CN114763126A - Vehicle brake control method and device, vehicle and readable storage medium - Google Patents
Vehicle brake control method and device, vehicle and readable storage medium Download PDFInfo
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- CN114763126A CN114763126A CN202110662999.6A CN202110662999A CN114763126A CN 114763126 A CN114763126 A CN 114763126A CN 202110662999 A CN202110662999 A CN 202110662999A CN 114763126 A CN114763126 A CN 114763126A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a vehicle brake control method, a vehicle brake control device, a vehicle and a readable storage medium, wherein the method comprises the following steps: determining a target braking acceleration of the vehicle when it is monitored that a brake pedal of the vehicle is stepped on; acquiring a first actual braking acceleration and an actual braking torque of a vehicle and a rolling radius of a wheel; determining a first acceleration difference between the first actual braking acceleration and the target braking acceleration; determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first acceleration difference is larger than the first threshold; determining a braking force difference value according to the actual mass and the first acceleration difference value; and correcting the actual braking force of the vehicle according to the braking force difference. The invention can ensure that the braking acceleration corresponding to the same pedal travel is the same under different loads, and the problem of overlarge or undersize braking acceleration can not occur.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle brake control method, a vehicle brake control device, a vehicle and a readable storage medium.
Background
At present, when a user brakes a vehicle, the user not only needs to brake, but also needs to brake stably, and good brake feeling is pursued.
Because the braking performance of the vehicle is closely related to the driving safety, in the prior art, the braking force output under the same pedal opening degree is the same no matter the vehicle is unloaded or fully loaded, so that the problem that the braking feeling is influenced by overlarge braking acceleration easily occurs when the vehicle is unloaded, and the problem that the braking safety is influenced by overlong braking acceleration and lengthened braking distance easily occurs when the vehicle is fully loaded.
Disclosure of Invention
In view of the above, the present invention is directed to a method and an apparatus for controlling vehicle braking, a vehicle and a readable storage medium, so as to solve the problems in the prior art that the braking feeling and driving safety are affected due to too large or too small braking acceleration caused by unreasonable vehicle braking control mode.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle braking control method, wherein the method comprises:
determining a target braking acceleration of a vehicle upon monitoring that a brake pedal of the vehicle is depressed;
acquiring the actual braking acceleration and the actual braking torque of the vehicle and the rolling radius of wheels;
determining a first acceleration difference between the actual braking acceleration and the target braking acceleration;
determining the actual mass of the vehicle according to the actual braking acceleration and the rolling radius under the condition that the first acceleration difference is larger than a first threshold value;
determining a braking force difference value according to the actual mass and the first acceleration difference value;
and correcting the actual braking force of the vehicle according to the braking force difference.
Further, the vehicle brake control method, in which the actual braking force of the vehicle is corrected according to the braking force difference, includes:
acquiring a first distance in a driving direction between a center of mass of the vehicle and a front axle of the vehicle, a second distance in the driving direction between the center of mass of the vehicle and a rear axle of the vehicle, and a wheel base of the vehicle;
determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheelbase;
increasing an actual braking force at a front wheel of the vehicle according to the front wheel braking force difference; and increasing the actual braking force at the rear wheel of the vehicle according to the rear wheel braking force difference.
Further, in the vehicle brake control method, a brake acceleration curve is stored in the vehicle, and the brake acceleration curve represents the corresponding relation between the pedal stroke and the acceleration under the conditions of preset service quality and preset road adhesion coefficient;
acquiring a target braking acceleration of a vehicle when it is monitored that a brake pedal of the vehicle is stepped on, comprising:
when monitoring that a brake pedal of a vehicle is stepped, acquiring a pedal stroke of the brake pedal;
and determining the target braking acceleration according to the pedal stroke and the braking acceleration curve.
Further, in the vehicle braking control method, when the first acceleration difference is greater than a first threshold, determining an actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque, and the rolling radius includes:
accumulating the times that the first acceleration difference value is larger than a first threshold value under the condition that the first acceleration difference value is larger than the first threshold value;
and determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the times are greater than a second threshold value.
Further, in the vehicle braking control method, before obtaining a first actual braking acceleration, an actual braking torque, and a rolling radius of a wheel of the vehicle, the method further includes:
determining the target braking force according to the preset conditioning quality and the target braking acceleration;
and braking the vehicle according to the target braking force.
