CN114013410B - Control device, control method, terminal and storage medium for braking system - Google Patents

Control device, control method, terminal and storage medium for braking system Download PDF

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Publication number
CN114013410B
CN114013410B CN202111360949.9A CN202111360949A CN114013410B CN 114013410 B CN114013410 B CN 114013410B CN 202111360949 A CN202111360949 A CN 202111360949A CN 114013410 B CN114013410 B CN 114013410B
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China
Prior art keywords
braking
unit
brake
sensor
vibration
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CN114013410A (en
Inventor
杨雪松
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Shanghai Jidu Automobile Co Ltd
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Shanghai Jidu Automobile Co Ltd
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Priority to CN202111360949.9A priority Critical patent/CN114013410B/en
Publication of CN114013410A publication Critical patent/CN114013410A/en
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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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/173—Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The embodiment of the invention discloses a control device, a control method, a terminal and a storage medium of a brake system. The control device is applied to a vehicle having at least one wheel, and includes a first brake unit for providing a braking force to control a rotational motion of the wheel; at least one sensor for detecting braking state information of the first braking unit; and the control unit is used for controlling the first braking unit to reduce the braking force according to the braking state information. According to the technical scheme provided by the embodiment of the invention, the braking state information of the first braking unit is detected through the at least one sensor, the first braking unit is controlled to reduce the braking force according to the braking state information through the control unit, and the magnitude of the braking force of the rotation action of the wheels controlled by the first braking unit is regulated, so that the vibration or noise of a braking system caused by braking is reduced, and the driving experience of a user is improved.

Description

Control device, control method, terminal and storage medium for braking system
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a control device, a control method, a terminal and a storage medium of a braking system.
Background
With the improvement of living standard and the rapid development of science and technology, the comfort level requirement of people on vehicles is higher and higher. The existing vehicle may generate braking noise under a certain working condition scene, and the driving experience of a user is affected.
Disclosure of Invention
The embodiment of the invention provides a control device, a control method, a terminal and a storage medium of a braking system, which are used for solving the problem that the existing vehicle possibly generates braking noise under a certain working condition scene and influences the driving experience of a user.
In order to realize the technical problems, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a control device of a brake system, applied to a vehicle having at least one wheel, the control device including:
a first brake unit for providing a braking force to control a rotational motion of the wheel;
at least one sensor for detecting braking state information of the first braking unit;
and the control unit is used for controlling the first braking unit to reduce the braking force according to the braking state information.
Specifically, the control device of the braking system detects braking state information of the first braking unit through at least one sensor, controls the first braking unit to reduce braking force according to the braking state information through the control unit, and adjusts the braking force of the first braking unit for controlling the rotation action of the wheels, so that vibration or noise of the braking system caused by braking is reduced, and driving experience of a user is improved.
Optionally, the sensor comprises a vibration sensor;
the vibration sensor is electrically connected with the control unit and is used for detecting a vibration signal generated when the first braking unit provides braking force.
Optionally, the sensor further comprises:
the sound sensor is electrically connected with the control unit and is used for collecting sound signals generated when the first braking unit provides braking force;
the brake status information includes a vibration signal and/or a sound signal.
Optionally, the control device further comprises a second brake unit,
the control unit is further configured to control the second brake unit to increase the braking force when controlling the first brake unit to decrease the braking force.
Optionally, the control unit is specifically configured to generate a first instruction according to the braking state information;
the first command is for controlling the first brake unit that generates the braking noise to adjust the clamping force to cancel the braking state.
Optionally, the first braking unit comprises a driving source, a speed reducing mechanism, a piston, a friction plate and a brake disc;
the driving source is electrically connected with the control unit, and is used for acting according to a first instruction of the control unit and outputting driving force;
the speed reducing mechanism is respectively connected with the driving source and the piston and is used for pushing the piston to move according to the driving force of the driving source;
the friction plate is connected with the piston and the brake disc respectively and is used for clamping the brake disc according to the movement of the piston to generate braking force.
Optionally, the control unit is specifically configured to process the sound signal and the vibration signal within a preset time threshold window; comparing the processed sound signal with a preset decibel threshold value, and coupling and matching the processed vibration signal with the sound signal according to a comparison result; and judging the first braking unit generating braking noise according to the coupled and matched sensing signals.
Optionally, the control unit is further configured to determine that the braking noise disappears according to the braking state information, and generate a second instruction, where the second instruction is used to restore the braking state of the first braking unit.
Optionally, the vibration sensor is disposed in the first brake unit and the second brake unit, or disposed on a member connected to the first brake unit and the second brake unit;
at least 1 vibration sensor is provided for each first brake unit.
Optionally, at least one sound sensor is disposed in a cab of the vehicle.
