CN115107723B - Control method and device of braking system, electronic equipment and storage medium - Google Patents
Control method and device of braking system, electronic equipment and storage medium Download PDFInfo
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- CN115107723B CN115107723B CN202210733234.1A CN202210733234A CN115107723B CN 115107723 B CN115107723 B CN 115107723B CN 202210733234 A CN202210733234 A CN 202210733234A CN 115107723 B CN115107723 B CN 115107723B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000001133 acceleration Effects 0.000 claims abstract description 129
- 238000004146 energy storage Methods 0.000 claims abstract description 92
- 230000009471 action Effects 0.000 claims abstract description 17
- 230000001172 regenerating effect Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 20
- 238000011084 recovery Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 4
- 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
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 230000037396 body weight Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
In an embodiment of the present application, a control method of a brake system is provided, the control method including: controlling a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated braking pressure and an acceleration feedback value; controlling the action of a brake motor and a hydraulic energy storage system 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 recognized, the motor is controlled to run 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 lower due to the fact that a part of pedal stroke is consumed to eliminate the influence of idle stroke by exerting the braking performance 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 present invention relates to the field of automobiles, and in particular, to a method and apparatus for controlling a braking system, an electronic device, and a storage medium.
Background
The liquid brake system commonly used for commercial vehicles is a current vacuum booster liquid brake system, and is applied to new energy vehicle types to provide the braking performance of the vehicles along with the continuous development of the new energy vehicle types.
The existing liquid brake system has several disadvantages in terms of:
on one hand, the existing hydraulic brake system adopts a mechanical power-assisted structure, so that the linkage synchronism with the regenerative brake system is low, the problems of weak regenerative braking and strong regenerative braking variability exist, and the technical problem of low driving comfort exists;
On the other hand, the existing hydraulic brake system has the technical problem that the correlation between the pedal stroke and the braking performance of the whole vehicle is strong, and the braking performance is exerted to consume a part of pedal stroke to eliminate the influence of idle stroke, so that the instant response of the pedal is low;
Therefore, there is a need to provide a control method, a control device, an electronic device and a storage medium for a brake system, so as to at least solve the technical problems in the related art.
Disclosure of Invention
The application provides a control method, a control device, electronic equipment and a storage medium of a braking system, which are used for at least solving 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 a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated braking pressure and an acceleration feedback value; controlling a brake motor and a 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 brake motor and the hydraulic energy storage system actions based on the simulated brake pressure comprises: acquiring a first corresponding relation between the simulated brake pressure and the brake motor brake pressure, and a first corresponding relation between the simulated brake pressure and the hydraulic energy storage system; controlling the braking motor to act based on the first corresponding relation between the simulated braking pressure and the motor braking 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 controlling the hydraulic energy storage system to work based on the acceleration feedback value when the acceleration feedback value is smaller than a preset 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: and controlling the motor to work at the maximum torque not to be exceeded based on the first corresponding relation between the simulated braking pressure and the motor braking pressure.
Optionally, when the acceleration feedback value is less than a preset acceleration feedback value, controlling the hydraulic energy storage system to operate based on the acceleration feedback value includes: acquiring a second corresponding relation between the simulated braking 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 braking pressure and the hydraulic energy storage system.
Optionally, the method further comprises: and controlling the action of the regenerative braking system based on the simulated braking pressure.
Optionally, the regenerative braking system includes a reservoir provided with a hydraulic regenerative motor and a solenoid valve, and the controlling the regenerative braking system based on the simulated braking pressure includes: 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.
According to another aspect of the present application, there is provided a control device of a hydraulic system, including: the acquisition module is used for acquiring the simulated braking pressure and the acceleration feedback value; the control module is used for controlling the brake motor to operate with a first brake torque and controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure when the 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 complete communication with each other through the communication bus, the memory being for storing a computer program; the processor is configured to execute the control method steps of the brake system according to any one of the above by running the computer program stored on the memory.
According to another aspect of the application there is provided a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the control method steps of a brake system as described in any of the preceding claims when run.
