CN113232632B - Brake pedal feel control method and device - Google Patents
Brake pedal feel control method and device Download PDFInfo
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- CN113232632B CN113232632B CN202110618819.4A CN202110618819A CN113232632B CN 113232632 B CN113232632 B CN 113232632B CN 202110618819 A CN202110618819 A CN 202110618819A CN 113232632 B CN113232632 B CN 113232632B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The application provides a brake pedal feel control method and device, wherein the method comprises the steps of obtaining first information, analyzing the first information to obtain an analysis result, wherein the first information comprises target pedal travel information of a brake pedal and target deceleration corresponding to the target pedal travel information. And adjusting the target deceleration according to the analysis result. In the embodiment of the application, the target pedal travel information of the brake pedal and the target deceleration corresponding to the target pedal travel information are acquired, and then the target pedal travel information and the target deceleration are analyzed to adjust the target deceleration. It is possible to reduce the deviation of the target deceleration of the brake pedal from the preset deceleration, thereby improving the effect of the vehicle brake pedal feel.
Description
Technical Field
The application relates to the technical field of vehicle braking, in particular to a brake pedal feel control method and device.
Background
The brake pedal feel, i.e., the feel of the driver when stepping on the brake pedal, including the pedal force felt by the driver through the sole of the foot and the brake deceleration felt through the body, visually, is an important component of human-vehicle interaction and an important part of the driving experience.
In the mass production process of vehicles, the deviation of manufacturing and assembling parts, such as the brake manufacturing deviation, the deviation of parts of wheel systems, the deviation of brake pedals, and the like, can cause the deviation of the brake pedal feel of the produced vehicle from the preset brake pedal feel, thereby causing the poor vehicle brake pedal feel effect.
Content of application
The embodiment of the application provides a brake pedal feeling control method and device, and solves the problem that a vehicle brake pedal is poor in feeling effect.
To achieve the above object, in a first aspect, an embodiment of the present application provides a brake pedal feel control method, including:
acquiring first information, wherein the first information comprises target pedal travel information of a brake pedal and a target deceleration corresponding to the target pedal travel information;
analyzing the first information to obtain an analysis result;
and adjusting the target deceleration according to the analysis result.
Optionally, the analyzing the first information to obtain an analysis result includes:
matching the target pedal travel information with pedal travel information in a relation curve, wherein the relation curve is a relation curve of the pedal travel information and deceleration;
and if the target pedal travel information is matched with the first pedal travel information in the relation curve, obtaining an analysis result according to the first deceleration and the target deceleration, wherein the first pedal travel information in the relation curve corresponds to the first deceleration.
Optionally, if the target pedal stroke information is matched with the first pedal stroke information in the relationship curve, obtaining an analysis result according to the first deceleration and the target deceleration, including:
acquiring a first deviation of the first deceleration and the target deceleration in a case where the first deceleration is larger than the target deceleration, the analysis result including the first deviation;
in a case where the first deceleration is smaller than the target deceleration, a second deviation of the first deceleration and the target deceleration is acquired, and the analysis result includes the second deviation.
Optionally, the adjusting the target deceleration according to the analysis result includes:
compensating the target deceleration in accordance with the first deviation in a case where the first deceleration is larger than the target deceleration;
when the first deceleration is smaller than the target deceleration, the target deceleration is subtracted according to the second deviation.
In a second aspect, embodiments of the present application provide a brake pedal feel control device comprising:
the device comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring first information, and the first information comprises target pedal travel information of a brake pedal and target deceleration corresponding to the target pedal travel information;
the analysis module is used for analyzing the first information to obtain an analysis result;
and the adjusting module is used for adjusting the target deceleration according to the analysis result.
Optionally, the analysis module includes:
the first analysis unit is used for matching the target pedal travel information with pedal travel information in a relation curve, wherein the relation curve is a relation curve of the pedal travel information and deceleration;
and the second analysis unit is used for obtaining an analysis result according to the first deceleration and the target deceleration if the target pedal travel information is matched with the first pedal travel information in the relation curve, wherein the first pedal travel information in the relation curve corresponds to the first deceleration.
