CN112389389A - Single-pedal brake control system and single-pedal brake control method - Google Patents
Single-pedal brake control system and single-pedal brake control method Download PDFInfo
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- CN112389389A CN112389389A CN201910744346.5A CN201910744346A CN112389389A CN 112389389 A CN112389389 A CN 112389389A CN 201910744346 A CN201910744346 A CN 201910744346A CN 112389389 A CN112389389 A CN 112389389A
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- 238000000034 method Methods 0.000 title claims description 20
- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 238000011084 recovery Methods 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 description 16
- 239000012530 fluid Substances 0.000 description 7
- 230000000994 depressogenic effect Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
Abstract
The application relates to a single pedal brake control system, comprising: the braking state judging module is used for judging the braking state of the host vehicle based on the pedal opening degree of a single pedal and outputting a target braking energy recovery torque according to a pedal opening degree signal under the condition that the host vehicle is judged to be in the braking state; an acceleration detection module configured to detect a current longitudinal acceleration of the host vehicle; a speed determination module configured to determine whether a current longitudinal speed of the host vehicle is below a predetermined first threshold; and the control unit outputs a brake hydraulic signal according to the current longitudinal acceleration and the target braking energy recovery torque under the condition that the current longitudinal speed is lower than the predetermined first threshold value.
Description
Technical Field
The application relates to a single-pedal brake control system and a single-pedal brake control method for starting and stopping by using a single pedal.
Background
Currently, in the field of electric vehicles, in order to reduce the driving burden of a driver and to improve driving safety to a certain extent, many electric vehicles can be implemented under the condition that the driver controls the longitudinal movement of the vehicle through a single pedal. That is, the electric vehicle is started or gradually decelerated and stopped by the opening degree of the accelerator pedal being depressed or released by the driver. However, when the electric vehicle runs on a slope, whether uphill or downhill, the single-pedal control system does not take into account the influence of the slope on the longitudinal movement of the electric vehicle, so that the electric vehicle cannot start or stop as intended by the driver.
Disclosure of Invention
It is an object of the present application to solve or to alleviate to some extent the problems of the prior art.
The application provides a single-pedal brake control system, which can realize a single-pedal control function under the condition of considering the gradient of a running road surface of a vehicle, prevent the danger that the vehicle cannot be braked when the vehicle is parked on a downhill, and also prevent the danger that the vehicle slips off the uphill when the vehicle is parked on the uphill.
According to an aspect of the present application, there is provided a single pedal brake control system including:
the braking state judging module is used for judging the braking state of the host vehicle based on the pedal opening degree of a single pedal and outputting a target braking energy recovery torque according to the pedal opening degree signal under the condition that the host vehicle is judged to be in the braking state;
an acceleration detection module configured to detect a current longitudinal acceleration of the host vehicle;
a speed determination module configured to determine whether a current longitudinal speed of the host vehicle is below a predetermined first threshold; and
and the control unit outputs a brake hydraulic signal according to the current longitudinal acceleration and the target braking energy recovery torque under the condition that the current longitudinal speed is lower than the predetermined first threshold value.
According to another aspect of the present application, there is provided a single pedal braking control method including:
judging the braking state of a host vehicle on the basis of the pedal opening degree of a single pedal, and outputting a target braking energy recovery torque according to a pedal opening degree signal under the condition that the host vehicle is judged to be in the braking state;
detecting a current longitudinal acceleration of the host vehicle;
determining whether a current longitudinal speed of the host vehicle is below a predetermined first threshold; and
and under the condition that the current longitudinal speed is lower than the predetermined first threshold, outputting a brake hydraulic signal according to the current longitudinal acceleration and the target brake energy recovery torque.
According to yet another aspect of the present application, a vehicle is provided that includes a single pedal brake control system according to any of the aspects disclosed herein.
According to yet another aspect of the present application, a computer device is proposed, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the single pedal braking control method according to any one of the solutions disclosed in the present application when executing the program.
According to yet another aspect of the present application, a computer-readable storage medium is proposed, on which a computer program is stored, characterized in that the program is executed by a processor to implement the steps of implementing the single-pedal braking control method according to any one of the solutions disclosed in the present application.