In an embodiment of the present application, there is provided a control method of a brake system, including: controlling a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized; acquiring a simulated braking pressure and an acceleration feedback value; controlling a brake motor and a 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; according to the technical scheme, on one hand, when an initial braking signal of the simulator is recognized, the motor is controlled to run with 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 instant response of the pedal is low because a part of pedal stroke is consumed to eliminate the influence of the idle stroke by exerting the braking performance 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 of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a hardware environment of a control method of a brake system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling a braking system according to an embodiment of the present invention;
FIG. 3 is a modular schematic of a simulator according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a linear relationship between simulated brake pressure and a hydraulic energy storage system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a linear relationship between simulated brake pressure and brake motor brake pressure in accordance with an embodiment of the invention;
FIG. 6 is a modular schematic of an execution module of a hydraulic system according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a second correspondence of simulated brake pressure and hydraulic energy storage system according to an embodiment of the present invention;
FIG. 8 is a schematic, modular view 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 that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise 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 described above may be applied to a hardware environment constituted 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 to the terminal or a client installed on the terminal, may set a database on the server or independent of the server, may be used to provide data storage services to the server 104, and may also be used to process cloud services, where the network includes, but is not limited to: the terminal 102 is not limited to a PC, a mobile phone, a tablet computer, etc., but is 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, may be executed by the terminal 102, or may be executed by both the server 104 and the terminal 102. The control method of the hydraulic system performed by the terminal 102 according to the embodiment of the present application may be performed by a client installed thereon.
Taking the control method of the hydraulic system in this embodiment performed by the terminal 102 and/or the server 104 as an example, fig. 2 is a schematic flow chart of an alternative control method of the hydraulic system according to an embodiment of the present application, as shown in fig. 2, the flow of the method may include the following steps:
step S202, when an initial braking signal of a simulator is identified, controlling a motor to operate at a first braking torque;
As described in the background art of the present application, the existing hydraulic brake system has the problem that the correlation between the pedal stroke and the braking performance of the whole vehicle is strong, and the braking performance is exerted to consume a part of the pedal stroke to eliminate the influence of the idle stroke, so that the instant response of the pedal is low, and in order to solve the problem, when the initial braking signal of the simulator is identified, the motor is controlled to operate with the first braking torque; fig. 3 is a schematic diagram of an exemplary simulator according to an embodiment of the present application, as shown in fig. 3, when the simulator works, a pedal 301 drives a first push rod 302 to drive a first diaphragm 303 to build pressure on a first simulation cavity 304, and when the pedal is triggered, the first sensor 305 is released, at the same time, the first sensor 305 sends out an initial braking signal, and when the initial braking signal of the simulator is identified, a motor is controlled to operate with a first braking torque, so as to immediately output braking performance when the pedal 301 is triggered, improve timely response of the pedal 301, and solve a technical problem that a part of pedal 301 stroke is required to be consumed by exerting braking performance to eliminate the influence of idle stroke, resulting in lower instant response of the pedal 301.
Illustratively, the first simulation chamber has a pre-pressure of 0.2Mpa.
As can be seen from fig. 3, for example, the simulated brake pressure is proportional to the pedal 301 travel, i.e., the first simulated brake pressure is linearly related to the pedal 301 travel; based on this, the correspondence between the stroke of the pedal 301 and the simulated brake pressure may be preset 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 correspondence between the stroke of the pedal 301 of the simulator and the simulated brake pressure may be set; by way of example, taking an example where it is desired to improve the controllability of the vehicle, for an automobile having a 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 to 70mm, and for an automobile having a 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 to 120mm, and by the above arrangement, an automobile having a larger weight corresponds to a larger range of pedal 301 strokes within a unit simulated brake pressure, and the driver can obtain a finer and more excellent braking effect when braking by 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 range of the pedal 301, 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 can be adjusted according to the control effect, so as to adjust the stroke of the pedal 301, so as to achieve the optimal pedal 301 stroke required by different vehicle types. Illustratively, the first sensor 305 employs a contact sensor to enhance the acuity of motion.
