CN114802166B - Control method for keeping pedal feel of automobile constant - Google Patents
Control method for keeping pedal feel of automobile constant Download PDFInfo
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- CN114802166B CN114802166B CN202210504506.0A CN202210504506A CN114802166B CN 114802166 B CN114802166 B CN 114802166B CN 202210504506 A CN202210504506 A CN 202210504506A CN 114802166 B CN114802166 B CN 114802166B
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- braking
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- deceleration
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- automobile
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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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
- B60T17/222—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems by filling or bleeding of hydraulic systems
- B60T17/223—Devices for pressurising brake systems acting on pedal
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
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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 control method and a control system for keeping constant pedal feel of an automobile, wherein the control method comprises the following steps: in braking, calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine of a vehicle, the disc temperature of a brake disc and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration; judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value; if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value. The relation between the pedal force and the deceleration of the vehicle is always kept unchanged, and the driving experience of the vehicle and the braking safety of the vehicle are improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a control method for keeping the pedal feel of an automobile constant.
Background
With the continuous increase of the automobile industry scale in China, the requirements of people on automobiles are continuously improved, namely the problems of 'existence' and 'non existence' are solved in the past by automobile enterprises, and the problems of 'good and bad' are solved more and more at present. The good design and matching of the brake system not only determines the braking performance and safety of the automobile, but also directly determines the driving experience of the automobile, namely the brake pedal feel.
The brake pedal feel, which is the same as the smoothness and the stability of the automobile, is one of the DNA factors of an enterprise and a model of the automobile, has been studied in depth abroad, forms respective styles and evaluation systems, and starts to have more and more automobile enterprises to put into study in China, but the technology starts later and the data accumulation is less. The subjective evaluation components of the pedal feel are more, the subjective evaluation components are more different from the traditional braking system objective test, the subjective evaluation components are difficult to identify, and the subjective evaluation components have greater design difficulty when the system is matched and designed. In a conventional brake system of a fuel passenger car, a vacuum servo is used to amplify the force of a driver stepping on a brake pedal by a vacuum booster, push a brake master cylinder, establish brake fluid pressure, and push friction between a brake caliper friction plate and a brake disc, thereby generating braking force and vehicle deceleration.
Under the push of the new four-wave of the automobile, the development of the electric control braking system of the automobile is rapid. An electronic servo booster eboster, an integrated electronic control brake system IBB/MKC 1 and the like are generated. The application and development of the electric control braking system bring out some new functions and brand new driving experience.
Under extreme use conditions, friction braking performance may be degraded, even disabled, by heat, water, and other conditions.
As shown in fig. 1, a conventional brake system of a fuel passenger car is generally vacuum servo apparatus, amplifies a force of a driver's stepping on a brake pedal by a vacuum booster 10', pushes a master cylinder 20', establishes a brake fluid pressure, pushes a brake 30', specifically, friction of a brake caliper friction plate with a brake disc, and thereby generates a braking force and a vehicle deceleration. As shown in fig. 2, the brake system of the new energy automobile increasingly adopts an electronic booster 10″ and realizes braking energy recovery. When the counter-drag torque of the motor 50 "can meet the braking deceleration requirement, the braking force required in braking is all provided by the counter-drag braking of the motor 50". When the counter drag torque of the motor 50 "cannot meet the braking deceleration requirement, the braking force required at the time of braking is simultaneously provided by the friction braking provided by the motor 50" counter drag braking and the brake 30 ". When the vehicle is braked in a regenerative mode, the control target is to keep the pedal force unchanged from the theoretical brake fluid pressure.
Whether it is a braking maneuver of a conventional fuel vehicle or a hybrid braking maneuver of a new energy vehicle, the braking maneuver is not a closed loop control, and the control of the braking maneuver is not the vehicle deceleration. Friction braking may deviate from design targets due to factors such as working environment, use environment, etc., for example, friction coefficient of the friction plate is significantly attenuated after braking at high temperature or under a wading condition. In addition to the braking system, the vehicle deceleration is affected, and the driving performance of the vehicle is affected, so that under certain specific working conditions, the driving torque of the power system can obviously rise, and the actual effect of friction braking is further affected. The driving experience of the vehicle can be influenced under the conditions, and the driving safety of the vehicle is influenced under the serious conditions.
Disclosure of Invention
In view of this, the present invention provides a control method for keeping the pedal feel of an automobile constant.
The invention also provides a control system for keeping the pedal feel of the automobile constant.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to a first aspect of the present invention, a control method for keeping a pedal feel of an automobile constant includes the steps of:
in braking, calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine of a vehicle, the disc temperature of a brake disc and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value.
