CN114312688B - Vehicle, brake pedal feel adjusting method and device thereof and storage medium - Google Patents
Vehicle, brake pedal feel adjusting method and device thereof and storage medium Download PDFInfo
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- CN114312688B CN114312688B CN202210100273.8A CN202210100273A CN114312688B CN 114312688 B CN114312688 B CN 114312688B CN 202210100273 A CN202210100273 A CN 202210100273A CN 114312688 B CN114312688 B CN 114312688B
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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
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- Y02T10/72—Electric energy management in electromobility
Abstract
The embodiment of the invention discloses a method and a device for adjusting the feel of a brake pedal of a vehicle, the vehicle and a storage medium. The method comprises the following steps: when a driver steps on a brake pedal, acquiring the current pedal stroke of the brake pedal; determining a target deceleration desired by the driver based on the current pedal stroke; determining a target brake pressure of the brake system according to the target deceleration; acquiring actual brake pressure of a brake system based on a pressure sensor; judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if not, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke; and determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel. According to the technical scheme, the corresponding relation between the brake pressure of the vehicle and the current pedal stroke is adjusted according to the driving requirement, and the experience of stepping on the brake pedal of the driver is improved.
Description
Technical Field
The embodiment of the invention relates to a vehicle braking technology, in particular to a vehicle and a method and a device for adjusting the pedal feel of the vehicle and a storage medium.
Background
The vehicle braking system is used as a core component of the vehicle, so that the vehicle can be decelerated and stopped according to the requirements of a driver in the running process, and the safety of the vehicle and the driver is guaranteed. A brake controller in the vehicle brake control system controls the vehicle to decelerate according to the action of stepping a brake pedal of a driver.
Among the prior art, brake controller only can be according to the action that the driver trampled brake pedal, realizes the speed reduction to the vehicle, but, the dynamics that different drivers trampled brake pedal is inequality to some extent, and brake controller can't be through trampling the deceleration of dynamics adjustment vehicle, increases driver's experience sense trampling brake pedal. Generally, a vehicle has only a fixed brake pedal experience, such that the brake pedal of the vehicle is not adjustable.
Disclosure of Invention
The invention provides a method and a device for adjusting brake pedal feeling of a vehicle, the vehicle and a storage medium, which are used for adjusting the brake pedal feeling of the vehicle, so that different drivers can have different brake pedal feelings, and the experience of trampling the brake pedal by the driver is improved.
In a first aspect, an embodiment of the present invention provides a brake pedal feel adjusting method for a vehicle, including:
acquiring a current pedal stroke of a brake pedal when a driver steps on the brake pedal;
determining a desired target deceleration of the driver based on the current pedal stroke;
determining a target brake pressure of a brake system according to the target deceleration;
acquiring actual brake pressure of the brake system based on a pressure sensor;
judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not;
if so, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke;
and determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
Optionally, determining the driver's desired target deceleration based on the current pedal stroke comprises:
acquiring a mapping relation between pedal travel and target deceleration;
and determining the target deceleration corresponding to the current pedal stroke according to the mapping relation between the pedal stroke and the target deceleration.
Optionally, the method further comprises: and if the difference value between the actual brake pressure and the target brake pressure does not exceed a preset pressure range, determining the target brake pressure as the brake pressure corresponding to the current pedal stroke.
Optionally, determining a target brake pressure of the brake system according to the target deceleration comprises:
acquiring a mapping relation between the target deceleration and the target brake pressure of the brake system;
and determining a target brake pressure corresponding to the target deceleration according to the target deceleration and the mapping relation between the target deceleration and the target brake pressure of the brake system.
Optionally, the current pedal stroke is acquired by a pedal sensor of the brake pedal.
Optionally, before determining the target deceleration desired by the driver according to the current pedal stroke, further comprising:
acquiring an electric signal output by a pedal sensor of the brake pedal;
determining the fault condition of the brake pedal according to the electric signal output by the pedal sensor;
and responding to the fault condition of the brake pedal, and controlling an alarm system of the vehicle to give a brake fault alarm when the brake pedal is in fault.
Optionally, after determining a mapping relationship between a pedal stroke and a brake pressure according to the current pedal stroke and the brake pressure corresponding to the current pedal stroke, the method further includes:
acquiring the current actual deceleration of the vehicle based on a deceleration sensor;
determining whether a difference between the actual deceleration and the target deceleration is within a preset deceleration range;
and if not, returning to the step of acquiring the current pedal travel of the brake pedal.
