CN112660089A - Master cylinder pressure estimation and control method and device, and computer storage medium - Google Patents
Master cylinder pressure estimation and control method and device, and computer storage medium Download PDFInfo
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Abstract
The invention provides a master cylinder pressure estimation and control method and device and a computer storage medium, wherein the master cylinder pressure estimation method and control method comprises the following steps: acquiring a feedforward control pressure according to the pressure expected by the driver; acquiring vehicle deceleration braking force and wheel deceleration braking force; obtaining model master cylinder pressure according to the feedforward control pressure, vehicle deceleration braking force, wheel deceleration braking force and a conversion coefficient between the braking pressure and the friction force; and adjusting the master cylinder pressure of the brake according to the model master cylinder pressure. The invention pre-estimates the master cylinder pressure of the brake based on the information of the speed, the wheel speed and the like of the whole vehicle, and then carries out closed-loop control according to the pre-estimated master cylinder pressure and the expected pressure of a driver, thereby improving the performance and the consistency of the brake pedal feeling.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a master cylinder pressure estimation and control method and device and a computer storage medium.
Background
Along with the more and more high demands of consumers on the comfort and the safety of automobiles, more electromechanical products appear in the field of automobile braking, the scheme of the electronic booster is becoming a mainstream design, and compared with the traditional vacuum booster, the electronic booster has natural and huge advantages in the aspects of accelerating the pressure building rate, improving the maximum boosting capacity and guaranteeing the safety of automobile braking.
The brake in the finished automobile foundation brake system comprises a brake main cylinder, a brake pipeline, a brake caliper, a brake friction plate and the like. When vehicles are produced in batches, the parts have poor manufacturing dispersion and poor consistency. Generally speaking, the relationship between the master cylinder stroke and the master cylinder pressure of the same vehicle type, referred to as PV curve for short, has deviation of more than 20bar at 100 bar. The basic control mode of the existing decoupling type electronic booster is as follows: the method comprises the steps of obtaining expected pressure of a driver according to the pedal stroke of the driver, checking a PT curve according to the expected pressure to obtain target master cylinder stroke, assisting by an assisting mechanism to generate actual master cylinder pressure and vehicle deceleration, wherein the vehicle deceleration cannot be guaranteed to be consistent under the condition that vehicles PV have differences, the pedal feeling performance of the vehicle is finally reduced, customer complaints are caused, and the final deceleration generated by the vehicle has larger difference under the condition that the driver has the same pedal stroke/pedal force input.
Therefore, a cylinder pressure estimation and control method and apparatus, and a computer storage medium are needed to solve the above problems.
Disclosure of Invention
The invention provides a master cylinder pressure estimation and control method and device and a computer storage medium, which solve the problem of inconsistent vehicle pedal feeling caused by large difference of final deceleration generated by a vehicle under the condition of the same pedal stroke/pedal force input of a driver.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a master cylinder pressure estimation and control method comprising: acquiring a feedforward control pressure according to the pressure expected by the driver; acquiring vehicle deceleration braking force and wheel deceleration braking force; obtaining model master cylinder pressure according to feedforward control pressure, vehicle deceleration braking force, wheel deceleration braking force and a conversion coefficient between the braking pressure and friction force; and adjusting the master cylinder pressure of the brake according to the model master cylinder pressure.
In a preferred embodiment of the present invention, the step of obtaining the feedforward control pressure according to the driver's desired pressure includes: and acquiring the feedforward control pressure according to the expected pressure of the driver and a preset PT curve.
In a preferred embodiment of the present invention, the step of obtaining the vehicle deceleration braking force and the wheel deceleration braking force includes: and acquiring the speed information of the vehicle and the wheel speed information of the wheels in real time.
In a preferred embodiment of the present invention, the step of acquiring the vehicle deceleration braking force and the wheel deceleration braking force includes: acquiring vehicle deceleration braking force according to the vehicle speed information, the sliding deceleration and the whole vehicle mass of the vehicle; acquiring single-wheel braking force according to the wheel speed information and the rotational inertia; and calculating the sum of the single-wheel braking force of each wheel of the vehicle to obtain the wheel deceleration braking force.
