CN113815424B - Vehicle braking force control method, device and computer readable storage medium - Google Patents
Vehicle braking force control method, device and computer readable storage medium Download PDFInfo
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- CN113815424B CN113815424B CN202010566219.3A CN202010566219A CN113815424B CN 113815424 B CN113815424 B CN 113815424B CN 202010566219 A CN202010566219 A CN 202010566219A CN 113815424 B CN113815424 B CN 113815424B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The application discloses a vehicle braking force control method, a device and a computer readable storage medium, which effectively prevent the problems that the deceleration of a vehicle generates larger fluctuation and a driver generates a vehicle out-of-control feel due to the loss of a hydraulic braking system, and the method comprises the following steps: when a pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure; if the vehicle is in the electrohydraulic hybrid braking mode currently, judging whether motor braking exists currently or not; if the motor braking does not exist currently, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value; and if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, compensating the braking force of the vehicle according to the difference value.
Description
Technical Field
The present application relates to the field of braking force control of vehicles, and more particularly, to a braking force control method, apparatus, and computer-readable storage medium.
Background
At present, an electrohydraulic hybrid braking mode is widely adopted for the vehicle to increase the endurance mileage and the braking capacity, and the electrohydraulic hybrid braking is formed by motor feedback and braking hydraulic supplement of a hydraulic braking system. Braking is one of the most important functions for ensuring driver safety, but in the case of long-term use of a vehicle, normal or abnormal wear of parts in a brake system is unavoidable, or the water content of a brake fluid of a hydraulic brake system increases, which results in insufficient brake pressure.
Compared with the traditional fuel vehicle braked by only relying on a hydraulic braking system, the vehicle braked by adopting the electrohydraulic hybrid brake is easier to sense the difference in braking by a driver under the conditions of part loss and brake fluid moisture in the hydraulic braking system, and the driver can generate panic. As shown in the difference curve in fig. 1, in the electro-hydraulic hybrid braking vehicle, when a driver steps on a brake pedal, the driver firstly enters a motor braking area, and as the pedal stroke s becomes larger, the deceleration a of the vehicle becomes larger, the driver enters a hydraulic braking area when reaching a certain zero limit, and stable braking force output can be always brought about due to very small loss of a driving motor, but in the lost hydraulic braking system, the deceleration of a new vehicle and a lost vehicle generates larger fluctuation, so that the driver generates a vehicle out-of-control feeling.
Disclosure of Invention
The application provides a vehicle braking force control method, a device and a computer readable storage medium, which are used for solving the problem that the deceleration of a vehicle greatly fluctuates due to the loss of a hydraulic braking system and a driver generates a vehicle out-of-control feeling.
A vehicle braking force control method, comprising:
when a pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure;
if the vehicle is in the electrohydraulic hybrid braking mode currently, judging whether motor braking exists currently or not;
if the motor braking does not exist currently, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value;
and if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, compensating the braking force of the vehicle according to the difference value.
Further, the method further comprises:
if the difference value is larger than or equal to the second preset pressure value, judging whether a preset loss condition exists in the hydraulic braking system currently;
if the preset loss condition of the hydraulic braking system is judged to exist currently, a warning prompt is sent out;
and in the next point cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the preset loss condition of the hydraulic braking system does not exist, the warning prompt is released.
Further, the method further comprises:
if the vehicle is not in the electrohydraulic hybrid braking mode, judging whether the difference is larger than a third preset pressure value and smaller than a fourth preset pressure value;
and if the difference value is larger than the third preset pressure value and smaller than the fourth preset pressure value, compensating the braking force of the vehicle according to the difference value.
Further, the method further comprises:
if the difference value is larger than or equal to the fourth preset pressure value, judging whether the hydraulic braking system is abnormal at present;
if the hydraulic braking system has preset loss conditions, a warning prompt is sent out;
and in the next point cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the preset loss condition of the hydraulic braking system does not exist, the warning prompt is released.
Further, the compensating the braking force of the vehicle includes:
and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.