Further, in the vehicle brake control method, after correcting an actual braking force of the vehicle according to the braking force difference, the method further includes:
reacquiring a second actual braking acceleration of the vehicle;
a second acceleration difference between the second actual braking acceleration and the first actual braking acceleration
Accumulating a second number of times that the second acceleration difference is smaller than a third threshold value under the condition that the second acceleration difference is smaller than the third threshold value;
and stopping correcting the actual braking force of the vehicle when the second secondary number is larger than a fourth threshold value.
Another object of the present invention is to provide a vehicle brake control apparatus, wherein the apparatus includes:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining a target braking acceleration of a vehicle when a brake pedal of the vehicle is monitored to be stepped;
the first acquisition module is used for acquiring a first actual braking acceleration, an actual braking torque and a rolling radius of a wheel of the vehicle;
a second determination module for determining a first acceleration difference between the first actual braking acceleration and the target braking acceleration;
the third determining module is used for determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first acceleration difference is larger than a first threshold;
the fourth determining module is used for determining a braking force difference value according to the actual mass and the first acceleration difference value;
and the correction module is used for correcting the actual braking force of the vehicle according to the braking force difference value.
Further, in the vehicle brake control apparatus, the correction module includes:
a second acquisition unit configured to acquire a first distance in a traveling direction between a center of mass of the vehicle and a front axle of the vehicle, a second distance in the traveling direction between the center of mass of the vehicle and a rear axle of the vehicle, and a wheel base of the vehicle;
the second determining unit is used for determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheel base;
a first adjusting unit for increasing an actual braking force at a front wheel of the vehicle according to the front wheel braking force difference;
a second adjusting unit for increasing an actual braking force at a rear wheel of the vehicle according to the rear wheel braking force difference.
Further, in the vehicle brake control apparatus, the third determining means may include:
the counting unit is used for accumulating the first times that the first acceleration difference value is larger than the first threshold value under the condition that the first acceleration difference value is larger than the first threshold value;
and the third determining unit is used for determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first time number is greater than a second threshold value.
Further, the apparatus further comprises:
the second obtaining module is used for obtaining a second actual braking acceleration of the vehicle again after correcting the actual braking force of the vehicle according to the braking force difference value;
a fifth determining module for determining a second acceleration difference between the second actual braking acceleration and the first actual braking acceleration;
the counting module is used for accumulating a second number of times that the second acceleration difference value is smaller than a third threshold value under the condition that the second acceleration difference value is smaller than the third threshold value;
and the stopping module is used for stopping correcting the actual braking force of the vehicle when the second number is larger than a fourth threshold value.
Further, in the vehicle brake control device, a brake acceleration curve is stored in the vehicle, and the brake acceleration curve represents the corresponding relation between the pedal stroke and the acceleration under the conditions of preset service quality and preset road adhesion coefficient;
the first determining module includes:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the pedal stroke of a brake pedal when the brake pedal of a vehicle is monitored to be stepped;
and the first determining unit is used for determining the target braking acceleration according to the pedal travel and the braking acceleration curve.
Further, the vehicle brake control device further includes:
a sixth determining module, configured to determine the target braking force according to the preset equipment mass and the target braking acceleration before obtaining a first actual braking acceleration of the vehicle, the actual braking torque, and a rolling radius of a wheel;
and the braking module is used for braking the vehicle according to the target braking force.
Compared with the prior art, the vehicle brake control method and device have the following advantages:
determining a target braking acceleration of the vehicle by monitoring when a brake pedal of the vehicle is depressed; acquiring the actual braking acceleration and the actual braking torque of the vehicle and the rolling radius of wheels; determining a first acceleration difference between an actual braking acceleration and the target braking acceleration; under the condition that the first acceleration difference value is larger than a first threshold value, determining the actual mass of the vehicle according to the actual braking acceleration, the actual braking torque and the rolling radius; determining a braking force difference value according to the actual mass and the first acceleration difference value; and correcting the actual braking force of the vehicle according to the braking force difference. When the vehicle is braked, under the condition that the deviation of the actual braking acceleration and the target braking acceleration of the vehicle is greater than a first threshold value, the load of the vehicle is judged to be changed, the actual mass of the vehicle is calculated, a corresponding braking force difference value is further determined, the actual braking force of the vehicle is further adjusted according to the braking force difference value until the deviation of the actual braking acceleration and the target braking acceleration of the vehicle is less than or equal to the first threshold value, and therefore the brake acceleration corresponding to the same pedal stroke when the vehicle is trodden under different loads is ensured to be the same, and the problems that the brake feeling and the driving safety are influenced due to the fact that the brake acceleration is too large or too small can be avoided.