In a preferred embodiment of the present invention, the step of obtaining the vehicle deceleration braking force according to the vehicle speed information, the coasting deceleration, and the entire vehicle mass of the vehicle includes: the vehicle speed information is derived with time, and the actual deceleration of the vehicle is calculated; and obtaining the deceleration braking force of the vehicle according to the actual deceleration, the coasting deceleration and the mass of the whole vehicle.
In a preferred embodiment of the present invention, the step of obtaining the wheel deceleration braking force according to the wheel speed information and the moment of inertia includes: calculating the acceleration of the wheel speed of the wheel by deriving the wheel speed information and time; and obtaining the wheel deceleration braking force according to the acceleration and the moment of inertia of the wheel speed of each wheel.
In a preferred embodiment of the present invention, the step of obtaining the model master cylinder pressure based on the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force, and the conversion coefficient between the braking pressure and the frictional force includes: and acquiring a conversion coefficient between the braking pressure and the friction force according to the brake information, wherein the brake information comprises the cylinder diameter and the effective radius of the brake and the friction coefficient of the friction plate.
A master cylinder pressure estimation and control apparatus comprising: the pressure acquisition module is used for acquiring feedforward control pressure according to the pressure expected by the driver; the pressure estimation module is used for acquiring vehicle deceleration braking force and wheel deceleration braking force and acquiring model master cylinder pressure according to the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force and a conversion coefficient between the braking pressure and the friction force; and the pressure control module is used for adjusting the master cylinder pressure of the brake according to the model master cylinder pressure.
A computer storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a master cylinder pressure estimation and control method as set forth in any one of the preceding claims.
The technical effect achieved by adopting the technical scheme is as follows: the feedforward control pressure Pff is obtained according to the driver desired pressure and a preset PT curve. And obtaining vehicle deceleration braking force and wheel deceleration braking force based on the vehicle speed and the wheel speed of the whole vehicle. The master cylinder pressure required by the driver is calculated by using the vehicle deceleration braking force and the wheel deceleration braking force again with the feed-forward pressure as a base value. The brake master cylinder pressure is then adjusted based on the estimated master cylinder pressure to improve brake pedal feel performance and consistency. When the wheel slip locking of the vehicle wheel occurs, the master cylinder pressure is corrected by the vehicle deceleration braking force and the wheel deceleration braking force, so that the final deceleration generated by the vehicle is consistent under the condition that the driver has the same pedal stroke/pedal force input.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a flow chart of a master cylinder pressure estimation and control method according to an embodiment of the present invention;
FIG. 2 is a master cylinder pressure control logic diagram illustrating an embodiment of the present invention;
FIG. 3 is a block diagram showing the structure of a master cylinder pressure estimation and control apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
It should be noted that step numbers such as S11 and S12 are used herein for the purpose of more clearly and briefly describing the corresponding content, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S12 first and then S11 in specific implementation, which should be within the scope of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a flowchart illustrating a master cylinder pressure estimation and control method according to an embodiment of the present invention, and fig. 2 is a master cylinder pressure control logic diagram according to an embodiment of the present invention. An embodiment of the present invention will be described below with reference to fig. 1 and 2.
As shown in fig. 1, a master cylinder pressure estimation and control method according to an embodiment of the present invention includes the steps of:
step S11: the feedforward control pressure is obtained according to the driver desired pressure.
Further, step S11: acquiring a feedforward control pressure according to the driver desired pressure, comprising: and acquiring the feedforward control pressure according to the expected pressure of the driver and a preset PT curve.