Further, when the vehicle is in the electro-hydraulic hybrid braking mode, the method further comprises:
determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value;
and if the vehicle deceleration corresponding to the pedal signal is larger than the preset speed value, controlling the motor to finish motor braking.
Further, the preset loss condition at least includes one of the following conditions: the hydraulic braking system is provided with brake oil leakage and the water content of the brake oil is higher than a preset water content value.
A vehicle braking force control apparatus characterized by comprising:
the judging module is used for judging whether a pedal signal is received or not;
the determining module is used for determining the difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure if the pedal signal is received;
the judging module is further used for judging whether motor braking exists currently if the vehicle is in an electrohydraulic hybrid braking mode currently;
the judging module is further used for judging whether the difference is larger than a first preset pressure value and smaller than a second preset pressure value if the motor braking does not exist currently;
and the compensation module is used for compensating the braking force of the vehicle according to the difference value if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value.
A vehicle braking force control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the vehicle braking force control method described above when executing the computer program.
A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle braking force control method described above.
In one of the schemes provided by the application, the braking mode of the current vehicle is firstly judged, and whether a pedal signal is received or not is judged; if the vehicle is in the electrohydraulic hybrid braking mode and a pedal signal is received, judging whether motor braking exists currently; if the motor braking does not exist at present, the motor braking is adopted to enter the hydraulic braking, and at the moment, when the abnormal conditions such as loss and the like occur in the hydraulic braking system, the deceleration of the vehicle can possibly generate larger difference, so that the difference between the actual braking force corresponding to the current pedal signal and the calibrated braking pressure is required to be determined; if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, it is determined that the vehicle deceleration will generate larger difference, and at the moment, the braking force of the vehicle is compensated according to the difference value to be compensated to the required braking force, so that the problems that the deceleration of the vehicle generates larger fluctuation and the driver generates a vehicle out-of-control feeling due to loss of a hydraulic braking system are effectively prevented.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of deceleration differences when loss of an electro-hydraulic hybrid brake system occurs;
FIG. 2 is a schematic diagram of a system architecture of an electrohydraulic hybrid brake system according to an embodiment of the present application
FIG. 3 is a flow chart of a vehicle braking force control method in an embodiment of the application;
FIG. 4 is another flow chart of a vehicle braking force control method in an embodiment of the application;
FIG. 5 is a schematic view showing a construction of a vehicle braking force control device according to an embodiment of the present application;
fig. 6 is another structural schematic diagram of the vehicle braking force control device in the embodiment of the application;
fig. 7 is another schematic structural view of the vehicle braking force control device in the embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The embodiment of the application provides a vehicle braking force control method, which is a vehicle with an electrohydraulic hybrid braking system, as shown in fig. 1, wherein the electrohydraulic hybrid braking system comprises a whole vehicle controller, a driving motor (or a recovery motor), a brake pedal, an electric booster and a hydraulic braking system, such as an ECS (electronic control system). The vehicle can have a plurality of different braking modes based on the electrohydraulic hybrid braking system, including an electrohydraulic hybrid braking mode and a common hydraulic braking mode, wherein the electrohydraulic hybrid braking mode utilizes motor braking and hydraulic braking to provide required braking force for the vehicle. The drive motor (or the recovery motor) is used for providing electric power, and the hydraulic braking system is used for providing hydraulic braking force.
Based on the electrohydraulic hybrid braking system, the embodiment of the application provides a vehicle braking force control method, which comprises the following steps: judging whether a pedal signal is received or not; if the pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure; if the vehicle is in the electrohydraulic hybrid braking mode currently, judging whether motor braking exists currently or not; if the motor braking does not exist at present, the motor braking is indicated to enter hydraulic braking, and at the moment, when abnormal conditions such as loss and the like occur in a hydraulic braking system, the vehicle deceleration can possibly generate larger difference, so that the difference between the actual braking force corresponding to the current pedal signal and the calibrated braking pressure needs to be determined; if the difference is larger than the first preset pressure value and smaller than the second preset pressure value, it is determined that the vehicle deceleration will generate larger difference, and at the moment, the braking force of the vehicle is compensated according to the difference to compensate the braking force of the vehicle to the required braking force, so that the problem that the vehicle deceleration generates larger fluctuation due to the loss of the hydraulic braking system and finally the driver generates a vehicle out-of-control feeling can be effectively prevented. The following is a detailed description.
