CN115447550A - Working method, device, equipment and storage medium of electronic power-assisted brake system - Google Patents
Working method, device, equipment and storage medium of electronic power-assisted brake system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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Abstract
The invention discloses a working method of an electronic power-assisted braking system, which comprises the following steps: judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted brake system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed; determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio; and determining a target rotating speed and a target maximum boosting torque of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point. The working noise of the electronic power-assisted brake system is reduced.
Description
Technical Field
The embodiment of the invention relates to the field of vehicles, in particular to a working method, a working device and a working equipment of an electronic power-assisted brake system and a storage medium.
Background
Along with the development of automobile electromotion and intellectualization, an electronic power-assisted braking system gradually replaces a traditional mechanical power-assisted system, cancels a vacuum power-assisted mechanism and realizes braking power assistance by driving a transmission mechanism through a motor; although the electronic power-assisted braking system solves the problem that no vacuum source exists in the electric automobile, the electronic power-assisted braking system takes the motor as power, and when power assistance is provided, the electronic power-assisted braking system is accompanied by obvious working noise, so that the driving and riding experience is seriously influenced. Therefore, how to reduce and optimize the working method of the electronic power-assisted brake system so as to reduce the working noise of the electronic power-assisted brake system is a problem to be solved.
Disclosure of Invention
The invention provides a working method, a working device, equipment and a storage medium of an electronic power-assisted brake system, which can reduce the working noise of the electronic power-assisted brake system and improve the riding experience.
According to an aspect of the present invention, there is provided a method of operating an electric power assisted brake system, including:
judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system;
if not, determining a target corner of the electronic power-assisted braking system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target corner, and comparing the target vehicle speed with a reference speed;
determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio;
and determining a target rotating speed and a target maximum boosting torque of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
According to another aspect of the present invention, there is provided an operating device of an electric power assisted brake system, the device including:
the power-assisted saturation state determining module is used for judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system;
the target speed determining module is used for determining a target corner of the electronic power-assisted braking system according to the push rod displacement if the push rod displacement is not detected, determining the target speed of the vehicle according to the target corner, and comparing the target speed with a reference speed;
the power-assisted saturation inflection point determining module is used for determining a target power-assisted ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio;
and the maximum boosting moment determining module is used for determining a target rotating speed and a target maximum boosting moment of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of operating an electric power assisted brake system according to any embodiment of the present invention.
According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to implement a method of operating an electric power-assisted brake system according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, whether the electronic power-assisted braking system is in a power-assisted saturation state is judged according to the displacement of a push rod of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted brake system according to the displacement of the push rod, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed; determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio; and determining the target rotating speed and the target maximum boosting moment of the electronic boosting brake system according to the target boosting saturation inflection point. The problem that when an electronic power-assisted brake system takes a motor as power and provides power for braking of a vehicle under the condition of not considering the actual conditions of a pedal state and a target vehicle speed, obvious working noise is accompanied is solved. According to the scheme, the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system is set, after the target vehicle speed of the vehicle is determined, the target boosting ratio corresponding to the target vehicle speed is determined according to the pedal state, the comparison result between the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system, the target boosting saturation inflection point of the electronic power-assisted brake system is determined according to the target boosting ratio, and the working state of the electronic power-assisted brake system is determined according to the target boosting saturation inflection point. The working state of the electronic power-assisted brake system is differentially controlled according to the pedal state and the target vehicle speed, the working mode of the electronic power-assisted brake system is optimized, the working noise of the electronic power-assisted brake system is reduced, and the riding experience of passengers is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a working method of an electric power-assisted brake system according to an embodiment of the present invention;
fig. 2 is a flowchart of a working method of an electric power-assisted brake system according to a second embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method of operating an electric power assisted brake system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a working device of an electric power-assisted brake system according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of an operating method of an electric power-assisted brake system according to an embodiment of the present invention, which is applicable to controlling an operating state of the electric power-assisted brake system. The method may be performed by a working device of an electronic power-assisted brake system, which may be implemented in hardware and/or software, and may be configured in an electronic device. As shown in fig. 1, the method includes:
and S110, judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system.