Drawings
The disclosure of the present invention will become more readily understood with reference to the accompanying drawings. As is readily understood by those skilled in the art: these drawings are for illustrative purposes only and are not intended to constitute a limitation on the scope of the present invention. Here:
FIG. 1 is a block diagram illustrating an exemplary configuration of a single pedal brake control system according to the present disclosure; and
FIG. 2 schematically illustrates steps of a single pedal braking control method as disclosed herein.
Detailed Description
Referring initially to FIG. 1, the architecture of the single pedal brake control system disclosed herein is schematically illustrated in FIG. 1. The single pedal brake control system 10 disclosed herein is generally applicable to electric vehicles having a single pedal function and a brake energy recovery function. For example, the signal output by the single pedal brake control system disclosed in the present application can also be used in an ESP mechanism integrated with a brake energy recovery function.
As can be seen in fig. 1, the single pedal brake control system 10 may include, for example: the braking state judging module 1, the acceleration detecting module 2, the speed judging module 3 and the control unit 4. Here, the braking state determination module 1 is capable of determining the braking state of the host vehicle, that is, whether the host vehicle is in the braking state, based on the pedal opening degree of the single pedal. In this case, for example, it can be provided that when the driver releases the pedal, the host vehicle is in a state of deceleration braking and braking energy recovery is started. Of course, other provisions may be made such that, for example, when the opening degree of the pedal is within a certain range, it is considered that the host vehicle is in the deceleration braking state and the recovery of the braking energy can be started. Further, the braking state determination module 1 may output a target braking energy recovery torque according to the pedal opening degree signal in a case where it is determined that the host vehicle is in the braking state. In other words, the pedal opening in the braking state and the target braking energy recovery torque may be calibrated in advance, so that braking energy recovery torques of different magnitudes can be respectively associated with pedal openings of different degrees in the braking condition. The acceleration detection module 2 of the single-pedal brake control system 10 is capable of detecting the current longitudinal acceleration of the host vehicle. It should be noted that the current longitudinal acceleration includes information on the gradient of the road on which the host vehicle is traveling, that is, the current longitudinal acceleration includes, for example, a gravity component in the longitudinal direction of travel due to the gradient of the road. And the speed determination module 3 is capable of determining whether the current longitudinal speed of the host vehicle is below a predetermined first threshold. It is provided that the single-pedal function according to the present application is generally used in a braking state in which the speed of the vehicle is low. The predetermined first threshold value referred to here can then be selected as a function of the actual requirements of use, and if the current longitudinal speed falls below this predetermined first threshold value, it can be determined that the operating conditions are suitable for braking with the single-pedal function. The control unit 4 of the single-pedal brake control system 10 is capable of receiving the output information of the above module mechanisms, and outputting a brake hydraulic signal according to the input current longitudinal acceleration and the target brake energy recovery torque under the condition that the current longitudinal speed is lower than the predetermined first threshold value, that is, under the working condition suitable for the single-pedal function. Here, the brake hydraulic pressure signal is understood to include information on whether or not it is necessary to actively establish the brake hydraulic pressure, and also information on the magnitude of the brake hydraulic pressure required in the case where it is necessary to establish the brake hydraulic pressure.
Specifically, for example, the control unit 4 may be configured to determine the road gradient state in which the host vehicle is currently located, based on the current longitudinal acceleration and the target braking energy recovery torque. The control unit 4 can then determine, from the information about the road gradient state, for example the magnitude of the gradient, a target brake fluid pressure which enables the hydraulic brake system to function together with the braking energy recovery system in order to stop the vehicle safely and reliably on the gradient.
According to one of the technical solutions disclosed in the present application, when determining the target braking hydraulic pressure, the control unit 4 may calculate the target braking energy recovery acceleration of the host vehicle from the target braking energy recovery torque, compare the target braking energy recovery acceleration with the current longitudinal acceleration of the host vehicle, and when a difference therebetween exceeds a second predetermined threshold, may determine that the host vehicle is on a slope. The predetermined second threshold value referred to here can be suitably selected according to the actual requirements and different application areas. On this basis, the control unit 4 may determine the target braking hydraulic pressure, for example, according to the magnitude of the difference determined above. The above statement is to be understood to mean that the magnitude of the target brake fluid pressure is dependent on the determined difference, but not necessarily a mathematical relationship in a one-to-one correspondence, i.e. for example, when the determined difference is small, the target brake fluid pressure can be determined to be small, and when the determined difference is large, the target brake fluid pressure can be increased accordingly.