As shown in fig. 3, a vehicle braking force control method is provided, which is described by taking an example in which the vehicle braking force control method is applied to the vehicle controller shown in fig. 2, and includes the steps of:
s10: whether a pedal signal is received is determined, and if the pedal signal is received, step S20 is executed.
In a vehicle having an electro-hydraulic hybrid brake system as shown in fig. 2, a plurality of different braking modes may be included, and the braking modes of the vehicle include an electro-hydraulic hybrid braking mode, which refers to a braking mode using a combination of electric motor braking and hydraulic braking, and a normal hydraulic braking mode, which is a braking mode relying on hydraulic braking only.
The brake pedal is a device for providing a driver input braking force, and the pedal signal refers to a corresponding generated signal when the driver steps on the brake pedal, and it is known whether the driver steps on the brake pedal or not and a corresponding pedal stroke according to the pedal signal. Regardless of the braking mode, the driver may depress the brake pedal to input
In the embodiment of the application, whether the pedal signal is received is determined in real time, and if the pedal signal is received, it is indicated that the driver has depressed the brake pedal to reduce the running speed of the vehicle at this time, and step S20 is executed at this time.
S20: determining a difference value between an actual braking force corresponding to the current pedal signal and a calibrated braking pressure;
it can be understood that the pedal signal is a signal reflecting how much braking force is applied by the driver, the calibration braking force pressure is normal braking pressure corresponding to pedal travel applied by the driver under abnormal conditions such as no loss of a hydraulic braking system of the vehicle, and before the method is implemented, the braking force pressure corresponding to each pedal travel can be recorded and stored by a new vehicle, namely, under abnormal conditions such as no loss of the hydraulic braking system in advance through a test, so that the calibration braking pressure is obtained. Therefore, in the embodiment of the application, the difference between the actual braking force (which can be expressed by ACT-mastercylindenrpr) corresponding to the current pedal signal and the calibrated braking pressure (which can be expressed by Vir-mastercylindenrpr) can be determined.
S30: and judging the current braking mode of the vehicle, and executing step S40 if the vehicle is in the electrohydraulic hybrid braking mode.
S40: judging whether motor braking exists currently, and if not, executing step S50.
As described above, the electrohydraulic hybrid braking mode is a braking mode in which electric motor braking and hydraulic braking are combined, when the pedal stroke is small, the vehicle brakes by the electric motor braking, and as the pedal stroke increases, the braking force input by the vehicle driver is higher, the deceleration of the vehicle gradually increases, the vehicle is shifted to hydraulic braking from the electric motor braking, and when the hydraulic braking system has abnormal conditions such as loss, a large difference occurs in deceleration of the vehicle, so that the vehicle is out of control.
In order to prevent the occurrence of the above-mentioned incontrollable feeling, in the embodiment of the present application, when the vehicle is in the electrohydraulic hybrid braking mode and the pedal signal is received, it is continuously determined whether there is a motor brake at present, if there is no motor brake, it indicates that the motor brake has been shifted to the hydraulic brake, and therefore, further measures are required to prevent the occurrence of the incontrollable feeling, so that step S50 is performed.
S50: and judging the relation between the difference value and the first preset pressure value and the second preset pressure value, and executing step S60 if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value.
In the embodiment of the application, when the vehicle is in the electrohydraulic hybrid braking mode and the pedal signal is received, whether the motor braking exists currently is continuously judged, if the motor braking does not exist, the motor braking is shifted to the hydraulic braking, therefore, further measures are needed to prevent the vehicle from having a runaway feeling, the relation between the difference value and the first preset pressure value and the second preset pressure value is judged, if the difference value is smaller than or equal to the first preset pressure value, the actual braking force corresponding to the current pedal stroke is executed to brake, and if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, the step S60 is executed.