It is a further object of the present invention to provide a vehicle, wherein the vehicle includes the vehicle brake control apparatus.
The invention also proposes a readable storage medium, wherein said readable storage medium stores thereon a program or instructions which, when executed by a processor, implement a vehicle braking control method as described above.
The invention also provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used for running a program or instructions to realize the vehicle brake control method.
The vehicle, the readable storage medium and the chip have the same advantages as the vehicle brake control method and the vehicle brake control device in comparison with the prior art, and are not repeated herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle braking control method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a braking acceleration curve in an embodiment of the present invention;
FIG. 3 is a schematic illustration of a braking force modification in an embodiment of the present invention;
FIG. 4 is a control schematic diagram of a vehicle brake control method in an embodiment of the invention;
fig. 5 is a schematic structural diagram of a vehicle brake control device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a schematic flow chart of a vehicle braking control method according to an embodiment of the present invention is shown, where the method includes steps S100 to S600.
The vehicle braking control method provided by the embodiment of the invention is applied to a vehicle controller of a vehicle.
S100, when the situation that a brake pedal of a vehicle is stepped on is monitored, determining the target braking acceleration of the vehicle.
In step S100, the target braking acceleration refers to a braking acceleration corresponding to a current brake pedal stroke under a standard working condition, that is, a braking acceleration expected by the driver, where the standard working condition refers to a working condition when a corresponding relationship curve between a calibrated braking acceleration and a brake pedal stroke is obtained.
In step S100, when it is determined that the driver has stepped on the brake pedal and the vehicle needs to be braked or decelerated, the brake acceleration corresponding to the stepping stroke of the brake pedal is obtained.
In practical application, the vehicle determines a target braking force according to the target braking acceleration and a preset service quality, and then brakes the vehicle based on the target braking force.
Optionally, in an embodiment, the vehicle stores a braking acceleration curve, and the braking acceleration curve represents a corresponding relationship between pedal travel and acceleration under a preset service mass and a preset road adhesion coefficient;
the step S100 specifically includes steps S101 to S102:
s101, when the fact that a brake pedal of a vehicle is stepped is monitored, a pedal stroke of the brake pedal is obtained.
When the brake pedal is monitored to be stepped, the pedal stroke of the brake pedal is monitored through the displacement sensor.
And S102, determining the target braking acceleration according to the pedal stroke and the braking acceleration curve.
The braking acceleration curve represents the corresponding relation between the pedal stroke and the acceleration under the conditions of preset conditioning quality and preset road adhesion coefficient; therefore, based on the braking acceleration curve, the braking acceleration corresponding to the pedal stroke can be inquired, and the target braking acceleration can be determined.
In practical application, the preset set mass is the total mass of the vehicle under the condition that the vehicle is unloaded, and a braking acceleration curve is shown in fig. 2.
And step S200, acquiring a first actual braking acceleration, an actual braking torque and a rolling radius of a wheel of the vehicle.
In the step S200, after the driver steps on the brake pedal, the vehicle may determine a corresponding brake acceleration according to a brake acceleration curve, determine a corresponding target brake force by combining a preset setup quality corresponding to the brake acceleration curve, and then brake the vehicle based on the target brake force, where the actual brake acceleration of the vehicle is monitored based on the acceleration sensor, that is, the first actual brake acceleration.
In step S200, the rolling radius of the wheel is an intrinsic parameter of the wheel, and may be directly obtained; the actual braking torque may be calculated by combining an actual braking force of the vehicle, i.e. the braking force of the wheel brake disc under actual action, with a braking force arm, i.e. the rolling radius, and may be obtained by a pressure sensor.
S300, determining a first acceleration difference value between the first actual braking acceleration and the target braking acceleration.
