CN112706737A - Brake control method and device and vehicle - Google Patents
Brake control method and device and vehicle Download PDFInfo
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- CN112706737A CN112706737A CN202110039037.5A CN202110039037A CN112706737A CN 112706737 A CN112706737 A CN 112706737A CN 202110039037 A CN202110039037 A CN 202110039037A CN 112706737 A CN112706737 A CN 112706737A
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- braking force
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- energy recovery
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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
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
Abstract
The invention provides a brake control method, a brake control device and a vehicle, wherein the method is applied to a decoupling type electronic brake booster of the vehicle, the electronic brake booster is in communication connection with a vehicle control unit of the vehicle, the vehicle further comprises a driving motor in transmission connection with a wheel, and the method comprises the following steps: monitoring a brake pedal displacement of the vehicle; determining a target braking force value according to the displacement of the brake pedal; acquiring an upper limit value of energy recovery braking force currently provided by a driving motor; determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value; and sending the target energy recovery braking force value to the vehicle control unit so as to control the driving motor to rotate reversely according to the target energy recovery braking force value, thereby realizing braking of the vehicle. The invention solves the problem that the existing decoupling type electronic brake booster is easy to cause longer braking distance and braking response time due to the existence of decoupling clearance when an actuating mechanism fails.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a brake control method and device and a vehicle.
Background
Currently, a decoupling type electronic brake booster is used as a novel electronic brake booster structure, and because a decoupling gap exists, the decoupling type electronic brake booster can realize energy recovery braking without depending on a vehicle Electronic Stability Control (ESC), so that the decoupling type electronic brake booster is more and more widely applied to electric vehicles, hybrid vehicles and fuel vehicles.
The decoupling type electronic brake booster uses a Pedal displacement Sensor (PTS) to monitor the position of a brake Pedal, so as to judge the intention of a driver, and then an electric motor drives a mechanical actuating mechanism to generate brake hydraulic pressure, so that the effect of brake boosting is achieved. However, when the actuator fails due to mechanical failure, aging, or a malfunction of a rotation angle sensor (RPS), the electronic brake booster cannot assist braking.
In the prior art, after an actuating mechanism of an electronic brake booster fails, as shown in fig. 1, due to the existence of a decoupling gap, an input rod connected with a brake pedal does not touch an output rod connected with a master cylinder, so that the master cylinder cannot be pushed to generate hydraulic pressure, and therefore, the electronic brake booster and an ESC do not generate hydraulic pressure, and a vehicle cannot decelerate; after the driver continues to depress the brake pedal until the input rod overcomes the decoupling gap, the input rod contacts the output rod and pushes the output rod to generate brake fluid pressure, at which time the vehicle will decelerate.
Therefore, the conventional brake control mode based on the decoupling type electronic brake booster takes time to eliminate the decoupling gap, so that the brake distance and the brake response time are increased, and a driver is easy to feel panic due to the fact that the driver cannot feel the deceleration of the vehicle when the driver steps on the brake pedal, so that the driving safety of the vehicle is influenced.
Disclosure of Invention
In view of the above, the present invention aims to provide a brake control method, a brake control device and a vehicle, so as to solve the problem that the driving safety of the vehicle is affected by the long braking distance and braking response time easily caused by the existence of the decoupling gap when the actuating mechanism of the existing decoupling type electronic brake booster fails.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a braking control method is applied to a decoupling type electronic braking booster of a vehicle, the decoupling type electronic braking booster is in communication connection with a vehicle control unit of the vehicle, the vehicle further comprises a driving motor in transmission connection with wheels, and the method comprises the following steps:
monitoring a brake pedal displacement of the vehicle;
determining a target braking force value according to the displacement of the brake pedal;
acquiring an upper limit value of energy recovery braking force currently provided by the driving motor;
determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
and sending the target energy recovery braking force value to the vehicle control unit so that the vehicle control unit controls the driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of the wheels and realize the braking of the vehicle.
Further, in the method, the step of determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value includes:
determining the target energy recovery braking force value as the energy recovery braking force upper limit value under the condition that the target braking force value is larger than the energy recovery braking force upper limit value;
determining the target energy-recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy-recovery braking force upper limit value.
Further, in the method, after the step of determining the target energy recovery braking force value based on the target braking force value and the energy recovery braking force upper limit value, the method further includes:
determining a target hydraulic pressure value according to a target braking force value and the target energy recovery braking force value;
and under the condition that an actuating mechanism of the electronic brake booster is effective, braking the vehicle according to the target hydraulic pressure value.
Further, in the method, the step of determining a target hydraulic pressure value according to a target braking force value and the energy recovery braking force upper limit value includes:
under the condition that the target braking force value is larger than the energy recovery braking force upper limit value, determining the target hydraulic pressure value as a difference value between the target braking force value and the energy recovery braking force upper limit value;
and determining that the target hydraulic pressure value is 0 when the target braking force value is less than or equal to the energy recovery braking force upper limit value.
