CN114537358B - Compensation method and device for vehicle braking gap and computer storage medium - Google Patents
Compensation method and device for vehicle braking gap and computer storage medium Download PDFInfo
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- CN114537358B CN114537358B CN202111511342.6A CN202111511342A CN114537358B CN 114537358 B CN114537358 B CN 114537358B CN 202111511342 A CN202111511342 A CN 202111511342A CN 114537358 B CN114537358 B CN 114537358B
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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 method and a device for compensating a vehicle braking gap and a computer storage medium, wherein the method for compensating the vehicle braking gap comprises the following steps: acquiring working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of all wheels, vehicle speeds and states of brake pedals; identifying the running condition of the vehicle according to the wheel speeds of the wheels and the vehicle speed; and compensating the braking clearance of the vehicle according to the running condition of the vehicle and the state of the brake pedal. The working condition that makes the vehicle produce the braking clearance can be accurately discerned according to wheel speed and speed of a motor vehicle to this application, through initiative pressure boost, in time eliminate the braking clearance, guarantee driving safety.
Description
Technical Field
The application belongs to the field of vehicle braking, and particularly relates to a method and a device for compensating a vehicle braking gap and a computer storage medium.
Background
With the increasing demands of consumers on riding comfort and safety, more and more electromechanical products are appeared in the field of vehicle braking, wherein an electronic booster is becoming a mainstream, and has a natural great advantage compared with the traditional vacuum booster in the aspects of accelerating the pressure building rate, improving the maximum boosting capacity and guaranteeing the vehicle braking safety.
However, when the gap between the brake friction plate and the friction disc is too large after the brake in the whole vehicle foundation brake system runs on a bumpy road, the same brake input can be caused, the deceleration degree generated by the vehicle is too small, the braking distance of the vehicle is increased, and the potential safety hazard exists in the vehicle.
Disclosure of Invention
Aiming at the technical problems, the application provides a compensation method and device for a vehicle braking gap and a computer storage medium, so as to accurately identify the working condition of the vehicle for generating the braking gap, eliminate the braking gap in time and ensure the driving safety.
The application provides a compensation method for a vehicle braking gap, which comprises the following steps: acquiring working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of all wheels, vehicle speeds and states of brake pedals; identifying the running condition of the vehicle according to the wheel speeds of the wheels and the vehicle speed; and compensating the braking 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 includes: identifying and counting according to the wheel speeds of the wheels and the vehicle speeds; if the identification count value of any wheel reaches the counting threshold value, the running condition of the vehicle is a special road surface 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 a normal road running condition.
In one embodiment, the step of identifying and counting according to the wheel speed of each wheel and the vehicle speed includes: obtaining the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speeds of the wheels; if the dithering frequency is greater than or equal to a first threshold value and the dithering 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. The first threshold and the second threshold are determined according to the vehicle speed.
In one embodiment, the step of identifying and counting according to the wheel speed of each wheel and the vehicle speed includes: and in the identification counting process, if the brake pedal is pressed, resetting the identification count value of each wheel.
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 includes: after the identification count value of any wheel reaches the counting threshold value, if the identification count value of the corresponding wheel continuously increases and the time of the continuous increase of the identification count value of the corresponding wheel reaches the time threshold value, the vehicle is continuously under the special road surface running condition.
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 includes: and in the process that the identification count value of the corresponding wheel continuously increases, if the brake pedal is stepped on, resetting the identification count value of the corresponding wheel and the time that the identification count value of the corresponding wheel continuously increases, and executing the step of carrying out identification counting according to the wheel speed of each wheel and the vehicle speed.
In one embodiment, the step of compensating the braking gap of the vehicle according to the running condition of the vehicle and the state of the brake pedal includes: and when the vehicle is continuously under the running working condition of the special road surface and the brake pedal is not stepped on, actively pressurizing a brake master cylinder of the vehicle so as to eliminate the brake clearance.
