CN115123161A - Vehicle control method, vehicle, and storage medium - Google Patents

Vehicle control method, vehicle, and storage medium Download PDF

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Publication number
CN115123161A
CN115123161A CN202210725578.8A CN202210725578A CN115123161A CN 115123161 A CN115123161 A CN 115123161A CN 202210725578 A CN202210725578 A CN 202210725578A CN 115123161 A CN115123161 A CN 115123161A
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China
Prior art keywords
target
parameter
control parameter
vehicle
sub
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CN202210725578.8A
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Chinese (zh)
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CN115123161B (en
Inventor
李坚勤
侯一萌
刘晓楠
许多
黄和祥
岳靖云
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Dongfeng Nissan Passenger Vehicle Co
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Dongfeng Nissan Passenger Vehicle Co
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Priority to CN202210725578.8A priority Critical patent/CN115123161B/en
Publication of CN115123161A publication Critical patent/CN115123161A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
    • B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a control method of a vehicle, the vehicle and a storage medium. The braking device of the vehicle comprises a driving module, a brake caliper and a brake disc, wherein the driving module is used for driving a friction block of the brake caliper to move towards or away from the brake disc, and the vehicle decelerates when the friction block is in contact with the brake disc, and the method comprises the following steps: obtaining characteristic parameters of the vehicle, wherein the characteristic parameters represent the braking demand of the inside and/or the outside of the vehicle in the running process; determining a target control parameter of the driving module in a pre-release control parameter and a pre-filling control parameter according to the characteristic parameter, wherein the pre-release control parameter is used for increasing the distance between the friction block and the brake disc, and the pre-filling control parameter is used for reducing the distance between the friction block and the brake disc and keeping the friction block and the brake disc in a non-contact state; and controlling the driving module to operate according to the target control parameter. The invention aims to reduce the oil consumption of the automobile and improve the riding comfort of a user in the braking process while ensuring the braking safety of the automobile.

Description

Vehicle control method, vehicle, and storage medium
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a control method for a vehicle, and a storage medium.
Background
The braking of the vehicle is generally realized by driving a brake caliper to contact with a brake disc through a driving module, and when the brake caliper contacts with the brake disc, a braking force is generated to decelerate the vehicle. The system comprises a brake caliper, a brake disc, a pre-filling function, a brake disc driving function, a brake control function and a control function, wherein the pre-filling function is provided for many vehicles to guarantee the braking safety of the vehicles, when a certain condition is achieved in the driving process of the vehicles, the brake caliper and the brake disc are driven in advance to reduce the distance before braking, and when the condition is not achieved in the driving process of the vehicles, the current driving state is maintained. However, the mode is single, and the fuel consumption of the automobile is easy to increase, and the riding comfort of a user is easy to reduce during the braking process.
Disclosure of Invention
The invention mainly aims to provide a control method of a vehicle, the vehicle and a storage medium, aiming at reducing the oil consumption of the automobile and improving the riding comfort of a user in the braking process while ensuring the braking safety of the vehicle.
In order to achieve the above object, the present invention provides a control method of a vehicle, a brake apparatus of the vehicle including a driving module, a brake caliper, and a brake disc, the driving module being configured to drive pads of the brake caliper to move toward or away from the brake disc, the vehicle being decelerated when the pads are in contact with the brake disc, the control method comprising the steps of:
obtaining characteristic parameters of the vehicle, wherein the characteristic parameters represent the internal and/or external braking demand in the running process of the vehicle;
determining a target control parameter of the driving module among a pre-release control parameter and a pre-charge control parameter according to the characteristic parameter, the pre-release control parameter being used for increasing the distance between the friction blocks and the brake disc, the pre-charge control parameter being used for decreasing the distance between the friction blocks and the brake disc and maintaining the friction blocks and the brake disc in a non-contact state;
and controlling the driving module to operate according to the target control parameter.
Optionally, the characteristic parameters include a release rate of an accelerator pedal of the vehicle, a depression rate of a brake pedal of the vehicle, a depression depth of the brake pedal of the vehicle, and a corresponding target braking torque, and the step of determining the target control parameter of the drive module among a pre-release control parameter and a pre-fill control parameter according to the characteristic parameters includes:
determining the target control parameter among pre-release and pre-fill control parameters according to the release rate, the depression depth, and the target braking torque.
Optionally, the step of determining the target control parameter among pre-release control parameters and pre-charge control parameters according to the release rate, the depression depth and the target braking torque comprises:
when the loosening rate is smaller than a first preset rate and the stepping depth is smaller than a preset depth, determining the pre-release control parameter as the target control parameter;
and when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than the maximum anti-dragging torque allowed when the braking energy recovery function of the vehicle is started, determining the pre-filling control parameter as the target control parameter.
Optionally, the pre-filling control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than a maximum anti-drag torque allowed when the braking energy recovery function of the vehicle is turned on, the step of determining the pre-filling control parameter as the target control parameter includes:
when the stepping rate is smaller than the second preset rate and the target braking torque is smaller than the maximum anti-dragging torque, determining the deviation amount between the target braking torque and the maximum anti-dragging torque;
when the deviation amount is larger than a preset value, determining the first sub-parameter as the target control parameter;
and when the deviation amount is smaller than or equal to the preset value, determining the second sub-parameter as the target control parameter.
Optionally, after the step of obtaining the characteristic parameter of the vehicle, the method further includes:
when the stepping rate is greater than or equal to a third preset rate, or when the target braking torque is greater than or equal to the maximum anti-dragging torque, determining an emergency braking control parameter as the target control parameter, wherein the emergency braking control parameter is used for driving the friction block to move to be in contact with the brake disc at an allowed maximum speed;
and when the stepping rate is smaller than the third preset rate and the target braking torque is smaller than the maximum back-dragging torque, executing the step of determining the target control parameter in a pre-release control parameter and a pre-filling control parameter according to the release rate, the stepping depth and the target braking torque.
Optionally, after the step of obtaining the characteristic parameter of the vehicle, the method further includes:
when a braking demand instruction is received, acquiring whether a braking energy recovery function of the vehicle is allowed to be started or not, wherein the braking energy recovery function is used for providing a back-dragging torque required by braking of the vehicle;
when the braking energy recovery function is allowed to be started, executing the step of determining the target control parameter in a pre-release control parameter and a pre-charge control parameter according to the loosening rate, the stepping depth and the target braking torque;
when the braking energy recovery function is not allowed to be started, determining the pre-charge control parameter as the target control parameter.
Optionally, the pre-charge control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and when the braking energy recovery function is not allowed to be started, the step of determining the pre-charge control parameter as the target control parameter includes:
and when the braking energy recovery function is not allowed to be started, determining the second sub-parameter as the target control parameter.
Optionally, the characteristic parameter includes traffic information and road information of an area where the vehicle is located, and the step of determining the target control parameter of the driving module from among the pre-release control parameter and the pre-fill control parameter according to the characteristic parameter includes:
determining a target speed change direction and a required driving time length when the vehicle drives towards at least one target in the forward direction according to the traffic information and the road information;
when a first target with the target acceleration change direction being acceleration exists in the at least one target, determining the pre-release control parameter as the target control parameter at intervals of a first target time length, wherein the first target time length is determined according to the corresponding running time length of the first target;
when a second target with the target acceleration change direction being deceleration exists in the at least one target, determining the pre-filling control parameter as the target control parameter at intervals of a second target time length, wherein the second target time length is determined according to the corresponding running time length of the second target.