S60: and compensating the braking force of the vehicle according to the difference value.
When the vehicle is in the electrohydraulic hybrid braking mode and a pedal signal is received, whether motor braking exists at present or not is continuously judged, if motor braking does not exist, the state that hydraulic braking is shifted from motor braking is changed, therefore, further measures are needed to prevent the vehicle from having a runaway feel, specifically, the relation between a difference value and a first preset pressure value and a second preset pressure value is judged, and if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, step S60 is executed, namely, the braking force of the vehicle is compensated according to the difference value.
If the difference is greater than the first preset pressure value and less than the second preset pressure value, it is indicated that a larger error exists between the actual braking force corresponding to the current pedal and the calibration braking force, so that the braking force of the vehicle needs to be compensated according to the difference, for example, if the difference is 8bar, the braking force of the vehicle is properly compensated by taking 8bar as a reference, for example, between the upper and lower positions of 8bar or 8bar is directly compensated, so that the braking force of the vehicle corresponds to the normal braking force corresponding to the current pedal stroke, and the occurrence of a vehicle runaway feeling is effectively avoided.
It should be noted that the first preset pressure value and the second preset pressure value are preset values, and as an example, the first preset pressure value may be 50bar, and the second preset pressure value may be 10bar, that is, if the difference is greater than 50bar and less than 10bar, braking force of the vehicle is compensated. It should be noted that, the first preset pressure value is 50bar and the second preset pressure value is 10bar in this embodiment is merely illustrative, and not limiting to the present application, and the first preset pressure value and the second preset pressure value may be configured according to actual application requirements to meet different requirements.
It can be seen that in this embodiment, a vehicle braking force control method is provided, which first determines a braking mode of a current vehicle, and determines whether a pedal signal is received; if the vehicle is in the electrohydraulic hybrid braking mode and a pedal signal is received, judging whether motor braking exists currently; if the motor braking does not exist at present, the motor braking is adopted to enter the hydraulic braking, and at the moment, when the abnormal conditions such as loss and the like occur in the hydraulic braking system, the deceleration of the vehicle can possibly generate larger difference, so that the difference between the actual braking force corresponding to the current pedal signal and the calibrated braking pressure is required to be determined; if the difference value is larger than the first preset pressure value and smaller than the second preset pressure value, it is determined that the vehicle deceleration will generate larger difference, and at the moment, the braking force of the vehicle is compensated according to the difference value to be compensated to the required braking force, so that the problems that the deceleration of the vehicle generates larger fluctuation and the driver generates a vehicle out-of-control feeling due to loss of a hydraulic braking system are effectively prevented.
In one embodiment, when the vehicle is in the electro-hydraulic hybrid braking mode, the method further includes: determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value; and if the vehicle deceleration corresponding to the pedal signal is larger than the preset speed value, controlling the motor to finish motor braking. In this embodiment, when the vehicle is in the electro-hydraulic hybrid braking mode, a specific scheme is provided for when the motor brake is withdrawn, and it is understood that when the driver steps on the brake pedal, a torque request is sent to drive the driving motor to drag reversely to generate the deceleration of the vehicle, and when the deceleration request sent by the driver is greater than a preset speed value (including but not limited to this requirement), the motor brake is switched with the hydraulic brake, and at this time, the driving motor is withdrawn, namely withdrawn from the motor brake.
As shown in fig. 4, if the vehicle is not in the electro-hydraulic hybrid braking mode, the method further includes the steps of:
s70: and judging the relation between the difference value and the third preset pressure value and the fourth preset pressure value, and executing step S80 if the difference value is larger than the third preset pressure value and smaller than the fourth preset pressure value.
S80: and compensating the braking force of the vehicle according to the difference value.