In a second aspect, an embodiment of the present invention further provides a brake pedal feel adjustment apparatus for a vehicle, including:
the travel acquisition module is used for acquiring the current pedal travel of the brake pedal when a driver steps on the brake pedal;
a target deceleration obtaining module for determining a desired target deceleration of the driver according to the current pedal stroke;
the target braking pressure acquisition module is used for determining the target braking pressure of the braking system according to the target deceleration;
the actual brake pressure acquisition module is used for acquiring the actual brake pressure of the brake system based on the pressure sensor;
the pressure judgment module is used for judging whether the difference value between the actual brake pressure and the target brake pressure exceeds a preset pressure range or not;
the corresponding relation determining module is used for determining whether the difference value between the actual brake pressure and the target brake pressure exceeds a preset pressure range;
and the mapping relation determining module is used for determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
In a third aspect, an embodiment of the present invention further provides a vehicle, including: a braking system;
the brake system includes a brake controller; the brake controller is used for realizing the method for adjusting the brake pedal feeling of the vehicle provided by any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the brake pedal feel adjustment method for a vehicle provided by the embodiment of the present invention.
According to the embodiment of the invention, the current pedal travel of the driver for stepping on the brake pedal is obtained, the expected target deceleration of the driver is determined, the target brake pressure of the brake system is determined according to the target deceleration, the target brake pressure of the brake system is compared with the actual brake pressure obtained according to the pressure sensor, and when the difference value between the target brake pressure and the actual brake pressure exceeds the preset pressure range, the actual brake pressure is the brake pressure of the current pedal travel, and the mapping relation between the pedal travel and the brake pressure is determined according to the current pedal travel and the brake pressure corresponding to the current pedal travel, so that the corresponding relation between the brake pressure and the pedal travel can be adjusted according to the driving requirements of the driver, the driving habits of different drivers are met, the individualized driving requirements of the driver are realized, the effect of thousands of faces is achieved, and the experience of the driver for stepping on the brake pedal is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for adjusting a pedal feel of a brake of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for adjusting a pedal feel of a vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for adjusting a pedal feel of a brake of a vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for adjusting a pedal feel of a vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for adjusting a pedal feel of a vehicle according to a fifth embodiment of the present invention;
fig. 6 is a schematic flowchart of a method for adjusting a pedal feel of a vehicle according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a brake pedal feel adjusting device of a vehicle according to a seventh embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flowchart of a method for adjusting a brake pedal feel of a vehicle according to an embodiment of the present invention, where the method may be performed by a brake pedal feel adjusting device of the vehicle, the device may be composed of hardware and/or software, and the device may be integrated into a brake controller of the vehicle. As shown in fig. 1, a method for adjusting a feel of a brake pedal of a vehicle according to a first embodiment of the present invention includes:
and S110, acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal.
However, if the driver prepares to brake the vehicle to decelerate during normal running of the vehicle, the driver steps on the brake pedal. The process of stepping on the brake pedal by the driver can be understood as the process of stepping on the brake, and the process of stepping on the brake pedal is to realize deceleration and stop of the vehicle. Stepping on the brake pedal is specifically divided into slow braking and emergency braking. The slow braking is a process that a driver slowly releases an accelerator pedal and lightly steps on a brake pedal to slowly decelerate the vehicle; in the emergency braking, a driver quickly releases an accelerator pedal and simultaneously treads a brake pedal quickly with large force, so that the speed of the vehicle is quickly reduced. When the driver steps on the brake pedal, the current pedal stroke of the brake pedal may be acquired by the pedal sensor. The pedal travel may include displacement and rate of change of displacement of the brake pedal.
And S120, determining the target deceleration expected by the driver according to the current pedal stroke.