In a second aspect, an embodiment of the present invention provides a control method of a braking system, which is executed by the control device of the braking system set forth in any of the foregoing aspects;
a control method of a brake system, comprising:
at least one sensor detects braking state information of the first braking unit; wherein the first braking unit is used for providing braking force to control the rotation action of the wheels;
the control unit controls the first brake unit to reduce the braking force according to the braking state information.
In a third aspect, an embodiment of the present invention provides a terminal, including: the control device of the braking system of any of the first aspect is provided.
In a fourth aspect, an embodiment of the present invention provides a storage medium, which, when executed by a processor of a terminal, enables a control device of a brake system to perform the control method of a brake system set forth in the first aspect.
According to the control device of the braking system, the braking state information of the first braking unit is detected through the at least one sensor, the first braking unit is controlled to reduce the braking force according to the braking state information through the control unit, and the magnitude of the braking force of the rotating action of the wheels controlled by the first braking unit is regulated, so that vibration or noise of the braking system caused by braking is reduced, and driving experience of a user is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic structural view of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another brake system control device according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a control device of a further brake system according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a control device of a further brake system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of braking force distribution of a control device of a braking system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of braking force distribution of a control device of another braking system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the distribution of braking force of a control device of yet another braking system provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of the distribution of braking force of a control device of yet another braking system provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of the distribution of braking force by a control device of yet another braking system provided by an embodiment of the present invention;
FIG. 10 is a schematic diagram of the distribution of braking force by a control device of yet another braking system provided by an embodiment of the present invention; FIG. 11 is a schematic structural view of a control device of a further brake system according to an embodiment of the present invention;
FIG. 12 is a schematic view of a control device for a further brake system according to an embodiment of the present invention;
FIG. 13 is a flow chart of a method of controlling a braking system according to an embodiment of the present invention;
FIG. 14 is a flow chart of another method of controlling a braking system provided by an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a terminal according to an embodiment of the present invention;
fig. 16 is a schematic structural diagram of another terminal according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Based on the above technical problems, the present embodiment proposes the following solutions:
the control device of the braking system provided by the embodiment of the invention comprises a first braking unit, a sensor and a control unit, wherein the control unit of the braking system can be arranged on the terminal. The control device of the brake system and the brake system may be provided on the same terminal, or the control device of the brake system and the brake system may be provided on different terminals. The control device of the brake system may execute a control method of the brake system such that the terminal device has a function of controlling the brake system.
The terminal may be a terminal device of a motor vehicle, unmanned aerial vehicle, rail car or bicycle. In one possible approach, the terminal may include a brake system such as a brake caliper, brake pads, or the like on the vehicle. In this case, the control device of the brake system may be a brake caliper, or may be located entirely inside the brake caliper; or may be partially located inside the brake caliper and partially located on a terminal end other than the brake caliper. For example, the control device of the brake system may be located at a terminal other than the brake system. The braking system may also be installed on a network device (e.g., a base station in various systems), etc., without limitation.
The terminal may comprise a vehicle, such as an intelligent network vehicle. The following description will be made taking a terminal including a vehicle as an example. The vehicle can be provided with a brake system such as a brake caliper and a brake pad, and the brake system can brake the vehicle.
Fig. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present invention. Referring to fig. 1, a vehicle 1 provided in an embodiment of the invention includes a control device 2 of a brake system. Referring to fig. 1, a control device 2 of a brake system according to an embodiment of the present invention is applied to a vehicle 1 having at least one wheel. The control device 2 of the brake system comprises a first brake unit 100, the first brake unit 100 being adapted to provide a braking force for controlling the rotational movement of the wheels; at least one sensor 200, the at least one sensor 200 being for detecting brake status information of the first brake unit 100; and a control unit 300, wherein the control unit 300 is used for controlling the first braking unit 100 to reduce the braking force according to the braking state information.
Specifically, the terminal may include the vehicle 1, where the vehicle 1 is in a driving mode, and the braking system is required to perform braking in a scene such as where an obstacle occurs in front of the vehicle 1, the vehicle 1 travels to a traffic light intersection, or the vehicle 1 needs to park. The braking system may act on the wheels of the vehicle 1.
The sensor 200 is a module capable of detecting a signal and converting the detected signal into an electrical signal to be output, and the sensor 200 may be a sensor such as a vibration sensor, a sound sensor, or an image pickup module. The first brake unit 100 may provide a braking force to control the rotation of the wheels, the braking force increases, the rotation of the wheels is slowed or stopped, the braking force decreases, and the rotation of the wheels is increased. The first brake unit 100 may be a brake caliper. The control unit 300 is a module capable of receiving, processing data and generating control instructions, and the control unit 300 is an electronic controller, for example, an ECU (Electronic Control Unit ), a T-BOX (Telematics BOX), a domain controller, a central processing unit, or the like.