For steps S70-S80, after determining the current braking mode of the vehicle in step S30, if the vehicle is not in the electrohydraulic hybrid braking mode, if in the normal hydraulic braking mode, there is no motor braking at this time, the relationship between the difference and the third preset pressure value and the fourth preset pressure value is directly determined, and if the difference is greater than the third preset pressure value and less than the fourth preset pressure value, the braking force of the vehicle is directly compensated according to the difference, so as to prevent the deceleration difference occurring in the normal hydraulic braking mode. It can be seen that in this embodiment, a braking force compensation scheme is proposed when the vehicle is not in the electro-hydraulic hybrid braking mode, improving the richness and the feasibility of the scheme.
If the difference is greater than the third preset pressure value and less than the fourth preset pressure value, it is indicated that in the non-electrohydraulic hybrid braking mode, a larger error exists between the actual braking force corresponding to the current pedal signal and the calibration braking force, and the braking force of the vehicle needs to be compensated according to the difference, for example, if the difference is 8bar, 8bar is taken as a reference, and the braking force of the vehicle is properly compensated, for example, between the upper and lower positions of 8bar or 8bar is directly compensated, so that the braking force of the vehicle corresponds to the normal braking force corresponding to the current pedal stroke, and the occurrence of a vehicle runaway feeling is effectively avoided.
It should be noted that the third preset pressure value and the fourth preset pressure value are preconfigured values, and the third preset pressure value may be 50bar, and the fourth preset pressure value may be 10bar, that is, the first preset pressure value and the third preset pressure value may be configured to the same value, and the second preset pressure value and the fourth preset pressure value may be configured to the same value, and if the difference is greater than 50bar and less than 10bar, braking compensation is performed on the braking force of the vehicle. It should be noted that the third preset pressure value is 50bar and the fourth preset pressure value is 10bar are merely illustrative in this embodiment, and the third preset pressure value and the fourth preset pressure value may be configured according to the actual application requirement to meet different requirements, which is not limited by the embodiment of the present application.
In an embodiment, if the difference is greater than or equal to the second preset pressure value, the method further comprises:
judging whether the hydraulic braking system has preset loss conditions currently or not, and if the hydraulic braking system has preset loss conditions currently, sending out a warning prompt.
And in the next point cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the preset loss condition of the hydraulic braking system does not exist, releasing the warning prompt.
It can be understood that, in the electrohydraulic hybrid braking mode, after judging whether the difference is greater than the first preset pressure value and less than the second preset pressure value, if the difference is greater than or equal to the second preset pressure value, if the difference is greater than 10bar, it is indicated that the difference is greater, an alarm may need to be sent out, and further, it is judged that the hydraulic braking system currently has a preset loss condition, and if it is judged that the hydraulic braking system currently has a preset loss condition, an alarm prompt is sent out. In an embodiment, the preset loss condition includes a situation that the hydraulic braking system has leakage of brake oil and the water content of the brake oil is lower than a preset water content value, or other situations that braking force is insufficient compared with that of an undeviated hydraulic braking system, that is, situations that normal or abnormal loss is generated in parts of the hydraulic braking system, the water content of the brake oil is increased, and the like belong to preset loss conditions in the application, and the application is not limited specifically.
For example, the central control instrument can send out a warning sound and/or a warning lamp to give an alarm, for example, the warning lamp on the central control can be lightened, meanwhile, the voice is used for prompting that the braking system has faults, the safety stopping is stopped after reaching the preset times, so that the driver is prompted that the current braking system has problems, the driver can stop, and the follow-up fault repairing work can be carried out.
After the warning prompt is sent out, the hydraulic braking system can be repaired, after that, in the ignition cycle working period of the next vehicle, after the driver steps on the pedal, the difference corresponding to the current pedal stroke is continued to be smaller than a first preset pressure value, and the hydraulic braking system does not have the preset loss condition, the warning prompt is released, for example, the warning lamp can be turned off.
In an embodiment, if the difference is greater than or equal to the fourth preset pressure value, the method further comprises:
judging whether the hydraulic braking system is abnormal at present;
if the hydraulic braking system has preset loss conditions, a warning prompt is sent out;
and in the next point cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the preset loss condition of the hydraulic braking system does not exist, the warning prompt is released.