In one embodiment, the step of actively pressurizing the master cylinder of the vehicle includes: during the active pressure increasing process, the piston position of the brake master cylinder and the load of the brake wheel cylinder of the 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, exiting the active pressure increasing process.
The application also provides a device for compensating the braking clearance of the vehicle, 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 also provides a computer storage medium storing a computer program which, when executed by a processor, implements the steps of the compensation method described above.
According to the vehicle braking gap compensation method, device and computer storage medium, the working condition that the vehicle generates the braking gap can be accurately identified according to the wheel speed and the vehicle speed, the braking gap is eliminated in time through active pressurization, and the driving safety is guaranteed.
Drawings
FIG. 1 is a schematic flow chart of a compensation method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a compensation method according to a second embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a compensation device according to a third embodiment of the present application.
Detailed Description
The technical scheme of the application is further elaborated below by referring to the drawings in the specification and the specific embodiments. 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 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 flow chart 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 steps of:
step S101: acquiring working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of all wheels, vehicle speeds and states of brake pedals;
optionally, the wheel speed of each wheel is acquired by a wheel speed sensor; the speed of the vehicle is collected by a 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 the states can be obtained through signal values collected by a brake pedal switch signal sensor, and when the signal value collected by the brake pedal switch signal sensor is 1, the state indicates that the brake pedal is stepped on; when the signal value acquired by the brake pedal switch signal sensor is 0, the brake pedal is not stepped.
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: identifying a driver of the vehicle based on the wheel speeds and the vehicle speeds of the wheels, comprising:
identifying and counting according to the wheel speeds and the vehicle speeds of all the wheels;
if the identification count value of any wheel reaches the count threshold value, the running condition of the vehicle is a special road surface running condition;
if the identification count value of each wheel does not reach the count threshold value, the running condition of the vehicle is a normal road running condition.
The special road surface running conditions comprise bumpy road surface running, pit road surface running and other conditions which are easy to cause the vehicle to generate a braking gap.
Optionally, the step of identifying and counting according to the wheel speed and the vehicle speed of each wheel comprises the following steps:
obtaining the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speeds of the wheels;
if the dithering frequency is greater than or equal to a first threshold value and the dithering amplitude is greater than or equal to a second threshold value, increasing the identification count value of the corresponding wheel;
if the dithering frequency is less than the first threshold value and/or the dithering amplitude is less than the second threshold value, the identification count value of the corresponding wheel is reduced.
The wheel speed is changed from a positive value to a negative value, or the wheel speed is changed from the negative value to the positive value and is regarded as jittering; the jitter frequency is the reciprocal of the time required for the transformation between the adjacent positive maximum wheel speed value and the negative minimum wheel speed value; the magnitude of the shake is the absolute value of the difference between adjacent positive maximum wheel speed values and negative minimum wheel speed values. The first threshold and the second threshold are determined according to the vehicle speed.
Optionally, in the identifying and counting process, if the brake pedal is pressed, the identifying and counting 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 when the identification count value of the corresponding wheel continuously increases reaches the time threshold value, the vehicle is continuously under the special road running condition.
Optionally, in the process that the identification count value continuously increases, if the brake pedal is depressed, the identification count value and the time that the identification count value continuously increases are cleared, and the step of carrying out identification count according to the wheel speed and the vehicle speed of each wheel is performed.
Step S103: and compensating the braking 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 running 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 under a special road running condition and the brake pedal is not stepped on, the brake master cylinder of the vehicle is actively pressurized to eliminate a brake clearance.
Optionally, the step of actively pressurizing the master cylinder of the vehicle includes:
in the active pressure increasing process, acquiring the piston position of a brake master cylinder and the load of a brake wheel cylinder of a 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, exiting the active pressure increasing process.
According to the embodiment of the application, firstly, the special road surface running working condition which is easy to cause the vehicle to generate the braking gap is identified according to the wheel speed and the vehicle speed, and then whether the vehicle generates the braking gap 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 braking gap is improved; when the running condition of the special road surface is determined to enable the vehicle to generate a braking gap and the brake pedal is not stepped on, the braking gap is eliminated in time through active pressurization, the necessity and the effectiveness of braking gap compensation are improved, and the running safety is ensured.
