CN113734135A - Hydraulic braking assistance auxiliary control method based on ESC - Google Patents
Hydraulic braking assistance auxiliary control method based on ESC Download PDFInfo
- Publication number
- CN113734135A CN113734135A CN202111140398.5A CN202111140398A CN113734135A CN 113734135 A CN113734135 A CN 113734135A CN 202111140398 A CN202111140398 A CN 202111140398A CN 113734135 A CN113734135 A CN 113734135A
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- esc
- pressure
- vacuum
- boosting
- hydraulic brake
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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
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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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/226—Devices for monitoring or checking brake systems; Signal devices using devices being responsive to the difference between the fluid pressions in conduits of multiple braking systems
Abstract
The invention discloses a hydraulic brake power-assisted auxiliary control method based on an ESC (electronic stability control), which is mainly designed in the way that an ESC (electronic stability control) system is matched with a vacuum booster assembly to provide power-assisted assistance, and when the brake power-assisted is limited, insufficient or completely ineffective due to insufficient vacuum degree of a vehicle, extra auxiliary power is actively provided through the ESC to actively boost and decelerate the vehicle. Specifically, when the vacuum degree of the vacuum booster is reduced or no vacuum is monitored, the braking intention of the driver is judged according to a preset boosting characteristic curve and by combining a brake pedal signal and a master cylinder pressure signal, so that the ESC can assist the vehicle to actively boost according to the braking intention, and the brake request is amplified to complete the braking assistance. The invention can effectively reduce the influence of insufficient brake assistance on the driving feeling of a driver, meet the brake assistance requirement of safe parking of the vehicle and ensure the brake performance of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a hydraulic braking assistance auxiliary control method based on an ESC (electronic stability control).
Background
With the development of passenger car technology, the market pays more attention to the safety of the automobile while paying attention to the comfort and the dynamic property of the automobile. The braking performance is one of the main safety performance of the automobile, the quality of the braking performance is directly related to the size of a traffic accident and the property loss, most of the traffic accidents are often related to the conditions of small braking deceleration, long braking distance and the like, and therefore the braking performance is an important guarantee for the safe driving of the automobile.
At present, almost all passenger vehicles adopt a vacuum boosting type brake boosting unit, and under some special working conditions (such as driving in a high altitude area, low-temperature cold start and the like) caused by vehicles, the vacuum degree (which refers to the pressure difference between the pressure in a vacuum cavity of a vacuum booster and the external environment pressure, and the value is less than or equal to 0) of the brake boosting unit is possibly insufficient, so that the phenomena of hardening of a brake pedal, lengthening of a braking distance and the like occur, great braking safety hazards exist, and particularly, a supercharged engine is generally applied at the present stage, so that the problem is more prominent.
In this regard, there are various methods and ideas for ensuring the required vacuum level of the vacuum booster, for example, the volume of the vacuum booster is selected to be as large as possible, but the volume of the vacuum booster cannot break through the limitation of the physical space due to the cost and the design of the engine compartment during the matching process of the vacuum booster.
Disclosure of Invention
In view of the above, the present invention aims to provide an ESC-based hydraulic brake assist control method to solve the problem of insufficient vacuum of a booster under special conditions, so as to ensure the safety of vehicle braking. The special conditions mentioned herein include, but are not limited to, high altitude driving, cold start at low temperature, etc.
The technical scheme adopted by the invention is as follows:
an ESC-based hydraulic brake assist control method comprises the following steps:
after detecting the action of a brake pedal, acquiring a pressure value corresponding to the maximum power-assisted point of the vacuum booster;
judging the boosting capacity of the vacuum booster according to the action of the brake pedal, the pressure value and a pre-calibrated vacuum boosting characteristic curve, and analyzing the braking request of the driver into expected pressure;
when the vacuum boosting is judged to be normal, the brake boosting is implemented only by the vacuum booster;
when the vacuum boosting is judged to be insufficient, the hydraulic braking boosting function of the ESC is called, and the operation of a pump and an active boosting valve of the ESC is controlled by combining the expected pressure to form a target pressure for auxiliary braking;
when the vacuum boosting is judged to be invalid, calling a hydraulic boosting compensation function of the ESC, and controlling a pump and an active booster valve of the ESC to operate in combination with the expected pressure to form a target pressure for auxiliary braking;
sending the target pressure to a state machine, and monitoring the working condition of a hydraulic brake boosting system;
and when the hydraulic brake power-assisted system meets a preset activation condition, transmitting the target pressure to an actuating mechanism of the hydraulic brake power-assisted system for brake auxiliary operation.
In at least one possible implementation manner, the vacuum boosting characteristic curve is used for representing the relation between the brake pedal input force and the wheel cylinder pressure.
