CN115107723A - Control method and device of brake system, electronic equipment and storage medium - Google Patents
Control method and device of brake system, electronic equipment and storage medium Download PDFInfo
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- CN115107723A CN115107723A CN202210733234.1A CN202210733234A CN115107723A CN 115107723 A CN115107723 A CN 115107723A CN 202210733234 A CN202210733234 A CN 202210733234A CN 115107723 A CN115107723 A CN 115107723A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000001133 acceleration Effects 0.000 claims abstract description 119
- 238000004146 energy storage Methods 0.000 claims abstract description 85
- 230000001172 regenerating effect Effects 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 18
- 238000011084 recovery Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 15
- 230000004044 response Effects 0.000 abstract description 12
- 230000001960 triggered effect Effects 0.000 abstract description 8
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- 230000035772 mutation Effects 0.000 description 4
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- 230000037396 body weight Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
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- 239000007788 liquid Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
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- 230000006837 decompression Effects 0.000 description 2
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- 230000005483 Hooke's law Effects 0.000 description 1
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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
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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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Abstract
In an embodiment of the present application, there is provided a control method of a brake system, the control method including: controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated brake pressure and an acceleration feedback value; controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure; correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value; when an initial braking signal of the simulator is identified, the motor is controlled to operate at a first braking torque, and the braking performance is immediately output when the pedal is triggered, so that the timely response of the pedal is improved, and the technical problem that the instant response of the pedal is low because a part of pedal stroke is always consumed to exert the braking performance so as to eliminate the influence of idle stroke is solved; on the other hand, the work of the brake motor and the hydraulic energy storage system is corrected based on the acceleration feedback value, so that the braking effect of the whole vehicle is optimized, and the comfort of the whole vehicle is improved.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a control method and device of a brake system, electronic equipment and a storage medium.
Background
The hydraulic braking system commonly used for commercial vehicles is a current vacuum-assisted hydraulic braking system, and along with the continuous development of new energy vehicle types, the hydraulic braking system is applied to the new energy vehicle types to provide the braking performance of the vehicles.
The existing hydraulic braking systems have several drawbacks in the following respects:
on one hand, the existing hydraulic brake system adopts a mechanical boosting structure, has low linkage synchronization with a regenerative brake system, and has the technical problems of weak regenerative braking, strong regenerative braking mutation and low driving comfort;
on the other hand, the existing hydraulic brake system has the problem of strong correlation between the pedal stroke and the braking performance of the whole vehicle, and the technical problem of low instant response of the pedal caused by the fact that a part of the pedal stroke is always consumed to exert the braking performance so as to eliminate the influence of the idle stroke;
therefore, there is a need to provide a control method, device, electronic device and storage medium for a brake system to solve at least the technical problems in the related art.
Disclosure of Invention
The application provides a control method and device of a brake system, an electronic device and a storage medium, which are used for solving at least the technical problems in the related art.
According to an aspect of an embodiment of the present application, there is provided a control method of a brake system, the control method including: controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated brake pressure and an acceleration feedback value; controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure; and correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
Optionally, the controlling the actions of the brake motor and the hydraulic energy storage system based on the simulated brake pressure comprises: acquiring a first corresponding relation between simulated brake pressure and brake pressure of a brake motor and a first corresponding relation between the simulated brake pressure and a hydraulic energy storage system; controlling the action of a brake motor based on the first corresponding relation of the simulated brake pressure and the motor brake pressure; and controlling the action of the hydraulic energy storage system based on the first corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
Optionally, the correcting the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value includes: acquiring an acceleration feedback value; judging whether the acceleration feedback value is larger than a preset acceleration feedback value or not; when the acceleration feedback value is larger than a preset acceleration feedback value, controlling a brake motor and a hydraulic energy storage system to work based on the acceleration feedback value; and when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the hydraulic energy storage system to work based on the acceleration feedback value.
Optionally, when the acceleration feedback value is greater than a preset acceleration feedback value, controlling the brake motor and the hydraulic energy storage system to work based on the acceleration feedback value includes: the motor is controlled to operate at no more than a first maximum torque based on the first corresponding relationship of the simulated brake pressure and the motor brake pressure.