The brake status information may include noise and vibration. In particular, the brake status information may include excessive noise or the presence of vibrations. The sensor 200 detects the braking state information of the first brake unit 100 and transmits the braking state information to the control unit 300. The control unit 300 controls the first brake unit 100 to reduce the braking force according to the braking state information, and when the braking force is reduced to zero, the first brake unit 100 stops providing the braking force so that the wheels can be rotated normally. The control unit 300 controls the first brake unit 100 to reduce braking force according to the braking state information, and may reduce or improve vibration or noise caused by the first brake unit 100 controlling the braking of the wheels, thereby reducing braking noise and vibration of the vehicle and improving the riding experience of the user.
The control device of the braking system provided by the embodiment detects the braking state information of the first braking unit through the at least one sensor, controls the first braking unit to reduce the braking force according to the braking state information, and adjusts the braking force of the first braking unit for controlling the rotation action of the wheels, so that vibration or noise of the braking system caused by braking is reduced, and the driving experience of a user is improved.
Fig. 2 is a schematic structural diagram of a control device of another brake system according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 2, a sensor 200 provided by an embodiment of the present invention may include a vibration sensor 21; the vibration sensor 21 is electrically connected to the control unit 300, and the vibration sensor 21 is used to detect a vibration signal generated when the first brake unit 100 provides a braking force.
Specifically, the vibration sensor 21 may include a vibration acceleration sensor, an ultrasonic vibration sensor, an optical fiber vibration sensor, and the like. The vibration acceleration sensor is a sensor capable of sensing vibration, acceleration and converting into a usable electrical signal. The pressure acceleration sensor comprises a capacitive sensor, an inductive sensor, a strain sensor, a piezoresistive sensor, a piezoelectric sensor and the like according to different sensor sensitive elements. The vibration sensor 21 may detect a vibration signal of the first brake unit 100, and convert the detected vibration signal into an electrical signal carrying vibration information and output to the control unit 300. The control unit 300 controls the first brake unit 100 to reduce the braking force according to the detected electric signal carrying vibration information of the vibration sensor 21.
In one possible implementation, when the vibration signal detected by the vibration sensor 21 is greater than or equal to the preset vibration threshold value, the control unit 300 controls the first brake unit 100 to reduce the braking force such that the braking force of the wheels of the vehicle is reduced or completely released, reducing the vibration generated due to the braking friction between the first brake unit 100 and the wheels, thereby improving the user riding experience of the vehicle.
Fig. 3 is a schematic structural diagram of a control device of a brake system according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 3, the sensor 200 may further include a sound sensor 22, the sound sensor 22 being electrically connected to the control unit 300, the sound sensor 22 being configured to collect a sound signal generated when the first brake unit 100 provides a braking force; the brake status information includes a vibration signal and/or a sound signal.
Specifically, the sound sensor 22 functions as a microphone, and the sound sensor 22 is configured to receive sound waves and display a vibration image of the sound, but cannot measure the intensity of noise. The sound sensor 22 is used to collect the sound signal of the first brake unit 100 and transmit the sound signal to the control unit 300. Illustratively, the acoustic sensor 22 incorporates an acoustic-sensitive capacitive electret microphone. The sound wave vibrates the electret film in the microphone, and causes a change in capacitance, thereby generating a minute voltage that changes in response thereto. This voltage is then converted into a voltage signal of 0-5V, received by the data collector through a/D conversion, generated into a sound signal, and transmitted to the control unit 300.
In a possible implementation, when the sound sensor 22 detects a sound signal, the control unit 300 controls the first brake unit 100 to reduce the braking force such that the braking force of the wheels of the vehicle is reduced or completely released, reducing noise generated due to braking friction between the first brake unit 100 and the wheels, thereby improving the user riding experience of the vehicle.
In one possible implementation, when the sound signal detected by the sound sensor 22 is greater than or equal to the preset sound threshold, the control unit 300 controls the first brake unit 100 to reduce the braking force such that the braking force of the wheels of the vehicle is reduced or completely released, reducing excessive noise generated due to braking friction between the first brake unit 100 and the wheels, thereby improving the user riding experience of the vehicle.
In one possible implementation, the braking status information includes a vibration signal and a sound signal, and the control unit 300 may determine whether braking noise exists according to the sound signal and the vibration signal, and, for example, when the sound signal detected by the sound sensor 22 is greater than or equal to a preset sound threshold value, and when the vibration signal detected by the vibration sensor 21 is greater than or equal to the preset vibration threshold value, the control unit 300 determines that there is noise and that there is a vibration signal, and determines that braking noise is excessive. The control unit 300 determines braking noise generated when the frequency domain ranges of the vibration signal and the sound signal provide braking force to the first braking unit, based on the frequency domain ranges of the vibration signal and the sound signal. The control unit 300 controls the first brake unit 100 generating braking noise to reduce braking force such that braking force of wheels of the vehicle is reduced or completely released, and vibration and noise generated due to braking friction between the first brake unit 100 and the wheels are reduced, thereby improving user riding experience of the vehicle.