In at least one possible implementation manner, the activation condition includes:
there is a braking request and the master cylinder pressure is greater than a preset activation level, and the state machine is in an enabled state and the vehicle condition state allows activation.
In at least one possible implementation, the vacuum assist normally includes: and the hydraulic pressure corresponding to the maximum power-assisted point of the vacuum booster is greater than the wheel cylinder pressure corresponding to the wheel locking.
In at least one possible implementation, the insufficient vacuum assist includes: and the hydraulic pressure corresponding to the maximum power-assisted point of the vacuum booster is smaller than the wheel cylinder pressure corresponding to the wheel locking.
In at least one possible implementation, the controlling the operation of the pump and the active boost valve of the ESC in combination with the desired pressure to form the target pressure for auxiliary braking includes: the wheel cylinder pressure is increased by adjusting the rotational speed of the pump in the ESC, which is changed by adjusting the rotational speed of the motor, and by adjusting the opening angle of the active pressure-increasing valve.
In at least one possible implementation manner, the following condition is satisfied when the hydraulic brake boosting system is switched from the active state to the standby state: the hydraulic brake assist system is deactivated or the master cylinder pressure exceeds the target pressure at vehicle standstill.
In at least one possible implementation manner, the following condition is satisfied when the hydraulic brake boosting system is switched from the activated state to the pressure relief state: the driver releases the brake pedal to be lower than a preset auxiliary brake exit threshold, or receives redundant information about the driver's braking request.
In at least one possible implementation manner, the following condition is satisfied when the hydraulic brake boosting system is switched from the pressure relief state to the standby state: the pressure relief is finished, or the master cylinder pressure exceeds the target pressure in the static state of the vehicle, or the hydraulic brake boosting system is deactivated.
In at least one possible implementation manner, the hydraulic brake boosting system comprises a hydraulic boosting device and an ESC controller assembly.
The main design concept of the invention is that an electronic stability control system (ESC) is matched with a vacuum booster to provide boosting assistance, and when the braking boosting is insufficient or fails due to insufficient vacuum degree of a vehicle, the ESC actively provides additional auxiliary hydraulic boosting to actively boost and decelerate the vehicle. Specifically, when the vacuum degree of the vacuum booster is reduced or no vacuum is monitored, the braking intention of the driver is judged according to a preset boosting characteristic curve and by combining a brake pedal signal and a braking pressure signal, so that the ESC can assist the vehicle to actively boost according to the braking intention, and the brake request is amplified to complete the braking assistance. The invention can effectively reduce the influence of insufficient vacuum assistance on the driving feeling of a driver, meet the braking assistance requirement of safe parking of the vehicle and ensure the braking performance of the vehicle.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of an ESC-based hydraulic brake assist control method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of an ESC-based hydraulic brake boosting auxiliary control method, which is specifically shown in FIG. 1 and comprises the following steps:
step S1, after detecting the action of the brake pedal, acquiring a pressure value corresponding to the maximum power-assisted point of the vacuum booster;
step S2, judging the boosting capacity of the vacuum booster according to the action of the brake pedal, the pressure value and a pre-calibrated vacuum boosting characteristic curve, and analyzing the braking request of the driver into expected pressure;
step S31, when the vacuum boosting is judged to be normal, the brake boosting is carried out only by the vacuum booster;
step S32, when the vacuum boosting is judged to be insufficient, calling the hydraulic braking boosting function of the ESC, and combining the expected pressure to control the operation of a pump and an active boosting valve of the ESC to form a target pressure for auxiliary braking;
step S33, when the vacuum boosting is judged to be invalid, calling a hydraulic boosting compensation function of the ESC, and controlling a pump and an active booster valve of the ESC to operate in combination with the expected pressure to form a target pressure for auxiliary braking;
step S4, sending the target pressure to a state machine, and monitoring the working condition of a hydraulic brake boosting system;
and step S5, when the hydraulic brake assistance system meets the preset activation condition, transmitting the target pressure to an actuating mechanism of the hydraulic brake assistance system for brake assistance operation.
Further, the vacuum boost characteristic curve is used for representing the relation between the brake pedal input force and the wheel cylinder pressure.
Further, the activation condition includes:
there is a braking request and the master cylinder pressure is greater than a preset activation level, and the state machine is in an enabled state and the vehicle condition state allows activation.
For ease of understanding, the foregoing embodiments are described in detail below for reference:
when the vacuum booster is normal, namely the vacuum pumping capacity of a vacuum source (an engine vacuum pumping part or an electronic vacuum pump) meets the brake boosting condition required by continuous braking of a vehicle, and the relation between the input force of a brake pedal and the pressure of a wheel cylinder conforms to a pre-calibrated normal boosting characteristic curve; at the moment, the hydraulic pressure corresponding to the maximum power-assisted point of the vacuum booster is greater than the wheel cylinder pressure corresponding to the wheel locking, the power-assisted force required by vehicle braking is provided by the vacuum booster, and a hydraulic braking power-assisted system is not triggered or intervened.