Optionally, after the step of determining the target speed change direction and the required travel time period when the vehicle travels towards the target in the forward direction according to the traffic information and the road information, the step of defining the travel time period of the first target as a first time period and the travel time period of the second target as a second time period further comprises:
determining a time difference between the first duration and the second duration when the first object and the second object are present in the at least one object and the first object and the second object are adjacent in position;
when the time difference is smaller than or equal to a preset time difference, determining the pre-filling control parameter as the target control parameter at intervals of the second target time length;
when the time difference is larger than the preset time difference, the step of determining the pre-release control parameter as the target control parameter at an interval of a first target time length when a first target with the target acceleration change direction of acceleration exists in the at least one target, and the step of determining the pre-charge control parameter as the target control parameter at an interval of a second target time length when a second target with the target acceleration change direction of deceleration exists in the at least one target are executed.
Optionally, the characteristic parameter includes radar information and image information within a preset range, the preset range is a set of positions where a distance from the vehicle in a forward direction of the vehicle is less than or equal to a preset distance, and the step of determining the target control parameter of the driving module from among a pre-release control parameter and a pre-fill control parameter according to the characteristic parameter includes:
determining a third target time length required by the current motion of the vehicle until collision according to the radar information and the image information;
when the third target duration is less than or equal to a first preset duration, determining the pre-fill control parameter as the target control parameter.
Optionally, the pre-fill control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and when the third target duration is less than or equal to a first preset duration, the step of determining the pre-fill control parameter as the target control parameter includes:
when the third target duration is less than or equal to the first preset duration and the third target duration is greater than a second preset duration, determining the first sub-parameter as the target control parameter;
when the third target duration is less than or equal to the first preset duration and the third target duration is less than or equal to the second preset duration, determining the second sub-parameter as the target control parameter;
and the second preset time length is greater than the first preset time length.
Optionally, the characteristic parameter comprises a lateral acceleration, a steering angle or a yaw angle of the vehicle, and the step of determining the target control parameter of the drive module from the pre-release control parameter and the pre-charge control parameter according to the characteristic parameter comprises:
when the lateral acceleration is larger than a preset acceleration, or when the steering angle is larger than a first preset angle, or when the yaw angle is larger than a second preset angle, determining the pre-filling control parameter as the target control parameter.
Optionally, the pre-filling control parameter includes a first sub-parameter and a second sub-parameter, the first sub-parameter corresponds to a target distance greater than a target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and the step of determining the pre-filling control parameter as the target control parameter when the lateral acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle includes:
and when the transverse acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle, determining the second sub-parameter as the target control parameter.
Optionally, the characteristic parameter comprises more than one sub-characteristic parameter, different sub-characteristic parameters characterizing different types of braking demand magnitude, and the step of determining the target control parameter of the drive module from the pre-release control parameter and the pre-fill control parameter according to the characteristic parameter comprises:
determining one of the pre-release control parameter and the pre-charge control parameter as a corresponding alternative control parameter according to each sub-characteristic parameter, and obtaining more than one alternative control parameter;
when the more than one alternative control parameters are the pre-release control parameters, determining the pre-release control parameters as the target control parameters;
determining the pre-fill control parameter as the target control parameter when the pre-release control parameter and the pre-fill control parameter or all of the more than one alternative control parameters are the pre-fill control parameter.
Optionally, the pre-charge control parameter includes a first sub-parameter and a second sub-parameter, the first sub-parameter corresponds to a target distance greater than a target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and when the pre-release control parameter and the pre-charge control parameter exist in the more than one alternative control parameters or all of the pre-charge control parameters are the pre-charge control parameter, the step of determining the pre-charge control parameter as the target control parameter includes:
when there is more than one of the pre-fill control parameters in the more than one alternative control parameters, determining the second sub-parameter as the target control parameter if all of the more than one of the pre-fill control parameters are the second sub-parameter or the first sub-parameter and the second sub-parameter exist; determining the first sub-parameter as the target control parameter if more than one of the pre-fill control parameters are all the first sub-parameter.
Optionally, the pre-release control parameter is a control parameter for increasing a distance between the friction block and the brake disc to a first target distance, and the pre-fill control parameter is a control parameter for decreasing the distance between the friction block and the brake disc to a second target distance; wherein the first target distance is a maximum distance between the brake disc and the pads allowed by the brake caliper;
the pre-filling control parameter comprises a first sub-parameter and a second sub-parameter, the first target distance is greater than the second target distance corresponding to the first sub-parameter, and the second target distance corresponding to the first sub-parameter is greater than the second target distance corresponding to the second sub-parameter.
Further, in order to achieve the above object, the present application also proposes a vehicle including:
the braking device comprises a driving module, a brake caliper and a brake disc, wherein the driving module is used for driving a friction block of the brake caliper to move towards or away from the brake disc, and the vehicle decelerates when the friction block is in contact with the brake disc;
a control device connected with the drive module, the control device comprising: a memory, a processor and a control program of a vehicle stored on the memory and executable on the processor, the control program of the vehicle implementing the steps of the control method of the vehicle as claimed in any one of the above when executed by the processor.
In order to achieve the above object, the present application also proposes a storage medium having a control program of a vehicle stored thereon, the control program of the vehicle implementing the steps of the control method of the vehicle as described in any one of the above when executed by a processor.
The invention provides a control method of a vehicle, which is suitable for characteristic parameters for representing the magnitude of an internal and/or external braking demand in the driving process of the vehicle to determine target control parameters in pre-release control parameters and pre-release control parameters to control the operation of a driving module of a brake caliper, when the driving module operates with the pre-release control parameters, the driving module can drive a brake disc to be close to a friction block of the brake caliper and maintain a non-contact state, at the moment, the vehicle cannot decelerate, when the brake is needed, the brake disc can be rapidly contacted with the friction block to ensure the braking safety of the vehicle, when the driving module operates with the pre-release control parameters, the driving module can drive the brake disc to be far away from the friction block, so that the dragging torque between the caliper and the brake disc is reduced, the oil consumption of the vehicle is reduced, the riding comfort of a user in the braking process is improved, on the basis, the vehicle does not singly perform pre-release, but selects pre-release or pre-release according to the magnitude of the braking demand in the driving process of the vehicle, therefore, the vehicle braking safety is ensured, the oil consumption of the automobile is reduced, and the riding comfort of a user in the braking process is improved.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a braking device in a vehicle according to the present invention;
FIG. 2 is a schematic diagram of the hardware involved in the operation of one embodiment of the vehicle of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a control method for a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating another embodiment of a control method for a vehicle according to the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a control method of a vehicle according to still another embodiment of the present invention;
FIG. 6 is a schematic flow chart diagram illustrating a control method for a vehicle according to still another embodiment of the present invention;
FIG. 7 is a schematic flow chart diagram illustrating a control method of a vehicle according to still another embodiment of the present invention;
fig. 8 is a flowchart illustrating a control method of a vehicle according to still another embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: a control method of a vehicle is adopted, a braking device of the vehicle comprises a driving module, a brake caliper and a brake disc, the driving module is used for driving the brake disc to move towards or away from a friction block of the brake caliper, and the vehicle decelerates when the friction block is in contact with the brake disc, the method comprises the following steps: obtaining characteristic parameters of the vehicle, wherein the characteristic parameters represent the internal and/or external braking demand in the running process of the vehicle; determining a target control parameter of the driving module among a pre-release control parameter and a pre-charge control parameter according to the characteristic parameter, the pre-release control parameter being used for increasing a distance between the friction pad and the brake disc, the pre-charge control parameter being used for decreasing the distance between the friction pad and the brake disc and the friction pad and the brake disc being maintained in a non-contact state; and controlling the driving module to operate according to the target control parameter.