Further, before the step of sending the target energy recovery braking force value to the vehicle control unit, the method further includes:
judging whether the controller is effective or not;
and if the controller is effective, executing the step of sending the target energy recovery braking force value to the vehicle control unit.
Further, in the method, the vehicle further includes an electronic stability control system, and the method further includes:
and sending a control signal to the electronic stability control system to activate a hydraulic boosting failure compensation function of the electronic stability control system under the condition that an actuating mechanism of the electronic brake booster fails.
Another object of the present invention is to provide a brake control device, which is applied to a decoupled electronic brake booster of a vehicle, wherein the electronic brake booster is connected to a vehicle control unit of the vehicle in a communication manner, and the vehicle further includes a driving motor in transmission connection with a wheel, wherein the device includes:
the monitoring module is used for monitoring the displacement of a brake pedal of the vehicle;
the first determining module is used for determining a target braking force value according to the displacement of the brake pedal;
the acquisition module is used for acquiring the upper limit value of the energy recovery braking force currently provided by the driving motor;
the second determining module is used for determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
the first sending module is used for sending the target energy recovery braking force value to the vehicle control unit so that the vehicle control unit controls the driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of the wheels and brake the vehicle.
Further, in the apparatus, the second determining module includes:
a first determination unit configured to determine that the target energy recovery braking force value is the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value;
a second determination unit configured to determine the target energy-recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy-recovery braking force upper limit value.
Further, the apparatus further comprises:
a third determination module, configured to determine a target hydraulic pressure value according to the target braking force value and the target energy recovery braking force value after the step of determining the target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
and the braking module is used for braking the vehicle according to the target hydraulic pressure value under the condition that an actuating mechanism of the electronic brake booster is effective.
Further, in the apparatus, the third determining module includes:
a third determination unit configured to determine that the target fluid pressure value is a difference between the target braking force value and the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value;
a fourth determination unit configured to determine that the target hydraulic pressure value is 0 in a case where the target braking force value is less than or equal to the energy recovery braking force upper limit value.
Further, in the apparatus, the first sending module includes:
a fifth determination unit, configured to determine whether the vehicle control unit is valid;
and the transmitting unit is used for transmitting the target energy recovery braking force value to the vehicle control unit under the condition that the vehicle control unit is effective.
Further, the vehicle further comprises an electronic stability control system, and the device further comprises:
and the second sending module is used for sending a control signal to the electronic stability control system under the condition that an actuating mechanism of the electronic brake booster fails so as to activate a hydraulic boosting failure compensation function of the electronic stability control system.
Compared with the prior art, the brake control method and the brake control device have the following advantages that:
the method comprises the steps of monitoring the displacement of a brake pedal of a vehicle, determining a target braking force value according to the displacement of the brake pedal, obtaining an upper limit value of an energy recovery braking force through a vehicle controller of the vehicle, determining the target energy recovery braking force value according to the target braking force value and the upper limit value of the energy recovery braking force, and sending the target energy recovery braking force value to the controller so that the vehicle controller can control a driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of wheels and brake the vehicle. Under the condition that an actuating mechanism of the electronic brake booster fails, a driver only needs to tread a brake pedal to generate a brake pedal displacement and determine a target brake force value according to the brake pedal displacement, and the target brake force value is determined according to the target brake force value and an energy recovery brake force upper limit value of the vehicle and then sent to the vehicle controller, so that the vehicle controller can control the drive motor to recover energy, and the vehicle can be braked, and the problems that when the actuating mechanism of the existing decoupling type electronic brake booster fails, the braking distance and the braking response time are long and the driving safety of the vehicle is affected due to the existence of a decoupling gap are solved.
A further object of the present invention is to provide a vehicle including a decoupled electronic brake booster, the electronic brake booster being communicatively connected to a vehicle control unit of the vehicle, the vehicle further including a driving motor in driving connection with a wheel, wherein the vehicle includes the brake control device.
The vehicle and the brake control method and device have the same advantages compared with the prior art, and are not described herein again.
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 schematic illustration of a prior art positional relationship of an input rod and an output rod of an electric brake booster;
FIG. 2 is a flow chart illustrating a braking control method according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an electric brake booster according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a process of changing an actual recycling capability value of a driving motor with time according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating the implementation of the electronic stability control system according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating signal interactions between an electronic brake booster and ESCs and VCUs in accordance with an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a brake control device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that the embodiments and 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 embodiments with reference to the attached drawings.