Fig. 4 is a schematic structural diagram of a control device of a brake system according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 4, the control device provided by the embodiment of the present invention may further include a second braking unit 4, and the control unit 300 is further configured to control the second braking unit 4 to increase the braking force when controlling the first braking unit 100 to decrease the braking force.
Specifically, vibration or noise is easily generated due to friction between the first brake unit 100 and the wheels when the brake system of the vehicle brakes. Since the first braking unit 100 has vibration or noise, the control unit 300 controls the first braking unit 100 to reduce braking force so as to reduce or eliminate braking noise or vibration caused by braking, and since the vehicle needs to continue braking, the control unit 300 controls the second braking unit 4 to increase braking force, so that the vehicle can be braked better, and safe running of the vehicle is ensured. The first brake unit 100 and the second brake unit 4 may be provided on the same wheel, or the second brake unit 4 and the first brake unit 100 may be provided on different wheels, which is not limited in this regard.
The vehicle is described as including four wheels, for example. Fig. 5 is a schematic diagram of braking force distribution of a control device of a braking system according to an embodiment of the present invention. Referring to fig. 5, the vehicle includes a front left wheel 5a, a front right wheel 5b, a rear left wheel 5c, and a rear right wheel 5d, taking the vehicle forward direction FRT as coordinates. The left front wheel 5a and the right front wheel 5b are connected by a front bearing 7a, and the left rear wheel 5c and the right rear wheel 5d are connected by a rear bearing 7 b. The length of the arrow corresponding to each wheel indicates the magnitude of the braking force generated by the first brake unit corresponding to that wheel.
Fig. 5 exemplarily shows a case where when the vehicle is running normally and the sensor does not detect braking noise, the magnitude of braking forces generated by the first braking units corresponding to the left front wheel 5a and the right front wheel 5b is the same, the magnitude of braking forces generated by the first braking units corresponding to the left rear wheel 5c and the right rear wheel 5d is the same, and the braking forces of the front wheels are greater than the braking forces of the rear wheels.
Fig. 6 is a schematic diagram showing the distribution of braking force of a control device of another brake system according to an embodiment of the present invention. Referring to fig. 6, when the sensor detects that the front wheel on one side has braking noise, the first brake unit corresponding to the front left wheel 5a reduces or does not provide braking force, for example, only when the front left wheel 5a has braking noise. The braking force by the second braking means corresponding to the front right wheel 5b becomes larger, and the braking force by the second braking means corresponding to the rear left wheel 5c becomes larger, and the braking force by the first braking means corresponding to the rear right wheel 5d becomes unchanged.
Fig. 7 is a schematic diagram showing the distribution of braking force of a control device of a further brake system according to an embodiment of the present invention. Referring to fig. 7, when the sensor detects that the single-side rear wheel has braking noise, the first brake unit corresponding to the left rear wheel 5c reduces or does not provide braking force, for example, only when the left rear wheel 5c has braking noise. The braking force by the second braking unit corresponding to the front left wheel 5a becomes larger, the braking force by the second braking unit corresponding to the rear right wheel 5d becomes larger, and the braking force by the first braking unit corresponding to the front right wheel 5b becomes unchanged.
Fig. 8 is a schematic diagram showing the distribution of braking force of a control device of a further brake system according to an embodiment of the present invention. Referring to fig. 8, when the sensor detects that the front wheels on both sides have braking noise, the first brake units corresponding to the front left wheel 5a and the front right wheel 5b reduce or do not provide braking force, for example, when the front left wheel 5a and the front right wheel 5b have braking noise. The braking force generated by the second braking units corresponding to the left rear wheel 5c and the right rear wheel 5d becomes large.
Fig. 9 is a schematic diagram showing the distribution of braking force of a control device of a further brake system according to an embodiment of the present invention. Referring to fig. 9, when the sensor detects that the rear wheels on both sides have braking noise, the first brake units corresponding to the rear left wheel 5c and the rear right wheel 5d reduce or do not provide braking force, for example, when the rear left wheel 5c and the rear right wheel 5d have braking noise. The braking force generated by the second braking units corresponding to the left front wheel 5a and the right front wheel 5b becomes large.
Fig. 10 is a schematic diagram showing the distribution of braking force of a control device of a further brake system according to an embodiment of the present invention. Referring to fig. 10, when the sensor detects that the diagonally positioned wheels have brake noise, the first brake units corresponding to the left front wheel 5a and the right rear wheel 5d reduce or not provide braking force, for example, when the left front wheel 5a and the right rear wheel 5d have brake noise. The braking force generated by the second braking units corresponding to the left rear wheel 5c and the right front wheel 5b becomes large. One possible implementation manner is that the control unit is specifically configured to generate a first instruction according to the braking state information; the first command is for controlling the first brake unit that generates the braking noise to adjust the clamping force to cancel the braking state.
