CN114852027A

CN114852027A - Automobile electronic power-assisted brake control method and device

Info

Publication number: CN114852027A
Application number: CN202210623565.XA
Authority: CN
Inventors: 张磊; 戴伟; 王奇; 李小康
Original assignee: Qingzhi Automobile Technology Suzhou Co ltd
Current assignee: Qingzhi Automobile Technology Suzhou Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-08-05
Anticipated expiration: 2042-06-02
Also published as: CN114852027B

Abstract

The embodiment of the invention provides an automobile electronic power-assisted brake control method and device, wherein the method comprises the following steps: detecting the communication state between the automobile electronic power assisting system and the electronic stability control system; judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted; under the condition that the brake intervention condition is met, calculating the current of the power-assisted motor according to a preset numerical calculation mode; and performing brake control according to the current of the power-assisted motor. The invention solves the problem that the driving safety is influenced by the locking of the wheels caused by the communication interruption of the ESC and the Eboost, and achieves the effect of backing up the ABS function and improving the driving safety.

Description

Automobile electronic power-assisted brake control method and device

Technical Field

The embodiment of the invention relates to the field of automobiles, in particular to an automobile electronic power-assisted brake control method and device.

Background

At present, new energy vehicles are increasingly popularized, more and more new energy vehicles are provided with an electronic power assisting system (eboster), so that a braking system is formed by the eboster and an ESC (electronic stability control system), the eboster replaces the original function of a vacuum booster, the ESC is used as a vehicle safety device and has functions of ABS and the like, the eboster and the ESC can also communicate with each other, when the ABS functions are acted, the ESC can transmit information to the eboster, so that the eboster executes corresponding control, but when the communication between the eboster and the ESC is interrupted, whether the ABS acts on the eboster or not is unknown, whether the ABS is in a fault eboster or not is unknown, and if the ABS is in a fault state, the danger of the vehicle can be caused when wheels are in a locking state during emergency braking.

Therefore, the problem that the driving safety is affected by wheel locking caused by the communication interruption of the ESC and the Eboost in the related art exists.

In view of the above problems in the related art, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides an automobile electronic power-assisted brake control method and device, which are used for at least solving the problem that driving safety is influenced by wheel locking caused by communication interruption of an ESC and an Eboost in the related technology.

According to an embodiment of the invention, an electronic power-assisted brake control method for an automobile is provided, which includes: detecting a communication state between an automobile electronic power assisting system and an electronic stability control system; judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted; under the condition that the brake intervention condition is met, calculating the current of the power-assisted motor according to a preset numerical calculation mode; and performing brake control according to the current of the power-assisted motor.

Further, the judging whether the brake intervention condition is satisfied includes: judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th; if the judgment result is yes, judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh; and if the judgment result is yes, the brake intervention condition is met.

Further, calculating the current of the power-assisted motor according to a preset numerical calculation mode comprises: starting timing when the brake intervention condition is met, and the first step: when the current time counter is less than a first time constant time1, determining the power-assisted motor current to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches the first time constant 1, emptying the counter and restarting timing; step two: when the current time counter is smaller than a second time constant time2, determining the power-assisted motor current to be Cur _ LT h + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches the second time constant 2, clearing the counter and restarting timing; and circularly executing the first step and the second step until the brake pedal displacement is smaller than the threshold value Pts _ LTh to jump out of the loop.

Further, after the skipping a cycle, the method further comprises: and detecting the communication state between the automobile electronic power assisting system and the electronic stability control system again, and judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted.

Further, the brake control according to the assist motor current includes: and controlling a power-assisted motor in the electronic power-assisted system to regulate the brake pressure according to the current of the power-assisted motor so as to realize the ABS backup function.

According to another embodiment of the present invention, there is provided an electronic power-assisted brake control apparatus for a vehicle, including: the detection unit is used for detecting the communication state between the automobile electronic power assisting system and the electronic stability control system; a judging unit, configured to judge whether a brake intervention condition is satisfied, if the communication state is an interruption; the calculating unit is used for calculating the current of the power-assisted motor according to a preset numerical calculation mode under the condition that the brake intervention condition is met; and the control unit is used for carrying out braking control according to the current of the power-assisted motor.

Further, the judging unit includes: the first judgment module is used for judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th; the second judgment module is used for judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh when the judgment result is yes, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh; and if the judgment result is yes, the brake intervention condition is met.