In the step S300, the first actual braking acceleration determined in the step S200 is subtracted from the target braking acceleration determined in the step S100 to obtain the first acceleration difference, which indicates the deviation between the target braking acceleration and the actual braking acceleration.
S400, determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first acceleration difference is larger than a first threshold value.
In the step S400, the first threshold is a tolerance allowed by the acceleration deviation, and when the first acceleration difference is smaller than or equal to the first threshold, it indicates that the deviation between the actual braking acceleration and the target braking acceleration is not large, it indicates that the current braking sense is consistent with the target braking sense, and the actual weight of the vehicle is equal to or close to the preset service mass, and then the vehicle braking torque does not need to be corrected; and when the first acceleration difference is larger than the first threshold, it is described that the actual current vehicle actual weight is larger than the preset trim mass, which results in the brake acceleration being smaller than the expected value, and therefore the actual mass of the vehicle needs to be determined again, because the actual mass of the vehicle is determined according to the first actual brake acceleration, the actual brake force and the rolling radius, which is specifically calculated according to m _ act ═ T _ act/r/a _ act, where m _ act is the actual mass, T _ act is the actual brake force, r is the rolling radius, and a _ act is the first actual brake acceleration.
S500, determining a first braking force difference value according to the actual mass and the first acceleration difference value.
In step S500, the braking force z required to be increased, i.e. the first braking force difference, is determined according to the actual mass and the first acceleration difference, and the first braking force difference can be calculated by multiplying the actual mass by the first acceleration difference. In practical applications, the first braking force difference Δ F ═ m _ act (a _ tgt-a _ act) · β, where a _ tgt is a target braking acceleration and β is a safety factor; wherein beta is less than 1, so as to avoid the unstable working condition that the wheel frequently enters and triggers an Anti-lock Braking System (ABS) when the Braking strength is high.
And S600, correcting the actual braking force of the vehicle according to the first braking force difference value.
In the step S600, the braking force actually applied to the wheels of the vehicle is increased according to the first braking force difference determined in the step S500, so as to increase the braking acceleration of the vehicle until the difference between the actual braking acceleration of the vehicle and the target braking acceleration corresponding to the current pedal stroke is smaller than the first threshold, so as to obtain the same braking feeling.
In practical applications, as shown in fig. 3, the actual braking force is controlled at a preset rate to increase the first braking force difference until the target braking force is reached.
Compared with the prior art, the vehicle brake control method has the following advantages:
determining a target braking acceleration of the vehicle by monitoring when a brake pedal of the vehicle is depressed; acquiring the actual braking acceleration and the actual braking torque of the vehicle and the rolling radius of wheels; determining a first acceleration difference between an actual braking acceleration and the target braking acceleration; under the condition that the first acceleration difference value is larger than a first threshold value, determining the actual mass of the vehicle according to the actual braking acceleration, the actual braking torque and the rolling radius; determining a braking force difference value according to the actual mass and the first acceleration difference value; and correcting the actual braking force of the vehicle according to the braking force difference. When the vehicle is braked, under the condition that the deviation of the actual braking acceleration and the target braking acceleration of the vehicle is greater than a first threshold value, the load of the vehicle is judged to be changed, the actual mass of the vehicle is calculated, a corresponding braking force difference value is further determined, the actual braking force of the vehicle is further adjusted according to the braking force difference value until the deviation of the actual braking acceleration and the target braking acceleration of the vehicle is less than or equal to the first threshold value, and therefore the brake acceleration corresponding to the same pedal stroke when the vehicle is trodden under different loads is ensured to be the same, and the problems that the brake feeling and the driving safety are influenced due to the fact that the brake acceleration is too large or too small can be avoided.
Optionally, in an embodiment, the step S400 includes steps S401 to S402:
step S401, accumulating a first number of times that the first acceleration difference is greater than the first threshold value under the condition that the first acceleration difference is greater than the first threshold value.
The first frequency is the frequency that the first acceleration difference value appearing in the current driving process is larger than a first threshold value, and is used for judging whether the deviation between the actual braking acceleration and the target braking acceleration of the vehicle is an accidental event or not. The value is cleared after the vehicle is parked because the mass of the whole vehicle is likely to change after the vehicle is parked.
And S402, determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first time number is greater than a second threshold value.