In one embodiment, the required braking force of the vehicle is calculated according to the current depth of the brake pedal stepped by the driver, and the pressure expected by the driver is acquired according to the required braking force. And then obtaining the feedforward control pressure Pff according to the expected pressure of the driver and a preset PT curve. Wherein the depth of the brake pedal can be acquired by pedal position sensor sensing in the electronic booster.
In the present embodiment, the feedforward control pressure Pff is obtained from the preset PT curve, and is an open-loop pressure, and when there is no error in the system, it is basically understood that the driver's desired pressure is the feedforward control pressure.
Step S12: vehicle deceleration braking force and wheel deceleration braking force are acquired.
Further, step S12: acquiring vehicle deceleration braking force and wheel deceleration braking force, previously including: and acquiring the speed information of the vehicle and the wheel speed information of the wheels in real time.
In one embodiment, the wheel speed of each wheel may be detected by a wheel speed sensor mounted on each wheel of the vehicle, and the vehicle speed of the vehicle may be detected by a vehicle speed sensor mounted in a transaxle case or a transmission case. Wherein, the wheel speed sensor can be, but not limited to, a magnetoelectric wheel speed sensor, a hall wheel speed sensor, etc.; the vehicle speed sensor may be, but is not limited to, a reed switch type vehicle speed sensor and an electro-optical type vehicle speed sensor.
In the present embodiment, the vehicle speed sensor and the wheel speed sensor acquire the vehicle speed of the vehicle and the wheel speed of each wheel in real time. The vehicle speed is the vehicle speed of the whole vehicle; the wheel speed includes: left front wheel speed, left rear wheel speed, right front wheel speed, and right rear wheel speed. In another embodiment, when the pedal position sensor detects that the driver presses the brake pedal during the running process of the vehicle, the speed bed is dried up and the wheel speed sensor collects the speed information and the wheel speed information of the vehicle in real time.
Further, step S12: acquiring vehicle deceleration braking force and wheel deceleration braking force, including: acquiring vehicle deceleration braking force according to the vehicle speed information, the sliding deceleration and the whole vehicle mass of the vehicle; acquiring single-wheel braking force according to the wheel speed information and the rotational inertia; and calculating the sum of the single-wheel braking force of each wheel of the vehicle to obtain the wheel deceleration braking force.
In one embodiment, the step of obtaining the vehicle deceleration braking force according to the vehicle speed information, the coasting deceleration and the entire vehicle mass of the vehicle comprises: the vehicle speed information is derived with time, and the actual deceleration of the vehicle is calculated; and obtaining the deceleration braking force of the vehicle according to the actual deceleration, the coasting deceleration and the mass of the whole vehicle.
Specifically, the vehicle deceleration braking force Fv of the vehicle is derived from the speed information of the whole vehicle and time, filtered, calculated to obtain the actual deceleration av of the vehicle, and subtracted by the coasting deceleration a0 when no braking force is input to the vehicle, and the obtained deceleration is multiplied by the mass m of the whole vehicle to obtain the total braking force Fv of the current vehicle, wherein the calculation formula is as follows: fv (av-a0) m. Here, coasting deceleration a0 is a default value and is generally considered to be 0.03 m/s.
In one embodiment, the step of obtaining the wheel deceleration braking force based on the wheel speed information and the moment of inertia includes: calculating the acceleration of the wheel speed of the wheel by deriving the wheel speed information and time; and obtaining the wheel deceleration braking force according to the acceleration and the moment of inertia of the wheel speed of each wheel.
Specifically, the wheel deceleration braking force F4 of the vehicle is derived from the wheel speed information and time, and is filtered to obtain the acceleration aw of the wheel speed, and then the acceleration aw of the wheel speed is multiplied by the moment of inertia J of the wheel to obtain the braking force of a single wheel, and the current total braking force is obtained by summing 4 wheels, such as: f4 ═ awFL J + awFR J + awRR J + awRL J. The moment of inertia J is a fixed value, different vehicle models can correspond to different moment of inertia J, and the moment of inertia J is generally provided by a whole vehicle factory.