Referring to fig. 2, a schematic flow chart of a brake control method according to an embodiment of the present invention is shown, where the brake control method according to the embodiment of the present invention is a decoupled electronic brake booster applied to a vehicle, the electronic brake booster is in communication connection with a controller of the vehicle, the vehicle further includes a driving motor in transmission connection with a wheel, and the method includes steps S100 to S500.
The brake Control method provided by the embodiment of the invention is specifically applied to a Control Unit (Electronic Control Unit, ECU) of a decoupling type Electronic brake booster, and specifically, referring to fig. 3, the Control Unit is electrically connected with an Electronic Stability Control Unit (ESC) of a Vehicle, the Control Unit is also electrically connected with a displacement sensor, a hydraulic Unit, a brake lamp of the Vehicle and a human-computer interaction device of the Electronic brake booster, the Control Unit is also electrically connected with a Controller Area Network (CAN) and a Vehicle Controller Unit (VCU) of the Vehicle, and CAN receive a brake pedal displacement signal from the displacement sensor, a Vehicle Control signal from the CAN, and transmit the brake Control signal to the ESC, the VCU, the hydraulic Unit, the brake lamp and the human-computer interaction device.
In the embodiment of the invention, the vehicle further comprises a driving motor and a battery electrically connected with the driving motor, the driving motor can receive a control command of the vehicle controller to recover energy, and the recovered electric energy is stored in the battery, so that the vehicle can be specifically an electric vehicle or a hybrid vehicle.
And step S100, monitoring the displacement of a brake pedal of the vehicle.
In step S100, the control unit of the electronic brake booster is electrically connected to the displacement sensor, and the displacement sensor can obtain the displacement of the brake pedal in real time, so as to monitor the displacement of the brake pedal of the vehicle.
In practical applications, the brake pedal displacement is a moving distance of a brake pedal of a vehicle relative to an initial position of the brake pedal.
And step S200, determining a target braking force value according to the displacement of the brake pedal.
In the step S200, the deeper the driver steps on the brake pedal, the faster the driver needs to brake the vehicle, that is, the larger the required braking force value is, and the brake pedal displacement is the moving distance of the brake pedal of the vehicle relative to the initial position of the brake pedal, so that the corresponding braking force value, that is, the target braking force value can be determined according to the brake pedal displacement.
In practical application, the corresponding relation between the brake pedal displacement and the braking force value needs to be set according to the specific conditions of the vehicle, and after the brake pedal displacement is obtained, the corresponding target braking force value can be determined by combining the corresponding relation.
Optionally, the step S200 specifically includes: under the condition that the displacement of the brake pedal is smaller than a first displacement, determining a target braking force value according to the displacement of the brake pedal; the first displacement is a displacement of a brake pedal of the vehicle from an initial position to the electronic brake booster overcoming the decoupling gap. In this embodiment, the distance and the corresponding braking force value that the driver has to pedal the brake pedal are calculated when the input lever connected to the brake pedal does not touch the output lever connected to the master cylinder, i.e. only when there is a decoupling gap; the electronic stability control system can directly acquire the brake hydraulic pressure value of the master cylinder and control the hydraulic brake mechanism to pressurize and brake the wheels according to the brake hydraulic pressure value under the condition that the decoupling gap is eliminated, namely under the condition that the input rod connected with the brake pedal touches the output rod connected with the master cylinder, so that the input rod can push the output rod to enable the master cylinder to generate the brake hydraulic pressure, and the vehicle can be braked.
And step S300, acquiring an upper limit value of energy recovery braking force currently provided by the driving motor.
In the step S300, the upper limit value of the energy recovery braking force refers to a maximum energy recovery braking force value that can be currently provided by the driving motor, the upper limit value of the energy recovery braking force reflects a current energy recovery capability of the driving motor, the upper limit value of the energy recovery braking force is determined by the vehicle controller according to the vehicle speed of the vehicle and the energy recovery capability of the driving motor in real time, and the upper limit value of the energy recovery braking force can be obtained by the vehicle controller in real time because the electronic brake booster is in communication connection with the vehicle controller.
And step S400, determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value.
In the step S400, since the energy recovery braking force upper limit value reflects the maximum torque value opposite to the vehicle driving direction currently provided by the driving motor, that is, the maximum braking force value that the driving motor can provide for braking and decelerating the vehicle is determined; meanwhile, the target braking force value reflects the braking force value required by the current driver, so that the target energy recovery braking force value specifically used for controlling the driving motor to recover energy can be determined by combining the target braking force value and the energy recovery braking force upper limit value.
And S500, sending the target energy recovery braking force value to the vehicle control unit so that the vehicle control unit controls the driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of the wheels and brake the vehicle.
