CN112849143A - Vehicle brake control method and system and vehicle - Google Patents

Vehicle brake control method and system and vehicle Download PDF

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Publication number
CN112849143A
CN112849143A CN202110120647.8A CN202110120647A CN112849143A CN 112849143 A CN112849143 A CN 112849143A CN 202110120647 A CN202110120647 A CN 202110120647A CN 112849143 A CN112849143 A CN 112849143A
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CN
China
Prior art keywords
wheel
vehicle
brake pedal
braking force
determining
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Pending
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CN202110120647.8A
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Chinese (zh)
Inventor
陈锐
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Evergrande Hengchi New Energy Automobile Research Institute Shanghai Co Ltd
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Evergrande Hengchi New Energy Automobile Research Institute Shanghai Co Ltd
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Priority to CN202110120647.8A priority Critical patent/CN112849143A/en
Publication of CN112849143A publication Critical patent/CN112849143A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position

Abstract

The application discloses a vehicle brake control method, a vehicle brake control system and a vehicle, which are used for at least solving the problem that the vehicle brake effect is poor due to the fact that the capacity of a brake mechanism of an existing brake system cannot be fully exerted. The method is applied to a vehicle, a pressure acquisition device is arranged on a wheel suspension of the vehicle, and the method comprises the following steps: acquiring travel data of a brake pedal of the vehicle and the weight of the vehicle body borne by the wheel suspension acquired by the pressure acquisition device; determining a required braking force for each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension; braking the wheel based on the required braking force of the wheel.

Description

Vehicle brake control method and system and vehicle
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle brake control method, a vehicle brake control system and a vehicle.
Background
The conventional vehicle brake system generally adopts a hydraulic brake technology, namely, a master cylinder is pushed to generate hydraulic pressure, the brake hydraulic pressure is transmitted to a brake executing mechanism (such as a brake), the brake executing mechanism converts the brake hydraulic pressure into the wheel cylinder piston thrust of each wheel so as to push a friction plate to press a brake disc, and finally, the brake is realized through the friction between the brake disc and the friction plate.
In this scheme, since the brake fluid pressure generated by the master cylinder is directly transmitted to the four wheel cylinders, which are subjected to substantially equal pressures, the braking force is distributed to the front and rear axles in a fixed ratio once the brake is determined. However, the vehicle is actually braked with a shift of the axle load, so that the braking forces distributed to the front and rear axles cannot reach an ideal fixed ratio, and the capability of the brake actuator cannot be fully exerted, and the braking effect is not good.
Disclosure of Invention
The embodiment of the application provides a vehicle brake control method, a vehicle brake control system and a vehicle, and aims to at least solve the problem that the capacity of a brake mechanism of an existing brake system cannot be fully exerted, so that the brake effect of the vehicle is poor.
In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:
according to a first aspect of embodiments of the present application, there is provided a vehicle brake control method applied to a vehicle having a pressure acquisition device provided on a wheel suspension, the method including:
acquiring travel data of a brake pedal of the vehicle and the weight of the vehicle body borne by the wheel suspension acquired by the pressure acquisition device;
determining a required braking force for each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension;
braking the wheel based on the required braking force of the wheel.
According to a second aspect of the embodiments of the present application, there is provided a vehicle brake control system including:
a stroke data acquisition device for acquiring stroke data of a brake pedal of a vehicle;
the pressure acquisition device is used for acquiring the weight of a vehicle body borne by a wheel suspension of the vehicle, and the pressure acquisition device is arranged on the wheel suspension;
and the controller is respectively connected with the stroke data acquisition device and the pressure acquisition device and is used for determining the required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the weight of the vehicle body born by the wheel suspension and braking the wheel based on the required braking force of the wheel.
According to a third aspect of embodiments of the present application, there is provided a vehicle including: a vehicle, a wheel suspension for connecting the vehicle with a vehicle body, and the vehicle brake control system of the second aspect.