Fig. 11 is a schematic structural view of a control device of a brake system according to another embodiment of the present invention. Fig. 12 is a schematic structural view of a control device of another brake system according to an embodiment of the present invention. On the basis of the above-described embodiment, referring to fig. 5 and 6, the first brake unit 100 provided in the embodiment of the present invention includes a driving source 40, a reduction mechanism 50, a piston 60, a friction plate 20, and a brake disc 400; the driving source 40 is electrically connected with the control unit 300, and the driving source 40 is used for acting according to a first instruction of the control unit 300 and outputting driving force; the speed reducing mechanism 50 is respectively connected with the driving source 40 and the piston 60, and the speed reducing mechanism 50 is used for pushing the piston 60 to move according to the driving force of the driving source 40; friction plates 20 are connected to piston 60 and brake disc 400, respectively, and friction plates 20 are used to clamp brake disc 400 according to movement of piston 60 to generate braking force.
Specifically, with continued reference to fig. 11 and 12, the drive source 40 may include a motor. The control unit 300 generates a control signal according to the brake state information. The driving source 40 positively or reversely rotates according to a control signal of the control unit 300, and generates a driving force. The speed reducing mechanism 50 pushes the piston 60 to move according to the driving force of the driving source 40, and the movement of the piston 60 drives the friction plate 20 to clamp the brake disc 400, thereby generating braking force. The second brake unit 4 may have the same structure as the first brake unit 100. The second brake unit 4 may be provided on a different vehicle 5 of the same vehicle than the first brake unit 100. It should be noted that, fig. 6 exemplarily illustrates a case where the control unit 300 includes two ECUs, the FRT indicates a forward direction of the vehicle, the first control unit 100 of the two front wheels of the vehicle may be provided to be controlled by one ECU, the first control unit 100 of the two rear wheels may be controlled by the other ECU, and the two ECUs may be communicatively connected or electrically connected to each other to implement signal interaction.
The control unit 300 controlling the first brake unit 100 to reduce the braking force may include the control unit 300 generating a control signal according to the braking state information, for example, the driving source 40 reversing according to the control signal of the control unit 300 and reducing the output driving force. The reduction mechanism 50 reduces the pushing of the piston 60 according to the smaller driving force of the driving source 40, and the piston 60 moves to drive the friction plate 20 to release the brake disc 400, so as to reduce the braking force.
The control unit 300, when controlling the first brake unit 100 to reduce the braking force, controlling the second brake unit 4 to increase the braking force may include the control unit 300 generating a control signal according to the braking state information, the driving source 40 transmitting in forward direction according to the control signal of the control unit 300, and generating the driving force. The speed reducing mechanism 50 pushes the piston 60 to move according to the driving force of the driving source 40, and the movement of the piston 60 drives the friction plate 20 to clamp the brake disc 400 to generate braking force, so that the second brake unit 4 increases the braking force.
In a possible implementation manner, with continued reference to fig. 11 and 12, when the first brake unit 100 is disposed on the front side wheel, the control unit 300 controls the second brake unit 4 of the rear side wheel to increase the braking force when controlling the first brake unit 100 to decrease the braking force, so that the vehicle can avoid noise and ensure the braking balance of the vehicle.
With continued reference to fig. 11 and 12, when the first brake unit 100 is disposed on the left front side wheel, the control unit 300 controls the second brake unit 4 of the right front side wheel to increase the braking force, or controls the second brake unit 4 of the right rear side wheel to increase the braking force, or controls the second brake units 4 of the right front side and right rear side wheels and left rear side to increase the braking force, so that the vehicle can avoid noise and ensure the braking safety of the vehicle.
With continued reference to fig. 11 and 12, in one possible implementation manner, the control unit 300 is specifically configured to process the sound signal and the vibration signal within a preset time threshold window; comparing the processed sound signal with a preset decibel threshold value, and coupling and matching the processed vibration signal with the sound signal according to a comparison result; the first brake unit 100 generating brake noise is determined based on the coupled and matched sensor signals.
Specifically, the preset time threshold window refers to a preset period of time, for example, 200 microseconds. The control unit 300 processes the sound signal and the vibration signal within a preset time threshold window, and converts time domain signals of the sound signal and the vibration signal into frequency domain signals. And comparing the processed sound signal with a preset decibel threshold, if the processed sound signal is greater than or equal to the preset decibel threshold, coupling and matching the processed vibration signal and the sound signal in a preset time threshold window, and judging the first braking unit 100 generating braking noise according to the coupled and matched sensing signal. This arrangement makes it possible to precisely position the first brake unit 100 that generates brake noise.