The driver corresponds to different pedal strokes according to different treading force, speed and the like of the brake pedal, and different pedal strokes correspond to different target deceleration. For example, when the driver intends to slow down, the brake pedal is usually lightly touched with a small force, and at this time, the displacement of the brake pedal is slowly increased, the displacement change rate of the brake pedal is small, and the target deceleration expected by the driver is small; when the driver intends to make an emergency stop, the driver usually steps on the brake pedal with a large force, and at this time, the displacement of the brake pedal is rapidly increased, the displacement change rate of the corresponding brake pedal is large, and the target deceleration expected by the driver is large. Accordingly, it is known that different pedal strokes of the brake pedal will correspond to different target decelerations; at this time, after the current pedal stroke is acquired, the target deceleration desired by the driver can be determined by the correspondence relationship between the pedal stroke and the target deceleration. Accordingly, by acquiring the pedal stroke of the brake pedal in real time, a plurality of target decelerations can be determined based on the correspondence between the pedal stroke and the target deceleration. The acceleration of the vehicle can be directly obtained by an acceleration sensor of the vehicle, the acceleration refers to the ratio of the speed change to the used time, the acceleration has directivity, and the negative value of the acceleration can also be called deceleration.
And S130, determining the target brake pressure of the brake system according to the target deceleration.
Specifically, there is a corresponding mapping relationship between the target deceleration of the vehicle and the target brake pressure of its brake system, which may be a curve relationship, a table relationship, an equation relationship, or the like. After the target deceleration of the driver is obtained, the target brake pressure of the brake system may be determined based on the mapping relationship between the target deceleration and the target brake pressure of the brake system, and when the vehicle brakes, the brake pressure of the brake system may be determined based on the target brake pressure. The servo motor in the vehicle braking system rotates to drive the piston to move, the moving volume obtained by multiplying the moving length of the piston by the cross sectional area of the piston compresses the moving volume, and the corresponding pressure in the moving volume is the braking pressure of the braking system. Since different target decelerations may correspond to different target brake pressures, when a plurality of target decelerations are determined, a plurality of target brake pressures may be determined from the plurality of target decelerations.
And S140, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S150, judging whether the difference value between the actual brake pressure and the target brake pressure exceeds a preset pressure range or not; if yes, go to S160.
And S160, setting the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
Specifically, when the vehicle is controlled to brake based on the target brake pressure, a deviation may exist between the actual brake pressure and the target brake pressure due to the current operating condition of the vehicle, such as the temperature of the environment where the vehicle is located or the flatness of the road on which the vehicle is traveling. For example, when the temperature of the environment in which the vehicle is located is low, the viscosity of the fluid in the brake system is high, so that the actual generated brake pressure is higher than the target brake pressure; alternatively, if the road on which the vehicle is traveling is an uphill road, the brake pressure actually generated may be greater than the target brake pressure in order to prevent the vehicle from rolling downhill. Therefore, when the vehicle is controlled to brake based on the target brake pressure, the actual brake pressure of the vehicle at which the vehicle is decelerated correspondingly, that is, the deceleration desired by the driver, that is, the deceleration corresponding to the current pedal stroke when the driver steps on the brake pedal, may be obtained based on the pressure sensor. At this time, the actual brake pressure may be compared with the target brake pressure, and if the deviation between the actual brake pressure and the target brake pressure is within the preset range, that is, the deviation between the actual brake pressure and the target brake pressure is small, it is considered that the target deceleration corresponding to the current pedal travel meets the brake expectation of the driver, and the target brake pressure corresponding to the target deceleration meets the demand of the brake pressure; when the deviation between the actual brake pressure and the target brake pressure is not within the preset range, that is, the deviation between the actual brake pressure and the target brake pressure is large, the target deceleration corresponding to the current pedal stroke is considered not to meet the braking expectation of the driver, and the target brake pressure corresponding to the target deceleration does not meet the requirement of the brake pressure, and at this time, the actual deceleration can be used as the brake pressure corresponding to the current pedal stroke.
And S170, determining a mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
Specifically, by obtaining the pedal stroke for multiple times and collecting the actual brake pressure of the brake system for multiple times, the corresponding relationship between the pedal stroke and the brake pressure when the driver steps on the brake pedal can be determined, that is, the individualized brake demand of the driver, that is, the mapping relationship between the pedal stroke and the brake pressure which meets the brake demand of the driver can be determined. Therefore, when the driver steps on the brake pedal, the pedal travel of the brake pedal is continuously acquired, and under the pedal travel, the actual brake pressure is acquired based on the pressure sensor, namely, the artificial intelligence algorithm continuously simulates and adjusts the parameters of the brake pedal feeling through self-learning of the driving habits of the driver, and finally, the mapping relation between the pedal travel and the brake pressure is generated, namely, the brake pedal feeling associated with the current driver is determined.