Optionally, when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the operation of the hydraulic energy storage system based on the acceleration feedback value includes: acquiring a second corresponding relation between the simulated brake pressure and the hydraulic energy storage system; and controlling the action of the hydraulic energy storage system based on the second corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
Optionally, the method further comprises: and controlling the action of a regenerative braking system based on the simulated braking pressure.
Optionally, the regenerative braking system includes a reservoir provided with a hydraulic recovery motor and a solenoid valve, and controlling the regenerative braking system to act based on the simulated braking pressure includes: and when the output torque of the brake motor is smaller than a second preset torque, controlling the hydraulic recovery electromagnetic valve to be opened and controlling the hydraulic recovery motor to be opened.
According to another aspect of the present application, there is provided a control apparatus of a hydraulic system, including: the acquisition module is used for acquiring the simulated brake pressure and the acceleration feedback value; the control module is used for controlling the brake motor to operate at a first brake torque and controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure when an initial brake signal of the simulator is recognized; and the correction module is used for correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
According to another aspect of the present application, there is provided an electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, and the memory is used for storing a computer program; the processor configured to execute the control method steps of any one of the brake systems by executing the computer program stored on the memory.
According to a further aspect of the application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to carry out the method steps of controlling a brake system according to any one of the preceding claims when executed.
In an embodiment of the present application, there is provided a control method of a brake system, the control method including: controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated brake pressure and an acceleration feedback value; controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure; correcting the work of a brake motor and a hydraulic energy storage system based on the acceleration feedback value; through the technical scheme, on one hand, when the initial braking signal of the simulator is identified, the motor is controlled to operate at the first braking torque, the braking performance is immediately output when the pedal is triggered, the timely response of the pedal is improved, and the technical problem that the pedal has low timely response because a part of pedal stroke is always consumed to exert the braking performance so as to eliminate the influence of idle stroke is solved; on the other hand, the work of the brake motor and the hydraulic energy storage system is corrected based on the acceleration feedback value, so that the braking effect of the whole vehicle is optimized, and the comfort of the whole vehicle is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a schematic diagram of a hardware environment for a method of controlling a brake system according to an embodiment of the present invention;
FIG. 2 is a flow chart diagram of a method of controlling a brake system according to an embodiment of the present invention;
FIG. 3 is a modular schematic of a simulator in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram of a simulated brake pressure and hydraulic accumulator system according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a linear relationship between simulated brake pressure and brake motor brake pressure in accordance with an embodiment of the present invention;
FIG. 6 is a modular schematic diagram of an implement module of a hydraulic system according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a second mapping of simulated brake pressure and hydraulic energy storage system according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a brake system control apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of an embodiment of the present application, there is provided a control method of a hydraulic system. Alternatively, in the present embodiment, the control method of the hydraulic system may be applied to a hardware environment formed by the terminal 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the server 104 is connected to the terminal 102 through a network, which may be used to provide services for the terminal or a client installed on the terminal, may be provided with a database on the server or independent from the server, may be used to provide data storage services for the server 104, and may also be used to handle cloud services, and the network includes but is not limited to: the terminal 102 is not limited to a PC, a mobile phone, a tablet computer, etc. the terminal may be a wide area network, a metropolitan area network, or a local area network. The control method of the hydraulic system according to the embodiment of the present application may be executed by the server 104, by the terminal 102, or by both the server 104 and the terminal 102. The terminal 102 may execute the control method of the hydraulic system according to the embodiment of the present application by a client installed thereon.