In the step S500, since the electronic brake booster is in communication connection with the vehicle controller, after the target energy recovery braking force value is determined, the target energy recovery braking force value is sent to the vehicle controller, and the vehicle controller controls the driving motor to generate the energy recovery braking force opposite to the vehicle driving direction according to the target energy recovery braking force value, so as to realize braking of the vehicle by using the energy recovery braking force, and charge the battery to realize energy recovery.
Wherein, regardless of whether the actuating mechanism of the electronic brake booster is failed, the step S500 is executed; and under the condition that an actuating mechanism of the electronic brake booster fails, the electronic brake booster cannot meet the braking requirement expressed by the displacement of the brake pedal generated by trampling the brake pedal by a driver, at the moment, a target energy recovery braking force value is determined according to a target braking force value corresponding to the displacement of the brake pedal and the current energy recovery braking force upper limit value of the driving motor, then the target energy recovery braking force value is directly sent to the vehicle controller, the vehicle controller can further control the driving motor to recover energy, and meanwhile, the vehicle is braked and decelerated.
The failure of the actuating mechanism of the electronic brake booster refers to the condition that the actuating mechanism cannot respond to a control command of a control unit of the electronic brake booster, and can be determined by monitoring a motor current value of the actuating mechanism and the like.
Optionally, the vehicle further includes a battery, the battery is electrically connected to the driving power, and the vehicle controller controls the driving motor to rotate in a reverse direction according to the target energy recovery braking power value to recover energy of the wheel, so as to realize braking of the vehicle, and further controls the driving motor to charge the battery, so as to store electric energy generated by energy recovery of the driving motor.
Compared with the prior art, the brake control method has the following advantages:
the method comprises the steps of monitoring the displacement of a brake pedal of a vehicle, determining a target braking force value according to the displacement of the brake pedal, obtaining an upper limit value of an energy recovery braking force through a vehicle controller of the vehicle, determining the target energy recovery braking force value according to the target braking force value and the upper limit value of the energy recovery braking force, and sending the target energy recovery braking force value to the controller so that the vehicle controller can control a driving motor to reversely rotate to recover energy of wheels according to the target energy recovery braking force value, and the vehicle is braked. Under the condition that an actuating mechanism of the electronic brake booster fails, a driver only needs to tread a brake pedal to generate a brake pedal displacement and determine a target brake force value according to the brake pedal displacement, and the target brake force value is determined according to the target brake force value and an energy recovery brake force upper limit value of the vehicle and then sent to the vehicle controller, so that the vehicle controller can control the drive motor to recover energy, and the vehicle can be braked, and the problems that when the actuating mechanism of the existing decoupling type electronic brake booster fails, the braking distance and the braking response time are long and the driving safety of the vehicle is affected due to the existence of a decoupling gap are solved.
Optionally, in an embodiment, step S100 specifically includes step S101.
And step S101, monitoring the displacement of the brake pedal of the vehicle when the actuating mechanism of the electronic brake booster fails.
In this embodiment, the braking control method provided in the embodiment of the present invention needs to be executed in the case where the actuator of the electronic brake booster fails, otherwise the braking operation of the vehicle is executed by the electronic brake booster according to the prior art scheme.
Alternatively, in an implementation manner of the braking control method according to the embodiment of the present invention, the step S400 includes steps S401 to S402.
Step S401, determining that the target energy recovery braking force value is the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value.
In the step S401, when the target braking force value is greater than the energy recovery braking force upper limit value, it indicates that the currently required braking force value exceeds the recovery capability range that can be provided by the driving motor, so that the target energy recovery braking force value is set as the energy recovery braking force upper limit value, so as to perform energy recovery according to the maximum energy recovery braking force of the driving motor in the subsequent step, and simultaneously brake and decelerate the vehicle to meet the braking requirement of the driver as much as possible.
In practical applications, after it is determined that the target energy recovery braking force value is the energy recovery braking force upper limit value target, the change process of the actual recovery capability value of the driving motor with time is determined as shown in fig. 4, when a braking request is received, the recovery capability value rises with time, and after the maximum value is reached, the recovery capability value is maintained, and when the vehicle speed is lower than the minimum energy recovery vehicle speed Vmin, the recovery capability begins to drop until the value reaches 0.
Step S402, determining the target energy recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy recovery braking force upper limit value.
In the step S402, when the target braking force value is less than or equal to the energy recovery braking force upper limit value, it indicates that the currently required braking force value does not exceed the recovery capability range that can be provided by the driving motor, so that the target energy recovery braking force value is set to be equal to the target braking force value, so as to control the driving motor to accurately brake the vehicle according to the braking requirement of the driver in the subsequent step, and simultaneously achieve energy recovery.
In the present embodiment, by comparing the magnitude relationship between the target braking force value and the energy recovery braking force upper limit value, the target energy recovery braking force value is set as the energy recovery braking force upper limit value when the target braking force value is greater than the energy recovery braking force upper limit value, and the target energy recovery braking force value is set as the target braking force value when the target braking force value is less than or equal to the energy recovery braking force upper limit value, so that the driving motor can satisfy the braking demand of the driver as much as possible, and the running safety of the vehicle is ensured.