The single-pedal brake control system 10 disclosed in the present application may also function in a vehicle start state, for example. For example, the control unit 4 may determine that the host vehicle is in a starting state in a case where the brake hydraulic signal is not output, including the brake state determination module 1 determining that the pedal opening exceeds a predetermined third threshold; and the speed judgment module 3 judges that the current longitudinal speed of the host vehicle is close to zero. That is, the control unit 4 determines that the host vehicle is in the starting state when the pedal of the host vehicle is depressed to some extent and the longitudinal vehicle speed thereof is very small (substantially zero). The predetermined third threshold value may also be defined according to actual requirements.
In order to more reliably determine whether the vehicle is determined to be in a take-off state, the control unit 4 may also take the current longitudinal acceleration into account when making the determination. As described above, the gradient information of the road section on which the host vehicle is traveling is also included in the current longitudinal acceleration. In this case, the control unit 4 is able to determine a target starting torque required for starting on the current hill based on the current longitudinal acceleration, and determine that the host vehicle is in a starting state in a case where the current drive torque of the host vehicle exceeds the target starting torque, and in this case, the brake hydraulic pressure is not established. This arrangement can prevent erroneous judgment of the take-off state due to inaccurate pedal signals, and further leads to runaway of the vehicle.
Referring to FIG. 2, FIG. 2 schematically illustrates the steps of the single pedal braking control method disclosed herein. Referring specifically to fig. 2, it can be seen that the single-pedal braking control method disclosed in the present application includes: determining a braking state of the host vehicle based on a pedal opening degree of a single pedal, and outputting a target braking energy recovery torque according to a pedal opening degree signal in a case where it is determined that the host vehicle is in the braking state S1; detecting a current longitudinal acceleration of the host vehicle S2; determining whether the current longitudinal speed of the host vehicle is below a predetermined first threshold S3; and outputting a braking hydraulic signal S4 according to the current longitudinal acceleration and the target braking energy recovery torque when the current longitudinal speed is lower than the predetermined first threshold.
Here, in the above-described method, the braking state of the host vehicle, that is, whether or not the host vehicle is in the braking state can be determined from the pedal opening degree of the single pedal. In this case, for example, it can be provided that when the driver releases the pedal, the host vehicle is in a state of deceleration braking and braking energy recovery is started. Of course, other provisions may be made such that, for example, when the opening degree of the pedal is within a certain range, it is considered that the host vehicle is in the deceleration braking state and the recovery of the braking energy can be started. Further, in a case where it is determined that the host vehicle is in a braking state, a target braking energy recovery torque may be output in accordance with the pedal opening degree signal. In other words, the pedal opening in the braking state and the target braking energy recovery torque may be calibrated in advance, so that braking energy recovery torques of different magnitudes can be respectively associated with pedal openings of different degrees in the braking condition. With step S2, the current longitudinal acceleration of the host vehicle can be detected. It should be noted that the current longitudinal acceleration includes information on the gradient of the road on which the host vehicle is traveling, that is, the current longitudinal acceleration includes, for example, a gravity component in the longitudinal direction of travel due to the gradient of the road. And the determination in step S3 as to whether the current longitudinal speed of the host vehicle is lower than the predetermined first threshold value is considered from the viewpoint of the use range to which the present application relates. Specifically, the single-pedal function according to the present application is generally used in a braking state where the speed of the vehicle is low. The predetermined first threshold value referred to here can then be selected as a function of the actual requirements of use, and if the current longitudinal speed falls below this predetermined first threshold value, it can be determined that the operating conditions are suitable for braking with the single-pedal function. In the case that the current longitudinal speed is lower than the predetermined first threshold, that is, the working condition suitable for the single-pedal function, in step S4, a braking hydraulic pressure signal can be output according to the input current longitudinal acceleration and the target braking energy recovery torque. Here, the brake hydraulic pressure signal is understood to include information on whether or not it is necessary to actively establish the brake hydraulic pressure, and also information on the magnitude of the brake hydraulic pressure required in the case where it is necessary to establish the brake hydraulic pressure.