Optionally, the second analysis unit includes:
a first determination unit configured to acquire a first deviation of the first deceleration and the target deceleration in a case where the first deceleration is larger than the target deceleration, the analysis result including the first deviation;
a second determining unit configured to acquire a second deviation of the first deceleration and the target deceleration in a case where the first deceleration is smaller than the target deceleration, the analysis result including the second deviation.
Optionally, the adjusting module includes:
a compensation unit configured to compensate the target deceleration in accordance with the first deviation, when the first deceleration is larger than the target deceleration;
a reduction unit configured to reduce the target deceleration based on the second deviation, when the first deceleration is smaller than the target deceleration.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when executed by the processor, the computer program implements the steps in the brake pedal feel control method according to the first aspect.
In a fourth aspect, the present embodiments provide a readable storage medium, on which a program is stored, the program, when executed by a processor, implementing the steps in the brake pedal feel control method according to the first aspect.
In the embodiment of the application, the target pedal travel information of the brake pedal and the target deceleration corresponding to the target pedal travel information are acquired, and then the target pedal travel information and the target deceleration are analyzed to adjust the target deceleration. It is possible to reduce the deviation of the target deceleration of the brake pedal from the preset deceleration, thereby improving the effect of the vehicle brake pedal feel.
Drawings
For a clear explanation of the technical solutions in the embodiments of the present application, the drawings of the specification are described below, it is obvious that the following drawings are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the listed drawings without any inventive effort.
FIG. 1 is a flow chart of a brake pedal feel control method provided by an embodiment of the present application;
FIG. 2 is a flow chart of a brake pedal feel control method provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of pedal travel versus deceleration provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a brake pedal feel control device provided by an embodiment of the present application;
FIG. 5 is a second schematic structural view of a brake pedal feel control apparatus according to an embodiment of the present disclosure;
FIG. 6 is a third schematic structural diagram of a brake pedal feel control apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. On the basis of the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without making any creative effort fall within the protection scope of the present application.
Referring to fig. 1, an embodiment of the present application provides a brake pedal feel control method, including:
102, analyzing the first information to obtain an analysis result;
and 103, adjusting the target deceleration according to the analysis result.
It should be understood that the target pedal travel information of the brake pedal is the pedal travel of the brake pedal acquired in real time during braking of the vehicle, and the target deceleration is the deceleration of the vehicle acquired in real time during braking of the vehicle. During the running of the vehicle, the driver steps on a certain pedal stroke, and the vehicle generates deceleration corresponding to the pedal stroke.
The analysis of the first information to obtain an analysis result can be realized by inputting the target pedal travel information and the target deceleration into the decoupling type drive-by-wire module. The decoupling type drive-by-wire module can analyze the corresponding relation between the target pedal travel information and the target deceleration, and adjust the target deceleration according to the analysis result, so that the deviation between the target deceleration of the brake pedal and the preset deceleration can be reduced.
In the embodiment of the application, the target pedal travel information of the brake pedal and the target deceleration corresponding to the target pedal travel information are obtained, and then the target pedal travel information and the target deceleration are analyzed to adjust the target deceleration. It is possible to reduce the deviation of the target deceleration of the brake pedal from the preset deceleration, thereby improving the effect of the vehicle brake pedal feel.
Optionally, the analyzing the first information to obtain an analysis result includes:
matching the target pedal travel information with pedal travel information in a relation curve, wherein the relation curve is a relation curve of the pedal travel information and deceleration;
if the target pedal travel information is matched with the first pedal travel information in the relation curve, an analysis result is obtained according to the first deceleration and the target deceleration, and the first pedal travel information in the relation curve corresponds to the first deceleration.