Optionally, in an implementation manner, the braking control method provided in the embodiment of the present invention further includes steps S301 to S302 after the step 300.
Step S301, determining a target hydraulic pressure value according to a target braking force value and the target energy recovery braking force value.
In step S301, since the energy recovery braking force upper limit value reflects the maximum torque value that can be currently provided by the driving motor and is opposite to the vehicle driving direction, that is, it is determined that the driving motor can provide the maximum torque value for braking and decelerating the vehicle; meanwhile, since the target braking force value reflects the braking force value required by the current driver, the hydraulic pressure value provided by the brake master cylinder of the electronic brake booster, which is specifically required, can be determined by combining the target braking force value and the energy recovery braking force upper limit value, that is, the target hydraulic pressure value, and it can be understood that the target hydraulic pressure value makes up for the difference between the target braking force value and the reverse torque which can be provided by the driving motor for energy recovery currently.
And S302, braking the vehicle according to the target hydraulic pressure value under the condition that an actuating mechanism of the electronic brake booster is effective.
In step S302, the condition that the actuator of the electronic brake booster is effective refers to a condition that the actuator can normally respond to a control command of the control unit of the electronic brake booster, and can be determined by monitoring a motor current value of the actuator.
In the step S302, when the actuating mechanism of the electronic brake booster is effective, the electronic brake booster can normally respond to the braking demand expressed by the displacement of the brake pedal generated by the driver by stepping on the brake pedal, and the target braking force value makes up the difference between the target braking force value and the reverse torque that can be provided by the driving motor for energy recovery currently, and at this time, the actuating mechanism of the electronic brake booster is controlled to build pressure on the brake master cylinder according to the target braking force value, so as to implement supplementary braking on the vehicle, and thus, under the combined action of the braking force generated by the supplementary braking and the reverse torque generated by the driving motor for energy recovery, the braking demand of the driver is better satisfied.
Optionally, in a specific embodiment, the step S301 includes steps S3011 to S3012.
Step S3011, when the target braking force value is greater than the energy recovery braking force upper limit value, determining that the target fluid pressure value is a difference between the target braking force value and the energy recovery braking force upper limit value.
In step S3011, when the target braking force value is greater than the energy recovery braking force upper limit value, it is described that the braking force generated by energy recovery only through the driving motor cannot meet the braking demand of the driver, and the target hydraulic pressure value is set to be the difference between the target braking force value and the energy recovery braking force upper limit value, so that the brake master cylinder is pressurized by the actuator controlling the electronic brake booster according to the target braking force value, and the vehicle is braked complementarily, the braking force generated by the complementary braking and the reverse torque generated by energy recovery through the driving motor act together, thereby accurately meeting the braking demand of the driver.
Step S3012, when the target braking force value is smaller than or equal to the energy recovery braking force upper limit value, determining that the target hydraulic pressure value is 0.
In step S3012, when the target braking force value is less than or equal to the energy recovery braking force upper limit value, it is described that the braking force generated by energy recovery only through the driving motor can meet the braking demand of the driver, and the supplementary braking of the vehicle is achieved by setting the target hydraulic pressure value to 0, that is, without controlling the actuator of the electronic brake booster to pressurize the brake master cylinder.
In the above embodiment, by comparing the magnitude relationship between the target braking force value and the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value, the target hydraulic pressure value is set to be the difference between the target braking force value and the energy recovery braking force upper limit value, and when the target braking force value is less than or equal to the energy recovery braking force upper limit value, the target hydraulic pressure value is set to be 0, so that the vehicle can be accurately braked according to the braking demand of the driver by the combined action of the driving motor and the brake master cylinder under the condition that the execution mechanism of the electronic brake booster is effective.
Optionally, in an embodiment, the step S500 includes steps S501 to S502.
And S501, determining whether the vehicle control unit is effective.
In the step S501, whether the vehicle controller is valid indicates whether the vehicle controller fails; the vehicle control unit is effective, namely the vehicle control unit does not have a fault and can normally send and receive a control command; the failure of the vehicle control unit means that the vehicle control unit fails and cannot normally send and receive control commands.
In step S501, since the control unit of the electronic brake booster is in communication connection with the vehicle controller, the current state of the vehicle controller can be obtained immediately, and whether the vehicle controller fails currently is determined, so as to determine whether the vehicle controller is valid.
And S502, under the condition that the vehicle control unit is effective, sending the target energy recovery braking force value to the vehicle control unit.