Further, the calculation unit includes: the timing module is used for starting timing from meeting the brake intervention condition, and the determining module is used for executing the following steps: when the current time counter is less than a first time constant time1, determining the power-assisted motor current to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches the first time constant 1, emptying the counter and restarting timing; step two: when the current time counter is less than a second time constant time2, determining the power-assisted motor current to be Cur _ LTh + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches the second time constant 2, clearing the counter and restarting timing; and the circulation module is used for executing the first step and the second step in a circulation mode until the brake pedal displacement is smaller than the threshold value Pts _ LThs, and the vehicle jumps out of the circulation mode.

According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.

According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.

According to the invention, the communication state between the automobile electronic power assisting system and the electronic stability control system is detected; judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted; under the condition that the brake intervention condition is met, calculating the current of the power-assisted motor according to a preset numerical calculation mode; the brake control is carried out according to the current of the power-assisted motor, so that the problem that the driving safety is influenced by wheel locking caused by the communication interruption of the ESC and the Eboost in the related technology can be solved, and the effect of backing up the ABS function and improving the driving safety is achieved.

Drawings

Fig. 1 is a block diagram of a hardware structure of a mobile terminal of an electronic power-assisted brake control method for an automobile according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for controlling an electric power assisted brake of a vehicle according to an embodiment of the present invention;

FIG. 3 is a diagram illustrating an Eboost-based backup ABS control method according to the present embodiment;

fig. 4 is a block diagram of an electronic power-assisted brake control apparatus for a vehicle according to an embodiment of the present invention.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking an example of the method running on a mobile terminal, fig. 1 is a hardware structure block diagram of the mobile terminal of an electronic power-assisted brake control method for an automobile according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the electronic power-assisted brake control method of the vehicle in the embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, i.e., to implement the method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

In the present embodiment, a method for controlling an electronic assisted brake of an automobile is provided, and fig. 2 is a flowchart of a method for controlling an electronic assisted brake of an automobile according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:

s101, detecting a communication state between an automobile electronic power assisting system and an electronic stability control system;

step S102, under the condition that the communication state is interrupted, judging whether a brake intervention condition is met;

step S103, under the condition that a brake intervention condition is met, calculating the current of the power-assisted motor according to a preset numerical calculation mode;

and step S104, performing brake control according to the current of the power-assisted motor.

In the above embodiment, when communication between eboost and ESC is interrupted, it is determined whether a brake intervention condition is satisfied, where the condition is preset and can be adjusted according to a specific vehicle condition, and when the condition is satisfied, a power-assisted motor current is calculated according to a preset calculation mode, where the motor current is used for implementing brake control, and the preset value calculation mode may be a motor current value that changes with time or a motor current value that is influenced by other parameters. By calculating the current of the power-assisted motor and performing brake control under the condition of meeting the brake intervention condition, the backup ABS function can be realized, the driving danger is reduced to a certain extent, and the brake capacity is improved.

To the car of installation Eboost at present, can utilize the helping hand motor among the control Eboost to carry out the initiative regulation of brake pressure to realize backup ABS function, can avoid dangerous emergence to a certain extent.

Optionally, the determining whether the brake intervention condition is satisfied comprises: judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th; if the judgment result is yes, judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh; and if the judgment result is yes, the brake intervention condition is met.

When the brake is intervened, a condition is needed, the brake is intervened after the condition is met, for example, a user steps on the brake, or the motor current is required to be larger than a threshold value at the same time, so that the user is indicated to step on the brake, the motor current is assisted, and the brake is also stepped to a certain degree, so that the brake intervention is needed to be started, the brake intervention is more accurate, the influence of unnecessary intervention on a driver is reduced, and otherwise, the brake control is not intervened.

Optionally, calculating the current of the power-assisted motor according to a preset numerical calculation mode includes: starting timing when the brake intervention condition is met, and the first step: when the current time counter is smaller than a first time constant time1, determining the current of the power-assisted motor to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches a first time constant time1, clearing the counter and restarting timing; step two: when the current time counter is smaller than a second time constant time2, determining the current of the power-assisted motor as Cur _ LT h + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches a second time constant 2, clearing the counter and restarting timing; and circularly executing the first step and the second step until the brake pedal displacement is smaller than the threshold value Pts _ LTh to jump out of the loop.