In the step S402, the second threshold is an event number threshold defining whether an event in which a deviation between the actual braking acceleration and the target braking acceleration of the vehicle occurs is an accidental event, and when the first number is greater than the second threshold, it is described that an event in which a deviation between the actual braking acceleration and the target braking acceleration is large occurs more frequently, and the actual mass of the vehicle is greatly changed than the mass of the preset vehicle, so that the current actual mass of the vehicle is calculated according to the first actual braking acceleration, the actual braking torque, and the rolling radius.
In the above embodiment, when the number of times that the first acceleration difference value is greater than the first threshold value during the current driving process is greater than the second threshold value, the actual mass of the vehicle is recalculated, so that unnecessary braking force correction on the vehicle due to an actual acceleration deviation caused by an accidental event can be avoided.
Optionally, in an embodiment, the step S600 includes steps S601 to S603:
step S601, acquiring a first distance between a center of mass of the vehicle and a front axle of the vehicle in a traveling direction, a second distance between the center of mass of the vehicle and a rear axle of the vehicle in the traveling direction, and a wheel base of the vehicle.
In step S601, the first distance is a distance between a center of mass of the vehicle and a front axle of the vehicle in a driving direction, that is, a projection of the distance between the center of mass and the front axle on a plane where the front axle and the rear axle are located; the second distance is the distance between the center of mass of the vehicle and the rear axle of the vehicle in the driving direction, namely the projection of the distance between the center of mass and the rear axle on the plane where the front axle and the rear axle are located; the wheel base is an inherent parameter of the vehicle.
Step S602, determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheel base.
In the step S602, the ratio of the first distance to the wheel base is multiplied by the braking force difference, so that the braking force required to be increased on the front wheel, that is, the braking force difference of the front wheel, can be calculated; the ratio of the second distance to the wheel base is multiplied by the braking force difference, so that the braking force required to be increased on the rear wheel, namely the braking force difference of the rear wheel, can be calculated.
Step S603, increasing the actual braking force of the front wheel of the vehicle according to the front wheel braking force difference; and increasing an actual braking force at a rear wheel of the vehicle according to the rear wheel braking force difference.
In the step S603, the actual braking force acting on the front wheel of the vehicle is increased by the front wheel braking force difference at a preset rate; and simultaneously, increasing the actual braking force acting on the rear wheels of the vehicle by the rear wheel braking force difference according to a preset rate, so that the braking forces increased on the front wheels and the rear wheels of the vehicle are just the braking force difference.
In the above embodiment, the braking force increase amounts distributed to the front wheels and the rear wheels of the vehicle are adjusted based on the difference in the distances in the vehicle traveling direction between the center of mass of the vehicle and the front axle and the rear axle, so that the correction of the vehicle braking force is more reasonable.
Optionally, in an implementation manner, the vehicle braking control method according to the embodiment of the present application further includes, after the step S600, the steps S701 to S704:
and step S701, the second actual braking acceleration of the vehicle is obtained again.
In step S701, after the actual braking force of the vehicle is adjusted, the actual braking acceleration of the vehicle is continuously acquired by the acceleration sensor as the second actual braking acceleration.
Step S702, a second acceleration difference between the second actual braking acceleration and the first actual braking acceleration.
In the step S702, the second actual braking acceleration is subtracted from the second actual braking acceleration to obtain the second acceleration difference.
And step S703, accumulating a second number of times that the second acceleration difference is smaller than the third threshold value, when the second acceleration difference is smaller than the third threshold value.
In the step S703, the third threshold is an acceleration difference threshold used for defining whether the second actual braking acceleration and the first actual braking acceleration change significantly; the number of times that the second acceleration difference value occurring in the process of correcting the actual braking force of the vehicle this time is smaller than the third threshold value.
And a step S704 of stopping the correction of the actual braking force of the vehicle when the second number of times is larger than a fourth threshold value.
In the step S704, the fourth threshold is an event number threshold defining whether an event that the second actual braking acceleration of the vehicle does not significantly change from the first actual braking acceleration is an accidental event, and when the second number is greater than the fourth threshold, it indicates that the event that the second actual braking acceleration does not significantly change from the first actual braking acceleration occurs more frequently, that is, the actual braking acceleration of the vehicle does not reach the target braking acceleration by increasing the braking force, and indicates that the maximum braking acceleration that can be reached by the road surface that has reached the current adhesion coefficient at this time is not reached, so that the actual braking force of the vehicle is stopped being corrected, that is, the braking force is not increased any more. And if the wheels are locked, entering a brake anti-lock control logic.