In the step S502, when the vehicle controller is in an effective state, it indicates that the vehicle controller is not in a failure state, and the control command may be normally sent and received, so that the target energy recovery braking force value determined in the foregoing step is sent to the vehicle controller, and the vehicle controller may further send the control command to the driving motor, where the control command is used to control the driving motor to execute energy recovery according to the target energy recovery braking force value.
In addition, when the vehicle control unit is in an invalid state, the vehicle control unit is indicated to have a fault and cannot normally send and receive a control command, so that the target energy recovery braking force value determined in the previous step does not need to be sent to the vehicle control unit, and at the moment, if an execution mechanism for controlling the electronic brake booster fails, the electronic brake booster is controlled to enter an existing failure mode; when the electronic brake booster is in a failure mode, a Hydraulic boosting failure Compensation function (HBC) in the ESC is activated, master cylinder Hydraulic pressure of the electronic brake booster is monitored, and when a driver steps on a brake pedal to overcome decoupling clearance, a valve in the ESC is controlled to amplify the master cylinder Hydraulic pressure value, so that the purpose of Hydraulic Compensation is achieved, and the driver can stop a vehicle more easily.
Optionally, in an implementation manner, the vehicle further includes an electronic stability control system, and the brake control method provided in the embodiment of the present invention further includes step S600.
And S600, sending a control signal to the electronic stability control system under the condition that an actuating mechanism of the electronic brake booster fails so as to activate a hydraulic boosting failure compensation function of the electronic stability control system.
In the step S600, when the actuating mechanism of the electronic brake booster fails, the hydraulic boosting failure compensation function in the ESC is activated by sending a control signal to the control unit of the electronic stability control system, and the ESC monitors the master cylinder hydraulic pressure of the electronic brake booster, and when the driver steps on the brake pedal to overcome the decoupling gap, that is, when the driver steps on the brake pedal to make the input rod contact with the output rod and pushes the output rod to act on the brake master cylinder to generate the brake hydraulic pressure, the valve in the ESC is controlled to amplify the master cylinder hydraulic pressure value, so as to achieve the purpose of hydraulic compensation, thereby achieving the braking of the vehicle.
In practical application, referring to fig. 4, a flow chart of an implementation of the electric brake booster according to an embodiment of the present invention is shown.
As shown in fig. 5, in step S511, the brake pedal push rod stroke is monitored by the PTS sensor, so as to obtain the brake pedal displacement;
in step S512, the electronic brake booster calculates a target brake force value requested by the driver according to the push rod stroke;
in step S513, determining the upper limit value of the energy recovery braking force currently provided by the driving motor according to the current state of the vehicle, thereby determining whether the recovery capability value is 0; step S514 is entered when the recycling capability value is not 0, otherwise step S515 is entered;
in step S514, it is determined whether the target braking force value is greater than the recovery ability value, if so, step S516 is entered, otherwise, step S517 is entered;
in step S515, it is determined that the target recovered braking force value is 0, and it proceeds to step S518 to determine that the still-required target hydraulic braking force value is equal to the target braking force value;
in step S516, the target recovered braking force value is determined as the recovered capacity value, and it is determined in step S519 that the still required target hydraulic braking force value is equal to the difference between the target recovered braking force value and the target recovered braking force value;
in step S520, it is determined that the target hydraulic brake power value is 0;
in step S521, a control signal for triggering the HBC function of the ESC is sent to the ESC, and the ESC starts the HBC function thereof;
in step S522, it is further determined whether the vehicle controller enters a failure state due to a transmission failure, if yes, step S523 is performed, and the electronic brake booster is controlled to enter a failure mode, otherwise step S524 is performed, and the target recovered braking force value is sent to the vehicle controller, so that the vehicle controller controls the driving motor to recover the braking force according to the template for energy recovery, and the vehicle is braked.
The steps S513 to S520 are completed by an energy recovery Braking (CRBS) module of the electronic brake booster, and the steps S521 to S524 are completed by an energy recovery Braking Compensation (CRBC) module in the electronic brake booster.
In practical application, please refer to fig. 6, which illustrates a diagram of signal interaction between the electric brake booster, the VCU and the ESC according to an embodiment of the present invention.