Referring to fig. 2, line 1 is a predetermined relationship between pedal travel and deceleration, which is pre-designed prior to mass production of the vehicle based on actual demand, and is a measure of brake pedal feel. Line 2 is a pedal travel-deceleration relationship curve drawn based on target pedal travel information and target deceleration of the prototype vehicle 2 during actual braking. Line 3 is a pedal travel-deceleration relationship curve plotted based on target pedal travel information and target deceleration of the prototype vehicle 3 during actual braking. As can be seen from fig. 2, the relationship between the pedal stroke and the deceleration that are set in advance during actual braking of the vehicle deviates. Referring to fig. 3, to solve this deviation, target pedal travel information and target deceleration during vehicle braking may be first obtained and input to the decoupled-by-wire module. The decoupling type drive-by-wire module matches the target pedal travel information with pedal travel information in a preset relation curve, and the relation curve is a relation curve of the pedal travel information and the deceleration. In the case where the target pedal stroke information matches the first pedal stroke information in the relationship curve, the first deceleration corresponding to the first pedal stroke information is the ideal deceleration. The first deceleration is compared with the target deceleration, and the first deceleration is the same as the target deceleration, so that the produced brake pedal feeling of the vehicle does not deviate from the preset brake pedal feeling, and the braking process of the vehicle can be controlled according to the relationship between the pedal stroke and the deceleration of the vehicle without adjusting the target deceleration, namely the relationship between the pedal stroke and the deceleration in the preset relationship curve. The first deceleration is different from the target deceleration, which indicates that the produced brake pedal feeling of the vehicle deviates from the preset brake pedal feeling, and the target deceleration needs to be adjusted to reduce the deviation and improve the effect of the brake pedal feeling of the vehicle.
Optionally, if the target pedal stroke information is matched with the first pedal stroke information in the relationship curve, obtaining an analysis result according to the first deceleration and the target deceleration, including:
acquiring a first deviation of the first deceleration and the target deceleration in a case where the first deceleration is larger than the target deceleration, the analysis result including the first deviation;
and acquiring a second deviation of the first deceleration and the target deceleration when the first deceleration is smaller than the target deceleration, wherein the analysis result comprises the second deviation.
Specifically, in the case where the first deceleration is larger than the target deceleration, a first deviation of the first deceleration from the target deceleration is obtained, and the first deviation may be a difference obtained by subtracting the target deceleration from the first deceleration or a difference obtained by subtracting the first deceleration from the target deceleration. In the case where the first deceleration is smaller than the target deceleration, a second deviation of the first deceleration and the target deceleration is obtained, and the second deviation may be a difference obtained by subtracting the first deceleration from the target deceleration or may be a difference obtained by subtracting the target deceleration from the first deceleration.
Optionally, the adjusting the target deceleration according to the analysis result includes:
compensating the target deceleration in accordance with the first deviation in a case where the first deceleration is larger than the target deceleration;
when the first deceleration is smaller than the target deceleration, the target deceleration is subtracted according to the second deviation.
The decoupling type drive-by-wire module has a self-learning function, and the function can identify an analysis result and adjust the target deceleration. Referring to fig. 2, the relationship curve between the target pedal stroke and the target deceleration during the actual braking of the sample vehicle 2 deviates from the predetermined relationship curve between the pedal stroke and the deceleration, and when the pedal stroke is the same, the first deceleration is larger than the target deceleration, and the first deviation δ 1 is defined as δ 1 being a1-a2, a1 being a predetermined deceleration corresponding to the pedal stroke S1, and a2 being a pedal stroke S1, the target deceleration of the sample vehicle 2 is obtained. When the self-learning function of the decoupling type brake-by-wire system identifies the deviation, deceleration compensation is carried out on the No. 2 vehicle, namely when a driver steps on the pedal stroke s1, a2 is revised, namely a2+ delta 1, so that brake pedal feeling control is carried out according to the line 1, and the specific value delta 1 is calculated by the self-learning function of the decoupling type brake-by-wire system. Similarly, the relationship curve between the target pedal stroke and the target deceleration during the actual braking of the sample vehicle 3 deviates from the predetermined relationship curve between the pedal stroke and the deceleration, and when the pedal strokes are the same, the first deceleration is smaller than the target deceleration, that is, the target deceleration of the sample vehicle 3 needs to be reduced. Similarly, the second deviation δ 2 is defined as δ 2 — a1-a3, and a3 is modified, that is, a3+ δ 2 and a3 are the target deceleration of the sample vehicle 3 when the pedal stroke is s 1. After the target deceleration is adjusted according to the analysis result, the brake pedal feeling of the sample vehicles 2 and 3 can be controlled according to the preset brake pedal feeling, so that the problem of deviation of the vehicle brake pedal feeling caused by manufacturing and assembling errors of parts can be solved, the consistency of the brake pedal feeling is improved, and the method is simple, practical and convenient to operate.