According to a fourth aspect of the embodiment of the present application, there is provided a vehicle brake control apparatus including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring travel data of a brake pedal of a vehicle and vehicle body weight born by a wheel suspension collected by a pressure collection device arranged on the wheel suspension of the vehicle;
a required braking force determination module for determining a required braking force of each wheel of the vehicle based on stroke data of the brake pedal and a body weight borne by the wheel suspension;
and the braking module is used for braking the wheels based on the required braking force of the wheels.
According to a fifth aspect of the embodiments of the present application, there is provided a vehicle brake control apparatus including:
a processor; and a memory arranged to store computer executable instructions which, when executed, implement the vehicle braking control method of the first aspect.
According to a sixth aspect of embodiments herein, there is provided a storage medium storing computer-executable instructions that, when executed, implement the vehicle braking control method of the first aspect.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
on the basis of an EMB system architecture, a pressure acquisition device is additionally arranged on a wheel suspension to acquire the weight of a vehicle body born by the wheel suspension, then the required braking force of each wheel of the vehicle is determined based on the stroke data of a brake pedal of the vehicle and the weight of the vehicle body born by the wheel suspension, and the wheel is braked based on the required braking force of the wheel, so that the braking effect is comprehensively considered by the braking requirement of a driver and the influence of the weight born by each wheel, the determined required braking force of each wheel can meet the actual braking requirement of each wheel, the braking force distribution of each wheel can reach an ideal state, the capability of a braking execution mechanism of each wheel can be fully exerted, and the braking effect of the vehicle is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1A is a schematic structural diagram of an EMB system according to an exemplary embodiment of the present application;
FIG. 1B is a schematic diagram of a wheel suspension provided in an exemplary embodiment of the present application;
FIG. 2 is a schematic flow chart of a vehicle braking control method provided in an exemplary embodiment of the present application;
FIG. 3 is a schematic flow chart diagram of a vehicle braking control method provided in another exemplary embodiment of the present application;
FIG. 4 is a map of brake pedal travel data versus expected deceleration of the vehicle provided by an exemplary embodiment of the present application;
FIG. 5 is a schematic flow chart diagram of a vehicle braking control method provided in another exemplary embodiment of the present application;
FIG. 6 is a schematic block diagram of a vehicle brake control system provided in an exemplary embodiment of the present application;
FIG. 7 is a schematic block diagram of a vehicle brake control apparatus according to an exemplary embodiment of the present application;
fig. 8 is a schematic structural diagram of a vehicle brake control apparatus according to an exemplary embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to solve the problem that the braking effect of a vehicle is poor due to the fact that the capacity of a braking mechanism of an existing braking system cannot be fully exerted, the embodiment of the application provides a vehicle braking control method, device and system and the vehicle. The vehicle brake control method provided by the embodiment of the application is realized based on an Electronic Mechanical Braking (EMB) system framework, and a pressure acquisition device is arranged on a wheel suspension, wherein the pressure acquisition device can acquire the weight of a vehicle body born by the wheel suspension and feed the weight back to a controller of the vehicle, the controller determines the required Braking force of each wheel of the vehicle based on the stroke data of a brake pedal of the vehicle and the weight of the vehicle body born by the wheel suspension, and brakes the wheel based on the required Braking force of the wheel, so that the Braking force of each wheel can be distributed according to the actual requirement, the Braking force distribution of each wheel can reach an ideal state, the capability of a brake actuating mechanism of each wheel can be fully exerted, and the vehicle brake effect is improved.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1A, a schematic structural diagram of an EMB system according to an exemplary embodiment of the present disclosure is provided, in which each wheel of a vehicle corresponds to an independent brake actuator (e.g., a brake) and a wheel suspension (not shown in fig. 1A, please refer to fig. 1B), each front wheel and each rear wheel corresponds to a control module, and each control module sends a corresponding brake signal to each brake actuator according to stroke data of a brake pedal and a vehicle body weight borne by each wheel suspension, so as to control each actuator to brake the corresponding wheel independently. As shown in fig. 1B, the wheel suspension is used for a knuckle connecting a vehicle body and a wheel, and plays a role of relaxing impact transmitted to the vehicle body from a road surface, so as to improve riding comfort of a user. A pressure acquisition device (such as a contact pressure sensor) is arranged between the wheel suspension and the vehicle body so as to acquire the weight of the vehicle body born by the wheel suspension.
