, based on the pre-braking signal, the motor of the electronic brake booster is controlled to output an initial torque so as to eliminate a gap between an input rod and a feedback disc of the electronic brake booster, so that the gap of the electronic brake booster can be eliminated in advance before the driver brakes, the reaction time of the electronic brake booster is reduced, and the driving safety of a vehicle is ensured.
Another object of the present invention is to provide a control device for an electronic brake booster to reduce the response time of the electronic brake booster and ensure the driving safety of a vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control device of an electronic brake booster, the device comprising: the device comprises a receiving unit and a control unit, wherein the receiving unit is used for receiving a pre-actuation signal; the control unit is used for controlling the motor of the electronic brake booster to output initial torque based on the pre-braking signal before receiving a signal of braking of a driver so as to eliminate a gap between an input rod of the electronic brake booster and a feedback disc.
Further, controlling the motor of the electric brake booster to output an initial torque based on the pre-braking signal includes: calculating an actual torque and a target torque of the motor after receiving the pre-braking signal; calculating a difference between an actual torque of the motor and a target torque of the motor as the initial torque; and controlling the motor to output the initial torque.
Further, calculating the actual torque of the motor includes: detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotation angle; and calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotation angle.
Further, calculating the target torque of the motor includes: acquiring the size of a gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the electronic brake booster shell and the master cylinder reaction force of the electronic brake booster; and calculating the target torque of the motor according to the size of the gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the shell of the electronic brake booster and the main cylinder reaction force of the electronic brake booster.
The control device of the electronic brake booster has the same advantages as the control method of the electronic brake booster compared with the prior art, and the detailed description is omitted.
Another object of the present invention is to provide a vehicle, so as to reduce the reaction time of the electronic brake booster and ensure the driving safety of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle comprising the control device of an electronic brake booster described above.
The vehicle and the control method of the electronic brake booster have the same advantages compared with the prior art, and the detailed description is omitted.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a diagram illustrating the effect of a control method provided by the prior art;
FIG. 2 is a flowchart of a method of controlling an electronic brake booster according to an embodiment of the present invention;
FIG. 3 is a schematic view of a portion of an electric brake booster according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for eliminating backlash according to an embodiment of the present invention;
FIG. 5 is a trip diagram of a method for calculating actual torque of the electric machine provided by one embodiment of the present invention;
FIG. 6 is a trip diagram of a method for calculating a target torque for an electric machine provided in accordance with an embodiment of the present invention;
FIG. 7 is a graph comparing the effects of a control method of an electric brake booster of the present invention and a control method of the prior art according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device of an electric brake booster according to an embodiment of the present invention.
Description of reference numerals:
1 receiving unit 2 control unit
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is an effect diagram of a control method provided by the prior art. As shown in fig. 1, after the driver depresses the brake pedal (detects the pedal stroke), the electronic brake booster can determine the driver braking demand, then the electronic brake booster starts calculating the output force, and then the motor is started until the torque of the target is output, and the time from the detection of the driver's intention until the target torque is reached is represented by Tm ═ Tr + Ts (the acceleration time is Tr, and the time to reach the steady is Ts). When the driver needs emergency braking, the purpose can be achieved after Tm time, and the vehicle cannot be quickly braked to achieve the required deceleration.
Fig. 2 is a flowchart of a control method of an electric brake booster according to an embodiment of the present invention. As shown in fig. 2, the method includes:
step S21, receiving a pre-actuation signal;
in particular, the electronic brake booster of the present invention may be an IBooster electronic brake booster, and the pre-brake signal may be provided by an adaptive cruise system. Before the pre-actuation signal reception, a series of checks and initializations can be performed, for example:
firstly, checking whether a CAN network is available, and receiving required information from the CAN network when the CAN network is available; then, whether an Electronic Control Unit (ECU) of a Driver Assistance (DA) system is valid is verified, the Electronic Control Unit receives a DA signal when the ECU is valid, then whether the DA signal is valid is verified, whether an automatic braking preparation signal is activated is judged when the DA signal is valid, if the automatic braking preparation signal is activated, a management system of the Electronic brake booster is initialized, and finally, whether the initialization is completed is judged, the validity of a motor rotation angle sensor and a pedal stroke displacement sensor is checked when the initialization is completed, and if the initialization is not completed, the Control method can be selected not to be executed, and only the existing Control method is executed.
And step S22, controlling the motor of the electronic brake booster to output an initial torque to eliminate a gap between the input rod of the electronic brake booster and the feedback disc based on the pre-braking signal before receiving a signal for a driver to brake.
Specifically, as shown in fig. 3, fig. 3 is a schematic partial structural diagram of an electric brake booster according to an embodiment of the present invention. A gap exists between an input rod of the electronic brake booster and a feedback disc, and when braking is needed, the gap needs to be eliminated first, so that braking can be initiated. Therefore, in the embodiment of the present invention, before the signal of braking by the driver is received, the clearance is eliminated, and the method includes the following steps:
fig. 4 is a schematic diagram of a method for eliminating a gap according to an embodiment of the present invention. As shown in figure 3 of the drawings,
step S41, after receiving the pre-braking signal, calculating the actual torque and the target torque of the motor;
specifically, for the calculation of the actual torque of the motor, as shown in fig. 5,
step S51, detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotating angle;
and step S52, calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotating angle.
For the calculation of the target torque of the motor, as shown in fig. 6,
step S61 of acquiring a size of a gap between the input rod and the feedback disk, a repulsive force of a spring between the feedback disk and the electronic brake booster housing, and a master cylinder reaction force of the electronic brake booster;
step S62 is a step of calculating a target torque of the motor based on a size of a gap between the input rod and the feedback disk, a repulsive force of a spring between the feedback disk and a housing of the electronic brake booster, and a master cylinder reaction force of the electronic brake booster.