Specifically, for example, in step S4, the road gradient state where the host vehicle is currently located may be determined based on the current longitudinal acceleration and the target braking energy recovery torque. Then, a target braking hydraulic pressure that enables the hydraulic brake system to function together with the braking energy recovery system so that the vehicle is safely and reliably stopped on the slope may be determined based on the information on the road slope state, for example, the magnitude of the slope.
According to one of the technical solutions disclosed in the present application, when determining the target braking hydraulic pressure, the target braking energy recovery acceleration of the host vehicle can be calculated from the target braking energy recovery torque, and the target braking energy recovery acceleration is compared with the current longitudinal acceleration of the host vehicle, and when the difference between the target braking energy recovery acceleration and the current longitudinal acceleration of the host vehicle exceeds a second predetermined threshold, it can be determined that the host vehicle is on a slope. The predetermined second threshold value referred to here can be suitably selected according to the actual requirements and different application areas. In addition, the target brake hydraulic pressure may be determined, for example, based on the magnitude of the difference determined above. The above statement is to be understood to mean that the magnitude of the target brake fluid pressure is dependent on the determined difference, but not necessarily a mathematical relationship in a one-to-one correspondence, i.e. for example, when the determined difference is small, the target brake fluid pressure can be determined to be small, and when the determined difference is large, the target brake fluid pressure can be increased accordingly.
The single-pedal brake control method disclosed in the present application may also function in a vehicle start state, for example. For example, it may be determined that the host vehicle is in the starting state S4' in a case where the brake hydraulic signal is not output, including determining that the pedal opening exceeds a predetermined third threshold value; and the current longitudinal speed of the host vehicle is judged to be close to zero. That is, when the pedal of the host vehicle is depressed to some extent and the longitudinal vehicle speed thereof is very small (substantially zero), it is determined that the host vehicle is in the starting state. The predetermined third threshold value may also be defined according to actual requirements.
In order to more reliably determine whether the vehicle is determined to be in a starting state, the current longitudinal acceleration may also be taken into account when making the determination. As described above, the gradient information of the road section on which the host vehicle is traveling is also included in the current longitudinal acceleration. In this case, a target starting torque required for starting on the current hill can be determined based on the current longitudinal acceleration, and it is determined that the host vehicle is in a starting state if the current drive torque of the host vehicle exceeds the target starting torque, and the brake hydraulic pressure S4' is not established in this case. This arrangement can prevent erroneous judgment of the take-off state due to inaccurate pedal signals, and further leads to runaway of the vehicle.
In addition, the application also discloses a vehicle using the single-pedal brake control system disclosed by any technical scheme of the application.
Claims (17)
1. A single pedal brake control system (10), comprising:
a braking state judgment module (1) configured to judge a braking state of a host vehicle based on a pedal opening of a single pedal, and output a target braking energy recovery torque according to a pedal opening signal in a case where it is judged that the host vehicle is in the braking state;
an acceleration detection module (2) configured to detect a current longitudinal acceleration of the host vehicle;
a speed determination module (3) configured to determine whether a current longitudinal speed of the host vehicle is below a predetermined first threshold; and
the control unit (4) is used for outputting a brake hydraulic signal according to the current longitudinal acceleration and the target brake energy recovery torque under the condition that the current longitudinal speed is lower than the predetermined first threshold value.
2. The single-pedal brake control system (10) according to claim 1, wherein the control unit (4) determines a road gradient state in which the host vehicle is currently located, based on the current longitudinal acceleration and the target braking energy recovery torque.
3. The single-pedal brake control system (10) according to claim 2, wherein the control unit (4) determines a target braking hydraulic pressure based on the road gradient state.
4. The single-pedal brake control system (10) according to claim 3, wherein the control unit (4) calculates a target braking energy recovery acceleration of the host vehicle from the target braking energy recovery torque, and determines that the host vehicle is on a slope when a difference between the current longitudinal acceleration and the target braking energy recovery acceleration exceeds a second predetermined threshold.
5. The single-pedal brake control system (10) according to claim 4, wherein the control unit (4) determines the target braking hydraulic pressure based on a magnitude of the difference in the case where it is determined that the host vehicle is on a slope.