By 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 instant response of the pedal is lower because a part of pedal stroke is consumed to eliminate the influence of idle stroke by exerting the brake performance is solved.
Step S204, obtaining a simulated brake pressure and an acceleration feedback value;
illustratively, as shown in FIG. 3, the simulator also includes a second sensor 306 that releases the first sensor 305 while the pedal is triggered, at which time the first sensor 305 emits an initial brake signal and the second sensor emits brake signal data, wherein the brake signal data includes simulated brake pressure. The simulated brake pressure sent by the second sensor 306 is a first simulated brake pressure interval, which may be [0.2Mpa-2Mpa ], for example, when the first sensor is released, the second diaphragm is at a first position where the simulated spring starts to be compressed just, the simulator outputs a signal of 0.2Mpa, and as the pedal stroke increases, the first simulator drives the second diaphragm 308 to compress the simulated spring 309 by transmitting the simulated brake pressure to the second simulation chamber 307 through the hydraulic pressure in the first simulation chamber 304.
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 simulated brake pressure is proportional to the pedal stroke according to hooke's law;
The acceleration feedback value CAN be obtained by setting an acceleration sensor on the automobile, the acceleration feedback value CAN be directly read through a CAN bus, and the acceleration feedback value CAN be obtained through a GPS signal, and the method is not particularly limited.
S206, controlling a brake motor and a hydraulic energy storage system to act based on the simulated brake pressure;
As described in step S204, the first simulated brake pressure is proportional to the pedal stroke, and for convenience of control, for example, 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, without specific limitation herein.
S208, correcting the work of the brake motor and the hydraulic energy storage system based on the acceleration feedback value;
In the actual running process of the vehicle, there may be a case where the current braking torque cannot meet the required braking torque or a case where the current braking torque exceeds the required braking torque; aiming at the situation 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 affected; aiming at the situation that the current braking torque exceeds the required braking torque, the unexpected problem of rapid deceleration of the vehicle can be caused, and the comfort of the whole vehicle is affected; to improve the comfort of the brake system, it is necessary to modify the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
The acceleration feedback value may be obtained, when the acceleration feedback value is greater than a preset acceleration feedback value, the condition that the current braking torque exceeds the required braking torque is represented, at this time, unexpected problems may occur in rapid deceleration of the vehicle, the technical problem of affecting the comfort of the whole vehicle may be caused, 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 operate in a depressurized manner to reduce the current braking torque such that the current braking torque meets the required braking torque.
The acceleration feedback value may be obtained, when the acceleration feedback value is smaller than a 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 problem that the vehicle braking effect is poor and the comfort of the whole vehicle is affected may be caused, 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 less than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to operate in a pressurized manner to increase the current braking torque such that the current braking torque meets the required braking torque.
For example, an acceleration feedback value may be obtained, where when the acceleration feedback value is equal to a preset acceleration feedback value, it is characterized that the current braking torque can meet the required braking torque; at the moment, the vehicle braking effect is good, the comfort of the whole vehicle is high, and the vehicle can be controlled to continue braking with 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 dwell manner so that the front brake torque meets the required brake torque.
Through the steps S202 to S208, on the one hand, when the initial braking signal of the simulator is identified, the motor is controlled to operate with 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 a part of pedal stroke is consumed to eliminate the influence of the idle stroke in total due to the exertion of the braking performance, so that the instant response of the pedal is lower 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 brake motor and the hydraulic energy storage system actions based on the simulated brake pressure includes: acquiring a first corresponding relation between the simulated brake pressure and the brake motor brake pressure, and a first corresponding relation between the simulated brake pressure and the hydraulic energy storage system; controlling the braking motor to act based on the first corresponding relation between the simulated braking pressure and the motor braking 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 above in step S204, the first simulated brake pressure is proportional to the pedal stroke, and for convenience of control, for example, 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 are schematic diagrams of alternative exemplary brake pressure and brake motor brake pressure linear relationships, and exemplary brake pressure and hydraulic energy storage system linear relationships, in accordance with embodiments of the present application.