Fig. 2 is a specific flow chart 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 steps of:
step S201: obtaining shaking information of wheels;
step S202: judging whether the shake information of the wheels meets preset conditions or not;
if the wheel shake information satisfies the preset condition, step S203 is executed: increasing an identification count value;
if the wheel shake information does not meet the preset condition, step S204 is executed: reducing the recognition count value, and returning to execute step S201;
step S205: judging whether a brake pedal is stepped on;
if the brake pedal is not depressed, step S206 is performed: judging whether the identification count value reaches a count threshold value;
if the brake pedal is depressed, step S207 is performed: resetting the identification count value, and returning to the execution step S201;
if the count value is not up to the count threshold, returning to execute step S201;
if the count value reaches the count threshold, step S208 is executed: judging whether the identification count value continuously increases or not, and enabling the continuously increased time to reach a time threshold value;
if the count value is identified to be continuously increasing and the time of the continuous increase reaches the time threshold, step S209 is executed: judging whether a brake pedal is stepped on;
if it is identified that the count value does not continuously increase or the time of continuously increasing does not reach the time threshold value, step S210 is executed: resetting the time for which the identification count value continuously increases, updating the identification count value, and returning to the execution step S201;
if the brake pedal is not depressed, step S211 is executed: compensating for a braking gap;
if the brake pedal is depressed, step S212 is executed: the identification count value and the time for which the identification count value continuously increases are cleared, and the process returns to step S201.
Optionally, the shake information of the wheel includes a shake frequency and a shake amplitude of the wheel; obtaining the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speeds of the wheels; when the dithering frequency is greater than or equal to a first threshold value and the dithering amplitude is greater than or equal to a second threshold value, adding 1 on the basis of 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 on the basis of 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 identification counting process, the identification counting value of each wheel is cleared; if the brake pedal is not stepped in the identification counting process, judging whether the identification count value of each wheel reaches a counting threshold value or not; after the identification count value of any wheel reaches the count threshold value, continuing the identification count process for the corresponding wheel, if the identification count value is not continuously increased and/or the time for continuously increasing the identification count value is not reached to the time threshold value, resetting the time for continuously increasing 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 continuously increases and the time of continuously increasing the identification count value reaches a time threshold value, further judging whether the brake pedal is stepped down; if the brake pedal is not stepped on, the brake master cylinder is actively pressurized, and the brake clearance is compensated to eliminate the brake clearance; if the brake pedal is depressed, the identification count value and the time for which the identification count value continuously increases are cleared, and the identification count process is restarted.
According to the second embodiment of the application, the running working condition of the vehicle can be dynamically identified according to the wheel speed and the vehicle speed, so that the accuracy of identifying the working condition of the vehicle for generating a braking gap is improved; when the vehicle is determined to be continuously under a special road running condition and the brake pedal is not stepped on, the braking clearance is eliminated in time through active pressurization, the necessity and the effectiveness of braking clearance compensation are improved, and the running safety is ensured.
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, when executing the computer program 112, implements the steps of the various compensation method embodiments described above, such as steps S101 to S103 shown in fig. 1.
The compensation means 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 apparatus and is not meant to be limiting, and that more or fewer components than shown may be included, or that certain components may be combined, or that different components may be included, for example, the compensation apparatus may also include input and output devices, network access devices, buses, etc.