The electronic power-assisted braking system is a braking system which takes a motor as a power source and realizes vehicle braking. The working mode of the electronic power-assisted brake system is as follows: when a driver of the vehicle steps on a brake pedal of the vehicle, the brake pedal stroke sensor senses the depth of the pedal, the controller calculates the required braking force comprehensively according to the vehicle speed, and commands the servo motor to drive the brake master cylinder to complete the braking action. The push rod displacement refers to the displacement generated in the moving process of an assisted push rod in an electronic assisted brake system. The boost saturation state is that the electronic boost brake system reaches the maximum boost point, and the maximum boost point is the point when the pressure difference acting on the servo diaphragm reaches the maximum when the input force increases.
Specifically, after a driver of the vehicle steps on a brake pedal of the vehicle, the electronic power-assisted braking system pushes the power-assisted push rod to generate displacement through input force transmitted by the brake pedal. And acquiring the push rod displacement of the power-assisted push rod, and determining whether the electronic power-assisted braking system is in a power-assisted saturated state or not according to the push rod displacement and the input-output characteristic curve of the electronic power-assisted braking system. If the point on the input-output characteristic curve of the electronic power-assisted braking system corresponding to the displacement of the push rod is an inflection point, the electronic power-assisted braking system is in a power-assisted saturation state; otherwise, the electronic power-assisted brake system is not in a power-assisted saturation state.
For example, the method for determining whether the electric power-assisted brake system is in the power-assisted saturation state may be: determining whether the electronic power-assisted braking system reaches a maximum power-assisted point or not according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system; if not, the electronic power-assisted brake system is not in a power-assisted saturation state.
Specifically, a displacement sensing signal corresponding to the electronic power-assisted brake system reaching the maximum power-assisted point is determined in advance through experiments, and the displacement sensing signal corresponding to the electronic power-assisted brake system reaching the maximum power-assisted point is used as a reference signal. And obtaining a displacement sensing signal generated by the displacement of a push rod of the electronic braking system, comparing the displacement sensing signal with a reference signal, and if the displacement sensing signal is inconsistent with the reference signal, determining that the electronic power-assisted braking system does not reach a maximum power-assisted point and the electronic power-assisted braking system is not in a power-assisted saturation state. If the displacement sensing signal is consistent with the reference signal, the electronic power-assisted braking system reaches the maximum power-assisted point, and the electronic power-assisted braking system is in a power-assisted saturation state.
It can be understood that, according to the displacement of the push rod of the electronic power-assisted braking system, whether the electronic power-assisted braking system reaches the maximum power-assisted point is determined, and whether the electronic power-assisted braking system is in the saturation state is determined according to the judgment result, so that the judgment efficiency and the judgment precision of whether the electronic power-assisted braking system is in the saturation state can be improved.
And S120, if not, determining a target rotation angle of the electronic power-assisted brake system according to the displacement of the push rod, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed.
The target rotation angle refers to a rotation angle of the electronic power-assisted automatic system corresponding to the displacement of the push rod. The reference speed is a value obtained through experiments and can be set according to actual conditions.
Specifically, if the electronic power-assisted brake system is not in a power-assisted saturation state, a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted brake system is acquired through a displacement sensor, the target valve body displacement of a servo valve body in the electronic power-assisted brake system is determined according to the displacement sensing signal, and the target rotation angle of the electronic power-assisted brake system is determined according to the calculation relationship between the target valve body displacement and the target rotation angle of the electronic power-assisted brake system. And taking the difference value between the target rotation angle and the actual rotation angle of the electronic power-assisted brake system as a rotation angle difference value, and taking the rotation angle difference value as an input parameter of a PID (proportional integral derivative) controller, so as to calculate the target torque of the electronic power-assisted brake system through the PID controller, and determine the target speed of the vehicle according to the target torque.
S130, determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio.
It should be noted that, under different pedal states and different vehicle speed conditions, the system boosting ratio of the electronic power-assisted brake system at the minimum operating noise is different.
