CN114537358A - Vehicle brake clearance compensation method and device and computer storage medium - Google Patents
Vehicle brake clearance compensation method and device and computer storage medium Download PDFInfo
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- CN114537358A CN114537358A CN202111511342.6A CN202111511342A CN114537358A CN 114537358 A CN114537358 A CN 114537358A CN 202111511342 A CN202111511342 A CN 202111511342A CN 114537358 A CN114537358 A CN 114537358A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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Abstract
The application provides a compensation method, a device and a computer storage medium for a vehicle brake clearance, wherein the compensation method comprises the following steps: obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of wheels, vehicle speeds and states of brake pedals; identifying the running condition of the vehicle according to the wheel speed of each wheel and the vehicle speed; and compensating the brake clearance of the vehicle according to the running condition of the vehicle and the state of the brake pedal. This application can make the vehicle produce the operating mode in braking clearance according to the accurate discernment of fast and the speed of a motor vehicle of wheel, through initiative pressure boost, in time eliminates braking clearance, guarantee driving safety.
Description
Technical Field
The present application relates to a method and an apparatus for compensating a braking gap of a vehicle, and a computer storage medium.
Background
Along with the increasingly high requirements of consumers on riding comfort and safety, more and more electromechanical products appear in the field of vehicle braking, wherein an electronic booster is becoming a mainstream, and the electronic booster has natural great advantages compared with a traditional vacuum booster in the aspects of accelerating the pressure build-up rate, improving the maximum boosting capacity and guaranteeing the vehicle braking safety.
However, after the brake in the entire basic brake system runs on a bumpy road, the gap between the brake friction plate and the friction disc is increased, and when the gap is too large from a normal value, the same brake input is caused, the deceleration generated by the vehicle is too small, the braking distance of the vehicle is increased, and the vehicle has potential safety hazards.
Disclosure of Invention
In view of the above technical problems, the present application provides a method and an apparatus for compensating a vehicle brake clearance, and a computer storage medium, so as to accurately identify a working condition that a vehicle generates a brake clearance, eliminate the brake clearance in time, and ensure driving safety.
The application provides a compensation method for a vehicle brake clearance, which comprises the following steps: obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of wheels, vehicle speeds and states of brake pedals; identifying the running condition of the vehicle according to the wheel speed of each wheel and the vehicle speed; and compensating the brake clearance of the vehicle according to the running condition of the vehicle and the state of the brake pedal.
In one embodiment, the step of identifying the driving condition of the vehicle according to the wheel speed of each wheel and the vehicle speed comprises: identifying and counting according to the wheel speed of each wheel and the vehicle speed; if the identification count value of any wheel reaches the count threshold value, the running condition of the vehicle is a special road running condition; and if the identification count value of each wheel does not reach the count threshold value, the running working condition of the vehicle is a normal road running working condition.
In one embodiment, the step of performing identification and counting according to the wheel speed of each wheel and the vehicle speed includes: acquiring the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speed of each wheel; if the jitter frequency is greater than or equal to a first threshold value and the jitter amplitude is greater than or equal to a second threshold value, increasing the identification count value of the corresponding wheel; and if the jitter frequency is smaller than the first threshold value and/or the jitter amplitude is smaller than the second threshold value, reducing the identification count value of the corresponding wheel. Wherein the first threshold value and the second threshold value are determined according to the vehicle speed.
In one embodiment, the step of performing identification and counting according to the wheel speed of each wheel and the vehicle speed includes: and in the process of identifying and counting, if the brake pedal is pressed down, clearing the identification count value of each wheel.
In one embodiment, the step of identifying a driving condition of the vehicle according to the wheel speed of each wheel and the vehicle speed includes: after the identification count value of any wheel reaches the count threshold value, if the identification count value of the corresponding wheel continuously increases and the time of the identification count value of the corresponding wheel continuously increases reaches the time threshold value, the vehicle is continuously in the special road surface running condition.
In one embodiment, the step of identifying a driving condition of the vehicle according to the wheel speed of each wheel and the vehicle speed includes: and clearing the identification count value of the corresponding wheel and the time of the continuous increase of the identification count value of the corresponding wheel if the brake pedal is stepped down in the process of continuously increasing the identification count value of the corresponding wheel, and executing the step of carrying out identification counting according to the wheel speed and the vehicle speed of each wheel.
In one embodiment, the step of compensating for the brake clearance of the vehicle according to the driving condition of the vehicle and the state of the brake pedal includes: and when the vehicle is continuously in the special road surface running working condition and the brake pedal is not stepped, actively pressurizing a brake master cylinder of the vehicle so as to eliminate the brake clearance.