The processor 110 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. 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 be an external storage device of the compensation apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided in the compensation apparatus. Further, the memory 111 may also comprise both an internal memory unit and an external memory device of the compensation device. The memory 111 is used for storing the computer program as well as other programs and data required by the compensation means. 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 stored thereon a computer program which, when executed by a processor, implements the steps of the compensation method as described above.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
The foregoing is merely 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 think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to 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 (7)
1. A method of compensating for a brake clearance of a vehicle, comprising:
acquiring working condition parameters of a vehicle, wherein the working condition parameters comprise wheel speeds of all wheels, vehicle speeds and states of brake pedals;
according to the wheel speeds of the wheels and the vehicle speeds, carrying out identification counting, and after the identification counting value of any wheel reaches a counting threshold value, judging that the vehicle is continuously under a special road running condition if the identification counting value of the corresponding wheel is continuously increased and the time of the continuous increase of the identification counting value of the corresponding wheel reaches a time threshold value;
and when the vehicle is continuously under the running working condition of the special road surface and the brake pedal is not stepped on, actively pressurizing a brake master cylinder of the vehicle to eliminate a brake clearance.
2. The method of compensating of claim 1, wherein said step of identifying and counting based on the wheel speeds of said wheels and said vehicle speed comprises:
obtaining the dithering frequency and the dithering amplitude of the corresponding wheels according to the wheel speeds of the wheels;
if the dithering frequency is greater than or equal to a first threshold value and the dithering amplitude is greater than or equal to a second threshold value, increasing the identification count value of the corresponding wheel;
if the dithering frequency is smaller than the first threshold value and/or the dithering amplitude is smaller than the second threshold value, the identification count value of the corresponding wheel is reduced;
the first threshold and the second threshold are determined according to the vehicle speed.
3. The method of compensating of claim 2, wherein said step of identifying and counting based on the wheel speeds of said wheels and said vehicle speed comprises:
and in the identification counting process, if the brake pedal is pressed, resetting the identification count value of each wheel.
4. The compensation method of claim 1, wherein the step of identifying the running condition of the vehicle based on the wheel speeds of the wheels and the vehicle speed comprises:
and in the process that the identification count value of the corresponding wheel continuously increases, if the brake pedal is stepped on, resetting the identification count value of the corresponding wheel and the time that the identification count value of the corresponding wheel continuously increases, and executing the step of carrying out identification counting according to the wheel speed of each wheel and the vehicle speed.
5. The method of compensating of claim 1, wherein the step of actively pressurizing the master cylinder of the vehicle comprises:
during the active pressure increasing process, the piston position of the brake master cylinder and the load of the brake wheel cylinder of the 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, exiting the active pressure increasing process.
6. A vehicle brake clearance compensation device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the compensation method according to any one of claims 1 to 5 when the computer program is executed by the processor.
7. A computer storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the compensation method according to any one of claims 1 to 5.
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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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| CN115891942B (en) * | 2023-02-08 | 2023-05-30 | 小米汽车科技有限公司 | Vehicle braking method and device, vehicle, storage medium and chip |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102006028411A1 (en) * | 2006-06-21 | 2007-12-27 | Robert Bosch Gmbh | Procedure for tire condition detection |
| WO2013011992A1 (en) * | 2011-07-20 | 2013-01-24 | 株式会社ブリヂストン | Road surface condition estimation method, and road surface condition estimation device |
| CN102490705B (en) * | 2011-12-15 | 2015-06-10 | 奇瑞汽车股份有限公司 | Electronic mechanical brake system and automobile adopting same |
| CN111605525A (en) * | 2020-05-09 | 2020-09-01 | 东风汽车集团有限公司 | Emergency automatic brake steady-state control method based on real-time road surface recognition |
| CN112303154B (en) * | 2020-10-09 | 2022-07-22 | 北京汽车股份有限公司 | Automatic compensation control method and system for friction plate clearance for preventing brake failure and vehicle |
| CN113619553B (en) * | 2021-07-12 | 2022-06-03 | 东风汽车集团股份有限公司 | System and method for eliminating disk clearance on bumpy road surface |
| CN113500985A (en) * | 2021-08-03 | 2021-10-15 | 安徽江淮汽车集团股份有限公司 | Brake gap pre-filling control method, brake gap pre-filling control equipment, storage medium and brake gap pre-filling control device |
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