Since many vehicles may have a pre-filling function to ensure the braking safety of the vehicle, when a certain condition is reached during the driving of the vehicle, the brake caliper and the brake disc may be driven in advance to reduce the distance before braking, and when the condition is not reached during the driving of the vehicle, the current driving state may be maintained. However, the mode is single, and the fuel consumption of the automobile is easy to increase, and the riding comfort of a user is easy to reduce during the braking process.
The invention provides the solution, and aims to reduce the oil consumption of an automobile and improve the riding comfort of a user in the braking process while ensuring the braking safety of the automobile.
The embodiment of the invention provides a vehicle. The vehicle can be any motor vehicle with a braking function, such as a new energy automobile, a traditional energy automobile and the like, and comprises an auxiliary driving function or an intelligent driving function.
In the present embodiment, referring to fig. 1 and 2, a vehicle includes a control device 1 and a brake device 2 connected to the control device 1.
In the present embodiment, the brake device 2 includes a drive module (not shown), a brake caliper 21, and a brake disc 22. The drive module can drive the pads 211 of the brake caliper 21 towards or away from the brake disc 22. Wherein the vehicle deceleration braking is generated when the pads 211 of the brake caliper 21 are in contact with the brake disc 22. The vehicle is in an acceleration state, maintains a current speed running state, or is in a power-off state when the brake caliper 21 is not in contact with the brake disc 22.
In this embodiment, the driving module is a hydraulic driving module. The hydraulic driving module is connected with the brake caliper 21 through an oil pipe. The hydraulic drive module may adjust the hydraulic environment to drive the pads 211 of the brake caliper 21 toward or away from the brake disc through changes in the hydraulic environment. In addition, other types of hydraulic brake actuators, such as a drum brake actuator having shoes and a brake drum, can also be applied to the brake device in the present embodiment. In other embodiments, the driving module may also be a pneumatic driving module, etc.
In the present embodiment, the brake caliper 21 is a caliper requiring a large amount of liquid. In other embodiments, the brake caliper 21 may also be a small fluid demand caliper.
In an embodiment of the present invention, referring to fig. 2, a control apparatus of a vehicle includes: a processor 1001 (e.g., a CPU), a memory 1002, a timer 1003, and the like. The components in the control device are connected by a communication bus. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 2 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 2, a control program of the vehicle may be included in the memory 1002 as a storage medium. In the apparatus shown in fig. 2, the processor 1001 may be configured to call a control program of the vehicle stored in the memory 1002 and perform operations of relevant steps of the control method of the vehicle in the following embodiments.
The embodiment of the invention also provides a control method of the vehicle, which is applied to the vehicle.
Referring to fig. 3, an embodiment of a control method of a vehicle according to the present application is provided. In the present embodiment, the control method of the vehicle includes:
step S10, obtaining characteristic parameters of the vehicle, wherein the characteristic parameters represent the size of the internal and/or external braking demands in the driving process of the vehicle;
the characteristic parameters are obtained by acquiring parameters detected by a detection module on the vehicle, data sent by an external system in communication connection with the vehicle can be acquired, and operation control parameters of a vehicle body control system can be acquired.
In this embodiment, the characteristic parameter includes a first characteristic parameter and/or a second characteristic parameter. The first characteristic parameter represents the magnitude of the braking demand inside the vehicle, and the first characteristic parameter may include a release rate of an accelerator pedal of the vehicle, a depression rate of a brake pedal of the vehicle, a depression depth of the brake pedal of the vehicle, a target braking torque corresponding to the brake pedal of the vehicle, a lateral acceleration, a steering angle and/or a yaw angle during the driving of the vehicle, and the like. The second characteristic parameter comprises traffic information, road information and/or radar information, image information and the like in a preset range of an area where the vehicle is located, wherein the preset range is a position set of which the distance between the vehicle and the vehicle in the advancing direction of the vehicle is smaller than or equal to a preset distance.
A step S20 of determining a target control parameter of the driving module among a pre-release control parameter and a pre-charge control parameter according to the characteristic parameter, the pre-release control parameter being used for increasing a distance between the pad and the brake disc, the pre-charge control parameter being used for decreasing the distance between the pad and the brake disc and the pad and the brake disc being maintained in a non-contact state;
the pre-release control parameter specifically refers to a control parameter that increases the distance between the pad and the disc in advance before the user performs a driving operation corresponding to the release distance in a state where the distance between the pad and the disc is smaller than the maximum distance allowed by the brake caliper. The pre-fill control parameter refers in particular to a control parameter that reduces the distance between the pads and the brake disc in advance before the pads are not in contact with the brake disc.
In the present embodiment, the pre-release control parameter is a control parameter for increasing the distance between the pad and the disc to a first target distance, and the pre-fill control parameter is a control parameter for decreasing the distance between the pad and the disc to a second target distance.
In other embodiments, the pre-release control parameter may be a control parameter for increasing the distance between the pads and the brake disc by a preset magnitude, and the pre-fill control parameter may be a control parameter for decreasing the distance between the pads and the brake disc by a preset magnitude.
One of the pre-release control parameter and the pre-fill control parameter is selected as a target control parameter based on the characteristic parameter. Different characteristic parameters correspond to different target control parameters. The corresponding relation between the characteristic parameters and the target control parameters can be preset, and the target control parameters corresponding to the current characteristic parameters can be determined based on the corresponding relation.
When the braking demand represented by the characteristic parameters is smaller than a first preset threshold, determining that the pre-release control parameters are target control parameters; when the braking demand characterized by the characteristic parameter is greater than or equal to a first preset threshold, the pre-charge control parameter may be determined as the target control parameter.
And step S30, controlling the driving module to operate according to the target control parameter.
When the target control parameter is a pre-release control parameter, controlling the driving module to operate according to the pre-release control parameter so as to increase the distance between the friction block and the brake disc; and when the target control parameter is the pre-filling control parameter, controlling the driving module to operate according to the pre-filling control parameter.
The invention provides a control method of a vehicle, which is suitable for determining target control parameters in pre-release control parameters and pre-fill control parameters to control the operation of a driving module of a brake caliper according to characteristic parameters representing the magnitude of internal and/or external brake demands in the driving process of the vehicle, wherein the driving module can drive a brake disc to be close to a friction block of the brake caliper and maintain a non-contact state when the driving module operates according to the pre-fill control parameters, the brake disc can be rapidly contacted with the friction block when the vehicle does not decelerate and braking is needed so as to ensure the braking safety of the vehicle, the driving module can drive the brake disc to be far away from the friction block when the driving module operates according to the pre-release control parameters so that the dragging torque between the caliper and the brake disc is reduced so as to reduce the oil consumption of the vehicle and improve the riding comfort of a user in the braking process, and based on the condition, the vehicle is not singly pre-filled, but is suitable for the selection of pre-filling or pre-releasing of the braking demand in the vehicle running process, thereby reducing the oil consumption of the automobile and improving the riding comfort of a user in the braking process while ensuring the braking safety of the vehicle.