In one embodiment, the step of actively pressurizing a brake master cylinder of the vehicle includes: in the active pressurization process, acquiring the piston position of the brake master cylinder and the load of a brake wheel cylinder of the vehicle; and when the piston position of the brake master cylinder reaches a position threshold value and/or the load of the brake wheel cylinder reaches a load threshold value, the active pressurization process is quitted.
The application also provides a vehicle brake clearance compensation device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the compensation method when executing the computer program.
The present application further provides a computer storage medium having a computer program stored thereon, which, when being executed by a processor, carries out the steps of the above-mentioned compensation method.
The application provides a compensation method and device for a vehicle brake clearance and a computer storage medium, which can accurately identify the working condition of the vehicle generating the brake clearance according to the wheel speed and the vehicle speed, eliminate the brake clearance in time through active pressurization and ensure the driving safety.
Drawings
FIG. 1 is a schematic flow chart of a compensation method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a compensation method according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a compensation device according to a third embodiment of the present application.
Detailed Description
The technical solution of the present application is further described in detail with reference to the drawings and specific embodiments of the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic flowchart of a compensation method according to an embodiment of the present application. As shown in fig. 1, the compensation method of the present application may include the following steps:
step S101: obtaining working condition parameters of the vehicle, wherein the working condition parameters comprise wheel speeds of all wheels, vehicle speed and states of a brake pedal;
optionally, the wheel speed of each wheel is collected by a wheel speed sensor; the vehicle speed is acquired through a vehicle speed sensor; the states of the brake pedal comprise two states of the brake pedal being stepped on and the brake pedal not being stepped on, and can be obtained through a signal value acquired by a brake pedal switch signal sensor, and if the signal value acquired by the brake pedal switch signal sensor is 1, the brake pedal is indicated to be stepped on; when the signal value collected by the brake pedal switch signal sensor is 0, the brake pedal is not pressed.
Step S102: identifying the running condition of the vehicle according to the wheel speed and the vehicle speed of each wheel;
in one embodiment, step S102: according to the wheel speed and the speed of each wheel, the vehicle driver is identified, and the method comprises the following steps:
identifying and counting according to the wheel speed and the vehicle speed of each wheel;
if the identification count value of any wheel reaches the counting threshold value, the running condition of the vehicle is a special road running condition;
and if the identification count value of each wheel does not reach the count threshold value, the running condition of the vehicle is the normal road running condition.
The special road surface driving working conditions comprise the working conditions that the vehicle is easy to generate brake clearance when driving on bumpy roads, driving on concave roads and the like.
Optionally, the step of performing identification and counting according to the wheel speed and the vehicle speed of each wheel comprises:
acquiring the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speed of each wheel;
if the shaking frequency is greater than or equal to the first threshold value and the shaking amplitude is greater than or equal to the second threshold value, increasing the identification count value of the corresponding wheel;
and if the jitter frequency is smaller than the first threshold value and/or the jitter amplitude is smaller than the second threshold value, reducing the identification count value of the corresponding wheel.
Changing the wheel speed from a positive value to a negative value, or changing the negative value to the positive value is regarded as the wheel speed shakes; the dithering frequency is the reciprocal of the time required for the conversion between the adjacent positive direction maximum wheel speed value and the negative direction minimum wheel speed value; the dither amplitude is the absolute value of the difference between adjacent positive and negative minimum wheel speed values. The first threshold value and the second threshold value are determined according to the vehicle speed.
Alternatively, in the identification count process, if the brake pedal is depressed, the identification count value of each wheel is cleared.
Further, after the identification count value of any wheel reaches the count threshold value, if the identification count value of the corresponding wheel continuously increases and the time for which the identification count value of the corresponding wheel continuously increases reaches the time threshold value, the vehicle is continuously in the special road surface running condition.
Alternatively, if the brake pedal is depressed while the recognition count value continues to increase, the recognition count value and the time during which the recognition count value continues to increase are cleared, and the step of performing the recognition count according to the wheel speed and the vehicle speed of each wheel is performed.
Step S103: and compensating the brake clearance of the vehicle according to the running condition of the vehicle and the state of the brake pedal.
In one embodiment, step S103: according to the driving condition of the vehicle and the state of a brake pedal, the method for compensating the brake clearance of the vehicle comprises the following steps:
when the vehicle is continuously in a special road running working condition and the brake pedal is not stepped, the brake master cylinder of the vehicle is actively pressurized to eliminate the brake clearance.
Optionally, the step of actively pressurizing a brake master cylinder of the vehicle comprises:
in the process of active pressurization, the piston position of a brake master cylinder and the load of a brake wheel cylinder of a vehicle are obtained;
and when the piston position of the brake master cylinder reaches a position threshold value and/or the load of the brake wheel cylinder reaches a load threshold value, the active pressurization process is quitted.