For example, the mapping relationship between the pedal stroke and the brake pressure may be a table relationship, and different drivers may correspond to the mapping relationship that is not passed. Table one is a mapping of two different pedal strokes to brake pressure.
Watch 1
As shown in Table I, the different brake pedal modes represent different pedal travel and brake pressure mappings. The brake pressure of the brake system is in an ascending trend along with the increase of the stroke of the brake pedal, which accords with the driving habit of a driver in the driving process; aiming at the first and second brake pedal modes, in order to meet the braking requirements of different drivers, the same pedal stroke can correspond to different braking pressures, so that the individual requirements of the drivers are realized. During the actual driving of the vehicle by the driver, the mapping relationship between the pedal stroke and the brake pressure corresponding to the driver can be matched based on the driver characteristic identification technology such as fingerprints, facial features and the like.
In the embodiment, the current pedal travel of the driver for stepping on the brake pedal is obtained, the expected target deceleration of the driver is determined, the target brake pressure of the brake system is determined according to the target deceleration, the target brake pressure of the brake system is compared with the actual brake pressure obtained according to the pressure sensor, and when the difference value between the target brake pressure and the actual brake pressure exceeds the preset pressure range, the actual brake pressure is the brake pressure of the current pedal travel, and the mapping relation between the pedal travel and the brake pressure is determined according to the current pedal travel and the brake pressure corresponding to the current pedal travel, so that the corresponding relation between the brake pressure and the pedal travel can be adjusted according to the driving requirements of the driver, the driving habits of different drivers are met, the individualized driving requirements of the driver are realized, the effect of thousands of faces is achieved, and the experience of the driver for stepping on the brake pedal is improved.
Example two
Fig. 2 is a schematic flow chart of a method for adjusting a brake pedal feel of a vehicle according to a second embodiment of the present invention, and specifically provides a scheme of a relationship curve between a pedal stroke and a target deceleration on the basis of the second embodiment. As shown in fig. 2, the technical solution of this embodiment includes:
s210, when the driver steps on the brake pedal, the current pedal stroke of the brake pedal is obtained.
And S220, acquiring a mapping relation between the pedal stroke and the target deceleration.
And S230, determining the target deceleration corresponding to the current pedal stroke according to the mapping relation between the pedal stroke and the target deceleration.
The mapping relationship between the pedal stroke and the target deceleration may be a curve relationship, that is, a relationship curve between the pedal stroke and the target deceleration of the brake pedal may be set empirically. When the driver steps on the brake pedal, the pedal sensor can obtain the corresponding pedal stroke, and based on the pedal stroke, a target deceleration which can be uniquely determined in the relation curve of the pedal stroke and the target deceleration can be obtained.
And S240, determining the target brake pressure of the brake system according to the target deceleration.
And S250, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S260, judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if yes, go to S270.
And S270, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
And S280, determining a mapping relation between the pedal stroke and the brake pressure according to the current pedal stroke and the brake pressure corresponding to the current pedal stroke.
According to the method and the device, the current pedal travel of the driver for stepping on the brake pedal is obtained, the target deceleration corresponding to the current pedal travel is obtained according to the mapping relation between the pedal travel and the target deceleration, the target brake pressure of the brake system is determined according to the target deceleration, the actual brake pressure of the brake system is determined by the pressure sensor, the current pedal feeling of the driver for stepping on the brake pedal is determined by comparing the target brake pressure with the actual brake pressure, and the experience feeling of the driver is improved.
EXAMPLE III
Fig. 3 is a schematic flow chart of a method for adjusting a pedal feel of a vehicle brake according to a third embodiment of the present invention, and specifically provides a scheme of a pedal stroke, a brake pressure, and a pedal feel of a driver on the basis of the third embodiment. As shown in fig. 3, the technical solution of this embodiment includes:
and S310, acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal.
And S320, determining the target deceleration expected by the driver according to the current pedal stroke.
And S330, determining the target brake pressure of the brake system according to the target deceleration.
And S340, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S350, judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if yes, executing S360; if not, S370 is executed.
And S360, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
And S370, determining the target brake pressure as the brake pressure corresponding to the current pedal stroke.