Further, in the present embodiment, the pre-release control parameter is a control parameter for increasing the distance between the pad and the brake disc to a first target distance, and the pre-charge control parameter is a control parameter for decreasing the distance between the pad and the brake disc to a second target distance.
Wherein the first target distance is greater than the second target distance. In this embodiment, the first target distance is a maximum distance between the brake disc and the pads allowed by the brake caliper.
In this embodiment, the pre-filling control parameter includes a first sub-parameter and a second sub-parameter, the first target distance is greater than the second target distance corresponding to the first sub-parameter, and the second target distance corresponding to the first sub-parameter is greater than the second target distance corresponding to the second sub-parameter.
As shown in fig. 1, when the distance between the pads and the disc is the first target distance D0, i.e., the natural state position a, the drag torque between the caliper and the disc is small, close to 0, and it can be considered that there is no drag torque between the caliper and the disc. When the distance between the friction block and the brake disc is the second target distance D1 corresponding to the first sub-parameter, i.e. in the first pre-filling position b, no braking force is generated between the friction block and the brake disc. When the distance between the friction block and the brake disc is the second target distance D2 corresponding to the second sub-parameter, i.e. in the second pre-filling position c, a slight braking force (i.e. a braking force smaller than the preset threshold value) has been generated between the brake block and the brake disc, but the slight braking force does not generate a significant vehicle deceleration and is not significantly perceived by the driver.
Based on this, one of the pre-release control parameter, the first sub-parameter, and the second sub-parameter may be determined as the target control parameter based on the above-described characteristic parameter. When the braking demand represented by the characteristic parameters is smaller than a first preset threshold, determining the pre-release control parameters as target control parameters; when the braking demand represented by the characteristic parameters is greater than or equal to a first preset threshold and less than a second preset threshold, determining the first sub-parameters as target control parameters; and when the braking demand represented by the characteristic parameter is greater than or equal to a second preset threshold value, determining the second sub-parameter as a target control parameter.
In the embodiment, the pre-filling of the vehicle is not only one stage but also two stages, so that the pre-filling is prevented from being triggered by mistake, when the driving module operates according to the first sub-parameter, no braking force is generated between the brake pad and the brake disc, and the oil consumption, the riding comfort and the braking distance of the automobile are taken into consideration; when the driving module operates according to the second sub-parameter, the response time of subsequent braking requirements can be reduced to the greatest extent, and the braking safety of the vehicle is ensured.
In other embodiments, the first target distance may be less than the farthest distance herein. In other embodiments, the pre-fill control parameter may also include one of the first sub-parameter and the second sub-parameter.
Further, based on the above embodiment, another embodiment of the control method of the vehicle of the present application is provided. In this embodiment, the characteristic parameters include a release rate of an accelerator pedal of the vehicle, a depression rate of a brake pedal of the vehicle, a depression depth of the brake pedal of the vehicle, and a corresponding target braking torque, and referring to fig. 4, the step S20 includes:
step S21, determining the target control parameter among pre-release control parameters and pre-charge control parameters according to the release rate, the depression depth, and the target braking torque.
And the brake pedal and the accelerator pedal are in transmission connection with the driving module and are used for a user to brake and accelerate the vehicle based on the driving requirement of the user. When a user steps on the brake pedal or the accelerator pedal, the pedal can move along with the action of the user, and the driving force of the driving module on the brake caliper can be changed. The deeper the stepping depth of the brake pedal is, the larger the driving force of the driving module to the brake caliper is, and the friction block of the brake caliper is gradually close to the brake disc; the shallower the stepping depth of the brake pedal is, the smaller the driving force of the driving module to the brake caliper is, and the farther away the friction block of the brake caliper from the brake disc is.
The rate of movement of the accelerator pedal during the release thereof can be detected as the release rate here.
The motion rate of the brake pedal can be detected as the stepping rate during the stepping process of the brake pedal, the current distance of the brake pedal relative to a reference position on a vehicle is detected as the stepping depth, the target driving force of the corresponding driving module can be determined based on the stepping depth, and the target braking torque can be calculated based on the target driving force.
Defining that the action rate is a positive value when the stepping action of the user drives the lower pedal to move downwards, and the action rate is a negative value when the loosening action of the user drives the lower pedal to move upwards, so that the stepping rate is the action rate when the action rate is greater than 0, and the loosening rate is the action rate when the action rate is less than 0.
Different release rates, different treading depths and different target braking torques correspond to different target control parameters. The corresponding relation among the release rate, the stepping depth, the target braking torque and the target control parameter can be preset, and the target control parameter corresponding to the current release rate, the stepping depth and the target braking torque can be determined based on the corresponding relation.
In this embodiment, the release rate, the stepping depth and the target braking torque can accurately reflect the braking and accelerating requirements of the driver, so that the vehicle braking device can be controlled to match the braking requirements of the driver, the vehicle braking safety is guaranteed, the fuel consumption of the automobile is reduced, and the riding comfort of the user in the braking process is improved.
In other embodiments, the target control parameter may also be determined according to some of the action rate, the tread depth, and the target braking torque.
Further, in this embodiment, when the release rate is smaller than a first preset rate and the tread depth is smaller than a preset depth, the pre-release control parameter is determined as the target control parameter; and when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than the maximum anti-dragging torque allowed when the braking energy recovery function of the vehicle is started, determining the pre-filling control parameter as the target control parameter.
Wherein the first preset rate is a rate representing that the driver quickly releases the accelerator pedal in an emergency. The preset depth represents the position of the brake pedal corresponding to the idle stroke caused by mechanical clearances of the brake pedal, the booster and the like, and no hydraulic pressure is generated in the brake system at the moment. Specifically, when the release rate is greater than or equal to a first preset rate or the tread depth is greater than or equal to a preset depth, the step of determining the prefill control parameter as the target control parameter is executed when the tread rate is less than a second preset rate and the target braking torque is less than the maximum anti-drag torque allowed when the braking energy recovery function of the vehicle is on.
The vehicle can be provided with a braking energy recovery function (CRB), the driving motor can provide Max (T _ CRB) anti-drag torque when the braking energy recovery function is started, so when the braking demand of a driver is not large (the general deceleration is less than or equal to 0.3g), the driving motor directly carries out anti-drag to generate the braking deceleration required by the driver, and when the braking demand of the driver gradually increases and exceeds the Max (T _ CRB) of the maximum anti-drag torque which can be provided by the driving motor of the vehicle, the driving module supplements the rest braking demand. The deceleration of the whole vehicle generated by the sum of the motor anti-dragging torque and the hydraulic braking torque meets the requirements of a driver.
The maximum anti-drag torque represents the maximum recoverable regenerative braking torque fed back by the VCM or ECM, and is determined by off-motor characteristics of the vehicle drive motor during anti-drag.
When the loosening rate is smaller than a first preset rate and the treading depth is smaller than a preset depth, it is indicated that the driver does not need to accelerate at the moment and does not need to brake in a special emergency, for example, the driver wants to slide at the existing speed, and at the moment, the driving module is controlled to operate according to the pre-release control parameters, so that the safety, the comfort and the oil consumption of the vehicle can be considered; when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than the maximum back-dragging torque allowed when the braking energy recovery function of the vehicle is started, the driver has low braking demand and is not urgent at the moment, hydraulic braking intervention is not needed, and the driving module is controlled to operate according to the pre-filling control parameters at the moment, so that the safety, oil consumption and comfort of vehicle braking are favorably considered.