Taking the method for controlling the hydraulic system in the present embodiment executed by the terminal 102 and/or the server 104 as an example, fig. 2 is a schematic flow chart of an alternative hydraulic system control method according to an embodiment of the present application, and as shown in fig. 2, the flow chart of the method may include the following steps:
step S202, when an initial braking signal of the simulator is identified, controlling the motor to operate at a first braking torque;
according to the background technology of the application, the existing hydraulic brake system has the problem that the correlation between the pedal stroke and the brake performance of the whole vehicle is strong, the technical problem that the instant response of a pedal is low due to the fact that a part of pedal stroke is consumed to play the brake performance so as to eliminate the influence of an idle stroke is solved, and in order to solve the problem, when an initial brake signal of a simulator is identified, a motor is controlled to operate at a first brake torque; fig. 3 is a schematic block diagram of an exemplary simulator according to an embodiment of the present application, and as shown in fig. 3, when the simulator operates, a pedal 301 drives a first push rod 302 to drive a first diaphragm 303 to build pressure in a first simulation cavity 304, a first sensor 305 is released while the pedal is triggered, at this time, the first sensor 305 sends an initial braking signal, and when the initial braking signal of the simulator is recognized, a motor is controlled to operate at a first braking torque, so as to output braking performance immediately when the pedal 301 is triggered, improve the timely response of the pedal 301, and solve the technical problem that a part of a stroke of the pedal 301 is consumed to eliminate an influence of an idle stroke when the braking performance is exerted, so that the immediate response of the pedal 301 is low.
Illustratively, the pre-pressure of the first simulation chamber is 0.2 Mpa.
Illustratively, as can be seen from fig. 3, the simulated brake pressure is proportional to the stroke of the pedal 301, i.e., the first simulated brake pressure is linear with the stroke of the pedal 301; based on this, the correspondence relationship between the stroke of the pedal 301 and the simulated brake pressure may be set in advance and stored in the memory; for example, the control effect can be adjusted according to the stroke of the simulator pedal 301 based on different vehicle type requirements; for example, for automobiles with different body weights, different corresponding relations between pedal 301 strokes and simulated brake pressures of the simulator can be set; for example, taking the example of the desire to improve the controllability of the vehicle as an example, for an automobile with a vehicle body weight of 1.5t, the output simulated brake pressure of the linear corresponding simulator may be set to [0.2Mpa,2Mpa ] when the stroke of the pedal 301 is 0-70mm, and for an automobile with a vehicle body weight of 3t, the output simulated brake pressure of the linear corresponding simulator may be set to [0.2Mpa,2Mpa ] when the stroke of the pedal 301 is 0-120mm, and by the above arrangement, the automobile with a larger weight corresponds to a pedal 301 stroke with a larger range in the unit simulated brake pressure, and the driver can obtain a finer and more excellent braking effect when braking through the pedal 301.
It is understood that the stroke of the pedal 301 may not only include 0-70mm or 0-120mm, but also may be other suitable stroke intervals of the pedal 301, and preferably, in order to meet the operability and braking effect of the driver, the stroke of the pedal 301 may be set to 0-80mm or 0-110mm according to different requirements.
It can be understood that, the specification of the pedal 301 may also be adjusted according to the control effect to further adjust the stroke of the pedal 301, so as to achieve the optimal pedal 301 strokes required by different vehicle types. Illustratively, the first sensor 305 employs a contact sensor to improve motion acuity recognition.
Through the technical scheme, the brake performance is immediately output when the pedal is triggered, the timely response of the pedal is improved, and the technical problem that the pedal has lower timely response because a part of pedal stroke is always consumed to exert the brake performance so as to eliminate the influence of idle stroke is solved.
Step S204, acquiring a simulated brake pressure and an acceleration feedback value;
illustratively, as shown in fig. 3, the simulator further includes a second sensor 306 that releases the first sensor 305 when the pedal is triggered, the first sensor 305 emitting an initial braking signal and the second sensor emitting braking signal data, wherein the braking signal data includes a simulated braking pressure. The simulated brake pressure from the second sensor 306 is a first simulated brake pressure interval, for example, the first simulated brake pressure interval may be [0.2Mpa-2Mpa ], and for example, when the first sensor is released, the second diaphragm is in a first position where the simulated spring is just compressed, the simulator outputs a signal of 0.2Mpa, and as the pedal stroke increases, the first simulator obtains the simulated brake pressure by transmitting the simulated brake pressure to the second simulated cavity 307 through the hydraulic pressure in the first simulated cavity 304 to drive the second diaphragm 308 to compress the simulated spring 309.