In a possible implementation, with continued reference to fig. 11 and 12, the control unit 300 is further configured to determine, through the brake status information, that the brake noise is lost, and generate a second command, where the second command is used to restore the brake status of the first brake unit 100.
Specifically, when the control unit 300 determines that the braking noise disappears from the braking state information, a second instruction is generated, and the first braking unit 100 is configured to resume braking of the wheels according to the second instruction.
In a possible implementation manner, with reference to fig. 11 and 12, the braking status information may include a vibration signal, and the control unit 300 may determine whether the braking noise is vanished according to the vibration signal, and illustratively, when the vibration signal detected by the vibration sensor 21 is less than a preset vibration threshold, the control unit 300 determines that the vibration noise is vanished and generates the second instruction. The control unit 300 controls the first brake unit 100 to restore the braking force such that the braking force of the wheels of the vehicle is restored, and further improves the safety of the wheel braking while improving the user riding experience of the vehicle.
In a possible implementation, with reference to fig. 11 and 12, the braking status information may include a sound signal, and the control unit 300 may determine whether the braking noise is disappeared according to the sound signal, and illustratively, when the sound signal detected by the sound sensor 22 is less than a preset sound threshold, the control unit 300 determines that the braking noise is disappeared and generates the second instruction. The control unit 300 controls the first brake unit 100 to restore the braking force so that the braking force of the wheels of the vehicle is restored, thereby improving the user riding experience of the vehicle and further improving the braking safety of the wheels.
In a possible implementation manner, with reference to fig. 11 and 12, the braking status information may include a vibration signal and a sound signal, and the control unit 300 may determine whether the braking noise is disappeared according to the sound signal and the vibration signal, respectively, and illustratively, when the sound signal detected by the sound sensor 22 is less than a preset sound threshold value, and when the vibration signal detected by the vibration sensor 21 is less than the preset vibration threshold value, the control unit 300 determines that the braking noise is disappeared. The control unit 300 controls the first brake unit 100 to restore the braking force so that the braking force of the wheels of the vehicle is restored, and after the vibration noise generated due to the braking friction between the first brake unit 100 and the wheels disappears, the braking force of the wheels is restored, further improving the braking safety of the vehicle.
In a possible implementation, with continued reference to fig. 4 to 12, when the control unit 300 controls the first brake unit 100 to restore the braking force, the control unit may control the second brake unit 4 to reduce the braking force, and the driving source 40 of the first brake unit 100 is transmitting according to the first command of the control unit 300 and generates the driving force. The speed reducing mechanism 50 pushes the piston 60 to move according to the driving force of the driving source 40, and the movement of the piston 60 drives the friction plate 20 to clamp the brake disc 400, generating braking force, so that the first brake unit 100 restores the braking force.
With continued reference to fig. 4 to 6, in a possible implementation, the vibration sensor 21 may be disposed within the first brake unit 100 and the second brake unit 4, or on a component connected to the first brake unit 100 and the second brake unit 4; at least 1 vibration sensor 21 is provided for each first brake unit 100.
Specifically, the vibration signal of each first brake unit 100 can be detected in time by the arrangement, and the first brake unit 100 generating the brake noise can be positioned according to the arrangement position of the vibration sensor 21, so that the first brake unit 100 generating the vibration can be actively controlled in time and accurately, and the brake noise is further reduced. The components connected to the first brake unit 100 and the second brake unit 4 may include bearings and the like.
In one possible implementation, the at least one sound sensor is arranged in a cabin of the vehicle.
Specifically, since the braking noise mainly affects the riding experience of the user, the sound sensor is arranged in the cab of the vehicle, so that unnecessary braking force can be reduced from the visual feeling of the user in the cab.
Fig. 13 is a flowchart of a control method of a brake system according to an embodiment of the present invention. On the basis of the above embodiments, referring to fig. 13, a control method of a braking system according to an embodiment of the present invention is performed by a control device of a braking system according to any of the above embodiments. The control method of the braking system provided in this embodiment includes:
s101, at least one sensor detects braking state information of a first braking unit; wherein the first brake unit is used for providing braking force to control the rotation action of the wheels.
S102, the control unit controls the first braking unit to reduce braking force according to the braking state information.
Specifically, the control method of the braking system provided by the embodiment detects the braking state information of the first braking unit through the at least one sensor, and controls the first braking unit to reduce the braking force according to the braking state information through the control unit, and adjusts the magnitude of the braking force of the rotation action of the wheels controlled by the first braking unit, so that vibration or noise caused by braking of the braking system is reduced, and driving experience of a user is improved.
In an alternative embodiment, the vibration sensor may be an acceleration sensor. The sound sensor may in particular be a microphone. The vibration signal detected by the acceleration sensor may be a vibration time domain signal, and the sound signal detected by the microphone may be an audio time domain signal. Fig. 14 is a flowchart of another control method of the brake system according to the embodiment of the present invention. On the basis of the above embodiment, referring to fig. 14, the control method of the braking system provided by the embodiment of the invention includes:
s201, starting.