In other embodiments, the prefill control parameter may also be determined as the target control parameter when the stepping rate is less than a second preset rate, the stepping depth is greater than a preset depth, and the target braking torque is less than a maximum anti-drag torque allowed when the braking energy recovery function of the vehicle is turned on.
Further, in this embodiment, the pre-filling control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, and the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is decreased. The first sub-parameter and the second sub-parameter herein are the same concept as the first sub-parameter and the second sub-parameter in the above-described embodiment. Based on this, when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than the maximum anti-dragging torque allowed when the braking energy recovery function of the vehicle is started, the step of determining the pre-charge control parameter as the target control parameter includes:
when the stepping rate is smaller than the second preset rate and the target braking torque is smaller than the maximum anti-dragging torque, determining the deviation amount between the target braking torque and the maximum anti-dragging torque; when the deviation amount is larger than a preset value, determining the first sub-parameter as the target control parameter; and when the deviation amount is smaller than or equal to the preset value, determining the second sub-parameter as the target control parameter.
The preset value represents a torque value of a safety factor, and when the pre-filling execution efficiency and the smoothness during electro-hydraulic conversion are considered, the braking torque corresponding to the hydraulic pressure of 0.5bar is generally adopted when the driving module is a hydraulic driving module.
When the speed of the brake pedal is slower when a driver treads the brake pedal, and the target braking torque required by the driver is smaller than the maximum anti-dragging torque which can be provided by a vehicle driving motor, the anti-dragging torque can cover the braking requirement of the driver, the braking intervention of a driving module is not needed, when the deviation amount of the target braking torque and the maximum anti-dragging torque has certain safety allowance, the braking requirement of the driver at the moment is small and is not urgent, and the deviation amount is within the safety allowance, the hydraulic braking intervention is not needed, at the moment, the braking device is pre-filled with a larger distance between a brake disc and a friction block, and the effect of considering the safety, the oil consumption and the comfort of the vehicle braking can be effectively improved. When the deviation amount of the target braking torque and the maximum anti-dragging torque is beyond the safety margin, the braking device is pre-filled with a smaller distance between the brake disc and the friction block, so that the vehicle can be quickly braked when needing to be braked, and the braking safety of the vehicle is ensured.
In other embodiments, the second sub-parameter may be determined to be the target control parameter whether the deviation amount is greater than a preset value or less than or equal to a preset value.
Further, in this embodiment, after step S10, the method further includes: when the stepping rate is greater than or equal to a third preset rate, or when the target braking torque is greater than or equal to the maximum anti-dragging torque, determining an emergency braking control parameter as the target control parameter, wherein the emergency braking control parameter is used for driving the friction block to move to be in contact with the brake disc at an allowed maximum speed; and when the stepping rate is smaller than the third preset rate and the target braking torque is smaller than the maximum anti-dragging torque, executing the step of determining the target control parameter in a pre-release control parameter and a pre-filling control parameter according to the release rate, the stepping depth and the target braking torque.
It should be noted that the third predetermined rate is greater than or equal to the second predetermined rate. The third predetermined rate is indicative of the rate at which the driver steps on the brake pedal during emergency braking.
In this embodiment, when the brake pedal is depressed at a rate exceeding the rate of depression during emergency braking, the driver requests that the brake deceleration be generated as soon as possible to stop the vehicle as soon as possible, so the driving module should drive the friction blocks toward the brake disc with the maximum driving force to ensure the braking safety of the vehicle. In addition, when the target braking torque T is greater than or equal to the maximum anti-drag torque that the vehicle driving motor can provide, intervention of driving by the driving module is required, and at this time, the driving module should drive the friction block to move toward the brake disc with the maximum driving force to meet the driver's demand.
Further, in this embodiment, after step S10, the method further includes: when a braking demand instruction is received, acquiring whether a braking energy recovery function of the vehicle is allowed to be started or not; the braking energy recovery function is used for providing a reverse dragging torque required by the braking of the vehicle; when the braking energy recovery function is allowed to be started, executing the step of determining a target control parameter of the driving module in a pre-release control parameter and a pre-filling control parameter according to the action rate, the tread depth and the target braking torque; when the braking energy recovery function is not allowed to be started, determining the pre-charge control parameter as the target control parameter. The braking demand instruction is an instruction which is input and generated by a driver operating the vehicle.
Further, in this embodiment, when the pre-charge control parameter includes the first sub-parameter and the second sub-parameter, and when the braking energy recovery function is not allowed to be started, the second sub-parameter is determined as the target control parameter. In other embodiments, the first sub-parameter may also be determined as the target control parameter when the braking energy recovery function is not allowed to be turned on.
In this embodiment, the braking energy recovery function is not allowed to be started, which indicates that the requirement for realizing braking through driving of the driving module is relatively large, and at this time, the braking device is pre-filled through the driving module, so that the braking safety of the vehicle can be effectively improved. When the braking device is pre-filled in two stages, the friction blocks and the brake disc are pre-filled in a smaller distance, so that the braking safety of the vehicle is further improved. The braking energy recovery function is allowed to be started, which shows that the requirement for realizing braking through the driving of the driving module is relatively small, at the moment, the actual braking requirement of a driver is further determined through the relevant parameters of the braking pedal, and the driving module is controlled to operate by adapting to the actual braking requirement, so that the effective consideration of oil consumption, braking safety and comfort is ensured.
Further, based on any one of the embodiments, another embodiment of the control method of the vehicle is provided. In this embodiment, the characteristic parameters include traffic information and road information of an area where the vehicle is located, and referring to fig. 5, the step S20 includes:
step S22, determining a target speed change direction and a required driving time length when the vehicle drives towards at least one target in the forward direction according to the traffic information and the road information;
the traffic information and the road information can be obtained by acquiring a high-definition map. The traffic information may include "deceleration road sign, congestion" and the like traffic indication information indicating that the driver is traveling. The road information specifically includes "straight road, uphill and downhill, curve, ramp" and the like.
The target speed change direction for each target includes one of acceleration and deceleration. The target speed change direction corresponding to each target may be determined based on the traffic information and the road information. For example, the target speed change direction of the target corresponding to the information such as "speed limit, congestion, downhill, curve, traffic light, sidewalk" and the like in the traffic information and the road information is determined as deceleration. And determining the target speed change direction of the target corresponding to the information such as acceleration, straight roads, uphill and the like in the traffic information and the road information as acceleration.
When the target speed change direction is deceleration, the position difference Δ S1 between the current position of the vehicle and the deceleration target can be determined by the traffic information and the road information, and the time T to reach the deceleration target is calculated as the travel time length of the target according to the formula S-V × T +1/2 × a × T2 in combination with the current vehicle speed V and the deceleration a of the vehicle. Similarly, when the target speed change direction is acceleration, the distance difference Δ S2 between the current position of the vehicle and the acceleration target can be determined according to the traffic information and the road information, and the time T reaching the acceleration target can be calculated as the running time of the target.
Step S23, when a first target with the target acceleration change direction as acceleration exists in the at least one target, determining the pre-release control parameter as the target control parameter at intervals of a first target time length, wherein the first target time length is determined according to the corresponding running time length of the first target;
specifically, a difference value between a running time length corresponding to the first target and a first preset time length is used as the first target time length. The first preset duration may be obtained according to a time T1 required by the entire vehicle braking system from receiving a command to completing the pre-release, and considering that the system robustness and the vehicle safety are multiplied by a certain safety factor k, for example, T1 ═ k ═ T1 ═ 2 × -0.5 s ═ 1 s.