After the calculation of the actual torque and the target torque of the electric machine is completed, the following steps are continued:
step S42 of calculating a difference between an actual torque of the motor and a target torque of the motor as the initial torque;
and step S43, controlling the motor to output the initial torque.
After the initial torque is output and the gap is reduced, the above control method of the present invention reacts more quickly in braking than the conventional control method, and the electronic brake booster is automatically actuated before the driver depresses the brake pedal.
FIG. 7 is a graph comparing the effects of the control method of the electric brake booster of the present invention and the control method of the prior art according to an embodiment of the present invention.
As shown in fig. 7, in the prefabrication provided by the control method of the electronic brake booster of the present invention, the motor starts to rotate first, the speed is gradually increased, and after the pedal stroke change is detected, the motor reaches a stable output state through Tm 1; in the normal braking assistance provided by the conventional control method under the general condition, when the change of the pedal stroke is detected, the motor starts to operate, and the motor reaches a stable output state by taking Tm2 time.
Obviously, in the control method of the electronic brake booster, the Tm1 time is far shorter than the Tm2 time in the existing control method, and the pressure building speed of the system is greatly improved.
Fig. 8 is a schematic structural diagram of a control device of an electric brake booster according to an embodiment of the present invention. As shown in fig. 8, the apparatus includes: the device comprises a receiving unit 1 and a control unit 2, wherein the receiving unit 1 is used for receiving a pre-actuation signal; the control unit 2 is configured to control the motor of the electric brake booster to output an initial torque to eliminate a gap between the input rod of the electric brake booster and the feedback disc based on the pre-braking signal before receiving a signal for braking by the driver.
Further, controlling the motor of the electric brake booster to output an initial torque based on the pre-braking signal includes: calculating an actual torque and a target torque of the motor after receiving the pre-braking signal; calculating a difference between an actual torque of the motor and a target torque of the motor as the initial torque; and controlling the motor to output the initial torque.
Further, calculating the actual torque of the motor includes: detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotation angle; and calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotation angle.
Further, calculating the target torque of the motor includes: acquiring the size of a gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the electronic brake booster shell and the master cylinder reaction force of the electronic brake booster; and calculating the target torque of the motor according to the size of the gap between the input rod and the feedback disc, the resilience force of a spring between the feedback disc and the shell of the electronic brake booster and the main cylinder reaction force of the electronic brake booster.
The control device of the electronic brake booster described above is similar to the embodiment of the control method of the electronic brake booster described above, and is not described again here.
An embodiment of the invention further provides a vehicle including the control device of the electronic brake booster described above.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A method of controlling an electronic brake booster, the method comprising:
receiving a pre-actuation signal;
before receiving a signal that the driver brakes:
calculating the actual torque of the motor;
acquiring the size of a gap between an input rod of the electronic brake booster and a feedback disc, the resilience force of a spring between the feedback disc and a shell of the electronic brake booster and the master cylinder reaction force of the electronic brake booster;
calculating a target torque of the motor according to a size of a gap between the input rod and the feedback disc, a repulsive force of a spring between the feedback disc and a housing of the electronic brake booster, and a master cylinder reaction force of the electronic brake booster;
calculating a difference between an actual torque of the motor and a target torque of the motor as an initial torque;
controlling the motor to output the initial torque to eliminate a gap between the input rod and the feedback disc.
2. The control method of an electronic brake booster according to claim 1, wherein calculating the actual torque of the motor includes:
detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotation angle;
and calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotation angle.
3. A control method of an electronic brake booster as set forth in claim 1 wherein said pre-brake signal is provided by an adaptive cruise system.
4. A control device of an electronic brake booster, characterized by comprising:
a receiving unit and a control unit, wherein,
the receiving unit is used for receiving a pre-braking signal;
the control unit is used for, before receiving a signal of braking by a driver:
calculating the actual torque of the motor;
acquiring the size of a gap between an input rod of the electronic brake booster and a feedback disc, the resilience force of a spring between the feedback disc and a shell of the electronic brake booster and the master cylinder reaction force of the electronic brake booster;
calculating a target torque of the motor according to a size of a gap between the input rod and the feedback disc, a repulsive force of a spring between the feedback disc and a housing of the electronic brake booster, and a master cylinder reaction force of the electronic brake booster;
calculating a difference between an actual torque of the motor and a target torque of the motor as an initial torque;
controlling the motor to output the initial torque to eliminate a gap between the input rod and the feedback disc.
5. The control device of an electronic brake booster according to claim 4, wherein calculating the actual torque of the motor includes:
detecting a motor id current, a motor iq current, a motor rotating speed, a motor voltage, a motor efficiency and a motor rotation angle;
and calculating the actual torque of the motor according to the motor id current, the motor iq current, the motor rotating speed, the motor voltage, the motor efficiency and the motor rotation angle.
6. A vehicle characterized by comprising the control device of an electronic brake booster according to any one of claims 4 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911023683.1A CN110775032B (en) | 2019-10-25 | 2019-10-25 | Control method and device of electronic brake booster and vehicle |
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| CN201911023683.1A CN110775032B (en) | 2019-10-25 | 2019-10-25 | Control method and device of electronic brake booster and vehicle |
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| CN110775032B true CN110775032B (en) | 2021-09-14 |
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| CN112026732B (en) * | 2020-08-20 | 2022-04-12 | 中国第一汽车股份有限公司 | Pre-supercharging control method and device, vehicle and storage medium |
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