When the boosting of the vacuum booster is insufficient, namely the vacuum pumping capacity of a vacuum source (an engine vacuum pumping part or an electronic vacuum pump) does not meet the braking boosting condition required by continuous braking of a vehicle, compared with the normal condition of the vacuum booster, under the condition of the same braking deceleration, a driver is required to tread a brake pedal with greater force, and the relation between the input force of the brake pedal and the pressure of a wheel cylinder conforms to a pre-calibrated 'boosting insufficiency characteristic curve'; at this time, the hydraulic pressure corresponding to the maximum boosting point of the vacuum booster is smaller than the wheel cylinder pressure corresponding to the wheel locking, hydraulic braking boosting can be performed by an HBB (hydro-Brake boost) function of the ESC system at this stage, the ESC analyzes the braking expectation of a driver based on pedal input action, and after comprehensive coordination judgment is performed by combining the current ESC working state, the vehicle wheel cylinder hydraulic pressure is increased by controlling the rotation of a pump (motor) inside the ESC, the opening angle of an active pressure increasing valve and the like so as to be consistent with the braking operation (the foot feeling of stepping on a Brake pedal) during normal boosting.
When the vacuum booster is completely without boosting, namely the vacuum source (an engine vacuum pumping part or an electronic vacuum pump) fails to pump vacuum, the cavity of the vacuum booster leaks, a vacuum pipeline and the connection thereof leaks, and the like; at the moment, the driver steps on the brake pedal to decelerate without any external assistance, and the relation between the input force of the brake pedal and the pressure of the wheel cylinder conforms to a pre-calibrated 'no-assistance characteristic curve'; at this time, the wheel cylinder pressure is completely converted by the input force of the pedal of the driver, hydraulic braking boosting is performed by an HBC (hydraulic Booster Failure compensation) function of the ESC system, the ESC identifies and judges the braking expectation of the driver according to the no-boosting characteristic curve, and after the comprehensive coordination judgment is combined with the working state of the current ESC, the wheel cylinder pressure is amplified by controlling the rotation of a pump (motor) in the ESC and an active pressure increasing valve, so that the vehicle can meet the braking and decelerating requirements.
The calculated value (amplified desired pressure — target pressure) is then sent to the state machine to trigger different operating modes according to the respective preset conditions. At this time, if the hydraulic brake boosting system meets the preset activation condition, the target pressure is transmitted to an actuating mechanism of the hydraulic brake boosting system for brake assisting operation.
The different operation modes mentioned here can be generally classified into a standby mode, an active mode, and a decompression mode, and the switching conditions among the three can be referred to as follows:
1) from standby/pressure relief state, transition to active state (i.e. the aforementioned preset activation condition):
a. master cylinder pressure is greater than the activation level (desired pressure is near the maximum assist point);
b. and the state machine is enabled;
c. and the driver has a braking request;
d. and other vehicle condition states are allowed to activate.
2) Transition from active to standby:
a. the hydraulic brake assist system is deactivated;
b. or the master cylinder pressure exceeds the target pressure in the stationary state of the vehicle.
3) Transition from active to pressure relief:
a. the driver releases the brake pedal until the brake pedal is lower than a preset auxiliary brake exit threshold;
b. or receive redundant information regarding the driver braking request.
4) Transition from pressure relief state to standby state:
a. ending the pressure relief;
b. or the master cylinder pressure exceeds the target pressure in the static state of the vehicle;
c. or the hydraulic brake assist system is deactivated.
The brake boosting hardware system structure related to the foregoing embodiments is provided by the following descriptions: the hydraulic brake assembly is mainly formed by connecting a brake pedal, a hydraulic power assisting device, an ESC controller and a brake in series; the hydraulic brake power assisting system consists of a hydraulic power assisting device and an ESC controller assembly. The driver inputs force or stroke to the hydraulic power assisting device through the brake pedal, the boosting force is converted into hydraulic pressure after being amplified, and the hydraulic pressure reaches the brake wheel cylinder through the ESC controller.