Step S24, when a second target whose target acceleration change direction is deceleration exists in the at least one target, determining the prefill control parameter as the target control parameter at an interval of a second target time period, where the second target time period is determined according to the travel time period of the corresponding second target.
Specifically, the difference between the running time length corresponding to the second target and the second preset time length is used as the second target time length. The second preset duration may be less than the first preset duration. The second predetermined duration may be based on a time T2 required by the vehicle braking system from receiving the command to completing the pre-fill, e.g., T2 ═ 0.5 s.
It should be noted that, when at least one target includes a first target and a second target, timing is started, and when the timing duration reaches the first target duration, the pre-release control parameter is determined as the target control parameter; and when the timing duration reaches a second target duration, determining the pre-filling control parameter as the target control parameter. Based on the control method, when the timing duration reaches the first target duration, the driving module is controlled to operate according to the pre-release control parameter, and when the timing duration reaches the second target duration, the driving module is controlled to operate according to the pre-fill control parameter.
In the embodiment, by the mode, the traffic information and the road information can accurately reflect the braking demand of an external traffic road surface in the running process of the vehicle, wherein the braking device is pre-released in advance when the vehicle reaches a target in the advancing process and needs to be accelerated, so that the oil consumption is reduced, the vehicle is ensured to quickly reach the required speed when the vehicle needs to be accelerated, and the running smoothness of the vehicle is ensured; when the vehicle reaches the target in the advancing process and needs to be decelerated, the brake device is pre-filled in advance, so that the braking speed of the vehicle is improved, and the braking safety of the vehicle is ensured.
It should be noted that the sequence of execution between steps S22 to S24 and step S21 is not particularly limited.
Further, in this embodiment, after the step of determining the target speed change direction and the required travel time period required for the vehicle to travel toward the target in the forward direction according to the traffic information and the road information, the step of defining the travel time period of the first target as a first time period and the travel time period of the second target as a second time period further includes:
determining a time difference between the first duration and the second duration when the first target and the second target are present in the at least one target and the first target and the second target are adjacent in position;
when the time difference is smaller than or equal to a preset time difference, the pre-filling control parameter is determined to be the target control parameter at intervals of the second target time length; forbidding to determine the pre-release control parameter as the target control parameter at intervals of a first target duration;
when the time difference is larger than the preset time difference, executing the step of determining the pre-release control parameter as the target control parameter at a first target time interval when a first target with the target acceleration change direction of acceleration exists in the at least one target, and the step of determining the pre-charge control parameter as the target control parameter at a second target time interval when a second target with the target acceleration change direction of deceleration exists in the at least one target.
Wherein the time difference is an absolute value of a difference between the first time length and the second time length.
In this embodiment, when the first target and the second target are present in the at least one target and are adjacent to each other, and when both the first duration and the second duration are greater than a preset time threshold (for example, 10s), the step of determining the time difference between the first duration and the second duration is performed, and the corresponding target control parameter is further determined according to a magnitude relationship between the time difference and the preset time difference to control the operation of the driving module. In other embodiments, when the first target and the second target are present in the at least one target and the first target and the second target are adjacent, the step of determining the time difference between the first time duration and the second time duration may also be performed when the first time duration or the second time duration is less than or equal to a preset time threshold, and further determining the corresponding target control parameter to control the operation of the driving module according to the magnitude relationship between the time difference and the preset time difference.
In the embodiment, when the time difference required by the vehicle to reach two adjacent first targets to be accelerated and second targets to be decelerated is short, the brake device is controlled to be pre-filled only after the second target time length corresponding to the interval deceleration target, and the driving module is prohibited from operating according to the pre-release control parameter after the first target time length corresponding to the interval deceleration target, so that the vehicle speed can be quickly reduced when the vehicle reaches the deceleration target, and the driving safety is guaranteed.
Further, based on any of the above embodiments, a further embodiment of the control method of the vehicle of the present application is provided. In this embodiment, the characteristic parameter includes radar information and image information within a preset range, where the preset range is a set of positions where a distance from the vehicle in a forward direction of the vehicle is less than or equal to a preset distance, and with reference to fig. 5, the S20 includes:
step S25, determining a third target duration required by the current motion of the vehicle until collision according to the radar information and the image information;
the radar information is detected by a vehicle radar. The image information is specifically captured by a vehicle-mounted camera.
The different radar information and the different image information correspond to different third target durations. Specifically, the distance between the vehicle and an obstacle existing in the preset range may be determined based on the radar information and the image information, and the third target time period may be calculated based on the distance and the current vehicle speed of the vehicle.
In step S26, when the third target duration is less than or equal to a first preset duration, the pre-charge control parameter is determined as the target control parameter.
In this embodiment, the third target duration is less than or equal to the first preset duration, which indicates that the vehicle may collide in a short time, and at this time, the braking device is pre-filled, so that the braking device can be made accurately in advance for braking and decelerating the vehicle, the duration required for braking is reduced, and the braking safety and the driving comfort are improved.
It should be noted that the sequence of execution between steps S25 to S26 and steps S21 and S22 to S24 is not particularly limited.
Further, when the pre-fill control parameter includes the first sub-parameter and the second sub-parameter, the step of determining that the pre-fill control parameter is the target control parameter when the third target duration is less than or equal to a first preset duration includes:
when the third target duration is less than or equal to the first preset duration and the third target duration is greater than a second preset duration, determining the first sub-parameter as the target control parameter;
when the third target duration is less than or equal to the first preset duration and the third target duration is less than or equal to the second preset duration, determining the second sub-parameter as the target control parameter;
and the second preset time length is greater than the first preset time length.
The second preset time period is specifically used for distinguishing the magnitude of the urgency of vehicle braking.
In the embodiment, on the basis that the vehicle is collided in a short time, if the third target time length is longer than the second preset time length, the urgency of the vehicle to execute the braking operation is low, and at the moment, the first sub-parameter with a large distance is adopted for pre-filling, so that the vehicle braking safety and the driving comfort are favorably considered; if the third target time length is less than or equal to the second preset time length, the urgency of the vehicle to execute the braking operation is high, at the moment, the second sub-parameter with the small distance is adopted for pre-filling, so that the braking device is ready for emergency braking, the braking time is shortened, and the driving comfort is improved.
Further, based on any of the above embodiments, still another embodiment of the control method of the vehicle of the present application is provided. In the present embodiment, the characteristic parameter includes a lateral acceleration, a steering angle, or a yaw angle of the vehicle, and referring to fig. 7, step S20 includes:
step S27, when the lateral acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle, determining the prefill control parameter as the target control parameter.
In this embodiment, the pre-fill control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and the step of determining the pre-fill control parameter as the target control parameter when the lateral acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle includes: and when the transverse acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle, determining the second sub-parameter as the target control parameter.
In other embodiments, when the lateral acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle, the first sub-parameter may also be determined as the target control parameter.
In this embodiment, when the lateral acceleration, the steering angle, or the yaw angle of the vehicle satisfies the above conditions, it may be considered that the vehicle enters a large curve, and the eccentric force of the curve may increase the gap between the brake pad and the brake disc, so that the braking force may not be generated in time when braking is required, which may lead to a deterioration of the braking driving feeling, a lengthening of the braking distance, and a reduction of the vehicle safety. In particular, the pre-filling is carried out with a second sub-parameter having a smaller distance, so that the braking efficiency is further increased.