Exemplary, a first corresponding relation between the simulated brake pressure and the brake motor brake pressure 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 the hydraulic energy storage system, as shown in FIG. 4, the first sensor 305 is released while the pedal is triggered, the first sensor 305 sends out an initial brake signal and the second sensor sends out brake signal data, and the brake system outputs a brake torque of 0.5 MPa; as the pedal travel increases, the brake torque output by the brake system increases linearly.
For example, since the first simulated brake pressure interval is [0.2Mpa-2Mpa ], the inventor has found that a driver may have a relatively low vehicle speed scenario in the first simulated brake pressure interval of [0.2Mpa-1.7Mpa ], and the brake torque output from the brake system does not need to be increased too fast as the first simulated brake pressure increases, 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 ].
By way of example, fig. 5 is a linear relationship between simulated brake pressure and brake motor brake pressure, and as the brake motor generally outputs a small torque, the inventors have found that the brake motor gradually increases in torque over the interval of the first simulated brake pressure of 0.2Mpa to 0.7Mpa, the motor outputs a brake torque of 62% of the motor rated torque at the first simulated pressure of 0.5Mpa, and the motor outputs a brake torque of 100% of the motor rated torque at the first simulated pressure of 0.7 Mpa.
As an alternative embodiment, said modifying the operation of the brake motor and the hydraulic energy storage system based on said 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 controlling the hydraulic energy storage system to work based on the acceleration feedback value when the acceleration feedback value is smaller than a preset acceleration feedback value.
In order to facilitate the description of the above technical solution, the present application also provides an execution module of a hydraulic system applied to the above control method by way of example; fig. 6 is a schematic modularized view of an execution module of a hydraulic system according to an embodiment of the present application, as shown in fig. 6, the execution module of the hydraulic system includes: the hydraulic pressure of the first accumulator 601 is 3Mpa higher than that of the second accumulator 601, the first accumulator 602, the first electromagnetic valve 603, the second electromagnetic valve 604, the second accumulator 605, the third electromagnetic valve 606, the first sensor 607 and the second sensor 608.
In the actual running process of the vehicle, there may be a case where the current braking torque cannot meet the required braking torque or a case where the current braking torque exceeds the required braking torque; aiming at the situation 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 affected; aiming at the situation that the current braking torque exceeds the required braking torque, the unexpected problem of rapid deceleration of the vehicle can be caused, and the comfort of the whole vehicle is affected; to improve the comfort of the brake system, it is necessary to modify the operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
The acceleration feedback value CAN be obtained by setting an acceleration sensor on the automobile, the acceleration feedback value CAN be directly read through a CAN bus, and the acceleration feedback value CAN be obtained through a GPS signal, and the method is not particularly limited.
The acceleration feedback value may be obtained, when the acceleration feedback value is greater than a preset acceleration feedback value, the condition that the current braking torque exceeds the required braking torque is represented, at this time, unexpected problems may occur in rapid deceleration of the vehicle, the technical problem of affecting the comfort of the whole vehicle may be caused, 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 operate in a depressurized manner to reduce the current braking torque such that the current braking torque meets the required braking torque; for example, controlling the hydraulic energy storage system to operate in a depressurized manner may include controlling the second solenoid valve 604 to close and the first solenoid valve 603 to open.
The acceleration feedback value may be obtained, when the acceleration feedback value is smaller than a 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 problem that the vehicle braking effect is poor and the comfort of the whole vehicle is affected may be caused, 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 less than the preset acceleration feedback value, the hydraulic energy storage system may be controlled to operate in a pressurized manner to increase 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 pressurized manner may include controlling the second solenoid valve 604 and the third solenoid valve 606 to open and controlling the first solenoid valve 603 to close.
For example, an acceleration feedback value may be obtained, where when the acceleration feedback value is equal to a preset acceleration feedback value, it is characterized that the current braking torque can meet the required braking torque; at the moment, the vehicle braking effect is good, the comfort of the whole vehicle is high, and the vehicle can be controlled to continue braking with 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; for example, controlling the hydraulic energy storage system to operate in a dwell 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.
By the technical scheme, the comfort of the braking system is improved.