It can be understood that, when the hydraulic brake system is not in the electrohydraulic hybrid brake mode, whether the difference is greater than the third preset pressure value and less than the fourth preset pressure value is judged, if the difference is greater than or equal to the fourth preset pressure value, if the difference is greater than 10bar, the difference is also greater, and a warning may need to be sent out, so that the hydraulic brake system is further judged to have the preset loss condition at present, and if the hydraulic brake system is judged to have the preset loss condition at present, a warning prompt is sent out. Similarly, in an embodiment, the preset loss condition includes a situation that the hydraulic braking system has leakage of brake oil and the water content of the brake oil is higher than a preset water content value, or other situations that braking force is insufficient compared with that of an undestroyed hydraulic braking system, that is, normal or abnormal loss of parts in the hydraulic braking system, increase of the water content of the brake oil, and the like, which are not limited in particular.
For example, the central control instrument can send out a warning sound and/or a warning lamp to give an alarm, for example, the warning lamp on the central control can be lightened, and meanwhile, the voice is used for prompting that the braking system has faults and the driver is stopped safely for a preset number of times, so that the driver is prompted that the current braking system has problems, the driver can stop, and the follow-up fault repairing work can be carried out.
After the warning prompt is sent out, the hydraulic braking system can be repaired, after that, in the ignition cycle working period of the next vehicle, after the driver steps on the pedal, the difference corresponding to the current pedal stroke is continued to be smaller than a third preset pressure value, and the hydraulic braking system does not have the preset loss condition, the warning prompt is released, for example, the warning lamp can be turned off.
It can be understood that the above embodiment is an alarm control logic when the vehicle is in the electrohydraulic hybrid braking mode or is not in the electrohydraulic hybrid braking mode, and in some application scenarios, the alarm control logic can be configured as the same alarm measure, and can also distinguish alarm indications in different braking modes.
In an embodiment, in step S60 or S70, that is, compensating the braking force of the vehicle, specifically, controlling the electric booster and/or the hydraulic brake system to compensate the braking force of the vehicle, which is not limited in the present application.
It should be noted that, in each cycle working period of the vehicle, the vehicle braking force control method provided by the present application may be executed in a preset period, for example, may be executed in 20ms as one period, and the present application is not limited specifically.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
In an embodiment, a vehicle braking force control device is provided, which corresponds to the vehicle braking force processing method in the above embodiment one by one, and the vehicle braking force control device may be disposed in a vehicle controller to implement steps or functions corresponding to the vehicle braking force processing method. As shown in fig. 5, the vehicle braking force control device 10 includes a determination module 101, a determination module 102, and a compensation module 103. The functional modules are described in detail as follows:
a judging module 101, configured to judge whether a pedal signal is received;
the determining module 102 is configured to determine a difference between an actual braking force corresponding to the pedal signal and a calibrated braking pressure if the pedal signal is received;
the judging module 101 is further configured to judge whether motor braking currently exists if the vehicle is currently in an electrohydraulic hybrid braking mode;
the judging module 101 is further configured to judge whether the difference is greater than a first preset pressure value and less than a second preset pressure value if the motor braking does not exist currently;
and the compensation module 103 is configured to compensate the braking force of the vehicle according to the difference if the difference is greater than a first preset pressure value and less than a second preset pressure value.
Further, as shown in fig. 6, in one embodiment:
the judging module 101 is further configured to judge whether a preset loss condition exists in the hydraulic braking system currently if the difference value is greater than or equal to the second preset pressure value;
the judging module 101 is further configured to send out a warning prompt if it is judged that the preset loss condition exists in the hydraulic braking system currently;
the vehicle braking force control device 10 further includes:
the alarm module 104 is configured to, in a next point cycle working period of the vehicle, release the warning prompt if the difference is smaller than the first preset pressure value and the hydraulic braking system has no preset loss condition.