For example, since the pedal 301 drives the first push rod 302 to drive the first diaphragm 303 to build pressure in the first simulation chamber 304, the first simulation brake pressure is proportional to the pedal stroke according to hooke's law;
for example, the acceleration feedback value may be obtained by setting an acceleration sensor on the automobile, directly reading the acceleration feedback value through a CAN bus, or obtaining the acceleration feedback value through a GPS signal, which is not limited herein.
S206, controlling a brake motor and a hydraulic energy storage system to act based on the simulated brake pressure;
as shown in step S204, the first simulated brake pressure is proportional to the pedal stroke, and for example, for convenience of control and increased overall comfort, the brake torque of the brake motor may be controlled in a linear relationship based on the simulated brake pressure; the braking torque of the hydraulic energy storage system may be controlled in a linear relationship based on the simulated braking pressure, and is not particularly limited herein.
S208, correcting the work of a brake motor and a hydraulic energy storage system based on the acceleration feedback value;
in the actual running process of the vehicle, the situation that the current braking torque cannot meet the required braking torque or the situation that the current braking torque exceeds the required braking torque may exist; aiming at the condition that the current braking torque can not meet the required braking torque, the braking effect is poor, and the comfort of the whole vehicle is influenced; aiming at the situation that the current braking torque exceeds the required braking torque, unexpected problems can occur when the vehicle is rapidly decelerated, and the comfort of the whole vehicle is influenced; in order to improve the comfort of the brake system, the work of the brake motor and the hydraulic energy storage system needs to be corrected based on the acceleration feedback value.
For example, an acceleration feedback value may be obtained, and when the acceleration feedback value is greater than a preset acceleration feedback value, a condition that the current braking torque exceeds the required braking torque is represented, and at this time, unexpected problems may occur in sudden deceleration of a vehicle, which may affect the comfort of the entire vehicle, and the current braking torque needs to be reduced to enable the current braking torque to meet the required braking torque; for example, when the acceleration feedback value is greater than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to work in a decompression manner to reduce the current braking torque so that the current braking torque meets the required braking torque.
For example, an acceleration feedback value may be obtained, and when the acceleration feedback value is smaller than a preset acceleration feedback value, a condition that the current braking torque cannot meet the required braking torque is represented, which may cause a technical problem that the vehicle braking effect is not good and the comfort of the entire vehicle is affected, and the current braking torque needs to be increased to enable the current braking torque to meet the required braking torque; for example, when the acceleration feedback value is smaller than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to operate in a boosting manner to increase the current braking torque so that the current braking torque meets the required braking torque.
For example, an acceleration feedback value may be obtained, and when the acceleration feedback value is equal to a preset acceleration feedback value, it represents that the current braking torque can meet the required braking torque; at the moment, the braking effect of the vehicle is better, the comfort of the whole vehicle is higher, and the vehicle can be controlled to continue braking at the current braking torque. For example, when the acceleration feedback value is equal to the preset acceleration feedback value, the hydraulic energy storage system may be controlled to operate in a pressure maintaining manner so that the front braking torque meets the required braking torque.
Through the steps S202 to S208, on one hand, when the initial braking signal of the simulator is recognized, the motor is controlled to operate at the first braking torque, and the braking performance is immediately output when the pedal is triggered, so that the timely response of the pedal is improved, and the technical problem that the pedal has low timely response because a part of pedal stroke is always consumed to exert the braking performance so as to eliminate the influence of idle stroke is solved; on the other hand, the work of the brake motor and the hydraulic energy storage system is corrected based on the acceleration feedback value, so that the braking effect of the whole vehicle is optimized, and the comfort of the whole vehicle is improved.