Referring to fig. 2, based on the EMB system structure shown in fig. 1A and 1B, a schematic flow chart of a vehicle braking control method provided in an exemplary embodiment of the present application is shown, where the method may be applied to a controller in a vehicle, as shown in fig. 2, and the method includes the following steps:
s202, stroke data of a brake pedal of the vehicle and the weight of the vehicle body borne by a wheel suspension and collected by a pressure collecting device arranged on the wheel suspension of the vehicle are obtained.
The stroke data of the brake pedal may include a stroke amount of the brake pedal, among others. The travel data of the brake pedal can be acquired by a travel data acquisition device (such as a travel sensor).
The weight of the vehicle body borne by the wheel suspension can be acquired by a pressure acquisition device arranged on the wheel suspension.
And S204, determining the required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the weight of the vehicle body born by the wheel suspension.
The required braking force of the wheel refers to the braking force required by the wheel to achieve a desired braking effect. In addition, the weight of the vehicle body borne by the wheel suspension influences the weight borne by the wheels, and further influences the braking effect of the wheels. Based on this, the required braking force of each wheel can be determined by integrating the stroke data of the brake pedal and the vehicle body weight borne by the wheel suspension of each wheel.
Alternatively, as shown in fig. 3, the required braking force of each wheel may be determined by:
s241, the weight borne by each wheel of the vehicle is determined based on the vehicle body weight borne by the wheel suspension.
Specifically, in connection with the suspension arrangement shown in FIG. 1B, the wheel is subjected to a weight that includes both the sprung and unsprung masses of the suspension. Since the sprung mass of a suspension is related to the body weight it is subjected to and the unsprung mass of a suspension can be measured in advance after the vehicle design is complete, it is possible to determine, for each wheel, the sprung mass of the wheel suspension on the basis of the body weight it is subjected to for the wheel suspension to which it corresponds, and then determine the sum of the sprung mass and the preset unsprung mass of the wheel suspension as the weight it is subjected.
More specifically, since the pressure acquisition device is disposed between the wheel suspension and the vehicle body, the vehicle body weight borne by the wheel suspension, which is acquired by the pressure acquisition device, is actually the sprung mass of the suspension, that is, for each wheel, the vehicle body weight borne by the wheel suspension of the wheel can be determined as the sprung mass of the wheel suspension.
Of course, it should be understood that in alternative embodiments, other means known in the art may be used to determine the weight carried by each wheel.
And S242, determining the target expected deceleration of the vehicle based on the stroke data of the brake pedal.
The travel data of the brake pedal reflects the braking intention of the driver, for example, when the travel amount of the brake pedal is large, it indicates that the driver wants to control the vehicle to brake quickly, and thus the deceleration is expected to be larger; conversely, it is indicated that the driver wishes to control the vehicle to slow down, so that the lower the deceleration is expected. In this regard, a target expected deceleration of the vehicle may be determined based on the travel data of the brake pedal.
Specifically, the target expected deceleration corresponding to the stroke data of the brake pedal may be determined based on a mapping between the stroke data of the brake pedal and the expected deceleration, wherein the mapping may be analyzed based on a large amount of historical stroke data of the brake pedal and the corresponding deceleration. For example, fig. 4 shows a mapping relationship between stroke data of a brake pedal and an expected deceleration of a vehicle, in which the abscissa represents a stroke amount of the brake pedal and the ordinate represents an expected deceleration of the vehicle.