Step S13: and obtaining the model master cylinder pressure according to the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force and the conversion coefficient between the braking pressure and the friction force.
Further, step S13: the model master cylinder pressure is obtained according to the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force and the conversion coefficient between the braking pressure and the friction force, and the method comprises the following steps: and acquiring a conversion coefficient between the braking pressure and the friction force according to the brake information, wherein the brake information comprises the cylinder diameter and the effective radius of the brake and the friction coefficient of the friction plate.
Specifically, a conversion coefficient K between the brake pressure and the friction force is calculated by a cylinder diameter D of the brake, an effective radius R of the brake, and a friction coefficient u of the friction plate, such as: k ═ 2 × u × R [ (D/2)2 × pi ]. Where pi is a constant of 3.1415, and the brake information of the friction plate, coefficient of friction u, cylinder diameter D, and effective radius R are known.
Specifically, model master cylinder pressure Pmc is calculated with feed-forward pressure Pff as a base value, and then corrected using the pressure calculated using vehicle deceleration Fv and wheel deceleration F4, such as: pmc ═ Pff + (K × Fv-K × F4).
In this case, theoretically, the values calculated by the two methods, i.e., the vehicle deceleration Fv and the wheel deceleration F4, are identical to each other when the wheels are not locked or slipping. Thus, by the calculation formula: the Pmc + Pff + (K Fv-K F4) obtains a model master cylinder pressure (i.e., an estimated master cylinder pressure), and when the master cylinder pressure and the vehicle deceleration do not correspond to each other due to a situation such as locking or slipping of the vehicle wheels, the master cylinder pressure is compensated so that the master cylinder pressure and the vehicle deceleration correspond to each other (i.e., when the driver depresses the pedal to brake, the same master cylinder pressure corresponds to the same vehicle deceleration).
Step S14: and adjusting the master cylinder pressure of the brake according to the model master cylinder pressure.
In the present embodiment, after the model master cylinder pressure is estimated, closed-loop adjustment is performed based on the model master cylinder pressure and the desired pressure so that the final deceleration of the vehicle is relatively uniform without a large difference when the driver inputs the same pedal stroke/pedal force.
The method for estimating and controlling the master cylinder pressure is based on the speed and the wheel speed of the whole vehicle, estimates the master cylinder pressure required by a driver, and performs closed-loop control according to the estimated master cylinder pressure and the expected pressure of the driver. The method comprises the steps of obtaining feedforward control pressure Pff according to expected pressure of a driver and a preset PT curve, then taking the feedforward control pressure as a basic value, and correcting master cylinder pressure of a brake by using master cylinder pressure required by the driver and obtained by calculating deceleration braking force of a vehicle and wheel deceleration braking force to improve brake pedal feeling performance and consistency. When the wheel slip locking condition of the vehicle wheel occurs, the master cylinder pressure is corrected through the vehicle deceleration braking force and the wheel deceleration braking force, so that the final deceleration generated by the vehicle is consistent under the condition that the driver has the same pedal stroke/pedal force input.
FIG. 3 is a block diagram showing the structure of a master cylinder pressure estimation and control apparatus according to an embodiment of the present invention.
As shown in fig. 3, the present invention also provides a master cylinder pressure estimation and control apparatus, comprising: a pressure obtaining module 30 for obtaining a feedforward control pressure according to a driver desired pressure; a pressure estimation module 20 for obtaining a vehicle deceleration braking force and a wheel deceleration braking force, and obtaining a model master cylinder pressure according to a feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force, and a conversion coefficient between the braking pressure and the friction force; and a pressure control module 10 for adjusting a master cylinder pressure of the brake according to the model master cylinder pressure.
The present invention also provides a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, performing the steps of the master cylinder pressure estimation and control method as set forth in any one of the above.
Embodiments of the present application also provide a computer program product, which includes computer program code, when the computer program code runs on a computer, the computer is caused to execute the method as described in the above various possible embodiments.