As an alternative embodiment, the controlling the actions of the brake motor and the hydraulic energy storage system based on the simulated brake pressure comprises: acquiring a first corresponding relation between simulated brake pressure and brake pressure of a brake motor and a first corresponding relation between the simulated brake pressure and a hydraulic energy storage system; controlling the action of a brake motor based on the first corresponding relation of the simulated brake pressure and the motor brake pressure; and controlling the action of the hydraulic energy storage system based on the first corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
As described in step S204 above, the first simulated brake pressure is proportional to the pedal stroke, and for example, for convenience of control and increased overall comfort, the brake torque of the brake motor may be controlled in a linear relationship based on the simulated brake pressure; the braking torque of the hydraulic energy storage system may be controlled in a linear relationship based on the simulated braking pressure. Fig. 4 and 5 show the linear relationship between the simulated brake pressure and the brake motor brake pressure, and the linear relationship between the simulated brake pressure and the hydraulic energy storage system in an optional manner according to the embodiment of the application.
Illustratively, a first corresponding relation between the simulated brake pressure and the brake pressure of the brake motor is obtained, and a first corresponding relation between the simulated brake pressure and the hydraulic energy storage system is obtained; FIG. 4 is a linear relationship between simulated brake pressure and a hydraulic energy storage system, as shown in FIG. 4, when the pedal is triggered and the first sensor 305 is released, the first sensor 305 sends out an initial brake signal, the second sensor sends out brake signal data, and the brake system outputs 0.5MPa brake torque; as the pedal stroke increases, the braking torque output by the braking system increases linearly.
Illustratively, since the first simulated braking pressure interval is [0.2Mpa-2Mpa ], the inventor finds that a situation that the vehicle speed is relatively low may exist in the first simulated braking pressure interval [0.2Mpa-1.7Mpa ], and at this time, the braking torque output by the braking system does not need to be increased too fast with the increase of the first simulated braking pressure, so that the slope of the linear relationship in the interval of [0.2Mpa-1,7Mpa ] needs to be smaller than the slope in the interval of [1.7Mpa-2Mpa ].
Illustratively, fig. 5 is a linear relationship between the simulated brake pressure and the brake pressure of the brake motor, and since the brake motor generally outputs a small torque, the inventors have found through research that the brake motor gradually increases the torque of the brake motor in the interval of the first simulated brake pressure [0.2Mpa-0.7Mpa ], the brake torque output by the brake motor is 62% of the rated torque of the brake motor when the first simulated brake pressure is 0.5Mpa, and the brake torque output by the brake motor is 100% of the rated torque of the brake motor when the first simulated brake pressure is 0.7 Mpa.
As an alternative embodiment, the correcting the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value includes: acquiring an acceleration feedback value; judging whether the acceleration feedback value is larger than a preset acceleration feedback value or not; when the acceleration feedback value is larger than a preset acceleration feedback value, controlling a brake motor and a hydraulic energy storage system to work based on the acceleration feedback value; and when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the hydraulic energy storage system to work based on the acceleration feedback value.
In order to facilitate the description of the technical scheme, the application also exemplarily provides an execution module of the hydraulic system applied to the control method; fig. 6 is a schematic block diagram of an execution module of a hydraulic system according to an embodiment of the present application, where, as shown in fig. 6, the execution module of the hydraulic system includes: the hydraulic system comprises a first energy accumulator 601, a liquid accumulator 602, a first electromagnetic valve 603, a second electromagnetic valve 604, a second energy accumulator 605, a third electromagnetic valve 606, a first sensor 607 and a second sensor 608, wherein the hydraulic pressure of the second energy accumulator 605 is higher than that of the first energy accumulator 601 by 3 MPa.
In the actual running process of the vehicle, the situation that the current braking torque cannot meet the required braking torque or the situation that the current braking torque exceeds the required braking torque may exist; aiming at the condition that the current braking torque can not meet the required braking torque, the braking effect is poor, and the comfort of the whole vehicle is influenced; aiming at the situation that the current braking torque exceeds the required braking torque, unexpected problems can occur when the vehicle is rapidly decelerated, and the comfort of the whole vehicle is influenced; in order to improve the comfort of the brake system, the work of the brake motor and the hydraulic energy storage system needs to be corrected based on the acceleration feedback value.
For example, the acceleration feedback value may be obtained by setting an acceleration sensor on the automobile, directly reading the acceleration feedback value through a CAN bus, or obtaining the acceleration feedback value through a GPS signal, which is not limited herein.