Further, in one embodiment:
the judging module 101 is further configured to judge whether the difference is greater than a third preset pressure value and less than the fourth preset pressure value if the vehicle is not in the electro-hydraulic hybrid braking mode;
the compensation module 103 is further configured to compensate the braking force of the vehicle according to the difference if the difference is greater than the third preset pressure value and less than the fourth preset pressure value.
Further, in one embodiment:
the judging module 101 is further configured to judge whether an abnormality exists in the hydraulic braking system currently if the difference is greater than or equal to the fourth preset pressure value;
the alarm module 104 is further configured to send out a warning prompt if a preset loss condition exists in the hydraulic braking system currently;
the alarm module 104 is further configured to, in a next point cycle working period of the vehicle, release the warning prompt if the difference is smaller than the third preset pressure value and the hydraulic braking system has no preset loss condition.
Further, in one embodiment: the compensation module 103 is specifically configured to: and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.
Further, in one embodiment:
the determining module 102 is further configured to determine whether a vehicle deceleration corresponding to the pedal signal is greater than a preset speed value if the vehicle is in the electro-hydraulic hybrid braking mode;
the vehicle braking force control device 10 further includes
And the control module is used for controlling the motor to finish motor braking if the vehicle deceleration corresponding to the pedal signal is larger than the preset speed value.
Further, in an embodiment, the preset loss condition includes at least one of the following: the hydraulic braking system is provided with brake oil leakage and the water content of the brake oil is lower than a preset water content value.
The specific limitation regarding the vehicle braking force control device may be referred to the limitation regarding the vehicle braking force processing method hereinabove, and will not be described in detail herein. The respective modules in the vehicle braking force control apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a vehicle braking force control device is provided, which is an electronic device and can be used as a whole vehicle controller in an embodiment of the present application, and the internal structure diagram thereof can be shown in fig. 7. The electronic device includes a memory, at least one processor, a computer program stored in the memory and executable on the at least one processor, and at least one communication bus.
It will be appreciated by those skilled in the art that the schematic diagram shown in fig. 7 is merely an example of the vehicle braking force control apparatus and does not constitute a limitation of the vehicle braking force control apparatus, and may include more or less components than those illustrated, or may combine certain components, or different components, for example, the vehicle braking force control apparatus may further include an input-output device, an interface, and the like.
The at least one processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the vehicle braking force control device, connecting various parts of the overall vehicle braking force control device using various interfaces and lines.
The memory may be used to store the computer program 33 and/or modules/units, and the processor may implement various functions of the vehicle braking force control device by executing or executing the computer program and/or modules/units stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a computer program, and the like; the storage data area may store data created according to the use of the vehicle braking force control device, or the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
In one embodiment, a vehicle braking force control apparatus is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle braking force control method described above when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the vehicle braking force control method described above.
The modules/units integrated with the vehicle braking force control device may be stored in a computer readable storage medium including a non-volatile readable storage medium and a volatile readable storage medium if implemented in the form of software functional units and sold or used as separate products, and based on such understanding, the present application implements all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware through a computer program, which may be stored in a readable storage medium, and the computer program may implement the steps of the method embodiments when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be other manners of division when actually implemented.
In addition, each functional module in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the system claims can also be implemented by means of software or hardware by means of one unit or means. The terms second, etc. are used to denote a name, but not any particular order.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present application without departing from the spirit and scope of the technical solution of the present application.
Claims (9)
1. A vehicle braking force control method characterized by comprising:
when a pedal signal is received, determining a difference value between an actual braking force corresponding to the pedal signal and a calibrated braking pressure;
if the vehicle is in the electrohydraulic hybrid braking mode currently, judging whether motor braking exists currently or not;
if the motor braking does not exist currently, judging whether the difference value is larger than a first preset pressure value and smaller than a second preset pressure value;
if the difference value is larger than a first preset pressure value and smaller than a second preset pressure value, compensating the braking force of the vehicle according to the difference value;
the method further comprises the steps of:
if the difference value is larger than or equal to the second preset pressure value, judging whether a preset loss condition exists in the hydraulic braking system currently;
if the preset loss condition of the hydraulic braking system is judged to exist currently, a warning prompt is sent out;
and in the next ignition cycle working period of the vehicle, if the difference value is smaller than the first preset pressure value and the preset loss condition of the hydraulic braking system does not exist, the warning prompt is released.