And S380, determining a mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
When the difference between the actual braking pressure and the target braking pressure acquired by the vehicle pressure sensor does not exceed the preset pressure range, a smaller deviation exists between the actual braking pressure and the target braking pressure. The target brake pressure can be directly used as the brake pressure corresponding to the current pedal stroke; thus, the mapping relation between the pedal travel and the brake pressure can be finally determined through a plurality of pedal travels and a plurality of brake pressures corresponding to the pedal travels one to one; so that the vehicle can be subjected to brake control based on the pedal stroke-brake pressure mapping relation and the driver's brake expectation during the driving of the vehicle.
According to the embodiment, the current pedal stroke of the driver stepping on the brake pedal is obtained, the expected target deceleration of the driver is determined, the target brake pressure of the brake system is determined according to the target deceleration, the target brake pressure of the brake system is compared with the actual brake pressure obtained according to the pressure sensor, the size relation between the difference value between the target brake pressure and the actual brake pressure and the preset pressure range is judged, when the target brake pressure does not exceed the preset pressure range, the target brake pressure can be directly used as the brake pressure of the current pedal stroke, and the mapping relation between the pedal stroke and the brake pressure is determined based on the target brake pressure and the actual brake pressure, so that the individual requirements of different drivers are met, and the experience of the drivers is improved.
Example four
Fig. 4 is a schematic flow chart of a method for adjusting a brake pedal feel of a vehicle according to a fourth embodiment of the present invention, and specifically provides a scheme for determining a target brake pressure of a brake system based on the fourth embodiment. As shown in fig. 4, the technical solution of this embodiment includes:
and S410, acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal.
And S420, determining the expected target deceleration of the driver according to the current pedal travel.
And S430, acquiring a mapping relation between the target deceleration and the target brake pressure of the brake system.
And S440, determining target brake pressure corresponding to the target deceleration according to the target deceleration and the mapping relation between the target deceleration and the target brake pressure of the brake system.
For example, the pedal stroke of the driver stepping on the brake pedal corresponds to the desired target deceleration of the driver, and there is a corresponding relationship between the target deceleration and the brake pressure of the brake system, and the mapping relationship may be a table correspondence relationship, for example, that is, the brake pressure corresponding to each target deceleration is stored in the brake controller, or the mapping relationship may be an equation relationship, and after the target deceleration is known, the target brake pressure may be calculated through a corresponding calculation model.
And S450, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S460, judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if yes, go to S470; if not, go to S480.
And S470, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
And S480, determining the target brake pressure as the brake pressure corresponding to the current pedal stroke.
And S490, determining a mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
According to the embodiment of the invention, the current pedal travel of the driver for stepping on the brake pedal is obtained, the target brake pressure of the brake system is determined according to the mapping relation among the pedal travel, the target deceleration and the target brake pressure, the vehicle is braked based on the target brake pressure, the actual brake pressure of the brake system is obtained when the vehicle is braked, and the brake pressure corresponding to the current pedal travel is determined based on the relation between the actual brake pressure and the target brake pressure, so that the mapping relation between the pedal travel and the brake pressure can be obtained, the driving requirements of different drivers are met, and the experience of the driver for stepping on the brake pedal is improved.
EXAMPLE five
Fig. 5 is a schematic flow chart of a method for adjusting a feel of a brake pedal of a vehicle according to a fifth embodiment of the present invention, and a scheme for detecting a failure of the brake pedal is specifically provided on the basis of the fifth embodiment. The technical scheme of the embodiment comprises the following steps:
and S510, acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal.
And S520, acquiring an electric signal output by a pedal sensor of the brake pedal.
Wherein, the brake pedal is provided with a pedal sensor, and when a driver steps on the brake pedal, the pedal sensor outputs an electric signal. Whether the brake pedal has faults can be judged according to the magnitude and the change of the output electric signals.
And S530, determining the fault condition of the brake pedal according to the electric signal output by the pedal sensor.
And S540, responding to the fault condition of the brake pedal, and controlling an alarm system of the vehicle to give a brake fault alarm when the brake pedal is in fault.
Specifically, the fault condition of the brake pedal can be obtained through the electric signal output by the pedal sensor, whether the output electric signal is abnormal or not can be determined by judging the attributes such as voltage or current of the electric signal, and when the electric signal output by the pedal sensor is abnormal, the brake pedal can be considered to be in fault, the accurate pedal stroke cannot be obtained through the pedal sensor, and at the moment, the alarm can be given through an instrument and meter to inform a driver, so that the driver can conveniently process the condition in time. The failure alarm mode can be that an alarm indicator lamp arranged in the vehicle is turned on and gives an alarm whistle sound, and the alarm whistle sound lasts for 10s, so that a driver is ensured to know the failure information of the brake pedal.