For example, an acceleration feedback value can be obtained, when the acceleration feedback value is greater than a preset acceleration feedback value, a condition that the current braking torque exceeds the required braking torque is represented, an unexpected problem that the vehicle is rapidly decelerated at the moment may be caused, and the technical problem that the comfort of the whole vehicle is affected is solved, and the current braking torque needs to be reduced so that the current braking torque meets the required braking torque; for example, when the acceleration feedback value is greater than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to work in a decompression manner to reduce the current braking torque so that the current braking torque meets the required braking torque; for example, controlling the hydraulic energy storage system to operate in a pressure reducing mode may include controlling the second solenoid valve 604 to close and the first solenoid valve 603 to open.
For example, an acceleration feedback value may be obtained, and when the acceleration feedback value is smaller than a preset acceleration feedback value, a condition that the current braking torque cannot meet the required braking torque is represented, at this time, a technical problem that the vehicle braking effect is not good and the comfort of the whole vehicle is affected may be caused, and the current braking torque needs to be increased so that the current braking torque meets the required braking torque; for example, when the acceleration feedback value is smaller than the preset acceleration feedback value, the hydraulic energy storage system can be controlled to work in a pressurization mode to increase the current braking torque so that the current braking torque meets the required braking torque; for example, controlling the hydraulic accumulator system to operate in a pressurized mode may include controlling the second solenoid valve 604 and the third solenoid valve 606 to open and the first solenoid valve 603 to close.
For example, an acceleration feedback value may be obtained, and when the acceleration feedback value is equal to a preset acceleration feedback value, it represents that the current braking torque can meet the required braking torque; at the moment, the braking effect of the vehicle is better, the comfort of the whole vehicle is higher, and the vehicle can be controlled to continue braking at the current braking torque. For example, when the acceleration feedback value is equal to the preset acceleration feedback value, the hydraulic energy storage system may be controlled to work in a pressure maintaining manner, so that the front braking torque meets the required braking torque; for example, the controlling the hydraulic energy storage system to operate in the pressure maintaining mode may include controlling the second solenoid valve 604 to close and the first solenoid valve 603 to close.
For example, the preset acceleration feedback value may be-1 m/s 2 。
Through above-mentioned technical scheme, braking system's travelling comfort has been improved.
As an optional embodiment, when the acceleration feedback value is greater than a preset acceleration feedback value, the controlling the brake motor and the hydraulic energy storage system to work based on the acceleration feedback value includes: the motor is controlled to operate at no more than a first maximum torque based on the first corresponding relationship of the simulated brake pressure and the motor brake pressure.
According to the technical scheme, when the acceleration feedback value is larger than the preset acceleration feedback value, the condition that the current braking torque is larger than the required braking torque is represented, and at the moment, in order to enable the current braking torque to approach the required braking torque, the motor is controlled to work at the maximum torque on the basis of the first corresponding relation between the simulated braking pressure and the motor braking pressure.
Preferably, the first maximum torque may be 50% of a rated torque of the brake motor.
As an optional embodiment, when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the operation of the hydraulic energy storage system based on the acceleration feedback value includes: acquiring a second corresponding relation between the simulated brake pressure and the hydraulic energy storage system; and controlling the action of the hydraulic energy storage system based on the second corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
For the technical scheme, when the acceleration feedback value is smaller than the preset acceleration feedback value, the condition that the current braking torque cannot meet the required braking torque is represented, and at the moment, the technical problems that the vehicle braking effect is poor and the whole vehicle comfort is affected may be caused, and the current braking torque needs to be increased so that the current braking torque meets the required braking torque; at the moment, a second corresponding relation between the simulated brake pressure and the hydraulic energy storage system is obtained; and controlling the action of the hydraulic energy storage system based on the second corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
For example, fig. 7 is a schematic diagram of an optional second corresponding relationship between the simulated braking pressure and the hydraulic energy storage system according to the embodiment of the present application, and for example, when the acceleration feedback value is smaller than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to operate in a boosting manner to increase the current braking torque so that the current braking torque meets the demanded braking torque; for example, controlling the hydraulic accumulator system to operate in a pressurized manner may include controlling the second solenoid valve and the third solenoid valve to open and the first solenoid valve to close to control the hydraulic accumulator system to operate according to the second corresponding relationship shown in fig. 7.