The boost ratio is a ratio of an increase in output force to an increase in input force in a performance region above a jump region and below a maximum boost point in an input/output characteristic curve of the electronic booster brake system. The pedal state includes a depressed state and a released state. The pressing-down state refers to a pedal state when a driver steps on a vehicle pedal; the relaxed state refers to a pedal state when the driver is not depressing the vehicle pedal. The correlation between the vehicle speed and the system assist ratio of the electronic power brake system is a correlation between the vehicle speed and the system assist ratio of the electronic power brake system corresponding to the vehicle speed when the electronic power brake system has the minimum operating noise. The correlation between the vehicle speed and the system assist ratio of the electronic power-assisted brake system can be obtained through experiments. The boosting saturation inflection point refers to the maximum boosting point of the electronic boosting brake system. The jump region is a region of the input/output characteristic curve of the electric power brake system, which is equal to or greater than a jump value.
Specifically, a target assistance ratio corresponding to the target vehicle speed in the current pedal state of the vehicle is determined according to a comparison result of the target vehicle speed and the reference speed and a correlation relation between the vehicle speed and a system assistance ratio of the electronic power-assisted brake system, and the target assistance saturation inflection point of the electronic power-assisted brake system is determined according to the target assistance ratio and a calculation relation between the system assistance ratio and the system assistance saturation inflection point of the electronic power-assisted brake system.
And S140, determining a target rotating speed and a target maximum boosting moment of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
Specifically, when the pedal state is a depressed state, the target vehicle speed is higher, the target boosting ratio corresponding to the target vehicle speed is higher when the electronic power-assisted brake system is at the minimum operating noise, the target boosting saturation inflection point corresponding to the target boosting ratio is higher, the target rotating speed of the electronic power-assisted brake system is higher when the electronic power-assisted brake system is at the minimum operating noise, and the target maximum boosting torque of the electronic power-assisted brake system is higher when the electronic power-assisted brake system is at the minimum operating noise.
When the pedal state is a relaxed state, the larger the target vehicle speed is, the larger the target boosting ratio corresponding to the target vehicle speed when the electronic power-assisted brake system is at the minimum working noise is, the larger the target boosting saturation inflection point corresponding to the target boosting ratio is, and the larger the target rotating speed when the electronic power-assisted brake system is at the minimum working noise is. When the pedal state is a relaxed state, the target maximum assist torque of the electronic power-assisted brake system can be set according to actual conditions.
After the target power-assisted saturation inflection point is determined, the target rotating speed and the target maximum power-assisted torque of the electronic power-assisted braking system corresponding to the target power-assisted saturation inflection point can be determined according to the pedal state.
According to the technical scheme provided by the embodiment, whether the electronic power-assisted braking system is in a power-assisted saturation state or not is judged according to the displacement of a push rod of the electronic power-assisted braking system; if not, determining a target corner of the electronic power-assisted braking system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target corner, and comparing the target vehicle speed with a reference speed; determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio; and determining the target rotating speed and the target maximum boosting moment of the electronic boosting brake system according to the target boosting saturation inflection point. The problem that when an electronic power-assisted brake system takes a motor as power and provides power for braking of a vehicle under the condition of not considering the actual conditions of a pedal state and a target vehicle speed, obvious working noise is accompanied is solved. According to the scheme, the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system is set, after the target vehicle speed of the vehicle is determined, the target boosting ratio corresponding to the target vehicle speed is determined according to the pedal state, the comparison result between the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system, the target boosting saturation inflection point of the electronic power-assisted brake system is determined according to the target boosting ratio, and the working state of the electronic power-assisted brake system is determined according to the target boosting saturation inflection point. The working state of the electronic power-assisted brake system is differentially controlled according to the pedal state and the target vehicle speed, the working mode of the electronic power-assisted brake system is optimized, the working noise of the electronic power-assisted brake system is reduced, and the riding experience of passengers is improved.