As shown in fig. 6, the electronic Brake booster determines a Driver Brake Request (DBR) through the PTS, and transmits the Request to the energy recovery module (CRB), and receives an energy recovery capability value (Regen Capacity, RC) transmitted by the VCU, which represents an upper limit value of an energy recovery braking force that can be provided by the driving motor, and then the energy recovery module (CRB) of the electronic Brake booster determines a Target energy recovery braking force value (Regen Target, RT) according to the Target braking force and the recovery capability value, and determines validity of the value (Regen Target Q, RTQ), and then transmits the Target energy recovery braking force and the validity thereof to the VCU; the VCU judges whether the target energy recovery braking force is credible according to the validity state of the target energy recovery braking force, determines a specific executed actual energy recovery braking force value (Regenactual, RA) according to the recovery capacity and the target energy recovery braking force when the target energy recovery braking force is used, and feeds the actual energy recovery braking force value back to the electronic brake booster;
meanwhile, the electronic brake booster sends an HBC request (HBC request), an HBC Target hydraulic pressure (eHBC pressure Target) representing a Target brake pressure value, and a Target hydraulic pressure validity (eHBC pressure Target Qualifier) to the ESC; meanwhile, the ESC builds Pressure by controlling a Pressure build-up actuator (hydralic interaction layer, HAL) through the HBC module according to the above-mentioned signal acquired from the electronic brake booster, and transmits the built master cylinder Hydraulic Pressure value (TMC Pressure) to the electronic brake booster.
Another object of the present invention is to provide a brake control device, which is a decoupled electronic brake booster applied to a vehicle, the electronic brake booster is in communication connection with a vehicle control unit of the vehicle, the vehicle further includes a driving motor in transmission connection with a wheel, wherein, referring to fig. 7, fig. 7 shows a schematic structural diagram of a brake control device according to an embodiment of the present invention, the device includes:
a monitoring module 71 for monitoring a brake pedal displacement of the vehicle;
a first determination module 72 for determining a target braking force value based on the brake pedal displacement amount;
an obtaining module 73, configured to obtain an upper limit value of an energy recovery braking force that can be currently provided by the drive motor;
a second determining module 74, configured to determine a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
the first sending module 75 is configured to send the target energy recovery braking force value to the vehicle controller, so that the vehicle controller controls the driving motor to rotate in the reverse direction according to the target energy recovery braking force value, so as to recover the energy of the wheel, and thus the vehicle is braked.
In the device provided by the embodiment of the invention, under the condition that the actuating mechanism of the electronic brake booster fails, a driver only needs to tread a brake pedal to generate a brake pedal displacement and determine a target brake force value according to the brake pedal displacement, and the target recovery force value is determined according to the target brake force value and the upper limit value of the energy recovery brake force of the vehicle and then sent to the vehicle controller, so that the vehicle controller can control the drive motor to recover energy and brake the vehicle, and the problem that the driving safety of the vehicle is affected due to longer brake distance and brake response time caused by the existence of a decoupling gap when the actuating mechanism of the existing decoupling type electronic brake booster fails is solved.
Optionally, in the apparatus, the second determining module 74 includes:
a first determination unit configured to determine that the target energy recovery braking force value is the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value;
a second determination unit configured to determine the target energy-recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy-recovery braking force upper limit value.
Optionally, the apparatus further comprises:
a third determination module, configured to determine a target hydraulic pressure value according to the target braking force value and the target energy recovery braking force value after the step of determining the target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
and the braking module is used for braking the vehicle according to the target hydraulic pressure value under the condition that an actuating mechanism of the electronic brake booster is effective.
Optionally, in the apparatus, the third determining module includes:
a third determination unit configured to determine that the target fluid pressure value is a difference between the target braking force value and the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value;
a fourth determination unit configured to determine that the target hydraulic pressure value is 0 in a case where the target braking force value is less than or equal to the energy recovery braking force upper limit value.
Optionally, in the apparatus, the first sending module 75 includes:
a fifth determination unit, configured to determine whether the vehicle control unit is valid;
and the transmitting unit is used for transmitting the target energy recovery braking force value to the vehicle control unit under the condition that the vehicle control unit is effective.
Optionally, the vehicle further comprises an electronic stability control system, and the apparatus further comprises:
and the second sending module is used for sending a control signal to the electronic stability control system under the condition that an actuating mechanism of the electronic brake booster fails so as to activate a hydraulic boosting failure compensation function of the electronic stability control system.
A further object of the present invention is to provide a vehicle, which includes a decoupled electronic brake booster, the electronic brake booster is connected to a vehicle control unit of the vehicle in a communication manner, the vehicle further includes a driving motor in transmission connection with a wheel, and the vehicle further includes the brake control device.
The device and the vehicle have the same advantages as the brake control method compared with the prior art, and are not described in detail herein.