Of course, it should be understood that in alternative embodiments, other means known in the art may be used to determine the target expected deceleration of the vehicle.
S243, the required braking force of each wheel is determined based on the weight borne by each wheel and the target expected deceleration.
Specifically, the product of the weight borne by the wheel and the target expected deceleration may be determined for each wheel as the required braking force of the wheel, based on the relationship between the weight borne by the wheel, the target expected deceleration, and the required braking force of the wheel.
Of course, it should be understood that in alternative embodiments, other means known in the art may be used to determine the required braking force for each wheel.
By adopting the scheme, the weight born by the wheels is determined based on the weight of the vehicle body born by the wheel suspension, the target expected deceleration of the vehicle is determined based on the stroke data of the brake pedal, and the required braking force of each wheel is determined based on the weight born by each wheel and the target expected deceleration, so that the braking effect is comprehensively considered, the braking requirement of the driver and the influence of the weight born by each wheel on the braking effect are comprehensively considered, the required braking force of each wheel determined based on the braking requirement of the driver and the target expected deceleration can meet the actual braking requirement of each wheel, the braking force distribution of each wheel can reach an ideal state, the capacity of the braking actuating mechanism of each wheel can be fully exerted, and the braking effect of the vehicle is improved.
In addition, in actual use, after the stroke data of the brake pedal is acquired, the required braking force of each wheel can be determined based on the stroke data of the brake pedal and the vehicle body weight borne by the wheel suspension of each vehicle. However, considering that the driver may mistakenly step on the brake pedal during the driving process of the vehicle, in a preferable scheme, the intention of the driver is firstly identified based on the travel data of the brake pedal, and the required braking force of each wheel is determined under the condition that the driver is determined to have the braking intention, namely the brake pedal is stepped on, so as to avoid that the driving experience is influenced by braking the wheels of the vehicle under the condition that the driver mistakenly steps on the brake pedal.
Specifically, it may be determined whether the brake pedal is depressed based on the stroke data of the brake pedal, for example, if the stroke amount of the brake pedal exceeds a preset stroke amount, it may be determined that the brake pedal is depressed. If the brake pedal is depressed, it is determined that the driver has an intention to brake, and the required braking force of each wheel is determined based on the stroke data of the brake pedal and the vehicle body weight borne by the wheel suspension.
Of course, it should be understood that any other suitable manner may be used to determine that the brake pedal is depressed, and the embodiment of the present application is not limited thereto. For example, it may be determined that the brake pedal is depressed if the depression force exceeds a preset pressure value by detecting the depression force acting on the brake pedal; alternatively, the brake pedal may be determined to be depressed if the depression force exceeds a preset pressure value and the stroke amount of the brake pedal exceeds a preset stroke amount, by combining the depression force acting on the brake pedal and the stroke data of the brake pedal.
And S206, braking the wheels based on the required braking force of the wheels.
After the required braking force of each wheel is determined, the brake actuator of each wheel can be controlled to brake the wheel independently for each wheel based on the required braking force of the wheel.
By adopting the vehicle brake control method provided by the embodiment of the application, on the basis of an EMB system architecture, the pressure acquisition device is additionally arranged on the wheel suspension to acquire the weight of the vehicle body born by the wheel suspension, then the required braking force of each wheel of the vehicle is determined based on the travel data of the brake pedal of the vehicle and the weight of the vehicle body born by the wheel suspension, and the wheel is braked based on the required braking force of the wheel, so that the braking demand of a driver and the influence of the weight born by each wheel on the braking effect are comprehensively considered, the determined required braking force of each wheel can meet the actual braking demand of each wheel, the braking force distribution aiming at each wheel can reach an ideal state, the capability of the brake actuating mechanism of each wheel can be fully exerted, and the vehicle braking effect is improved.