Example two
Fig. 2 is a flowchart of a working method of an electronic power-assisted brake system according to a second embodiment of the present invention, which is optimized based on the second embodiment, and this embodiment provides a preferred embodiment that a target assistance ratio corresponding to a target vehicle speed is determined according to a pedal state, a comparison result between the target vehicle speed and a reference speed, and a correlation between the vehicle speed and a system assistance ratio of the electronic power-assisted brake system, and a target assistance saturation inflection point of the electronic power-assisted brake system is determined according to the target assistance ratio. Specifically, as shown in fig. 2, the method includes:
s210, judging whether the electronic power-assisted braking system is in a power-assisted saturated state or not according to the displacement of a push rod of the electronic power-assisted braking system.
And S220, if not, determining a target rotation angle of the electronic power-assisted brake system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed.
And S230, if the pedal state is a depressed state and the target vehicle speed is greater than the reference speed, setting a first assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the correlation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system.
The first assistance ratio is obtained through experiments, and is a system assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the condition that the pedal state is a pressing state and the vehicle speed is higher than a reference speed. The reference speed may be 3 m/s.
Specifically, if the pedal state is a depressed state and the target vehicle speed is greater than the reference speed, a first assist ratio corresponding to the target vehicle speed is determined according to a correlation between the vehicle speed and a system assist ratio of the electronic assist brake system, and the first assist ratio can be used as the target assist ratio when the electronic assist brake system is at a minimum operating noise at the target vehicle speed.
And S240, if the pedal state is a pressing state and the target vehicle speed is less than or equal to the reference speed, taking a second boosting ratio corresponding to the target vehicle speed in the system boosting ratios as a target boosting ratio according to the correlation between the vehicle speed and the system boosting ratios of the electronic power-assisted brake system.
Wherein, the second power-assisted ratio is smaller than the first power-assisted ratio. The second assist ratio is a system assist ratio obtained by experiment when the electronic power brake system is at a minimum operating noise when the pedal state is a depressed state and the vehicle speed is less than or equal to a reference speed.
Specifically, if the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, the second assistance ratio corresponding to the target vehicle speed is determined according to the correlation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, and the second assistance ratio may be set as the target assistance ratio when the electronic power-assisted brake system is at the minimum operating noise at the target vehicle speed.
And S250, determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system.
The corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system can be calibrated according to actual conditions. The larger the system boosting ratio is, the larger the boosting saturation inflection point is.
Specifically, a target boost saturation inflection point of the electronic power-assisted brake system corresponding to the target boost ratio is determined according to a corresponding relationship between the system boost ratio and the system boost saturation inflection point of the electronic power-assisted brake system.
And S260, determining a target rotating speed and a target maximum boosting moment of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
For example, on the basis of the present embodiment, the target rotation speed and the target maximum assist torque of the electric power assisted brake system may be determined by the following sub-steps:
s2601, if the pedal state is a pressing state, determining the motor rotating speed corresponding to the target power-assisted saturation inflection point as the target rotating speed of the electronic power-assisted braking system according to the incidence relation between the system power-assisted saturation inflection point and the motor rotating speed of the electronic power-assisted braking system.
The incidence relation between the system boosting saturation inflection point and the motor rotating speed of the electronic boosting braking system can be calibrated according to experiments. The larger the system boosting saturation inflection point is, the larger the motor rotating speed of the electronic boosting braking system corresponding to the system boosting saturation inflection point is.
Specifically, if the pedal state is a depressed state, the target boost saturation inflection point is determined to correspond to according to the correlation between the system boost saturation inflection point and the motor rotation speed of the electronic boost braking system, so that the motor rotation speed of the electronic boost braking system at the minimum working noise can be the target rotation speed of the electronic boost braking system.
S2602, determining a target maximum power-assisted torque corresponding to the target rotating speed according to the incidence relation between the motor rotating speed of the electronic power-assisted braking system and the maximum power-assisted torque of the system.
The incidence relation between the motor rotating speed of the electronic power-assisted braking system and the maximum power-assisted torque of the system can be calibrated according to experiments. The larger the motor rotating speed of the system is, the larger the system maximum power-assisted torque corresponding to the motor rotating speed of the system is.