For example, the preset acceleration feedback value may be-1 m/s 2 。
As an alternative embodiment, the method further comprises: and controlling the action of the regenerative braking system based on the simulated braking pressure.
As described in the background of the application, the existing hydraulic brake system adopts a mechanical boosting structure, and is low in linkage synchronization with a regenerative brake system, so that the problems of weak regenerative braking, strong regenerative braking mutation and low driving comfort exist; therefore, in order to solve the above-described technical problem, the regenerative braking system operation is controlled based on the simulated brake pressure.
The regenerative braking system comprises a liquid storage device, the liquid storage device is provided with a hydraulic recovery motor and an electromagnetic valve, and the control of the regenerative braking system action based on the simulated braking pressure comprises the following steps: and when the output torque of the brake motor is smaller than a second preset torque, controlling the hydraulic recovery electromagnetic valve to be opened, and controlling the hydraulic recovery motor to be opened.
For the technical scheme, the braking torque which can be provided by the braking motor compared with the hydraulic braking system is lower, and when the output torque of the braking motor is smaller than the second preset torque, the characteristic that the vehicle can realize the expected braking effect without the hydraulic energy storage system providing larger braking torque of the hydraulic energy storage system is shown. At the moment, the hydraulic energy storage system is not required to provide larger braking torque of the hydraulic energy storage system, and the braking hydraulic pressure of the hydraulic energy storage system can be recovered, so that the technical problems that the hydraulic braking system in the prior art adopts a mechanical boosting structure, is low in linkage synchronization with a regenerative braking system, has weak regenerative braking and strong regenerative braking mutation and is low in driving comfort are solved; for example, when the output torque of the brake motor is smaller than a second preset torque, the hydraulic recovery electromagnetic valve is controlled to be opened, and the hydraulic recovery motor is controlled to be opened so as to recover the hydraulic pressure to the regenerative brake system.
As an exemplary embodiment, the regenerative braking system is in communication with a hydraulic braking system with a solenoid valve.
Through the technical scheme, the technical problems that an existing hydraulic brake system adopts a mechanical boosting structure, is low in linkage synchronism with a regenerative brake system, weak in regenerative braking, strong in regenerative braking mutation and low in driving comfort are solved.
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 application or portions contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method described in the embodiments of the present application.
According to another aspect of the embodiment of the present application, there is also provided a brake system control apparatus for implementing the control method of the brake system described above. Fig. 8 is a schematic diagram of a brake system control apparatus according to an embodiment of the present application, which may include, as shown in fig. 8:
an obtaining module 802, configured to obtain a simulated brake pressure and an acceleration feedback value;
the control module 804 is used for controlling the brake motor to operate at a first brake torque and controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure when an initial brake signal of the simulator is recognized;
and a correction module 806, configured to correct the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
It should be noted that the obtaining module 802 in this embodiment may be configured to execute the step S204, the determining module 804 in this embodiment may be configured to execute the steps S202 and S206, and the executing module 806 in this embodiment may be configured to execute the step S208.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may be operated in a hardware environment as shown in fig. 1, and may be implemented by software, or may be implemented by hardware, where the hardware environment includes a network environment.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the control method of the brake system, which may be a server, a terminal, or a combination thereof.
Fig. 9 is a block diagram of an alternative electronic device according to an embodiment of the present application, as shown in fig. 9, including a processor 902, a communication interface 904, a memory 906, and a communication bus 908, where the processor 902, the communication interface 904, and the memory 906 communicate with each other via the communication bus 908, where,
a memory 906 for storing a computer program;
the processor 902, when executing the computer program stored in the memory 906, implements the following steps:
controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated brake pressure and an acceleration feedback value;
controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure;
and correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The memory may include RAM, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
As an example, as shown in fig. 9, the memory 902 may include, but is not limited to, an obtaining module 802, a control module 804, and a correcting module 806 in the control device of the hydraulic system, and may further include, but is not limited to, other module units in the control device of the hydraulic system, which is not described again in this example.