It should be noted that, the sequence of execution between step S27 and the above-mentioned steps S25 to S26, S21, and S22 to S24 is not limited specifically.
Further, based on any of the embodiments described above, still another embodiment of the control method of the vehicle according to the present application is provided. In this embodiment, the characteristic parameter includes more than one sub-characteristic parameter, and different sub-characteristic parameters represent different types of braking demand sizes. Referring to fig. 8, the determining of the target control parameter of the driving module among the pre-release control parameter and the pre-charge control parameter according to the characteristic parameter includes:
step S201, determining one of the pre-release control parameter and the pre-charge control parameter as a corresponding candidate control parameter according to each sub-feature parameter, and obtaining more than one candidate control parameters;
defining a first sub-characteristic parameter as a parameter representing the braking demand of a driver, wherein the first sub-characteristic parameter comprises the action rate, the tread depth and the target braking torque; defining a second sub-characteristic parameter as a parameter for representing the braking demand of a traffic road outside the vehicle, wherein the second sub-characteristic parameter comprises the traffic information and the road information; defining a third sub-characteristic parameter as a parameter for representing the braking demand of the vehicle running state, wherein the third sub-characteristic parameter comprises the lateral acceleration, the steering angle and/or the yaw angle; and defining a fourth sub-characteristic parameter as a characteristic parameter representing the braking demand size corresponding to the current collision risk of the vehicle, wherein the fourth sub-characteristic parameter comprises the radar information and the image information.
The characteristic parameters may include at least two of the first sub-characteristic parameter, the second sub-characteristic parameter, the third sub-characteristic parameter, and the fourth sub-characteristic parameter, and each sub-characteristic parameter may select the obtained target control parameter as the candidate control parameter herein in the manner mentioned in the above embodiment. In this embodiment, the characteristic parameters may include a first sub-characteristic parameter, a second sub-characteristic parameter, a third sub-characteristic parameter, and a fourth sub-characteristic parameter, and four candidate control parameters may be obtained correspondingly.
Step S202, when the more than one alternative control parameters are the pre-release control parameters, determining the pre-release control parameters as the target control parameters;
step S203, when the pre-release control parameter and the pre-fill control parameter or all of the pre-fill control parameters are the pre-fill control parameters, the pre-fill control parameter is determined to be the target control parameter.
Further, in this embodiment, when the pre-fill control parameter includes the first sub-parameter and the second sub-parameter, and when there is more than one pre-fill control parameter in the more than one alternative control parameters, if all of the more than one pre-fill control parameters are the second sub-parameter or the first sub-parameter and the second sub-parameter exist, it is determined that the second sub-parameter is the target control parameter; determining the first sub-parameter as the target control parameter if more than one of the pre-fill control parameters are all the first sub-parameter.
In this embodiment, through the above mode, the braking demands of multiple different types in the vehicle driving process are comprehensively considered to control the pre-braking and the pre-releasing of the braking device, so that the braking response time is shortened as far as possible under the scene, the braking distance is reduced, and the fuel consumption of the whole vehicle is reduced under the condition of improving the vehicle safety.
Furthermore, an embodiment of the present invention further provides a storage medium, where a control program of a vehicle is stored, and the control program of the vehicle, when executed by a processor, implements the relevant steps of any of the above embodiments of the control method of the vehicle.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (18)

1. A control method of a vehicle, characterized in that a brake device of the vehicle includes a drive module, a brake caliper, and a brake disc, the drive module is used for driving a pad of the brake caliper to move toward or away from the brake disc, the pad is in contact with the brake disc, the vehicle decelerates, the control method of the vehicle includes the steps of:
obtaining characteristic parameters of the vehicle, wherein the characteristic parameters represent the internal and/or external braking demand in the running process of the vehicle;
determining a target control parameter of the driving module among a pre-release control parameter and a pre-charge control parameter according to the characteristic parameter, the pre-release control parameter being used for increasing a distance between the friction pad and the brake disc, the pre-charge control parameter being used for decreasing the distance between the friction pad and the brake disc and the friction pad and the brake disc being maintained in a non-contact state;
and controlling the driving module to operate according to the target control parameter.
2. The control method of a vehicle according to claim 1, wherein the characteristic parameters include a release rate of an accelerator pedal of the vehicle, a depression rate of a brake pedal of the vehicle, a depression depth of the brake pedal of the vehicle, and a corresponding target braking torque, and the step of determining the target control parameter of the drive module among a pre-release control parameter and a pre-fill control parameter according to the characteristic parameters includes:
determining the target control parameter among pre-release and pre-fill control parameters according to the release rate, the depression depth, and the target braking torque.
3. The control method of a vehicle according to claim 2, wherein the step of determining the target control parameter among a pre-release control parameter and a pre-charge control parameter based on the release rate, the depression depth, and the target braking torque comprises:
when the loosening rate is smaller than a first preset rate and the stepping depth is smaller than a preset depth, determining the pre-release control parameter as the target control parameter;
and when the stepping rate is smaller than a second preset rate and the target braking torque is smaller than the maximum anti-dragging torque allowed when the braking energy recovery function of the vehicle is started, determining the pre-filling control parameter as the target control parameter.
4. The control method of a vehicle according to claim 3, wherein the prefill control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and when the pressing rate is less than a second preset rate and the target braking torque is less than a maximum anti-drag torque that is allowed when the braking energy recovery function of the vehicle is turned on, the step of determining the prefill control parameter as the target control parameter includes:
when the stepping rate is smaller than the second preset rate and the target braking torque is smaller than the maximum anti-dragging torque, determining the deviation amount between the target braking torque and the maximum anti-dragging torque;
when the deviation amount is larger than a preset value, determining the first sub-parameter as the target control parameter;
and when the deviation amount is smaller than or equal to the preset value, determining the second sub-parameter as the target control parameter.
5. The control method of a vehicle according to claim 2, characterized by, after the step of acquiring the characteristic parameter of the vehicle, further comprising:
when the stepping rate is greater than or equal to a third preset rate or the target braking torque is greater than or equal to a maximum back-dragging torque, determining an emergency braking control parameter as the target control parameter, wherein the emergency braking control parameter is used for driving the friction block to move at an allowable maximum speed until the friction block is contacted with the brake disc;
and when the stepping rate is smaller than the third preset rate and the target braking torque is smaller than the maximum anti-dragging torque, executing the step of determining the target control parameter in a pre-release control parameter and a pre-filling control parameter according to the release rate, the stepping depth and the target braking torque.
6. The control method of a vehicle according to claim 2, characterized by, after the step of acquiring the characteristic parameter of the vehicle, further comprising:
when a braking demand instruction is received, acquiring whether a braking energy recovery function of the vehicle is allowed to be started or not, wherein the braking energy recovery function is used for providing a back-dragging torque required by braking of the vehicle;
when the braking energy recovery function is allowed to be started, executing the step of determining the target control parameter in a pre-release control parameter and a pre-filling control parameter according to the release rate, the stepping depth and the target braking torque;
when the braking energy recovery function is not allowed to be started, determining the pre-charge control parameter as the target control parameter.