The value of the motor current is changed between the maximum value and the minimum value all the time, so that the braking control is more accurate, and the ABS current characteristics are more accurately simulated.

Optionally, after the loop is tripped out, the communication state between the electronic power assisting system and the electronic stability control system of the automobile is detected again, and in the case that the communication state is interrupted, whether the brake intervention condition is met is judged.

After the step one and the step two are cycled once, even after the step is executed, judging that the brake pedal displacement is smaller than the threshold value Pts _ LTh again, if so, exiting the brake control flow, if not, continuing to cyclically execute the step one and the step two once, judging whether the communication state is recovered again, if so, exiting the current control flow, and if not, continuing to execute the current control. It should be noted that the first time constant and the second time constant are two times of the loop timing, for example, the first time constant is 200 milliseconds, and the second time constant is 300 milliseconds, which is equivalent to executing the control formula of step one every 200 milliseconds, then executing the control formula of step two every 300 milliseconds, and then looping again for 200 milliseconds and 300 milliseconds until the control condition is not satisfied.

Optionally, the brake control according to the assist motor current includes: and controlling a power-assisted motor in the electronic power-assisted system to regulate the brake pressure according to the current of the power-assisted motor so as to realize the ABS backup function. The calculated current is used to perform a brake pressure condition to implement a backup ABS function.

The present invention also provides a specific embodiment, which will be described below with reference to the specific embodiment.

Fig. 3 is a schematic diagram of a backup ABS control method based on eboost in this embodiment, which includes the following steps:

the method comprises the following steps: judging whether the communication between the Eboost system and the ESC system is interrupted, if so, entering the step two, otherwise, repeating the step one;

step two: if the brake pedal displacement is larger than a set threshold value Pts _ HTh and the current of the power-assisted motor is larger than a threshold value Cur _ Th, entering a third step, otherwise, repeating the second step;

step three: setting a motor current target maximum value to Cur _ HTh, a motor current target minimum value to Cur _ LTh, setting a time constant 1 to time1, a time constant 2 to time2, and timing (counter + +), setting a target current value to Cur _ HTh- (Cur _ HTh-Cur _ LTh) × counter/time1 when counter 1, clearing and restarting timing (counter + +) when counter > -time 1, setting a target current value to Cur _ LTh + (Cur _ HTh-Cur _ LTh) × counter/time2 when counter > -time 2, clearing the counter when counter > -time, and entering step one when brake pedal displacement is less than Pts _ Lth, otherwise, repeating step three.

It should be noted that the time constants 1 and 2 are values obtained according to specific conditions of the vehicle, and there is no requirement for the size, and it is assumed that the maximum value of the target current value Cur _ HTh is 50 ma, the minimum value of the target current value Cur _ LTh is 20 ma, the time constant 1 may be 200 ms, and the time constant 2 may be 250 ma, based on different vehicle type values, the time constant 1 is a time for reducing the auxiliary braking current of the vehicle from 50 ma to 20 ma, and the time constant 2 is a time for increasing from 20 ma to 50 ma, so that the control of the ABS can be simulated, and when the communication between the eboster system and the ESC system is interrupted, the braking control is restored without interruption, and the backup ABS function is simulated.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

In this embodiment, an electronic power-assisted brake control device for an automobile is further provided, and the device is used to implement the above embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 4 is a block diagram illustrating a configuration of an electronic power-assisted brake control apparatus for a vehicle according to an embodiment of the present invention, as shown in fig. 4, the apparatus including:

the detection unit 10 is used for detecting the communication state between the automobile electronic power assisting system and the electronic stability control system;

a determination unit 20 configured to determine whether a brake intervention condition is satisfied in a case where the communication state is an interruption;

the calculating unit 30 is used for calculating the current of the power-assisted motor according to a preset numerical calculation mode under the condition that the brake intervention condition is met;

and a control unit 40 for performing braking control according to the assist motor current.

The technical scheme of the embodiment can solve the problem that the driving safety is influenced by wheel locking caused by the communication interruption of the ESC and the Eboost in the related technology, and achieves the effect of backing up the ABS function and improving the driving safety.

In an exemplary embodiment, the judging unit 20 includes: the first judgment module is used for judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th; the second judgment module is used for judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh when the judgment result is yes, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh; and if the judgment result is yes, the brake intervention condition is met.