As an optional embodiment, 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: and controlling the motor to work at the maximum torque not to be exceeded based on the first corresponding relation between the simulated braking pressure and the motor braking pressure.
For 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 based on the first corresponding relation between the simulated braking pressure and the motor braking pressure.
Preferably, the first maximum torque may be 50% of the rated torque of the brake motor.
As an alternative embodiment, 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 includes: acquiring a second corresponding relation between the simulated braking 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 braking 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 problem that the vehicle braking effect is poor and the comfort of the whole vehicle is affected can be possibly caused, and the current braking torque needs to be increased to enable the current braking torque to meet the required braking torque; at the moment, a second corresponding relation between the simulated braking 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 braking pressure and the hydraulic energy storage system.
FIG. 7 is a schematic diagram illustrating a second correspondence between an alternative simulated braking pressure and a hydraulic energy storage system according to an embodiment of the present application, wherein the hydraulic energy storage system may be controlled to operate in a boost manner to increase the current braking torque to enable the current braking torque to meet the required braking torque when the acceleration feedback value is less than the preset acceleration feedback value; for example, controlling the hydraulic energy storage system to operate in a pressurized manner may include controlling the second and third solenoid valves to open and the first solenoid valve to close to control the hydraulic energy storage system to operate in accordance with a second correspondence as 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 art of the application, because the existing hydraulic brake system adopts a mechanical power-assisted structure, the linkage synchronism with the regenerative brake system is lower, and the technical problems of weaker regenerative braking and stronger regenerative braking mutation and lower driving comfort exist; therefore, in order to solve the above-described problems, the operation of the regenerative braking system is controlled based on the simulated braking pressure.
Wherein, exemplary, the regenerative braking system includes a reservoir, the reservoir is provided with a hydraulic regenerative motor and a solenoid valve, and the controlling the regenerative braking system action based on the simulated braking pressure includes: 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.
With the technical scheme, compared with the hydraulic braking system, the braking motor can provide lower braking torque, and when the output torque of the braking motor is smaller than the second preset torque, the vehicle is characterized in that the hydraulic energy storage system is not required to provide larger braking torque of the hydraulic energy storage system, and the expected braking effect can be achieved. At this time, because the hydraulic energy storage system is not required to provide larger braking torque of the hydraulic energy storage system, the braking hydraulic pressure of the hydraulic energy storage system can be recovered, so that the technical problems of weaker regenerative braking, stronger regenerative braking variability and lower driving comfort caused by the fact that a mechanical power-assisted structure is adopted by a hydraulic braking system and the regenerative braking system in the prior art are solved; when the output torque of the brake motor is smaller than the 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 above-mentioned technical scheme, solved current liquid brake braking system and adopted mechanical helping hand structure, linked synchronism with the regenerative braking system is lower, has that regenerative braking is weaker, regenerative braking variability is stronger problem, and the driving travelling comfort is lower technical problem.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk) and including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to 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 device for implementing the control method of a brake system described above. Fig. 8 is a schematic view of a brake system control apparatus according to an embodiment of the present application, as shown in fig. 8, the apparatus may include:
an acquisition module 802 for acquiring simulated brake pressure and acceleration feedback values;
a control module 804 for controlling the brake motor to operate at a first brake torque and controlling the brake motor and the hydraulic energy storage system to operate based on the simulated brake pressure when the initial brake signal of the simulator is identified;
A correction module 806 corrects operation of the brake motor and the hydraulic energy storage system based on the acceleration feedback value.