7. The control method of the vehicle according to claim 6, wherein the pre-charge control parameter includes a first sub-parameter and a second sub-parameter, the target distance corresponding to the first sub-parameter is greater than the target distance corresponding to the second sub-parameter, the target distance is a target value that needs to be reached after the distance between the friction block and the brake disc is reduced, and the step of determining the pre-charge control parameter as the target control parameter when the braking energy recovery function is not allowed to be started includes:
and when the braking energy recovery function is not allowed to be started, determining the second sub-parameter as the target control parameter.
8. The control method of a vehicle according to claim 1, wherein the characteristic parameter includes traffic information and road information of an area where the vehicle is located, and the step of determining the target control parameter of the drive module among a pre-release control parameter and a pre-fill control parameter based on the characteristic parameter includes:
determining a target speed change direction and a required driving time length when the vehicle drives towards at least one target in the forward direction according to the traffic information and the road information;
when a first target with the target acceleration change direction being acceleration exists in the at least one target, determining the pre-release control parameter as the target control parameter at intervals of a first target time length, wherein the first target time length is determined according to the corresponding running time length of the first target;
and when a second target with the target acceleration change direction being deceleration exists in the at least one target, determining the pre-filling control parameter as the target control parameter at intervals of a second target time length, wherein the second target time length is determined according to the corresponding running time length of the second target.
9. The control method of a vehicle according to claim 8, wherein the step of defining the travel time period of the first target as a first time period and the step of defining the travel time period of the second target as a second time period, the step of determining a target speed change direction required for the vehicle to travel toward the target in the forward direction and the required travel time period based on the traffic information and the road information, further comprises:
determining a time difference between the first duration and the second duration when the first object and the second object are present in the at least one object and the first object and the second object are adjacent in position;
when the time difference is smaller than or equal to a preset time difference, the pre-filling control parameter is determined to be the target control parameter at intervals of the second target time length;
when the time difference is larger than the preset time difference, executing the step of determining the pre-release control parameter as the target control parameter at a first target time interval when a first target with the target acceleration change direction of acceleration exists in the at least one target, and the step of determining the pre-charge control parameter as the target control parameter at a second target time interval when a second target with the target acceleration change direction of deceleration exists in the at least one target.
10. The control method of a vehicle according to claim 1, wherein the characteristic parameter includes radar information and image information within a preset range, the preset range being a set of positions where a distance from the vehicle in a forward direction of the vehicle is less than or equal to a preset distance, the step of determining the target control parameter of the drive module among a pre-release control parameter and a pre-charge control parameter according to the characteristic parameter includes:
determining a third target time length required by the current motion of the vehicle until collision according to the radar information and the image information;
when the third target duration is less than or equal to a first preset duration, determining the pre-charge control parameter as the target control parameter.
11. The control method of a vehicle according to claim 10, wherein the pre-charge control parameter includes a first sub-parameter and a second sub-parameter, the first sub-parameter corresponds to a target distance that is greater than a target distance corresponding to the second sub-parameter, the target distance is a target value that the distance between the pad and the brake disc needs to reach after decreasing, and the step of determining the pre-charge control parameter as the target control parameter when the third target period is less than or equal to a first preset period includes:
when the third target duration is less than or equal to the first preset duration and the third target duration is greater than a second preset duration, determining the first sub-parameter as the target control parameter;
when the third target duration is less than or equal to the first preset duration and the third target duration is less than or equal to the second preset duration, determining the second sub-parameter as the target control parameter;
and the second preset time length is longer than the first preset time length.
12. The control method of a vehicle according to claim 1, wherein the characteristic parameter includes a lateral acceleration, a steering angle, or a yaw angle of the vehicle, and the step of determining the target control parameter of the drive module among a pre-release control parameter and a pre-charge control parameter based on the characteristic parameter includes:
when the lateral acceleration is larger than a preset acceleration, or when the steering angle is larger than a first preset angle, or when the yaw angle is larger than a second preset angle, determining the pre-filling control parameter as the target control parameter.
13. The control method of a vehicle according to claim 12, wherein the pre-fill control parameter includes a first sub-parameter and a second sub-parameter, the first sub-parameter corresponds to a target distance that is greater than a target distance corresponding to the second sub-parameter, the target distance is a target value that is required to be reached after the distance between the pad and the brake disc is reduced, and the step of determining the pre-fill control parameter as the target control parameter when the lateral acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle includes:
and when the transverse acceleration is greater than a preset acceleration, or when the steering angle is greater than a first preset angle, or when the yaw angle is greater than a second preset angle, determining the second sub-parameter as the target control parameter.
14. A control method of a vehicle according to claim 1, characterized in that said characteristic parameter comprises more than one sub-characteristic parameter, different sub-characteristic parameters characterizing different types of braking demand magnitudes, said step of determining a target control parameter of said drive module among pre-release control parameters and pre-charge control parameters depending on said characteristic parameter comprising:
determining one of the pre-release control parameter and the pre-charge control parameter as a corresponding alternative control parameter according to each sub-characteristic parameter, and obtaining more than one alternative control parameter;
when the more than one alternative control parameters are the pre-release control parameters, determining the pre-release control parameters as the target control parameters;
determining the pre-fill control parameter as the target control parameter when the pre-release control parameter and the pre-fill control parameter or all of the more than one alternative control parameters are the pre-fill control parameter.
15. The control method of a vehicle according to claim 14, wherein the pre-fill control parameter includes a first sub-parameter and a second sub-parameter, the first sub-parameter corresponds to a target distance that is greater than a target distance corresponding to the second sub-parameter, the target distance is a target value that the distance between the friction pad and the brake disc needs to reach after decreasing, and the step of determining that the pre-fill control parameter is the target control parameter when the pre-release control parameter and the pre-fill control parameter or all of the pre-fill control parameters exist for the more than one alternative control parameters includes:
when there is more than one of the pre-fill control parameters in the more than one alternative control parameters, if all of the more than one pre-fill control parameters are the second sub-parameters or the first sub-parameters and the second sub-parameters exist, determining the second sub-parameters as the target control parameters; determining the first sub-parameter as the target control parameter if more than one of the pre-fill control parameters are all the first sub-parameter.
16. The control method of the vehicle according to any one of claims 1 to 15, characterized in that the pre-release control parameter is a control parameter for increasing the distance between the pad and the brake disc to a first target distance, and the pre-charge control parameter is a control parameter for decreasing the distance between the pad and the brake disc to a second target distance; wherein the first target distance is a maximum distance between the brake disc and the pads allowed by the brake caliper;
the pre-filling control parameter comprises a first sub-parameter and a second sub-parameter, the first target distance is greater than the second target distance corresponding to the first sub-parameter, and the second target distance corresponding to the first sub-parameter is greater than the second target distance corresponding to the second sub-parameter.
17. A vehicle, characterized in that the vehicle comprises:
the braking device comprises a driving module, a brake caliper and a brake disc, the driving module is used for driving a friction block of the brake caliper to move towards or away from the brake disc, and the vehicle decelerates when the friction block is in contact with the brake disc;
a control device connected with the drive module, the control device comprising: memory, a processor and a control program of a vehicle stored on the memory and executable on the processor, the control program of the vehicle, when executed by the processor, implementing the steps of the control method of a vehicle as claimed in any one of claims 1 to 16.
18. A storage medium characterized in that a control program of a vehicle is stored thereon, which when executed by a processor realizes the steps of the control method of a vehicle according to any one of claims 1 to 16.
CN202210725578.8A 2022-06-24 2022-06-24 Vehicle control method, vehicle, and storage medium Active CN115123161B (en)

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