An embodiment of the present application further provides a chip, which includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device in which the chip is installed executes the method described in the above various possible embodiments.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Through the above description of the embodiments, it is clear to those skilled in the art that the embodiments of the present invention may be implemented by hardware, or by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a computer, a server, or a network device, etc.) to execute the methods described in the various implementation scenarios of the embodiments of the present invention.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or other steps.
The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.
Claims (9)
1. A master cylinder pressure estimation and control method, characterized in that the master cylinder pressure estimation method and control method comprises:
acquiring a feedforward control pressure according to the pressure expected by the driver;
acquiring vehicle deceleration braking force and wheel deceleration braking force;
obtaining model master cylinder pressure according to the feedforward control pressure, vehicle deceleration braking force, wheel deceleration braking force and a conversion coefficient between the braking pressure and the friction force;
and adjusting the master cylinder pressure of the brake according to the model master cylinder pressure.
2. The master cylinder pressure estimation and control method according to claim 1, wherein the step of obtaining the feedforward control pressure based on the driver's desired pressure includes:
and acquiring the feedforward control pressure according to the driver expected pressure and a preset PT curve.
3. The master cylinder pressure estimation and control method according to claim 1, wherein the step of obtaining the vehicle deceleration braking force and the wheel deceleration braking force is preceded by:
and acquiring the speed information of the vehicle and the wheel speed information of the wheels in real time.
4. The master cylinder pressure estimation and control method according to claim 3, wherein the step of obtaining the vehicle deceleration braking force and the wheel deceleration braking force includes:
acquiring the deceleration braking force of the vehicle according to the speed information, the sliding deceleration and the whole vehicle mass of the vehicle;
acquiring single-wheel braking force according to the wheel speed information and the rotational inertia;
and calculating the sum of the single-wheel braking force of each wheel of the vehicle to obtain the wheel deceleration braking force.
5. The master cylinder pressure estimation and control method according to claim 4, wherein the step of obtaining the vehicle deceleration braking force based on the vehicle speed information, the coasting deceleration, and the entire vehicle mass of the vehicle comprises:
calculating the actual deceleration of the vehicle by differentiating the vehicle speed information with time;
and acquiring the deceleration braking force of the vehicle according to the actual deceleration, the coasting deceleration and the whole vehicle mass.
6. The master cylinder pressure estimation and control method according to claim 4, wherein the step of obtaining the wheel deceleration braking force based on the wheel speed information and the moment of inertia includes:
calculating the acceleration of the wheel speed of the wheel by deriving the wheel speed information and time;
and acquiring the deceleration braking force of each wheel according to the acceleration and the moment of inertia of each wheel.
7. The master cylinder pressure estimation and control method according to claim 1, wherein the step of obtaining a model master cylinder pressure based on the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force, and a conversion coefficient between the braking pressure and the frictional force includes:
and acquiring a conversion coefficient between the braking pressure and the friction force according to the brake information, wherein the brake information comprises the cylinder diameter and the effective radius of the brake and the friction coefficient of the friction plate.
8. A master cylinder pressure estimation and control apparatus, characterized by comprising:
the pressure acquisition module is used for acquiring feedforward control pressure according to the pressure expected by the driver;
the pressure estimation module is used for acquiring vehicle deceleration braking force and wheel deceleration braking force and acquiring model master cylinder pressure according to the feedforward control pressure, the vehicle deceleration braking force, the wheel deceleration braking force and a conversion coefficient between the braking pressure and the friction force;
and the pressure control module is used for adjusting the master cylinder pressure of the brake according to the model master cylinder pressure.
9. A computer storage medium, characterized in that the computer storage medium has stored thereon a computer program which, when being executed by a processor, performs the steps of the master cylinder pressure estimation and control method according to any one of claims 1 to 7.
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| CN115123163A (en) * | 2022-06-28 | 2022-09-30 | 广州文远知行科技有限公司 | Line control cylinder pressure control method and device, vehicle and storage medium |
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