It should be noted that, the acquiring module 802 in this embodiment may be configured to perform the step S204, the determining module 804 in this embodiment may be configured to perform the steps S202 and S206, and the executing module 806 in this embodiment may be configured to perform the step S208.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
According to still another aspect of the embodiment of the present application, there is also provided an electronic device for implementing the control method of the braking system described above, 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 application, as shown in fig. 9, including a processor 902, a communication interface 904, a memory 906, and a communication bus 908, wherein the processor 902, the communication interface 904, and the memory 906 communicate with each other via the communication bus 908, wherein,
A memory 906 for storing a computer program;
the processor 902 is configured to execute the computer program stored in the memory 906, and implement the following steps:
controlling a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated braking pressure and an acceleration feedback value;
controlling a brake motor and a 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 above-described communication bus may be a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include RAM or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, as shown in fig. 9, the memory 902 may include, but is not limited to, the acquisition module 802, the control module 804, and the correction module 806 in the control device of the hydraulic system, and may also include, but is not limited to, other module units in the control device of the hydraulic system, which are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but may also be a DSP (DIGITAL SIGNAL Processing), ASIC (Application SPECIFIC INTEGRATED Circuit), FPGA (Field-Programmable gate array) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the structure shown in fig. 9 is only illustrative, and the device implementing the control method of the braking system may be a terminal device, and the terminal device may be a smart phone (such as an Android Mobile phone, an IOS Mobile phone, etc.), a tablet computer, a palm computer, a Mobile internet device (Mobile INTERNET DEVICES, MID), a PAD, etc. Fig. 9 is not limited to the 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 of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, 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, etc.
According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used for executing the program code of the control method of the brake system.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
controlling a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated braking pressure and an acceleration feedback value;
controlling a brake motor and a 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, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided by 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 exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may 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 the present embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (7)
1. A control method of a brake system, characterized by comprising:
controlling a brake motor to operate at a first brake torque when an initial brake signal of the simulator is recognized;
acquiring a simulated braking pressure and an acceleration feedback value;
controlling a brake motor and a 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;
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;
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;
The method further comprises the steps of:
controlling a regenerative braking system to act based on the simulated braking pressure;
The regenerative braking system comprises a liquid reservoir, the liquid reservoir is provided with a hydraulic recovery motor and an electromagnetic valve, and the action of controlling the regenerative braking system based on the simulated braking pressure comprises the following steps:
When the output torque of the brake motor is smaller than the second preset torque, the hydraulic recovery electromagnetic valve is controlled to be opened, and the hydraulic recovery motor is controlled to be opened.
2. The method of controlling a brake system according to claim 1, wherein the controlling a brake motor and a hydraulic energy storage system action based on the simulated brake pressure comprises:
Acquiring a first corresponding relation between the simulated brake pressure and the brake motor brake pressure, and a first corresponding relation between the simulated brake pressure and the hydraulic energy storage system;
controlling the braking motor to act based on the first corresponding relation between the simulated braking pressure and the motor braking 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. The control method of a brake system according to claim 2, wherein controlling the operation of the brake motor, 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:
And controlling the motor to work at the maximum torque not to be exceeded based on the first corresponding relation between the simulated braking pressure and the motor braking pressure.
4. The control method of a brake system according to claim 2, wherein controlling operation of the hydraulic energy storage system based on the acceleration feedback value when the acceleration feedback value is less than a preset acceleration feedback value comprises:
acquiring a second corresponding relation between the simulated braking 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 braking pressure and the hydraulic energy storage system.
5. A control device of a hydraulic system, characterized by comprising:
the acquisition module is used for acquiring the simulated braking pressure and the acceleration feedback value;
The control module is used for controlling the brake motor to operate with a first brake torque and controlling the brake motor and the hydraulic energy storage system to act based on the simulated brake pressure when the initial brake signal of the simulator is recognized;
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;
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;
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;
the control module is also used for controlling the action of the regenerative braking system based on the simulated braking pressure;
The regenerative braking system comprises a liquid reservoir, the liquid reservoir is provided with a hydraulic recovery motor and an electromagnetic valve, and the action of controlling the regenerative braking system based on the simulated braking pressure comprises the following steps:
When the output torque of the brake motor is smaller than the second preset torque, the hydraulic recovery electromagnetic valve is controlled to be opened, and the hydraulic recovery motor is controlled to be opened.
6. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory perform communication with each other through the communication bus, characterized in that the memory is configured to store a computer program; the processor is configured to execute the control method steps of the brake system according to any one of claims 1 to 4 by running the computer program stored on the memory.
7. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the control method steps of the brake system according to any of claims 1 to 4 when run.
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