Further, when calculating and evaluating the stepping behavior of the driver, the driving intention of the driver is analyzed and judged by the master cylinder stroke detected by the master cylinder stroke sensor installed in the electric servo.
Further, when calculating and evaluating the wheel end driving torque generated by the engine of the vehicle, obtaining the creeping wheel end driving torque under the creeping working condition; acquiring starting wheel end driving torque and interpolation coefficients in response to the position change of an accelerator pedal; and calculating the wheel end driving torque under the transition working condition according to a preset method based on the vermicular wheel end driving torque, the starting wheel end driving torque and the interpolation coefficient.
Further, when the disc temperature of the brake disc is calculated and estimated, the temperature of the brake disc is calculated and estimated by the number and duration of brake treading, the relationship between the friction coefficient and the temperature of the friction plate is compared, and corresponding friction coefficients are extracted according to different temperatures, so that the friction braking force is calculated and estimated.
Further, when the deceleration of the vehicle is calculated and evaluated, the deceleration of the vehicle is calculated and evaluated by a vehicle longitudinal acceleration sensor or radar.
Further, in braking, if braking energy is recovered, the counter drag braking force generated by the motor during braking energy recovery needs to be calculated and evaluated.
Further, when the calculation and evaluation of the reverse braking force generated by the motor during braking energy recovery are performed, the motor performs reverse braking during braking energy recovery, a reverse braking moment is generated, and a relevant signal and a value of the reverse braking moment are obtained through a vehicle control unit.
According to a control system for keeping a pedal feel of an automobile constant in a second aspect of the embodiment of the present invention, the following steps are performed at the time of braking:
calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine of the vehicle, the disc temperature of a brake disc and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value.
Further, in braking, if braking energy is recovered, the counter drag braking force generated by the motor during braking energy recovery needs to be calculated and evaluated.
Further, when the calculation and evaluation of the reverse braking force generated by the motor during braking energy recovery are performed, the motor performs reverse braking during braking energy recovery, a reverse braking moment is generated, and a relevant signal and a value of the reverse braking moment are obtained through a vehicle control unit.
The technical scheme of the invention has the following beneficial effects:
according to the control method for keeping the pedal feel of the automobile constant, the deceleration of the automobile is taken as a control target, the friction braking force of the automobile, the braking force of the motor for anti-dragging and the driving force of the automobile are monitored, the longitudinal braking force of the automobile is combined and calculated, the relation between the pedal force of the automobile and the deceleration of the automobile is ensured to be kept unchanged all the time, and the driving experience of the automobile and the braking safety of the automobile are improved. The braking force attenuation and even braking failure caused by the attenuation of the friction coefficient of the friction plate under the working conditions of high temperature and wading of the vehicle braking can be effectively avoided, the driving force of the power system on wheels can be effectively monitored, the longitudinal braking force effect is influenced, and the driving feeling and the braking safety of the vehicle are influenced.
Drawings
FIG. 1 is a braking flow diagram of a braking system according to a conventional fuel passenger vehicle;
FIG. 2 is a braking flow diagram of a braking system according to a new energy vehicle;
fig. 3 is a flowchart of a control method for keeping a pedal feel of an automobile constant according to an embodiment of the present invention.
Reference numerals:
an electronic booster 10;
a master cylinder member 20;
a brake 30;
an engine 40;
a motor 50.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the invention, fall within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate a relative positional relationship, which changes accordingly when the absolute position of the object to be described changes.
The following describes a control method for keeping the pedal feel of an automobile constant according to an embodiment of the present invention with reference to fig. 3, including the steps of:
in braking, four variables including the stepping action of a driver, the wheel end driving torque generated by an engine 40 of the vehicle, the disc temperature of a brake disc in a brake 30 and the deceleration of the vehicle are calculated and evaluated, and the longitudinal braking force of the vehicle is calculated in a combined manner to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the determined relation curve deviates from the design value, the vehicle sends out an alarm signal to remind a driver and controls the master cylinder to carry out hydraulic compensation by utilizing high-pressure brake fluid through the electric servo device, namely the electronic booster 10, so that the relation curve of pedal force and deceleration is consistent with the design value.
That is, the control method for keeping the pedal feel of the automobile constant in the embodiment of the invention takes the deceleration of the automobile as a control target, monitors the friction braking force of the automobile and the driving force of the automobile, combines and calculates the longitudinal braking force of the automobile, carries out compensation adjustment by carrying out hydraulic braking through the electric servo device, ensures that the relation between the pedal force of the automobile and the deceleration of the automobile is always kept unchanged, and improves the riding experience of the automobile and the braking safety of the automobile. It should be noted that the design value of the pedal force versus vehicle deceleration curve is known to those skilled in the art.