In one exemplary embodiment, the calculation unit 30 includes: the timing module is used for starting timing from meeting the brake intervention condition, and the determining module is used for executing the following steps: when the current time counter is smaller than a first time constant time1, determining the current of the power-assisted motor to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches a first time constant 1, clearing the counter and restarting timing; step two: when the current time counter is less than a second time constant time2, determining the current of the power-assisted motor to be Cur _ LTh + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches a second time constant 2, clearing the counter and restarting timing; and the circulation module is used for executing the first step and the second step in a circulation mode until the brake pedal displacement is smaller than the threshold value Pts _ LThs, and the vehicle jumps out of the circulation mode.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

In an exemplary embodiment, the computer readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

For specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and exemplary implementations, and details of this embodiment are not repeated herein.

It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automobile electronic power-assisted brake control method is characterized by comprising the following steps:

detecting a communication state between an automobile electronic power assisting system and an electronic stability control system;

judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted;

under the condition that the brake intervention condition is met, calculating the current of the power-assisted motor according to a preset numerical calculation mode;

and performing brake control according to the current of the power-assisted motor.

2. The method of claim 1, wherein determining whether a brake intervention condition is satisfied comprises:

judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th;

if the judgment result is yes, judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh;

and if the judgment result is yes, the brake intervention condition is met.

3. The method of claim 1, wherein calculating the assist motor current based on the predetermined numerical calculation comprises:

the timing is started from the satisfaction of the brake intervention condition,

the method comprises the following steps: when the current time counter is less than a first time constant time1, determining the power-assisted motor current to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches the first time constant 1, emptying the counter and restarting timing;

step two: when the current time counter is less than a second time constant time2, determining the power-assisted motor current to be Cur _ LTh + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches the second time constant 2, clearing the counter and restarting timing;

and circularly executing the first step and the second step until the brake pedal displacement is smaller than the threshold value Pts _ LTh to jump out of the loop.

4. The method of claim 3, wherein after skipping a cycle, the method further comprises:

and detecting the communication state between the automobile electronic power assisting system and the electronic stability control system again, and judging whether a brake intervention condition is met or not under the condition that the communication state is interrupted.

5. The method of claim 1, wherein performing brake control based on the assist motor current comprises:

and controlling a power-assisted motor in the electronic power-assisted system to regulate the brake pressure according to the current of the power-assisted motor so as to realize the ABS (anti-lock brake system) backup function.

6. An electronic power-assisted brake control device for an automobile, comprising:

the detection unit is used for detecting the communication state between the automobile electronic power assisting system and the electronic stability control system;

a judging unit configured to judge whether a brake intervention condition is satisfied, in a case where the communication state is an interruption;

the calculating unit is used for calculating the current of the power-assisted motor according to a preset numerical calculation mode under the condition that the brake intervention condition is met;

and the control unit is used for carrying out braking control according to the current of the power-assisted motor.

7. The apparatus according to claim 6, wherein the judging unit includes:

the first judgment module is used for judging whether the brake pedal displacement is larger than a threshold value Pts _ HTh and the current of a power-assisted motor of the electronic power-assisted system is larger than a threshold value Cur _ Th;

the second judgment module is used for judging whether the brake pedal displacement is larger than or equal to a threshold value Pts _ LTh when the judgment result is yes, wherein the threshold value Pts _ LTh is smaller than the threshold value Pts _ HTh;

and if the judgment result is yes, the brake intervention condition is met.

8. The apparatus of claim 6, wherein the computing unit comprises:

a timing module for starting timing from meeting the brake intervention condition,

a determining module, configured to perform step one: when the current time counter is less than a first time constant time1, determining the power-assisted motor current to be Cur _ HTh- (Cur _ HTh-Cur _ LTh) counter/time 1; when the current time reaches the first time constant 1, emptying the counter and restarting timing; step two: when the current time counter is less than a second time constant time2, determining the power-assisted motor current to be Cur _ LTh + (Cur _ HTh-Cur _ LTh) counter/time 2; when the current time reaches the second time constant time2, emptying the counter and restarting timing;

and the circulation module is used for executing the first step and the second step in a circulation mode until the brake pedal displacement is smaller than the threshold value Pts _ LThs, and the vehicle jumps out of the circulation mode.

9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 5 when executed.

10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.