In practical application, please refer to fig. 4, which shows a control schematic diagram of a vehicle brake control method according to an embodiment of the present invention.
As shown in fig. 4, in step S411, a target deceleration section (i.e., a target braking acceleration) is determined by monitoring the brake pedal stroke, and then the process proceeds to step S412;
in step S412, it is determined whether the target deceleration (i.e., the target braking acceleration) is equal to the actual deceleration (i.e., the actual braking acceleration) of the vehicle, and if so, it is determined that the actual weight of the vehicle does not deviate much from the preset service mass, and the process proceeds to step S417; if the target deceleration is not equal to the actual deceleration, the routine proceeds to step S413;
in step S413, the number of times of events in which the target deceleration is not equal to the actual deceleration occurs in the current driving process is accumulated, if the number exceeds the threshold value 1, the step S414 is executed, otherwise, the step S411 is executed again;
in step S414, correcting the actual braking force of the vehicle, specifically calculating the actual weight of the vehicle through the actual braking torque, the rolling radius of the wheel, and the actual braking acceleration of the vehicle, then determining the braking force that needs to be increased based on the actual weight and the difference between the target braking acceleration and the actual braking acceleration, and then increasing the actual braking force at the wheel based on the braking force that needs to be increased;
in step S415, it is determined whether the corrected braking acceleration variation is smaller than the threshold 2, if so, it indicates that the braking acceleration variation is not large, and step S416 is entered, otherwise, step S414 is entered again;
in step S416, accumulating the number of events that whether the braking acceleration variation is smaller than the threshold 2 in the braking force correction process of this time, if the number of events exceeds the threshold 3, entering step S417, otherwise, entering step S414 again;
in step S417, the brake force is output at the current brake torque, that is, the brake force of the vehicle is not corrected;
in step S418, whether a wheel lock condition occurs is monitored; if the wheel is locked, the step S419 is executed to trigger the ABS for control; and if the wheel locking condition does not occur, continuously outputting according to the current braking torque.
Another objective of the present invention is to provide a vehicle brake control device, wherein, referring to fig. 5, fig. 5 shows a schematic structural diagram of a vehicle brake control device according to an embodiment of the present invention, the device includes:
a first determining module 51, configured to determine a target braking acceleration of a vehicle when it is monitored that a brake pedal of the vehicle is pressed;
a first obtaining module 52, configured to obtain a first actual braking acceleration, an actual braking torque, and a rolling radius of a wheel of the vehicle;
a second determining module 53, configured to determine a first acceleration difference between the first actual braking acceleration and the target braking acceleration;
a third determining module 54, configured to determine an actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque, and the rolling radius when the first acceleration difference is greater than a first threshold;
a fourth determining module 55, configured to determine a braking force difference according to the actual mass and the first acceleration difference;
and a correction module 56, configured to correct the actual braking force of the vehicle according to the braking force difference.
In the device according to the embodiment of the invention, when the vehicle is braked, under the condition that the deviation between the actual braking acceleration and the target braking acceleration of the vehicle is greater than the first threshold value, the load of the vehicle is judged to be changed, the actual mass of the vehicle is calculated, the corresponding braking force difference value is further determined, and the actual braking force of the vehicle is further adjusted according to the braking force difference value until the deviation between the actual braking acceleration and the target braking acceleration of the vehicle is less than or equal to the first threshold value, so that the braking acceleration corresponding to the same pedal stroke of stepping under different loads is the same, and the problems that the braking feeling and the driving safety are influenced due to the fact that the braking acceleration is too large or too small can be avoided.
Optionally, in the vehicle brake control device, the correcting module 56 includes:
a second acquisition unit configured to acquire a first distance in a traveling direction between a center of mass of the vehicle and a front axle of the vehicle, a second distance in the traveling direction between the center of mass of the vehicle and a rear axle of the vehicle, and a wheel base of the vehicle;
the second determining unit is used for determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheel base;
a first adjusting unit for increasing an actual braking force at a front wheel of the vehicle according to the front wheel braking force difference;
a second adjusting unit for increasing an actual braking force at a rear wheel of the vehicle according to the rear wheel braking force difference.