Referring to fig. 5, a flow chart of a vehicle braking control method according to another exemplary embodiment of the present disclosure is shown, in which the vehicle braking control method may be applied to a braking control system in a vehicle, and the braking control system may include a stroke data collecting device, a pressure collecting device, and a controller, wherein the pressure collecting device is disposed on a wheel suspension of a wheel, and the stroke data collecting device and the pressure collecting device are respectively connected to the controller to implement a data interaction function. As shown in fig. 5, the method comprises the steps of:
and S502, the stroke data acquisition device acquires the stroke data of the brake pedal of the vehicle in real time and transmits the stroke data to the controller.
And S504, the pressure acquisition device acquires the weight of the vehicle body borne by the wheel suspension of each wheel in real time and transmits the weight of the vehicle body to the controller.
S506, the controller determines the required braking force of each wheel based on the stroke data of the brake pedal and the vehicle body weight borne by the wheel suspension of each wheel.
And S508, controlling the brake actuating mechanism of each wheel to brake each wheel by the controller according to the required braking force of each wheel.
For specific implementation of S502 to S508, reference may be made to the detailed description of the vehicle braking control method shown in fig. 2 and fig. 3, and details are not repeated herein for avoiding repetition.
By adopting the technical scheme of the embodiment, on the basis of an EMB system architecture, the pressure acquisition device is additionally arranged on the wheel suspension to acquire the weight of the vehicle body born by the wheel suspension, then the required braking force of each wheel of the vehicle is determined based on the stroke data of the brake pedal of the vehicle and the weight of the vehicle body born by the wheel suspension, and the wheel is braked based on the required braking force of the wheel, so that the braking force distribution of each wheel can reach an ideal state by comprehensively considering the braking requirement of a driver and the influence of the weight born by each wheel on the braking effect, and the determined required braking force of each wheel can meet the actual braking requirement of each wheel, thereby ensuring that the capability of the brake execution mechanism of each wheel can be fully exerted, and improving the braking effect of the vehicle.
It should be noted that the above description describes certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same idea, the vehicle braking control method provided by the embodiment of the present application further provides a vehicle braking control system. Referring to fig. 6, a schematic block diagram of a vehicle brake control system according to an exemplary embodiment of the present application is shown, and as shown in fig. 6, the system 600 includes a travel data collecting device 610, a pressure collecting device 620, and a controller 630.
The travel data acquisition device 610 is used for acquiring travel data of a brake pedal of the vehicle.
The pressure acquisition device 620 is used for acquiring the body weight borne by the wheel suspension of the vehicle.
The controller 630 is connected to the stroke data acquisition device and the pressure acquisition device, and is configured to determine a required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension, and to brake the wheel based on the required braking force of the wheel.
In the embodiment of the present application, the travel data collecting device 610 may be any device having a travel data collecting function. Alternatively, the travel data collection device 610 may include a travel sensor coupled to a brake pedal.
In the embodiment of the present application, the pressure collecting device 620 may be any device having a pressure collecting function. Alternatively, the pressure collecting device 620 may include a plurality of pressure sensors, which are respectively disposed at the connection positions of the wheel suspension and the vehicle body corresponding to each wheel of the vehicle (as shown in fig. 2), and each pressure sensor is configured to collect the weight of the vehicle body borne by the corresponding wheel suspension. In particular, the pressure sensor may be a contact pressure sensor to improve the accuracy of the acquisition result.
In the embodiment of the present application, the controller 630 may be any device having data processing and control functions. Alternatively, the controller 630 may include an Electronic Control Unit (ECU) of the vehicle.
In one embodiment, the controller 630 may determine the required braking force for each wheel by: determining the weight borne by each wheel of the vehicle based on the body weight borne by the wheel suspension; determining a target expected deceleration of the vehicle based on the travel data of the brake pedal; determining a required braking force for each wheel of the vehicle based on the weight borne by each wheel of the vehicle and the target expected deceleration.