According to the first embodiment of the application, the special road surface running working condition which is easy to cause the vehicle to generate the brake clearance is firstly identified according to the wheel speed and the vehicle speed, and then whether the special road surface running working condition causes the vehicle to generate the brake clearance or not is determined according to the duration time of the special road surface running working condition, so that the accuracy of identifying the working condition which causes the vehicle to generate the brake clearance is improved; when the running condition of a special road surface is determined to enable a vehicle to generate a brake clearance and a brake pedal is not stepped down, the brake clearance is eliminated in time through active pressurization, the necessity and effectiveness of brake clearance compensation are improved, and the driving safety is guaranteed.
Fig. 2 is a schematic specific flowchart of a compensation method according to a second embodiment of the present application. As shown in fig. 2, the compensation method of the present application may include the following steps:
step S201: acquiring the shaking information of the wheel;
step S202: judging whether the shaking information of the wheel meets a preset condition or not;
if the wheel shake information satisfies the predetermined condition, step S203 is executed: increasing the identification count value;
if the wheel shake information does not satisfy the preset condition, executing step S204: reducing the identification count value and returning to execute the step S201;
step S205: judging whether the brake pedal is stepped down;
if the brake pedal is not depressed, step S206 is executed: judging whether the identification count value reaches a count threshold value;
if the brake pedal is pressed, step S207 is executed: clearing the identification count value and returning to execute the step S201;
if the identification count value does not reach the count threshold value, returning to execute the step S201;
if the identification count value reaches the count threshold value, step S208 is executed: judging whether the identification count value is continuously increased or not, wherein the continuously increased time reaches a time threshold value;
if the identification count value continues to increase and the time of the continuous increase reaches the time threshold, step S209 is executed: judging whether the brake pedal is stepped down;
if the count value is not continuously increased or the time of the continuous increase does not reach the time threshold, step S210 is executed: clearing the time for continuously increasing the identification count value, updating the identification count value, and returning to execute the step S201;
if the brake pedal is not pressed, step S211 is executed: compensating for brake clearance;
if the brake pedal is pressed, step S212 is executed: the identification count value and the time during which the identification count value continues to increase are cleared, and the process returns to step S201.
Optionally, the wheel shake information includes a wheel shake frequency and a wheel shake amplitude; acquiring the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speed of each wheel; when the jitter frequency is greater than or equal to a first threshold value and the jitter amplitude is greater than or equal to a second threshold value, adding 1 to the last identification count value of the corresponding wheel, and updating the identification count value; when the jitter frequency is smaller than a first threshold value and/or the jitter amplitude is smaller than a second threshold value, subtracting 1 from the last identification count value of the corresponding wheel, and updating the identification count value; wherein, the initial value and the minimum value of the identification count value are both 0; if the brake pedal is stepped down in the process of identifying and counting, clearing the identifying and counting value of each wheel; if the brake pedal is not stepped down in the process of identifying and counting, judging whether the identification count value of each wheel reaches a count threshold value; after the identification count value of any wheel reaches the count threshold value, continuing the identification counting process for the corresponding wheel, if the identification count value is not continuously increased and/or the time of the continuous increase of the identification count value does not reach the time threshold value, resetting the time of the continuous increase of the identification count value, and updating the identification count value according to the change of the identification count value after the identification count value reaches the count threshold value; if the identification count value is continuously increased and the time that the identification count value is continuously increased reaches a time threshold value, further judging whether the brake pedal is stepped on; if the brake pedal is not stepped, actively pressurizing the brake master cylinder, and compensating the brake clearance to eliminate the brake clearance; if the brake pedal is pressed down, the identification count value and the time for continuously increasing the identification count value are cleared, and the identification count process is entered again.
The second embodiment of the application can dynamically identify the running working condition of the vehicle according to the wheel speed and the vehicle speed, so that the accuracy of identifying the working condition that the vehicle generates the braking clearance is improved; when the vehicle is determined to be continuously in the running working condition of a special road surface and the brake pedal is not stepped, the brake clearance is eliminated in time through active pressurization, the necessity and effectiveness of brake clearance compensation are improved, and the driving safety is guaranteed.
Fig. 3 is a schematic structural diagram of a compensation device according to a third embodiment of the present application. As shown in fig. 3, the compensation device of this embodiment includes: a processor 110, a memory 111 and a computer program 112 stored in said memory 111 and executable on said processor 110. The processor 110 implements the steps in the various compensation method embodiments described above, such as steps S101 to S103 shown in fig. 1, when executing the computer program 112.