Optionally, in the vehicle brake control apparatus, the third determining module 54 includes:
the counting unit is used for accumulating the first times that the first acceleration difference value is larger than the first threshold value under the condition that the first acceleration difference value is larger than the first threshold value;
and the third determining unit is used for determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first time number is greater than a second threshold value.
Optionally, the apparatus further comprises:
the second obtaining module is used for obtaining a second actual braking acceleration of the vehicle again after correcting the actual braking force of the vehicle according to the braking force difference value;
a fifth determining module for determining a second acceleration difference between the second actual braking acceleration and the first actual braking acceleration;
the counting module is used for accumulating a second number of times that the second acceleration difference value is smaller than a third threshold value under the condition that the second acceleration difference value is smaller than the third threshold value;
and the stopping module is used for stopping correcting the actual braking force of the vehicle when the second number is larger than a fourth threshold value.
Optionally, in the vehicle brake control device, the vehicle stores a brake acceleration curve, and the brake acceleration curve represents a corresponding relationship between a pedal stroke and an acceleration under a preset service quality and a preset road adhesion coefficient;
the first determining module 51 includes:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the pedal stroke of a brake pedal when the brake pedal of a vehicle is monitored to be stepped;
and the first determining unit is used for determining the target braking acceleration according to the pedal stroke and the braking acceleration curve.
Optionally, the vehicle brake control device further includes:
a sixth determining module, configured to determine the target braking force according to the preset equipment mass and the target braking acceleration before obtaining a first actual braking acceleration of the vehicle, the actual braking torque, and a rolling radius of a wheel;
and the braking module is used for braking the vehicle according to the target braking force.
It is a further object of the present invention to provide a vehicle, wherein the vehicle further comprises the vehicle brake control device.
The invention also proposes a readable storage medium, wherein said readable storage medium stores thereon a program or instructions which, when executed by a processor, implement a vehicle braking control method as described above.
The invention also provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used for running a program or instructions to realize the vehicle brake control method.
The vehicle, the readable storage medium and the chip have the same advantages as the vehicle brake control method and device compared with the prior art, and are not repeated herein
In summary, according to the vehicle brake control method, the vehicle brake control device, the vehicle and the readable storage medium provided by the application, when the vehicle brakes, under the condition that the deviation between the actual brake acceleration and the target brake acceleration of the vehicle is greater than the first threshold value, the load of the vehicle is judged to be changed, the actual mass of the vehicle is calculated, and then the corresponding brake force difference value is determined, and further the actual brake force of the vehicle is adjusted according to the brake force difference value until the deviation between the actual brake acceleration and the target brake acceleration of the vehicle is less than or equal to the first threshold value, so that the brake acceleration corresponding to the same pedal stroke is ensured to be the same under different loads, and the problems that the brake feeling and the driving safety are affected due to the fact that the brake acceleration is too large or too small can not occur.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention 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 invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle brake control method, characterized by comprising:
determining a target braking acceleration of a vehicle upon monitoring that a brake pedal of the vehicle is depressed;
acquiring a first actual braking acceleration and an actual braking torque of the vehicle and a rolling radius of a wheel;
determining a first acceleration difference between the first actual braking acceleration and the target braking acceleration;
determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first acceleration difference is larger than a first threshold value;
determining a braking force difference value according to the actual mass and the first acceleration difference value;
and correcting the actual braking force of the vehicle according to the braking force difference.
2. The vehicle brake control method according to claim 1, wherein correcting the actual braking force of the vehicle based on the braking force difference includes:
acquiring a first distance in a driving direction between a center of mass of the vehicle and a front axle of the vehicle, a second distance in the driving direction between the center of mass of the vehicle and a rear axle of the vehicle, and a wheel base of the vehicle;
determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheel base;
increasing an actual braking force at a front wheel of the vehicle according to the front wheel braking force difference;
increasing an actual braking force at a rear wheel of the vehicle based on the rear wheel braking force difference.