In one embodiment, the controller 630 may determine the weight borne by each wheel by: for each wheel, determining a sprung mass of the wheel suspension based on a body weight borne by the wheel suspension to which the wheel corresponds; and determining the sum of the sprung mass and the preset unsprung mass of the wheel suspension corresponding to the wheel as the weight born by the wheel.
In one embodiment, controller 630 may determine the target expected deceleration of the vehicle by: and determining a target expected deceleration corresponding to the travel data of the brake pedal based on a mapping relation between preset brake pedal travel data and expected deceleration.
In one embodiment, the controller 630 may determine the required braking force for each wheel by: for each wheel, determining the product of the weight borne by the wheel and the target expected deceleration as the required braking force of the wheel.
In one embodiment, the controller 630 may determine the required braking force for each wheel by: determining whether the brake pedal is depressed based on the stroke data of the brake pedal; if the brake pedal is depressed, the required braking force of each wheel of the vehicle is determined based on the stroke data of the brake pedal and the body weight borne by the wheel suspension.
By adopting the vehicle brake control system provided by the embodiment of the application, on the basis of an EMB system architecture, the pressure acquisition device is additionally arranged on the wheel suspension to acquire the weight of the vehicle body born by the wheel suspension, then the required braking force of each wheel of the vehicle is determined based on the travel data of the brake pedal of the vehicle and the weight of the vehicle body born by the wheel suspension, and the wheel is braked based on the required braking force of the wheel, so that the braking demand of a driver and the influence of the weight born by each wheel on the braking effect are comprehensively considered, the determined required braking force of each wheel can meet the actual braking demand of each wheel, the braking force distribution aiming at each wheel can reach an ideal state, the capability of the brake actuating mechanism of each wheel can be fully exerted, and the vehicle braking effect is improved.
Based on the same idea, the embodiment of the present application further provides a vehicle, which includes a wheel, a wheel suspension for connecting the wheel and a vehicle body, and the vehicle brake control system provided by the embodiment of the present application.
Based on the same idea, the embodiment of the application also provides a vehicle brake control device.
Referring to fig. 7, a schematic block diagram of a vehicle brake control device according to an exemplary embodiment of the present application is shown, and as shown in fig. 7, the device 700 includes:
the system comprises an acquisition module 710, a control module and a control module, wherein the acquisition module is used for acquiring travel data of a brake pedal of a vehicle and body weight borne by a wheel suspension of the vehicle, and the body weight is acquired by a pressure acquisition device arranged on the wheel suspension of the vehicle;
a required braking force determination module 720 for determining a required braking force of each wheel of the vehicle based on stroke data of the brake pedal and a body weight borne by the wheel suspension;
and a braking module 730 for braking the wheel based on the required braking force of the wheel.
In one embodiment, the required braking force determination module 720 includes:
a first determination submodule for determining a weight borne by each wheel of the vehicle based on a body weight borne by the wheel suspension;
a second determination submodule for determining a target expected deceleration of the vehicle based on stroke data of the brake pedal;
a third determination submodule for determining a required braking force of each wheel of the vehicle based on the weight borne by each wheel of the vehicle and the target expected deceleration.
In one embodiment, the first determining submodule is specifically configured to:
for each wheel, determining a sprung mass of the wheel suspension based on a body weight borne by the wheel suspension to which the wheel corresponds;
and determining the sum of the sprung mass and the preset unsprung mass of the wheel suspension corresponding to the wheel as the weight born by the wheel.
In one embodiment, the second determining submodule is specifically configured to:
and determining a target expected deceleration corresponding to the travel data of the brake pedal based on a mapping relation between preset brake pedal travel data and expected deceleration.
In one embodiment, the third determining submodule is specifically configured to:
for each wheel, determining the product of the weight borne by the wheel and the target expected deceleration as the required braking force of the wheel.