In summary, according to the brake control method, the brake control device and the vehicle provided by the application, the displacement of the brake pedal of the vehicle is monitored, the target braking force value is determined according to the displacement of the brake pedal, the upper limit value of the energy recovery braking force is obtained through the vehicle controller of the vehicle, the target energy recovery braking force value is determined according to the target braking force value and the upper limit value of the energy recovery braking force, and the target energy recovery braking force value is sent to the controller, so that the vehicle controller controls the driving motor to recover energy according to the target energy recovery braking force value, charges the battery, and brakes the vehicle. Under the condition that an actuating mechanism of the electronic brake booster fails, a driver only needs to tread a brake pedal to generate a brake pedal displacement and determine a target brake force value according to the brake pedal displacement, and the target brake force value is determined according to the target brake force value and an energy recovery brake force upper limit value of the vehicle and then sent to the vehicle controller, so that the vehicle controller can control the drive motor to recover energy, and the vehicle can be braked, and the problems that when the actuating mechanism of the existing decoupling type electronic brake booster fails, the braking distance and the braking response time are long and the driving safety of the vehicle is affected due to the existence of a decoupling gap are solved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A braking control method is applied to a decoupling type electronic braking booster of a vehicle, the electronic braking booster is in communication connection with a vehicle control unit of the vehicle, the vehicle further comprises a driving motor in transmission connection with wheels, and the method is characterized by comprising the following steps:
monitoring a brake pedal displacement of the vehicle;
determining a target braking force value according to the displacement of the brake pedal;
acquiring an energy recovery braking force upper limit value of the driving motor;
determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
and sending the target energy recovery braking force value to the vehicle control unit so that the vehicle control unit controls the driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of the wheels and realize the braking of the vehicle.
2. The method according to claim 1, wherein the step of determining a target energy recovery braking force value based on the target braking force value and the energy recovery braking force upper limit value includes:
determining the target energy recovery braking force value as the energy recovery braking force upper limit value under the condition that the target braking force value is larger than the energy recovery braking force upper limit value;
determining the target energy-recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy-recovery braking force upper limit value.
3. The method according to claim 1, characterized in that after the step of determining a target energy recovery braking force value from the target braking force value and the energy recovery braking force upper limit value, the method further comprises:
determining a target hydraulic pressure value according to the target braking force value and the target energy recovery braking force value;
and under the condition that an actuating mechanism of the electronic brake booster is effective, braking the vehicle according to the target hydraulic pressure value.
4. The method of claim 3, wherein the step of determining a target hydraulic pressure value based on the target braking force value and the energy recovery braking force upper limit value comprises:
under the condition that the target braking force value is larger than the energy recovery braking force upper limit value, determining the target hydraulic pressure value as a difference value between the target braking force value and the energy recovery braking force upper limit value;
and determining that the target hydraulic pressure value is 0 when the target braking force value is less than or equal to the energy recovery braking force upper limit value.
5. The method of claim 1, wherein the step of sending the target energy recovery braking force value to the vehicle control unit comprises:
determining whether the vehicle control unit is effective;
and under the condition that the vehicle control unit is effective, sending the target energy recovery braking force value to the vehicle control unit.
6. The method of claim 1, wherein the vehicle further comprises an electronic stability control system, the method further comprising:
and sending a control signal to the electronic stability control system to activate a hydraulic boosting failure compensation function of the electronic stability control system under the condition that an actuating mechanism of the electronic brake booster fails.
7. A brake control device for a decoupled electronic brake booster for a vehicle, the vehicle further comprising a drive motor drivingly connected to a wheel, the device comprising:
the monitoring module is used for monitoring the displacement of a brake pedal of the vehicle;
the first determining module is used for determining a target braking force value according to the displacement of the brake pedal;
the acquisition module is used for acquiring the upper limit value of the energy recovery braking force currently provided by the driving motor;
the second determining module is used for determining a target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
the first sending module is used for sending the target energy recovery braking force value to the vehicle control unit so that the vehicle control unit controls the driving motor to rotate reversely according to the target energy recovery braking force value to recover the energy of the wheels and brake the vehicle.
8. The apparatus of claim 7, wherein the second determining module comprises:
a first determination unit configured to determine that the target energy recovery braking force value is the energy recovery braking force upper limit value, when the target braking force value is greater than the energy recovery braking force upper limit value;
a second determination unit configured to determine the target energy-recovery braking force value as the target braking force value when the target braking force value is less than or equal to the energy-recovery braking force upper limit value.
9. The apparatus of claim 7, further comprising:
a third determination module, configured to determine a target hydraulic pressure value according to the target braking force value and the target energy recovery braking force value after the step of determining the target energy recovery braking force value according to the target braking force value and the energy recovery braking force upper limit value;
and the braking module is used for braking the vehicle according to the target hydraulic pressure value under the condition that an actuating mechanism of the electronic brake booster is effective.
10. A vehicle comprising a decoupled electronic brake booster in communication with a vehicle control unit of the vehicle, the vehicle further comprising a drive motor in driving connection with a wheel, characterized in that the vehicle further comprises a brake control device according to any one of claims 7 to 9.
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| CN202110039037.5A CN112706737A (en) | 2021-01-12 | 2021-01-12 | Brake control method and device and vehicle |
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| CN202110039037.5A CN112706737A (en) | 2021-01-12 | 2021-01-12 | Brake control method and device and vehicle |
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