3. The vehicle brake control method according to claim 1, characterized in that the vehicle stores a brake acceleration curve representing a correspondence relationship between a pedal stroke and an acceleration at a preset service mass and a preset road surface adhesion coefficient;
when the brake pedal of the vehicle is monitored to be stepped on, acquiring the target braking acceleration of the vehicle, wherein the method comprises the following steps:
when monitoring that a brake pedal of a vehicle is stepped, acquiring a pedal stroke of the brake pedal;
and determining the target braking acceleration according to the pedal travel and the braking acceleration curve.
4. The vehicle braking control method according to claim 1, characterized in that determining the actual mass of the vehicle from the first actual braking acceleration, the actual braking torque, and the rolling radius in the case where the first acceleration difference is larger than a first threshold value includes:
accumulating a first number of times that the first acceleration difference is greater than the first threshold value, if the first acceleration difference is greater than the first threshold value;
and determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first time number is larger than a second threshold value.
5. The vehicle brake control method according to claim 3, characterized in that, before acquiring the first actual braking acceleration of the vehicle, the actual braking torque, and the rolling radius of the wheel, the method further comprises:
determining the target braking force according to the preset conditioning quality and the target braking acceleration;
and braking the vehicle according to the target braking force.
6. The vehicle brake control method according to claim 1, characterized in that, after correcting the actual braking force of the vehicle on the basis of the braking force difference, the method further comprises:
reacquiring a second actual braking acceleration of the vehicle;
determining a second acceleration difference between the second actual braking acceleration and the first actual braking acceleration;
accumulating a second number of times that the second acceleration difference is smaller than a third threshold value under the condition that the second acceleration difference is smaller than the third threshold value;
and stopping correcting the actual braking force of the vehicle when the second secondary number is larger than a fourth threshold value.
7. A vehicle brake control apparatus, characterized by comprising:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining a target braking acceleration of a vehicle when a brake pedal of the vehicle is monitored to be stepped;
the first acquisition module is used for acquiring a first actual braking acceleration and an actual braking torque of the vehicle and a rolling radius of a wheel;
a second determination module for determining a first acceleration difference between the first actual braking acceleration and the target braking acceleration;
the third determining module is used for determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first acceleration difference is larger than a first threshold;
the fourth determining module is used for determining a braking force difference value according to the actual mass and the first acceleration difference value;
and the correction module is used for correcting the actual braking force of the vehicle according to the braking force difference value.
8. The vehicle brake control device according to claim 7, characterized in that the correction module includes:
a second acquisition unit that acquires a first distance in a traveling direction between a center of mass of the vehicle and a front axle of the vehicle, a second distance in the traveling direction between the center of mass of the vehicle and a rear axle of the vehicle, and a wheel base of the vehicle;
the second determining unit is used for determining a front wheel braking force difference value and a rear wheel braking force difference value according to the braking force difference value, the first distance, the second distance and the wheel base;
a first adjusting unit for increasing an actual braking force at a front wheel of the vehicle according to the front wheel braking force difference;
a second adjusting unit for increasing an actual braking force at a rear wheel of the vehicle according to the rear wheel braking force difference.
9. The vehicle brake control apparatus according to claim 7, characterized in that the third determination module includes:
the counting unit is used for accumulating the first times that the first acceleration difference value is larger than the first threshold value under the condition that the first acceleration difference value is larger than the first threshold value;
and the third determining unit is used for determining the actual mass of the vehicle according to the first actual braking acceleration, the actual braking torque and the rolling radius under the condition that the first time number is greater than a second threshold value.
10. A vehicle characterized by further comprising a vehicle brake control device according to any one of claims 7 to 9.
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| CN202110662999.6A CN114763126B (en) | 2021-06-15 | 2021-06-15 | Vehicle brake control method and device, vehicle and readable storage medium |
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| CN202110662999.6A CN114763126B (en) | 2021-06-15 | 2021-06-15 | Vehicle brake control method and device, vehicle and readable storage medium |
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| CN114763126A true CN114763126A (en) | 2022-07-19 |
| CN114763126B CN114763126B (en) | 2023-05-23 |
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| EP0173954A2 (en) * | 1984-09-07 | 1986-03-12 | Robert Bosch Gmbh | Brake pressure regulation process |
| US5816666A (en) * | 1995-07-21 | 1998-10-06 | Robert Bosch Gmbh | Process and apparatus for controlling the brake system of a vehicle |
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| CN114763126B (en) | 2023-05-23 |
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