In one embodiment, the required braking force determination module 720 includes:
a fourth determination submodule for determining whether the brake pedal is depressed based on stroke data of the brake pedal;
a fifth determining submodule for determining a required braking force of each wheel of the vehicle based on stroke data of the brake pedal and a body weight borne by the wheel suspension when the brake pedal is depressed.
It should be understood by those skilled in the art that the vehicle brake control device shown in fig. 7 can be used to implement the vehicle brake control method described above, and the detailed description thereof should be similar to that of the method described above, and therefore, in order to avoid complexity, the detailed description thereof is omitted.
By adopting the vehicle brake control device provided by the embodiment, on the basis of the EMB system architecture, the pressure acquisition device is additionally arranged on the wheel suspension to acquire the weight of the vehicle body borne by the wheel suspension, then the required braking force of each wheel of the vehicle is determined based on the stroke data of the brake pedal of the vehicle and the weight of the vehicle body borne by the wheel suspension, and the wheel is braked based on the required braking force of the wheel, so that the braking effect of the braking demand of the driver and the weight borne by each wheel are comprehensively considered, the determined required braking force of each wheel can meet the actual braking demand of each wheel, the braking force distribution of each wheel can reach an ideal state, the capability of the brake execution mechanism of each wheel can be fully exerted, and the vehicle braking effect is improved.
Based on the same idea, the embodiment of the application also provides a vehicle brake control device. Please refer to fig. 8, which is a schematic structural diagram of a vehicle brake control apparatus according to an exemplary embodiment of the present application. As shown in fig. 8, the vehicle brake control apparatus includes a processor, and optionally further includes an internal bus, a network interface, and a memory, on a hardware level. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the vehicle brake control apparatus may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the vehicle brake control device on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
the method comprises the steps of obtaining stroke data of a brake pedal of a vehicle and the weight of a vehicle body borne by a wheel suspension of the vehicle, wherein the weight is collected by a pressure collecting device arranged on the wheel suspension;
determining a required braking force for each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension;
braking the wheel based on the required braking force of the wheel.
The method executed by the vehicle brake control device according to the embodiment shown in fig. 2 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The vehicle brake control device can also execute the method of fig. 2 and realize the functions of the vehicle brake control device in the embodiments shown in fig. 2 and fig. 3, which are not described herein again.
Of course, the vehicle brake control apparatus of the present application does not exclude other implementations, such as logic devices or a combination of hardware and software, besides software implementations, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable vehicle brake control device comprising a plurality of application programs, are capable of causing the portable vehicle brake control device to perform the method of the embodiment shown in fig. 2, and in particular to perform the following operations:
the method comprises the steps of obtaining stroke data of a brake pedal of a vehicle and the weight of a vehicle body borne by a wheel suspension of the vehicle, wherein the weight is collected by a pressure collecting device arranged on the wheel suspension;
determining a required braking force for each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension;
braking the wheel based on the required braking force of the wheel.
In short, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

Claims (10)

1. A vehicle brake control method, characterized by being applied to a vehicle provided with a pressure acquisition device on a wheel suspension, the method comprising:
acquiring travel data of a brake pedal of the vehicle and the weight of the vehicle body borne by the wheel suspension acquired by the pressure acquisition device;
determining a required braking force for each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension;
braking the wheel based on the required braking force of the wheel.
2. The method according to claim 1, wherein the determining the required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension comprises:
determining the weight borne by each wheel of the vehicle based on the body weight borne by the wheel suspension;
determining a target expected deceleration of the vehicle based on the travel data of the brake pedal;
determining a required braking force for each wheel of the vehicle based on the weight borne by each wheel of the vehicle and the target expected deceleration.
3. The method of claim 2, wherein said determining the weight borne by each wheel of the vehicle based on the body weight borne by the wheel suspension comprises:
for each wheel, determining a sprung mass of the wheel suspension based on a body weight borne by the wheel suspension to which the wheel corresponds;
and determining the sum of the sprung mass and the preset unsprung mass of the wheel suspension corresponding to the wheel as the weight born by the wheel.