S202, detecting a vibration time domain signal by an acceleration sensor.
S203, the microphone detects an audio time domain signal.
S204, the control unit takes a preset time threshold window.
S205, carrying out Fourier transform on the audio time domain signal detected by the microphone to obtain an audio frequency domain signal.
S206, carrying out Fourier transform on the vibration time domain signal detected by the acceleration sensor to obtain a vibration frequency domain signal.
S207, judging whether the audio frequency domain signal is larger than a preset decibel threshold value, if so, executing S208; if not, S210 is performed.
And S208, coupling the audio frequency domain signal and the vibration frequency domain signal, and judging whether coupling frequency band noise exists. If yes, executing S209; if not, S210 is performed.
S209, judging a first braking unit generating braking noise according to the braking noise, and adjusting braking forces of the first braking unit and the second braking unit according to a judging result.
Specifically, the number of microphones may be one or more, and the microphones are disposed in the cab, and the number of microphones provided in this embodiment is 1. The acceleration sensor provided in this embodiment may be plural, and by way of example, the acceleration sensor may be in one-to-one correspondence with the wheel. When the number of the wheels is 4, each wheel is correspondingly provided with a braking unit, and each braking unit is correspondingly provided with an acceleration sensor.
And taking a preset time threshold window from the audio time domain signals detected by the microphone, and converting the audio time domain signals in the preset time threshold window into audio frequency domain signals through Fourier transformation. If the audio frequency domain signal is greater than the preset decibel threshold, determining that the audio frequency domain signal has noise.
The acceleration sensor is arranged corresponding to each braking unit, and can detect the vibration time domain signals of the corresponding braking units, and respectively take the same preset time threshold window as the audio time domain signals. And converting the vibration time domain signal corresponding to each braking unit in the preset time threshold window into a vibration frequency domain signal through Fourier transformation. And the first braking unit which is used for judging the generation of braking noise is determined by coupling the audio frequency domain signal with the vibration frequency domain signal corresponding to each braking unit and judging the braking unit corresponding to the vibration frequency domain signal with coupling frequency band noise of the audio frequency domain signal. And a second braking unit corresponding to the vibration frequency domain signal without coupling frequency band noise in the audio frequency domain signal, wherein the second braking unit is judged to not generate braking noise. And adjusting the braking forces of the first braking unit and the second braking unit according to the judging result. For example, the control unit controls the first brake unit to decrease the braking force and controls the second brake unit to increase the braking force, based on the determination result.
S210, ending.
Fig. 15 is a schematic structural diagram of a terminal according to an embodiment of the present invention. On the basis of the foregoing embodiments, referring to fig. 15, a terminal 500 provided in the present invention includes the control device 2 of the braking system according to any of the foregoing embodiments, and the beneficial effects of the control device 2 of the braking system according to any of the foregoing embodiments are not repeated herein. It should be noted that the control device 2 of the brake system may be provided for each wheel of the vehicle, fig. 15 illustrates only a case where the terminal 500 may be the vehicle, a side view of the vehicle is illustrated in the drawing, and the control device 2 of the brake system may be provided for a wheel not illustrated, which is not limited in any way.
Fig. 16 is a schematic structural diagram of another terminal according to an embodiment of the present invention. On the basis of the above-mentioned embodiments, referring to fig. 16, the readable storage medium 502 provided in the embodiment of the present invention, when the instructions in the readable storage medium 502 are executed by the processor 501 of the terminal 500, enables the control device of the braking system to execute the control method of the braking system set forth in any of the above-mentioned embodiments.
Of course, the storage medium containing the computer executable instructions provided by the embodiment of the invention is not limited to the operation of the control method of the braking system described above, but can also execute the related operation in the control method of the braking system provided by any embodiment of the invention, and has corresponding functions and beneficial effects.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the control method of the braking system according to the embodiments of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (8)

1. A control device of a brake system, characterized by being applied to a vehicle having a plurality of wheels, comprising:
a first brake unit for providing a braking force to control a rotational motion of the wheel;
at least one sensor for detecting brake status information of the first brake unit;
the sensor includes a vibration sensor; the vibration sensor is electrically connected with the control unit and is used for detecting a vibration signal generated when the first braking unit provides braking force;
the sensor further comprises: the sound sensor is electrically connected with the control unit and is used for collecting sound signals generated when the first braking unit provides braking force; wherein at least one of the sound sensors is disposed in a cab of the vehicle;
the braking state information includes the vibration signal and the sound signal;
a control unit for controlling the first brake unit to reduce a braking force according to the braking state information; the control unit is specifically used for processing the sound signal and the vibration signal in a preset time threshold window; comparing the processed sound signals with a preset decibel threshold value, and coupling and matching the processed vibration signals of the first brake units with the sound signals according to the comparison result; judging the first braking unit generating braking noise according to the coupled and matched sensing signals; the control unit is further used for determining braking noise generated when the vibration signal and the sound signal provide braking force for the first braking unit according to the vibration signal and the sound signal;
the control device further comprises a second brake unit arranged on the same wheel as the first brake unit,
the control unit is further configured to control the second brake unit to increase the braking force when controlling the first brake unit to decrease the braking force.