6. The single-pedal brake control system (10) according to claim 1, wherein the control unit (4) determines that the host vehicle is in a starting state and does not output the braking hydraulic pressure signal, in a case where:
the braking state judgment module (1) judges that the pedal opening exceeds a predetermined third threshold; and is
The speed judgment module (3) judges that the current longitudinal speed of the host vehicle is close to zero.
7. The single-pedal brake control system (10) according to claim 6, wherein the control unit (4) determines a target starting torque in consideration of the current longitudinal acceleration, determines that the host vehicle is in a starting state in a case where a current driving torque of the host vehicle exceeds the target starting torque, and does not output the brake hydraulic pressure signal that establishes the brake hydraulic pressure.
8. A single pedal braking control method comprising:
determining a braking state of a host vehicle based on a pedal opening degree of a single pedal, and outputting a target braking energy recovery torque according to a pedal opening degree signal in a case where it is determined that the host vehicle is in the braking state (S1);
detecting a current longitudinal acceleration of the host vehicle (S2);
determining whether a current longitudinal speed of the host vehicle is lower than a predetermined first threshold (S3); and
and under the condition that the current longitudinal speed is lower than the predetermined first threshold value, outputting a brake hydraulic signal according to the current longitudinal acceleration and the target brake energy recovery torque (S4).
9. The single-pedal brake control method according to claim 8, wherein in the step of outputting the braking hydraulic signal (S4), a road gradient state where the host vehicle is currently located is determined based on the current longitudinal acceleration and the target braking energy recovery torque.
10. The single-pedal brake control method according to claim 9, wherein in the step of outputting the brake hydraulic pressure signal (S4), a target brake hydraulic pressure is determined based on the road gradient state.
11. The single-pedal brake control method according to claim 10, characterized in that in the step of outputting the braking hydraulic signal (S4), a target braking energy recovery acceleration of the host vehicle is calculated from the target braking energy recovery torque, and it is determined that the host vehicle is on a slope when a difference between the current longitudinal acceleration and the target braking energy recovery acceleration exceeds a second predetermined threshold.
12. The single-pedal brake control method according to claim 11, wherein in the step of outputting the brake hydraulic pressure signal (S4), in a case where it is determined that the host vehicle is on a slope, a target brake hydraulic pressure is determined based on a magnitude of the difference.
13. The single-pedal brake control method according to claim 8, further comprising:
determining that the host vehicle is in a starting state and not outputting the brake hydraulic pressure signal (S4') when:
determining that the pedal opening exceeds a predetermined third threshold (S1); and is
It is judged that the current longitudinal speed of the host vehicle is close to zero (S3').
14. The single-pedal brake control method according to claim 13, wherein in the step of determining a take-off state (S4'), a target take-off torque is determined in consideration of the current longitudinal acceleration, and it is determined that the host vehicle is in the take-off state in a case where a current driving torque of the host vehicle exceeds the target take-off torque, and the brake hydraulic pressure signal that establishes the brake hydraulic pressure is not output.
15. A vehicle comprising a single pedal brake control system (10) according to any one of claims 1 to 7.
16. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the single pedal braking control method according to any one of claims 8 to 14 are implemented when the processor executes the program.
17. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the steps of a single pedal braking control method according to any one of claims 8 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910744346.5A CN112389389A (en) | 2019-08-13 | 2019-08-13 | Single-pedal brake control system and single-pedal brake control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910744346.5A CN112389389A (en) | 2019-08-13 | 2019-08-13 | Single-pedal brake control system and single-pedal brake control method |
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| CN112389389A true CN112389389A (en) | 2021-02-23 |
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| CN201910744346.5A Pending CN112389389A (en) | 2019-08-13 | 2019-08-13 | Single-pedal brake control system and single-pedal brake control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407674A (en) * | 2022-01-14 | 2022-04-29 | 东风汽车集团股份有限公司 | Single-pedal mode control method, device, equipment and storage medium for electric automobile |
| WO2023123176A1 (en) * | 2021-12-30 | 2023-07-06 | 华为技术有限公司 | Vehicle control method, vehicle control device and control system |
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| CN114407674A (en) * | 2022-01-14 | 2022-04-29 | 东风汽车集团股份有限公司 | Single-pedal mode control method, device, equipment and storage medium for electric automobile |
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