4. The method of claim 2, wherein the determining a target expected deceleration of the vehicle based on travel data of the brake pedal comprises:
and determining a target expected deceleration corresponding to the travel data of the brake pedal based on a mapping relation between preset brake pedal travel data and expected deceleration.
5. The method of claim 2, wherein determining the required braking force for each wheel of the vehicle based on the weight each wheel of the vehicle is subjected to and the target expected deceleration comprises:
for each wheel, determining the product of the weight borne by the wheel and the target expected deceleration as the required braking force of the wheel.
6. The method according to claim 1, wherein the determining the required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the body weight borne by the wheel suspension comprises:
determining whether the brake pedal is depressed based on the stroke data of the brake pedal;
if the brake pedal is depressed, the required braking force of each wheel of the vehicle is determined based on the stroke data of the brake pedal and the body weight borne by the wheel suspension.
7. A vehicle brake control system, comprising:
a stroke data acquisition device for acquiring stroke data of a brake pedal of a vehicle;
the pressure acquisition device is used for acquiring the weight of a vehicle body borne by a wheel suspension of the vehicle, and the pressure acquisition device is arranged on the wheel suspension;
and the controller is respectively connected with the stroke data acquisition device and the pressure acquisition device and is used for determining the required braking force of each wheel of the vehicle based on the stroke data of the brake pedal and the weight of the vehicle body born by the wheel suspension and braking the wheel based on the required braking force of the wheel.
8. The system according to claim 7, wherein the pressure acquisition device includes a plurality of pressure sensors respectively provided at connection positions of a wheel suspension and a vehicle body corresponding to each wheel of the vehicle.
9. The system of claim 8, wherein the travel data collection device comprises a travel sensor coupled to the brake pedal.
10. A vehicle, characterized by comprising: a wheel, a wheel suspension for connecting the wheel with a vehicle body, and the vehicle brake control system according to any one of claims 7 to 9.
CN202110120647.8A 2021-01-28 2021-01-28 Vehicle brake control method and system and vehicle Pending CN112849143A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB600762A (en) * 1941-07-18 1948-04-19 Citroen Sa Andre Brake-system for vehicles
DE10325182A1 (en) * 2003-06-04 2004-12-23 Robert Bosch Gmbh Adjusting braking or drive moment acting on wheel in motor vehicle involves regulating longitudinal force or parameter derived from it depending on detected driver's intentions
CN106627532A (en) * 2016-10-27 2017-05-10 徐州重型机械有限公司 Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method
CN110356379A (en) * 2018-03-26 2019-10-22 北汽福田汽车股份有限公司 Braking force distribution method, apparatus and vehicle for vehicle
US20200262399A1 (en) * 2017-09-27 2020-08-20 Hitachi Automotive Systems, Ltd. Brake device and vehicle control device
CN112270828A (en) * 2020-09-21 2021-01-26 北汽福田汽车股份有限公司 Vehicle early warning method and device, electronic equipment and vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB600762A (en) * 1941-07-18 1948-04-19 Citroen Sa Andre Brake-system for vehicles
DE10325182A1 (en) * 2003-06-04 2004-12-23 Robert Bosch Gmbh Adjusting braking or drive moment acting on wheel in motor vehicle involves regulating longitudinal force or parameter derived from it depending on detected driver's intentions
CN106627532A (en) * 2016-10-27 2017-05-10 徐州重型机械有限公司 Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method
US20200262399A1 (en) * 2017-09-27 2020-08-20 Hitachi Automotive Systems, Ltd. Brake device and vehicle control device
CN110356379A (en) * 2018-03-26 2019-10-22 北汽福田汽车股份有限公司 Braking force distribution method, apparatus and vehicle for vehicle
CN112270828A (en) * 2020-09-21 2021-01-26 北汽福田汽车股份有限公司 Vehicle early warning method and device, electronic equipment and vehicle

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Application publication date: 20210528