In summary, the main design concept of the present invention is that an electronic stability control system (ESC) is used in conjunction with a vacuum booster assembly to provide power assistance, and when the braking power assistance is limited, insufficient or completely ineffective due to insufficient vacuum, the ESC actively provides additional auxiliary power assistance to actively boost and decelerate the vehicle. Specifically, when the vacuum degree of the vacuum booster is reduced or no vacuum is monitored, the braking intention of the driver is judged according to a preset boosting characteristic curve and by combining a brake pedal signal and a master cylinder pressure signal, so that the ESC can assist the vehicle to actively boost according to the braking intention, and the brake request is amplified to complete the braking assistance. The invention can effectively reduce the influence of insufficient brake assistance on the driving feeling of a driver, meet the brake assistance requirement of safe parking of the vehicle and ensure the brake performance of the vehicle.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (10)
1. An ESC-based hydraulic brake assist control method is characterized by comprising the following steps:
after detecting the action of a brake pedal, acquiring a pressure value corresponding to the maximum power-assisted point of the vacuum booster;
judging the boosting capacity of the vacuum booster according to the action of the brake pedal, the pressure value and a pre-calibrated vacuum boosting characteristic curve, and analyzing the braking request of the driver into expected pressure;
when the vacuum boosting is judged to be normal, the brake boosting is implemented only by the vacuum booster;
when the vacuum boosting is judged to be insufficient, the hydraulic braking boosting function of the ESC is called, and the operation of a pump and an active boosting valve of the ESC is controlled by combining the expected pressure to form a target pressure for auxiliary braking;
when the vacuum boosting is judged to be invalid, calling a hydraulic boosting compensation function of the ESC, and controlling a pump and an active booster valve of the ESC to operate in combination with the expected pressure to form a target pressure for auxiliary braking;
sending the target pressure to a state machine, and monitoring the working condition of a hydraulic brake boosting system;
and when the hydraulic brake power-assisted system meets a preset activation condition, transmitting the target pressure to an actuating mechanism of the hydraulic brake power-assisted system for brake auxiliary operation.
2. The ESC-based hydraulic brake assist control method of claim 1, wherein the vacuum assist characteristic is used to characterize brake pedal input force versus wheel cylinder pressure.
3. The ESC-based hydraulic brake assist control method according to claim 1 or 2, wherein the activation condition comprises:
there is a braking request and the master cylinder pressure is greater than a preset activation level, and the state machine is in an enabled state and the vehicle condition state allows activation.
4. The ESC-based hydraulic brake assist control method of claim 1, wherein the vacuum assist normally comprises: and the hydraulic pressure corresponding to the maximum power-assisted point of the vacuum booster is greater than the wheel cylinder pressure corresponding to the wheel locking.
5. The ESC-based hydraulic brake assist control method of claim 1, wherein the insufficient vacuum assist comprises: and the hydraulic pressure corresponding to the maximum power-assisted point of the vacuum booster is smaller than the wheel cylinder pressure corresponding to the wheel locking.
6. The ESC-based hydraulic brake assist control method of claim 1, wherein the controlling ESC pump and active boost valve operation in conjunction with the desired pressure to form a target pressure for assisted braking comprises: the wheel cylinder pressure is increased by adjusting the rotational speed of the pump in the ESC, which is changed by adjusting the rotational speed of the motor, and by adjusting the opening angle of the active pressure-increasing valve.
7. The ESC-based hydraulic brake assist control method according to any one of claims 1, 2 and 4-6, wherein the hydraulic brake assist system is switched from an active state to a standby state under the following conditions: the hydraulic brake assist system is deactivated or the master cylinder pressure exceeds the target pressure at vehicle standstill.
8. The ESC-based hydraulic brake assist control method according to any one of claims 1, 2 and 4-6, wherein the hydraulic brake assist system is switched from an active state to a pressure relief state under the following conditions: the driver releases the brake pedal to be lower than a preset auxiliary brake exit threshold, or receives redundant information about the driver's braking request.
9. The ESC-based hydraulic brake assist control method according to any one of claims 1, 2 and 4-6, wherein the hydraulic brake assist system is switched from a pressure relief state to a standby state under the following conditions: the pressure relief is finished, or the master cylinder pressure exceeds the target pressure in the static state of the vehicle, or the hydraulic brake boosting system is deactivated.
10. The ESC-based hydraulic brake assist control method of any one of claims 1, 2 and 4-6, wherein the hydraulic brake assist system comprises a hydraulic assist device and an ESC controller assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111140398.5A CN113734135B (en) | 2021-09-28 | 2021-09-28 | Hydraulic braking assistance auxiliary control method based on ESC |
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| CN202111140398.5A CN113734135B (en) | 2021-09-28 | 2021-09-28 | Hydraulic braking assistance auxiliary control method based on ESC |
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| CN115402284A (en) * | 2022-08-30 | 2022-11-29 | 浙江吉利控股集团有限公司 | Vehicle brake control method, vehicle brake control system, vehicle, and storage medium |
| WO2024055646A1 (en) * | 2022-09-14 | 2024-03-21 | 东风汽车集团股份有限公司 | Failure protection method and system based on brake-by-wire |
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| CN113734135B (en) | 2022-09-30 |
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