The processor may be a general-purpose processor, and may include but is not limited to: a CPU (Central Processing Unit), an NP (Network Processor), and the like; but also a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
It can be understood by those skilled in the art that the structure shown in fig. 9 is only an illustration, and the device implementing the control method of the braking system may be a terminal device, and the terminal device may be a terminal device such as a smart phone (e.g., an Android phone, an IOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, and the like. Fig. 9 is a diagram illustrating a structure of the electronic device. For example, the terminal device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 9, or have a different configuration than shown in FIG. 9.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, and the like.
According to still another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-mentioned storage medium may be used for program codes for executing a control method of a brake system.
Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.
Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:
controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated brake pressure and an acceleration feedback value;
controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure;
and correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
Optionally, the specific example in this embodiment may refer to the example described in the above embodiment, which is not described again in this embodiment.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, a ROM, a RAM, a removable hard disk, a magnetic disk, or an optical disk.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method described in the embodiments of the present application.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, and may also be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A control method of a brake system, characterized by comprising:
controlling the brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated brake pressure and an acceleration feedback value;
controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure;
and correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
2. The method of controlling a brake system according to claim 1, wherein said controlling brake motor and hydraulic energy storage system actions based on said simulated brake pressure comprises:
acquiring a first corresponding relation between the simulated brake pressure and the brake pressure of the brake motor and a first corresponding relation between the simulated brake pressure and the hydraulic energy storage system;
controlling the action of a brake motor based on the first corresponding relation of the simulated brake pressure and the motor brake pressure;
and controlling the action of the hydraulic energy storage system based on the first corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
3. A control method of a brake system according to claim 2, wherein said correcting the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value comprises:
acquiring an acceleration feedback value;
judging whether the acceleration feedback value is larger than a preset acceleration feedback value or not;
when the acceleration feedback value is larger than a preset acceleration feedback value, controlling a brake motor and a hydraulic energy storage system to work based on the acceleration feedback value;
and when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the hydraulic energy storage system to work based on the acceleration feedback value.
4. The control method of the brake system according to claim 3, wherein the controlling the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value when the acceleration feedback value is greater than a preset acceleration feedback value comprises:
the motor is controlled to operate at no more than a first maximum torque based on the first corresponding relationship of the simulated brake pressure and the motor brake pressure.
5. A control method of a brake system according to claim 3, wherein when the acceleration feedback value is smaller than a preset acceleration feedback value, controlling the operation of the hydraulic energy storage system based on the acceleration feedback value includes:
acquiring a second corresponding relation between the simulated brake pressure and the hydraulic energy storage system;
and controlling the action of the hydraulic energy storage system based on the second corresponding relation between the simulated brake pressure and the hydraulic energy storage system.
6. The control method of a brake system according to claim 1, characterized in that the method further comprises:
and controlling the action of a regenerative braking system based on the simulated braking pressure.
7. A method of controlling a braking system according to claim 6, wherein the regenerative braking system includes a reservoir provided with a hydraulic recovery motor and a solenoid valve, and the controlling regenerative braking system action based on the simulated braking pressure includes:
and when the output torque of the brake motor is smaller than a second preset torque, controlling the hydraulic recovery electromagnetic valve to be opened, and controlling the hydraulic recovery motor to be opened.
8. A control apparatus of a hydraulic system, characterized by comprising:
the acquisition module is used for acquiring the simulated brake pressure and the acceleration feedback value;
the control module is used for controlling the brake motor to operate at a first brake torque and controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure when an initial brake signal of the simulator is recognized;
and the correction module is used for correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, wherein the memory is configured to store a computer program; the processor for executing the steps of the control method of the brake system according to any one of claims 1 to 7 by running the computer program stored on the memory.
10. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method steps of controlling a brake system according to one of claims 1 to 7 when executed.
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