The compensation device may include, but is not limited to, a processor 110, a memory 111. It will be appreciated by those skilled in the art that fig. 3 is merely an example of a compensation arrangement and does not constitute a limitation of the compensation arrangement and may include more or less components than those shown, or some components in combination, or different components, for example the compensation arrangement may also include input output devices, network access devices, buses, etc.
The Processor 110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 111 may be an internal storage unit of the compensation device, such as a hard disk or a memory of the compensation device. The memory 111 may also be an external storage device of the compensation device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the compensation device. Further, the memory 111 may also include both an internal storage unit and an external storage device of the compensation apparatus. The memory 111 is used for storing the computer program and other programs and data required by the compensating device. The memory 111 may also be used to temporarily store data that has been output or is to be output.
The present application also provides a computer storage medium having a computer program stored thereon, which, when being executed by a processor, carries out the steps of the compensation method as described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of compensating for a vehicle brake clearance, comprising:
obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of wheels, vehicle speeds and states of brake pedals;
identifying the running condition of the vehicle according to the wheel speed of each wheel and the vehicle speed;
and compensating the brake clearance of the vehicle according to the running condition of the vehicle and the state of the brake pedal.
2. The compensation method of claim 1, wherein the step of identifying a driving condition of the vehicle based on the wheel speeds of the wheels and the vehicle speed comprises:
identifying and counting according to the wheel speed of each wheel and the vehicle speed;
if the identification count value of any wheel reaches the count threshold value, the running condition of the vehicle is a special road running condition;
and if the identification count value of each wheel does not reach the count threshold value, the running working condition of the vehicle is a normal road running working condition.
3. The compensation method as claimed in claim 2, wherein the step of performing the recognition count based on the wheel speed of each wheel and the vehicle speed comprises:
acquiring the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speed of each wheel;
if the jitter frequency is greater than or equal to a first threshold value and the jitter amplitude is greater than or equal to a second threshold value, increasing the identification count value of the corresponding wheel;
and if the jitter frequency is smaller than the first threshold value and/or the jitter amplitude is smaller than the second threshold value, reducing the identification count value of the corresponding wheel.
Wherein the first threshold value and the second threshold value are determined according to the vehicle speed.
4. The compensation method as claimed in claim 3, wherein the step of performing the identification count based on the wheel speed of each wheel and the vehicle speed comprises:
and in the process of identifying and counting, if the brake pedal is pressed down, clearing the identification count value of each wheel.
5. The compensation method of claim 2, wherein the step of identifying the driving pattern of the vehicle based on the wheel speed of each wheel and the vehicle speed comprises:
after the identification count value of any wheel reaches the count threshold value, if the identification count value of the corresponding wheel continuously increases and the time of the identification count value of the corresponding wheel continuously increases reaches the time threshold value, the vehicle is continuously in the special road surface running condition.
6. The compensation method of claim 5, wherein the step of identifying the driving profile of the vehicle based on the wheel speed of each wheel and the vehicle speed comprises:
and clearing the identification count value of the corresponding wheel and the time for continuously increasing the identification count value of the corresponding wheel if the brake pedal is stepped on in the process of continuously increasing the identification count value of the corresponding wheel, and executing the step of performing identification counting according to the wheel speed and the vehicle speed of each wheel.
7. The compensation method of claim 5, wherein the step of compensating for the brake clearance of the vehicle based on the driving condition of the vehicle and the state of the brake pedal comprises:
and when the vehicle is continuously in the special road surface running working condition and the brake pedal is not stepped, actively pressurizing a brake master cylinder of the vehicle so as to eliminate the brake clearance.
8. The compensation method of claim 7, wherein the step of actively pressurizing a brake master cylinder of the vehicle comprises:
in the active pressurization process, acquiring the piston position of the brake master cylinder and the load of a brake wheel cylinder of the vehicle;
and when the piston position of the brake master cylinder reaches a position threshold value and/or the load of the brake wheel cylinder reaches a load threshold value, the active pressurization process is quitted.
9. A device for compensating for a braking clearance of a vehicle, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the compensation method according to any one of claims 1 to 8 when executing the computer program.
10. A computer storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the compensation method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111511342.6A CN114537358B (en) | 2021-12-03 | 2021-12-03 | Compensation method and device for vehicle braking gap and computer storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111511342.6A CN114537358B (en) | 2021-12-03 | 2021-12-03 | Compensation method and device for vehicle braking gap and computer storage medium |
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| CN114537358B CN114537358B (en) | 2023-05-02 |
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| CN115891942A (en) * | 2023-02-08 | 2023-04-04 | 小米汽车科技有限公司 | Vehicle braking method and device, vehicle, storage medium and chip |
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