And S550, determining the expected target deceleration of the driver according to the current pedal travel.
And S560, determining the target brake pressure of the brake system according to the target deceleration.
And S570, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S580, judging whether the difference value between the actual brake pressure and the target brake pressure exceeds a preset pressure range or not; if yes, go to S590; if not, S5100 is executed.
And S590, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
S5100, determines the target brake pressure as the brake pressure corresponding to the current pedal stroke.
S5110, determining a mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel.
According to the embodiment, the accuracy of the pedal stroke acquired by the pedal sensor can be obtained by detecting the fault condition of the pedal sensor, so that the accuracy of the determined mapping relation between the pedal stroke and the brake pressure can be improved, the requirements of individual pedal feeling of different drivers can be met, and the experience of trampling the brake pedal of the driver is improved.
EXAMPLE six
Fig. 6 is a schematic flow chart of a brake pedal feel adjusting method for a vehicle according to a sixth embodiment of the present invention, and specifically provides a scheme of a relation between an actual deceleration and a target acceleration of the vehicle on the basis of the sixth embodiment. As shown in fig. 6, the technical solution of this embodiment includes:
and S610, acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal.
And S620, determining the target deceleration expected by the driver according to the current pedal stroke.
And S630, determining the target brake pressure of the brake system according to the target deceleration.
And S640, acquiring the actual brake pressure of the brake system based on the pressure sensor.
S650, judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if yes, go to S660; if yes, go to S670.
And S660, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke.
And S670, determining the target brake pressure as the brake pressure corresponding to the current pedal stroke.
And S680, determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel. And S690, acquiring the current actual deceleration of the vehicle based on the deceleration sensor.
S6100, determining whether the difference between the actual deceleration and the target deceleration is within a preset deceleration range; if not, returning to S610.
Specifically, after the map of the pedal stroke and the brake pressure is determined, the brake control of the vehicle may be performed based on the map while the driver is driving the vehicle. In the process of braking control of the vehicle, the mapping relationship between the determined pedal travel and the braking pressure can be verified based on a deceleration sensor of the vehicle, that is, if the difference between the actual deceleration and the target deceleration of the vehicle is not within the preset difference range, the deviation between the actual deceleration and the target deceleration is considered to be large, the verification is considered to be failed, at this time, the current pedal travel of the brake pedal needs to be obtained again, and the braking pressure corresponding to the current pedal travel is determined again based on the current pedal travel; and when the difference value between the actual deceleration and the target deceleration of the vehicle is within the preset difference value range, the deviation between the actual deceleration and the target deceleration is considered to be small, the verification is considered to be successful, and the vehicle can be subjected to braking control based on the determined mapping relation between the pedal travel and the braking pressure.
In the embodiment, the mapping relation between the determined pedal travel and the brake pressure is verified by comparing the actual deceleration with the target deceleration, so that the accuracy of the mapping relation between the determined pedal travel and the brake pressure is further improved, the requirements of different drivers for individual pedal feeling can be met, and the experience of the driver for stepping on the brake pedal is improved.
EXAMPLE seven
Fig. 7 is a schematic structural diagram of a brake pedal feel adjusting device of a vehicle according to a seventh embodiment of the present invention. The device may be comprised of hardware and/or software, and may be integrated into a brake controller of a vehicle.
As shown in fig. 7, the apparatus includes: a stroke obtaining module 701, a target deceleration obtaining module 702, a target brake pressure obtaining module 703, an actual brake pressure obtaining module 704, a pressure judging module 705, a correspondence determining module 706, and a mapping determining module 707.
The stroke acquisition module 701 is used for acquiring the current pedal stroke of the brake pedal when the driver steps on the brake pedal; a target deceleration obtaining module 702 for determining a desired target deceleration of the driver based on the current pedal stroke; a target braking pressure obtaining module 703, configured to determine a target braking pressure of the braking system according to the target deceleration; an actual brake pressure obtaining module 704, configured to obtain an actual brake pressure of the brake system based on the pressure sensor; a pressure determining module 705, configured to determine whether a difference between the actual braking pressure and the target braking pressure exceeds a preset pressure range; a corresponding relation determining module 706, configured to take the actual braking pressure as the braking pressure corresponding to the current pedal stroke if a difference between the actual braking pressure and the target braking pressure exceeds a preset pressure range;
and the mapping relation determining module 707 is configured to determine a mapping relation between the pedal stroke and the brake pressure according to the current pedal stroke and the brake pressure corresponding to the current pedal stroke.