Referring to fig. 4, the present embodiment also provides a brake pedal feel control apparatus 200, including:
an obtaining module 201, configured to obtain first information, where the first information includes target pedal stroke information of a brake pedal, and a target deceleration corresponding to the target pedal stroke information;
the analysis module 202 is configured to analyze the first information to obtain an analysis result;
and the adjusting module 203 is configured to adjust the target deceleration according to the analysis result.
Optionally, referring to fig. 5, the analysis module 202 includes:
a first analyzing unit 2021, configured to match the target pedal stroke information with pedal stroke information in a relation curve, where the relation curve is a relation curve between the pedal stroke information and deceleration;
a second analysis unit 2022, configured to obtain an analysis result according to the first deceleration and the target deceleration if the target pedal stroke information matches the first pedal stroke information in the relationship curve, where the first pedal stroke information in the relationship curve corresponds to the first deceleration.
Optionally, the second analysis unit 2022 includes:
if the first deceleration is larger than the target deceleration, acquiring a first deviation of the first deceleration and the target deceleration, wherein the analysis result comprises the first deviation;
in a case where the first deceleration is smaller than the target deceleration, a second deviation of the first deceleration and the target deceleration is acquired, and the analysis result includes the second deviation.
Optionally, referring to fig. 6, the adjusting module 203 includes:
a compensating unit 2031 configured to compensate the target deceleration in accordance with the first deviation, when the first deceleration is larger than the target deceleration;
a subtraction unit 2032 configured to subtract the target deceleration from the second deviation if the first deceleration is smaller than the target deceleration.
The brake pedal feel control device 200 provided in the embodiment of the present application can implement each process of the above-mentioned brake pedal feel control method embodiments, and can achieve the same technical effect, and for avoiding repetition, it is not described herein again.
The embodiment of the application also provides the electronic equipment. As shown in fig. 7, the electronic device 300 includes: a processor 301, a memory 302 and a computer program stored on and executable on said memory 302, the various components in the electronic device 300 being coupled together by a bus system 303. It will be appreciated that the bus system 303 is used to enable communications among the components.
The processor 301 is configured to obtain first information, where the first information includes target pedal stroke information of a brake pedal and a target deceleration corresponding to the target pedal stroke information;
analyzing the first information to obtain an analysis result;
and adjusting the target deceleration according to the analysis result.
Further, the processor 301 is further configured to match the target pedal stroke information with pedal stroke information in a relation curve, where the relation curve is a relation curve between the pedal stroke information and deceleration;
and if the target pedal travel information is matched with the first pedal travel information in the relation curve, obtaining an analysis result according to the first deceleration and the target deceleration, wherein the first pedal travel information in the relation curve corresponds to the first deceleration.
Further, the processor 301 is further configured to obtain a first deviation between the first deceleration and the target deceleration if the first deceleration is greater than the target deceleration, and the analysis result includes the first deviation;
and acquiring a second deviation of the first deceleration and the target deceleration when the first deceleration is smaller than the target deceleration, wherein the analysis result comprises the second deviation.
Further, processor 301 is further configured to compensate the target deceleration according to the first deviation if the first deceleration is greater than the target deceleration;
when the first deceleration is smaller than the target deceleration, the target deceleration is reduced according to the second deviation.
The electronic device 300 provided in the embodiment of the present application can implement each process of the brake pedal feel control method described above, and can achieve the same technical effect, and for avoiding repetition, the details are not repeated here.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the processes of the brake pedal feel control method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the computer program is not described herein again. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.