When calculating and evaluating the stepping behavior of the driver, the driving intention of the driver is analyzed and judged by the master cylinder stroke detected by the stroke sensor (not shown) of the master cylinder 20 mounted in the electric servo, i.e., the electronic booster 10 in fig. 3. Specifically, when the pedal force is transmitted to the master cylinder 20 through the electronic booster 10, the piston of the master cylinder 20 moves forward, the hall displacement sensor (not shown) generates a corresponding hall potential signal, an accurate braking signal can be output through the ECU program (not shown), and the stroke and the speed of the piston movement are obtained through the stroke sensor, so that it can be determined whether the driver's intention to brake, i.e., the intention to drive is to perform a spot brake, a normal brake, an emergency brake, etc., and the signal can be provided to the control unit (not shown) such as the ABS, the ESP, etc., thereby controlling the driving state of the vehicle.
When calculating and evaluating the wheel end driving torque generated by the engine 40 of the vehicle, obtaining the vermicular wheel end driving torque under the vermicular working condition; acquiring starting wheel end driving torque and interpolation coefficients in response to the position change of an accelerator pedal; and calculating the wheel end driving torque under the transitional working condition according to a preset method based on the vermicular wheel end driving torque, the starting wheel end driving torque and the interpolation coefficient.
When the disc temperature of the brake disc in the brake 30 is calculated and evaluated, the temperature of the brake disc is calculated and evaluated by the number and duration of brake treading, compared with the friction coefficient-temperature relationship of the friction plate, and the corresponding friction coefficient is extracted according to different temperatures to calculate and evaluate the friction braking force.
When the deceleration of the vehicle is calculated and estimated, the deceleration of the vehicle is calculated and estimated by a vehicle longitudinal acceleration sensor (not shown) or a radar (not shown).
In braking, such as braking energy recovery, the counter-drag braking force generated by the motor 50 during braking energy recovery is also calculated and evaluated in accordance with a preferred embodiment of the present invention.
According to a preferred embodiment of the present invention, when calculating and evaluating the reverse brake force generated by the motor 50 during braking energy recovery, the motor 50 performs reverse brake to generate a reverse brake torque, and a vehicle control unit (not shown) acquires a signal and a value related to the reverse brake torque.
In summary, according to the control method for keeping the pedal feel of the automobile constant according to the embodiment of the invention, as shown in fig. 3, a control model of pedal force-deceleration is established by calculating and evaluating a plurality of longitudinal driving forces (driving force during braking in fig. 3) and braking forces (such as friction braking force and anti-drag braking force in fig. 3), so as to obtain a relation curve of pedal force and deceleration, and comparing the relation curve with a design value to judge whether the relation curve is consistent, if not, hydraulic braking adjustment is performed through an electric servo device to perform hydraulic braking compensation, so that the relation curve of pedal force and deceleration is consistent with the design value, thereby keeping the automobile operability-pedal feel unchanged, and improving the driving experience of the automobile and the braking safety of the automobile. The braking force attenuation and even braking failure caused by the attenuation of the friction coefficient of the friction plate under the working conditions of high temperature and wading of the vehicle braking can be effectively avoided, the driving force of the power system on wheels can be effectively monitored, the longitudinal braking force effect is influenced, and the driving feeling and the braking safety of the vehicle are influenced.
According to the control system for keeping the feel of the pedal of the automobile constant according to the embodiment of the second aspect of the present invention, at the time of braking, the control method for keeping the feel of the pedal of the automobile constant as in the above-described embodiments is performed as follows:
calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine 40 of the vehicle, the disc temperature of a brake disc in a brake 30 and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value.
The control method for keeping the pedal feel of the automobile constant has the technical effects, so that the control system for keeping the pedal feel of the automobile constant also has corresponding technical effects, namely, the automobile operability and the pedal feel are kept unchanged, and the driving experience of the automobile and the braking safety of the automobile are improved. The braking force attenuation and even braking failure caused by the attenuation of the friction coefficient of the friction plate under the working conditions of high temperature and wading of the vehicle braking can be effectively avoided, the driving force of the power system on wheels can be effectively monitored, the longitudinal braking force effect is influenced, and the driving feeling and the braking safety of the vehicle are influenced.
According to some preferred embodiments of the present invention, during braking, such as braking energy recovery, the counter-drag braking force generated by motor 50 during braking energy recovery is also calculated and evaluated.
Specifically, when calculating and evaluating the reverse braking force generated when the motor 50 recovers braking energy, the motor 50 performs reverse braking to generate a reverse braking torque when recovering braking energy, and the vehicle control unit obtains the relevant signal and the value of the reverse braking torque.