Optionally, the target deceleration obtaining module 702 is specifically configured to: acquiring a mapping relation between pedal travel and target deceleration; and determining the target deceleration corresponding to the current pedal stroke according to the mapping relation between the pedal stroke and the target deceleration.
Optionally, the correspondence relation determining module 706 is further configured to determine the target brake pressure as the brake pressure corresponding to the current pedal stroke if the difference between the actual brake pressure and the target brake pressure does not exceed the preset pressure range.
Optionally, the target brake pressure obtaining module 703 is specifically configured to: acquiring a mapping relation between the target deceleration and the target brake pressure of the brake system; and determining the target brake pressure corresponding to the target deceleration according to the target deceleration and the mapping relation between the target deceleration and the target brake pressure of the brake system.
Alternatively, the current pedal stroke is acquired by a pedal sensor of the brake pedal.
Optionally, the apparatus further comprises a fault detection module; the fault detection module is configured to: acquiring an electric signal output by a pedal sensor of a brake pedal before determining a desired target deceleration of a driver according to a current pedal stroke; determining the fault condition of the brake pedal according to the electric signal output by the pedal sensor; and responding to the fault condition of the brake pedal, and controlling an alarm system of the vehicle to give a brake fault alarm when the brake pedal is in fault.
Optionally, the apparatus further comprises a brake verification module; the brake checking module is used for obtaining the current actual deceleration of the vehicle based on a deceleration sensor after determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel; determining whether a difference between an actual deceleration and the target deceleration is within a preset deceleration range; if not, returning to the step of acquiring the current pedal travel of the brake pedal.
The vehicle brake control device provided by the embodiment of the invention can execute the vehicle brake control method provided by any embodiment of the invention, has corresponding functional modules and beneficial effects of the execution method, and can refer to the description of the vehicle brake control method provided by the embodiment of the invention, and the description is omitted here.
Example eight
The embodiment of the invention also provides a vehicle, which comprises a braking system; the brake system comprises a brake controller, the brake controller can execute the brake control method of the vehicle provided by any embodiment of the invention, and the brake controller can be integrated with the brake control device of the vehicle provided by any embodiment of the invention. Therefore, the vehicle provided by the embodiment of the present invention has corresponding functional modules and beneficial effects of the execution method and apparatus, and reference may be made to the above description of the vehicle braking control method and apparatus in the embodiment of the present invention for the same points, which are not described herein again.
Example nine
An embodiment ninth of the present invention provides a computer-readable storage medium having stored thereon a computer program for executing, when executed by a processor, a brake pedal feel adjustment method of a vehicle, the method including: when a driver steps on a brake pedal, acquiring the current pedal stroke of the brake pedal; determining a target deceleration desired by the driver based on the current pedal stroke; determining a target brake pressure of the brake system according to the target deceleration; acquiring actual brake pressure of a brake system based on a pressure sensor; judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not; if so, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke; and determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel. Alternatively, the computer program, when executed by the processor, may be further configured to perform a method for adjusting a brake pedal feel of a vehicle according to any of the embodiments of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. 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, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. A brake pedal feel adjustment method of a vehicle, characterized by comprising:
acquiring a current pedal stroke of a brake pedal when a driver steps on the brake pedal;
determining a desired target deceleration of the driver based on the current pedal stroke;
determining a target brake pressure of a brake system according to the target deceleration;
acquiring actual brake pressure of the brake system based on a pressure sensor;
judging whether the difference value between the actual braking pressure and the target braking pressure exceeds a preset pressure range or not;
if so, taking the actual brake pressure as the brake pressure corresponding to the current pedal stroke;
determining a mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel;
after determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel, the method further comprises the following steps:
acquiring the current actual deceleration of the vehicle based on a deceleration sensor;
determining whether a difference between the actual deceleration and the target deceleration is within a preset deceleration range;
and if not, returning to the step of acquiring the current pedal travel of the brake pedal.