Claims (4)
1. An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of:
s1, acquiring first information including target pedal stroke information of a brake pedal and target deceleration corresponding to the target pedal stroke information,
s2, analyzing the first information to obtain an analysis result,
s3, adjusting the target deceleration according to the analysis result;
wherein, the analyzing the first information to obtain an analysis result includes:
matching the target pedal travel information with pedal travel information in a relation curve, wherein the relation curve is a relation curve of the pedal travel information and deceleration;
if the target pedal travel information is matched with first pedal travel information in the relation curve, obtaining an analysis result according to first deceleration and the target deceleration, wherein the first pedal travel information in the relation curve corresponds to the first deceleration;
in step S2, the first information is analyzed by inputting the target pedal stroke information and the target deceleration into the decoupled-wire control module,
the decoupling type drive-by-wire module has a self-learning function, a relation curve of a target pedal stroke and a target deceleration in the actual braking process of the sample vehicle has a deviation with a preset relation curve of the pedal stroke and the deceleration, when the pedal strokes are the same, the first deceleration is larger than the target deceleration, the first deviation delta 1 is defined as delta 1 being a1-a2, a1 is a preset deceleration corresponding to the pedal stroke S1, and a2 is the target deceleration of the sample vehicle when the pedal stroke is S1;
when the self-learning function of the decoupling type brake-by-wire system identifies the deviation, deceleration compensation is carried out on the sample vehicle, namely when a driver steps on the pedal stroke s1, a2 is revised, namely a2+ delta 1, so that brake pedal feeling control is carried out according to a preset relation curve of the pedal stroke and the deceleration, and a specific value delta 1 is calculated by the self-learning function of the decoupling type brake-by-wire system;
the computer program is executed based on the following means:
the acquisition module is used for acquiring first information;
the analysis module is used for analyzing the first information to obtain an analysis result;
the adjusting module is used for adjusting the target deceleration according to the analysis result;
the analysis module includes:
the first analysis unit is used for matching the target pedal travel information with pedal travel information in a relation curve, wherein the relation curve is a relation curve of the pedal travel information and deceleration;
the second analysis unit is used for obtaining an analysis result according to the first deceleration and the target deceleration if the target pedal travel information is matched with the first pedal travel information in the relation curve, and the first pedal travel information in the relation curve corresponds to the first deceleration;
a first determination unit configured to acquire a first deviation of the first deceleration and the target deceleration in a case where the first deceleration is larger than the target deceleration, the analysis result including the first deviation;
a second determination unit configured to acquire a second deviation of the first deceleration and the target deceleration, in a case where the first deceleration is smaller than the target deceleration, the analysis result including the second deviation;
a compensation unit configured to compensate the target deceleration in accordance with the first deviation, when the first deceleration is larger than the target deceleration;
a reduction unit configured to reduce the target deceleration in accordance with the second deviation, when the first deceleration is smaller than the target deceleration.
2. The electronic device according to claim 1, wherein if the target pedal stroke information matches the first pedal stroke information in the relationship curve, obtaining an analysis result according to the first deceleration and the target deceleration, includes:
acquiring a first deviation of the first deceleration and the target deceleration in a case where the first deceleration is larger than the target deceleration, the analysis result including the first deviation;
and acquiring a second deviation of the first deceleration and the target deceleration when the first deceleration is smaller than the target deceleration, wherein the analysis result comprises the second deviation.
3. The electronic device of claim 2, wherein said adjusting the target deceleration based on the analysis comprises:
compensating the target deceleration in accordance with the first deviation in a case where the first deceleration is larger than the target deceleration;
when the first deceleration is smaller than the target deceleration, the target deceleration is subtracted according to the second deviation.
4. A readable storage medium, characterized in that the readable storage medium has stored thereon a program, which is a computer program running on a processor in an electronic device according to any one of claims 1-3.
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| CN202110618819.4A CN113232632B (en) | 2021-06-03 | 2021-06-03 | Brake pedal feel control method and device |
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| CN110901639A (en) * | 2018-09-14 | 2020-03-24 | 比亚迪股份有限公司 | Deceleration control method and apparatus for vehicle |
| CN112874317A (en) * | 2021-01-27 | 2021-06-01 | 奇瑞新能源汽车股份有限公司 | Braking method and device of electric vehicle and electric vehicle |
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| JP2004090899A (en) * | 2002-09-04 | 2004-03-25 | Advics:Kk | Brake alarm device for vehicle |
| JP6544335B2 (en) * | 2016-10-28 | 2019-07-17 | 株式会社アドヴィックス | Vehicle braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901639A (en) * | 2018-09-14 | 2020-03-24 | 比亚迪股份有限公司 | Deceleration control method and apparatus for vehicle |
| CN112874317A (en) * | 2021-01-27 | 2021-06-01 | 奇瑞新能源汽车股份有限公司 | Braking method and device of electric vehicle and electric vehicle |
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