2. A control device for a brake system according to claim 1, wherein,
the control unit is used for generating a first instruction according to the braking state information;
the first command is for controlling the first brake unit that generates braking noise to adjust a clamping force to cancel a braking state.
3. A control device for a brake system according to claim 2, wherein,
the first braking unit comprises a driving source, a speed reducing mechanism, a piston, a friction plate and a braking disc;
the driving source is electrically connected with the control unit, and is used for acting according to the first instruction of the control unit and outputting driving force;
the speed reducing mechanism is respectively connected with the driving source and the piston and is used for pushing the piston to move according to the driving force of the driving source;
the friction plate is respectively connected with the piston and the brake disc, and is used for clamping the brake disc according to the movement of the piston to generate braking force.
4. A control device for a brake system according to claim 1, wherein,
the control unit is further used for judging that braking noise disappears according to the braking state information, and generating a second instruction, wherein the second instruction is used for recovering the braking state of the first braking unit.
5. The control device of a brake system according to claim 1, wherein the vibration sensor is provided in the first brake unit and the second brake unit or on a member connected to the first brake unit and the second brake unit;
at least 1 vibration sensor is arranged on each first braking unit.
6. A control method of a brake system, characterized by being executed by the control device of a brake system according to any one of claims 1 to 5;
the control method of the braking system comprises the following steps:
at least one sensor detects braking state information of the first braking unit; wherein the first braking unit is used for providing braking force to control the rotation action of the wheels; the sensor includes a vibration sensor; the vibration sensor is electrically connected with the control unit and is used for detecting a vibration signal generated when the first braking unit provides braking force;
the sensor further comprises: the sound sensor is electrically connected with the control unit and is used for collecting sound signals generated when the first braking unit provides braking force; wherein at least one of the sound sensors is disposed in a cab of the vehicle;
the braking state information includes the vibration signal and the sound signal;
the control unit controls the first braking unit to reduce braking force according to the braking state information; the control unit is specifically used for processing the sound signal and the vibration signal in a preset time threshold window; comparing the processed sound signals with a preset decibel threshold value, and coupling and matching the processed vibration signals of the first brake units with the sound signals according to the comparison result; judging the first braking unit generating braking noise according to the coupled and matched sensing signals; the control unit is further used for determining braking noise generated when the vibration signal and the sound signal provide braking force for the first braking unit according to the vibration signal and the sound signal;
the control device further comprises a second brake unit arranged on the same wheel as the first brake unit,
the control unit is further configured to control the second brake unit to increase the braking force when controlling the first brake unit to decrease the braking force.
7. A terminal, comprising: a control device for a brake system according to any one of claims 1 to 5.
8. A storage medium, characterized in that instructions in the storage medium, when executed by a processor of a terminal, enable a control device of a brake system to perform the control method of a brake system according to claim 6.
CN202111360949.9A 2021-11-17 2021-11-17 Control device, control method, terminal and storage medium for braking system Active CN114013410B (en)

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CN104986135A (en) * 2015-08-06 2015-10-21 陈凡 Method for suppressing brake noise of vehicle
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CN109677390A (en) * 2019-01-22 2019-04-26 一汽-大众汽车有限公司 A kind of method for rapidly positioning and system of brake squeal
CN110514290A (en) * 2019-07-16 2019-11-29 上海尚毅测控技术有限公司 A kind of brake disc whistler detection method and device

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Publication number Priority date Publication date Assignee Title
JP2004286054A (en) * 2003-03-19 2004-10-14 Advics:Kk Brake apparatus for vehicle
JP2004322843A (en) * 2003-04-24 2004-11-18 Advics:Kk Vehicle braking device

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Publication number Priority date Publication date Assignee Title
DE102015009443A1 (en) * 2015-07-21 2016-03-24 Daimler Ag Method for reducing the brake noise occurring during braking of a motor vehicle
CN104986135A (en) * 2015-08-06 2015-10-21 陈凡 Method for suppressing brake noise of vehicle
CN109677390A (en) * 2019-01-22 2019-04-26 一汽-大众汽车有限公司 A kind of method for rapidly positioning and system of brake squeal
CN110514290A (en) * 2019-07-16 2019-11-29 上海尚毅测控技术有限公司 A kind of brake disc whistler detection method and device

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