2. The vehicle braking force control method according to claim 1, characterized in that the method further comprises:
if the vehicle is not in the electrohydraulic hybrid braking mode, judging whether the difference is larger than a third preset pressure value and smaller than a fourth preset pressure value;
and if the difference value is larger than the third preset pressure value and smaller than the fourth preset pressure value, compensating the braking force of the vehicle according to the difference value.
3. The vehicle braking force control method according to claim 2, characterized in that the method further includes:
if the difference value is larger than or equal to the fourth preset pressure value, judging whether the hydraulic braking system is abnormal at present;
if the hydraulic braking system has preset loss conditions, a warning prompt is sent out;
and in the next ignition cycle working period of the vehicle, if the difference value is smaller than the third preset pressure value and the preset loss condition of the hydraulic braking system does not exist, the warning prompt is released.
4. A vehicle braking force control method according to any one of claims 1 to 3, characterized in that the compensation of the braking force of the vehicle includes:
and controlling an electric booster and/or a hydraulic braking system to compensate the braking force of the vehicle.
5. A vehicle braking force control method according to any one of claims 1 to 3, characterized in that when the vehicle is in an electrohydraulic hybrid braking mode, the method further comprises:
determining whether the vehicle deceleration corresponding to the pedal signal is greater than a preset speed value;
and if the vehicle deceleration corresponding to the pedal signal is larger than the preset speed value, controlling the motor to finish motor braking.
6. A vehicle braking force control method according to any one of claims 2 to 3, wherein the preset loss condition includes at least one of: the hydraulic braking system is provided with brake oil leakage and the water content of the brake oil is higher than a preset water content value.
7. A vehicle braking force control apparatus characterized by comprising:
the judging module is used for judging whether a pedal signal is received or not;
the determining module is used for determining the difference value between the actual braking force corresponding to the pedal signal and the calibrated braking pressure if the pedal signal is received;
the judging module is further used for judging whether motor braking exists currently if the vehicle is in an electrohydraulic hybrid braking mode currently;
the judging module is further used for judging whether the difference is larger than a first preset pressure value and smaller than a second preset pressure value if the motor braking does not exist currently;
the compensation module is used for compensating the braking force of the vehicle according to the difference value if the difference value is larger than a first preset pressure value and smaller than a second preset pressure value;
the judging module is further configured to judge whether a preset loss condition exists in the hydraulic braking system currently if the difference value is greater than or equal to the second preset pressure value; if the preset loss condition of the hydraulic braking system is judged to exist currently, a warning prompt is sent out;
and the alarm module is used for releasing the warning prompt in the next ignition cycle working period of the vehicle if the difference value is smaller than the first preset pressure value and the preset loss condition of the hydraulic braking system does not exist.
8. A vehicle braking force control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the braking force control method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that the readable storage medium stores a computer program which, when executed by a processor, implements the steps of the braking force control method according to any one of claims 1 to 6.
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| CN114475266B (en) * | 2022-03-04 | 2024-04-12 | 广汽埃安新能源汽车有限公司 | Anti-slip control method and device, electronic equipment and storage medium |
| CN114924552A (en) * | 2022-04-22 | 2022-08-19 | 中国第一汽车股份有限公司 | Control method, device, system, equipment and medium for automatically driving automobile |
| CN114715054B (en) * | 2022-04-24 | 2024-06-18 | 潍柴动力股份有限公司 | Pressure stability detection method, vehicle-mounted ECU, processor and vehicle |
| CN115214591A (en) * | 2022-06-23 | 2022-10-21 | 广州汽车集团股份有限公司 | Braking force compensation control method, braking force compensation control device, controller, automobile and storage medium |
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