That is, the braking operation of the new energy vehicle is adopted with the electronic booster, and the braking energy recovery is achieved, as compared with that mentioned in the background art. When the counter-drag torque of the motor can meet the braking and decelerating requirements, the braking force required during braking is provided by the counter-drag braking of the motor. When the anti-drag torque of the motor cannot meet the braking and decelerating requirements, the braking force required in braking is simultaneously provided by the anti-drag braking and the friction braking of the motor. When the vehicle is braked in a recycling mode, the control target is open-loop control for keeping the pedal force and the theoretical braking hydraulic pressure unchanged, the control system for keeping the pedal feel of the automobile is formed by monitoring, calculating and evaluating the stepping action of a driver during braking, the wheel end driving torque generated by an engine of the vehicle, the disc temperature of a brake disc, the counter-drag braking force generated during braking energy recycling and the deceleration of the vehicle, more particularly, the control system is realized by the counter-drag braking force, the friction braking force and the braking driving force of the motor no matter the counter-drag torque of the motor can meet the braking deceleration requirement or not, and more particularly, the driving torque of the power system can not obviously rise under certain specific working conditions and can not influence the driving experience by reducing the driving force and the friction braking force.
Other structures and operations of the vehicle according to the embodiments of the present invention are understood and readily implemented by those skilled in the art, and thus will not be described in detail.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "preferred embodiments," "detailed description," or "preferred embodiments" and the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A control method for keeping a pedal feel of an automobile constant, comprising the steps of:
in braking, calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine of a vehicle, the disc temperature of a brake disc and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value.
2. The control method for keeping the feel of the pedal of the automobile constant according to claim 1, wherein the driving intention of the driver is analyzed and judged by the master cylinder stroke detected by the master cylinder stroke sensor installed in the electric servo when the stepping behavior of the driver is calculated and evaluated.
3. The control method for keeping a feeling of an automobile pedal constant according to claim 1, wherein when calculating and evaluating a disc temperature of a brake disc, by calculating and evaluating the number of brake steps and a duration, the temperature of the brake disc is compared with a friction coefficient-temperature relationship of a friction plate, and a corresponding friction coefficient is extracted from different temperatures, and a friction braking force is calculated and evaluated.
4. The control method for keeping the feel of the pedal of the automobile constant according to claim 1, wherein the deceleration of the vehicle is calculated and evaluated by a vehicle longitudinal acceleration sensor or radar when the deceleration of the vehicle is calculated and evaluated.
5. The control method for keeping a pedal feel constant for an automobile according to any one of claims 1 to 4, wherein during braking, if there is recovery of braking energy, a counter-drag braking force generated by the motor during recovery of braking energy is also calculated and evaluated.
6. The control method for keeping a pedal feel constant according to claim 5, wherein when calculating and evaluating a counter drag braking force generated when braking energy is recovered by an electric motor, the electric motor performs counter drag braking when braking energy is recovered, a counter drag braking moment is generated, and a signal and a value related to the counter drag braking moment are obtained by a vehicle control unit.
7. A control system for keeping a pedal feel of an automobile constant, characterized in that, at the time of braking, the steps of:
calculating and evaluating four variables of the stepping action of a driver, the wheel end driving torque generated by an engine of the vehicle, the disc temperature of a brake disc and the deceleration of the vehicle, and combining and calculating the longitudinal braking force of the vehicle to obtain a relation curve of pedal force and deceleration;
judging whether a relation curve of pedal force and vehicle deceleration is consistent with a design value;
if the obtained relation curve is judged to deviate from the design value, the vehicle sends out an alarm signal to remind a driver and carries out hydraulic compensation through the electric servo device, so that the relation curve of pedal force and deceleration is consistent with the design value.
8. The control system for keeping a pedal feel constant in an automobile according to claim 7, wherein during braking, if braking energy is recovered, a counter-drag braking force generated by the motor during braking energy recovery is also calculated and evaluated.
9. The control system for keeping a pedal feel constant in an automobile according to claim 8, wherein when calculating and evaluating a counter-drag braking force generated when braking energy is recovered by the motor, the motor performs counter-drag braking when braking energy is recovered, a counter-drag braking moment is generated, and a signal and a value related to the counter-drag braking moment are obtained by the vehicle control unit.
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| CN115230670A (en) * | 2022-08-24 | 2022-10-25 | 奇瑞汽车股份有限公司 | Method and device for warning of insufficient braking force of vehicle, vehicle and storage medium |
| CN115257681A (en) * | 2022-09-05 | 2022-11-01 | 奇瑞商用车（安徽）有限公司 | Control method and system for automobile braking deceleration response |
| CN115534906B (en) * | 2022-12-01 | 2023-02-28 | 小米汽车科技有限公司 | Braking efficiency degradation compensation method, device, vehicle and storage medium |
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