2. The brake pedal feel adjustment method of a vehicle according to claim 1, characterized in that determining the target deceleration desired by the driver in accordance with the current pedal stroke includes:
acquiring a mapping relation between pedal travel and target deceleration;
and determining the target deceleration corresponding to the current pedal stroke according to the mapping relation between the pedal stroke and the target deceleration.
3. The brake pedal feel adjustment method of a vehicle according to claim 1, characterized by further comprising:
and if the difference value between the actual brake pressure and the target brake pressure does not exceed a preset pressure range, determining the target brake pressure as the brake pressure corresponding to the current pedal stroke.
4. The brake pedal feel adjustment method of a vehicle according to claim 1, wherein determining a target brake pressure of a brake system based on the target deceleration includes:
acquiring a mapping relation between the target deceleration and the target brake pressure of the brake system;
and determining a target brake pressure corresponding to the target deceleration according to the target deceleration and the mapping relation between the target deceleration and the target brake pressure of the brake system.
5. The brake pedal feel adjustment method of a vehicle according to claim 1, characterized in that the current pedal stroke is acquired by a pedal sensor of the brake pedal.
6. The brake pedal feel adjustment method of a vehicle according to claim 5, characterized by, before determining the target deceleration desired by the driver in accordance with the current pedal stroke, further comprising:
acquiring an electric signal output by a pedal sensor of the brake pedal;
determining the fault condition of the brake pedal according to the electric signal output by the pedal sensor;
and responding to the fault condition of the brake pedal, and controlling an alarm system of the vehicle to give a brake fault alarm when the brake pedal is in fault.
7. A brake pedal feel adjusting apparatus for a vehicle, comprising:
the travel acquisition module is used for acquiring the current pedal travel of the brake pedal when a driver steps on the brake pedal;
a target deceleration obtaining module for determining a desired target deceleration of the driver according to the current pedal stroke;
the target braking pressure acquisition module is used for determining the target braking pressure of the braking system according to the target deceleration;
the actual brake pressure acquisition module is used for acquiring the actual brake pressure of the brake system based on the pressure sensor;
the pressure judgment module is used for judging whether the difference value between the actual brake pressure and the target brake pressure exceeds a preset pressure range or not;
a corresponding relation determination module, configured to take the actual brake pressure as the brake pressure corresponding to the current pedal stroke if a difference between the actual brake pressure and the target brake pressure exceeds a preset pressure range;
the mapping relation determining module is used for determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel;
after determining the mapping relation between the pedal travel and the brake pressure according to the current pedal travel and the brake pressure corresponding to the current pedal travel, the method further comprises the following steps:
acquiring the current actual deceleration of the vehicle based on a deceleration sensor;
determining whether a difference between the actual deceleration and the target deceleration is within a preset deceleration range;
and if not, returning to the step of acquiring the current pedal travel of the brake pedal.
8. A vehicle, characterized by comprising: a braking system;
the brake system includes a brake controller; the brake controller is configured to execute a brake pedal feel adjustment method of a vehicle according to any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a brake pedal feel adjustment method of a vehicle according to any one of claims 1 to 6.
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| CN202210100273.8A CN114312688B (en) | 2022-01-27 | 2022-01-27 | Vehicle, brake pedal feel adjusting method and device thereof and storage medium |
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| CN202210100273.8A CN114312688B (en) | 2022-01-27 | 2022-01-27 | Vehicle, brake pedal feel adjusting method and device thereof and storage medium |
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| CN114312688B true CN114312688B (en) | 2023-03-24 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4623090B2 (en) * | 2007-12-25 | 2011-02-02 | トヨタ自動車株式会社 | Brake control device |
| JP5168548B2 (en) * | 2008-02-29 | 2013-03-21 | 日立オートモティブシステムズ株式会社 | Brake device |
| JP6223487B2 (en) * | 2016-03-14 | 2017-11-01 | 本田技研工業株式会社 | Electric vehicle braking device |
| CN107672573B (en) * | 2017-11-10 | 2023-07-28 | 浙江德翰制动系统有限公司 | Vehicle braking force correction control apparatus, method, and vehicle |
| CN110816498A (en) * | 2019-11-27 | 2020-02-21 | 安徽江淮汽车集团股份有限公司 | Pressure compensation method, device and equipment for intelligent brake system and storage medium |
| CN112572163B (en) * | 2020-12-31 | 2022-08-16 | 华南理工大学 | Automobile hill starting assisting control system and method based on brake-by-wire |
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