For example, after the target rotation speed and the target maximum assistance torque of the electronic power-assisted brake system are determined, if the target vehicle speed is less than or equal to the reference speed and the system assistance torque of the electronic power-assisted brake system is greater than the target maximum assistance torque, the electronic power-assisted brake system is controlled to stop working until the target vehicle speed is greater than the reference speed, and the electronic power-assisted brake system is controlled to resume working.
It can be understood that the target rotation speed of the electronic power-assisted brake system is determined according to the target power-assisted saturation inflection point by setting the correlation between the system power-assisted saturation inflection point and the motor rotation speed of the electronic power-assisted brake system, and the target maximum power-assisted torque is determined according to the target rotation speed by setting the correlation between the motor rotation speed of the electronic power-assisted brake system and the system maximum power-assisted torque, and meanwhile, the smaller the system power-assisted inflection point is, the smaller the motor rotation speed of the electronic power-assisted brake system is. The motor rotation speed of the electric power assisted brake system may be limited to reduce the operating noise of the electric power assisted brake system in a case where the target vehicle speed is equal to or higher than the reference vehicle speed.
According to the technical scheme of the embodiment, when the sub-power-assisted brake system is not in a power-assisted saturation state, if the pedal state is a pressing-down state and the target vehicle speed is greater than a reference speed, determining a first power-assisted ratio corresponding to the target vehicle speed as the target power-assisted ratio according to the incidence relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted brake system; if the pedal state is a pressed state and the target vehicle speed is less than or equal to the reference speed, determining a second assistance ratio corresponding to the target vehicle speed as a target assistance ratio according to the incidence relation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system; and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system, and determining a target rotating speed and a target maximum boosting torque when the electronic boosting brake system works according to the target boosting saturation inflection point. According to the scheme, when the pedal state is the pressing-down state, the correlation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system and the corresponding relation between the system assistance ratio and the system assistance saturation inflection point of the electronic power-assisted brake system are set, when the pedal state is the pressing-down state, the working state of the electronic power-assisted brake system is determined according to the target vehicle speed of the vehicle, so that the working noise of the electronic power-assisted brake system under the target vehicle speed is reduced, and the accurate control of the electronic power-assisted brake system is realized.
EXAMPLE III
Fig. 3 is a flowchart of a working method of an electronic power-assisted brake system according to a third embodiment of the present invention, which is optimized based on the third embodiment, and this embodiment provides a preferred embodiment that a target assistance ratio corresponding to a target vehicle speed is determined according to a pedal state, a comparison result between the target vehicle speed and a reference speed, and a correlation between the vehicle speed and a system assistance ratio of the electronic power-assisted brake system, and a target assistance saturation inflection point of the electronic power-assisted brake system is determined according to the target assistance ratio. Specifically, as shown in fig. 3, the method includes:
s310, judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the push rod displacement of the electronic power-assisted braking system.
And S320, if not, determining a target rotation angle of the electronic power-assisted brake system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed.
And S330, if the pedal state is a relaxed state and the target vehicle speed is greater than the reference speed, taking a third boosting ratio corresponding to the target vehicle speed in the system boosting ratios as a target boosting ratio according to the correlation between the vehicle speed and the system boosting ratios of the electronic power-assisted brake system.
The third assistance ratio is obtained through experiments, and is a system assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the condition that the pedal state is the relaxed state and the vehicle speed is greater than the reference speed.
Specifically, if the pedal state is a relaxed state and the target vehicle speed is greater than the reference speed, the third assistance ratio corresponding to the target vehicle speed is determined according to the correlation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, so that the electronic power-assisted brake system is at the third assistance ratio when the operating noise is minimum at the target vehicle speed, and the third assistance ratio is taken as the target assistance ratio.
And S340, if the pedal state is a relaxed state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as the target assistance ratio according to the correlation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system.
Wherein the fourth assist ratio is smaller than the third assist ratio. The fourth assist ratio is a system assist ratio obtained through experiments when the electronic power-assisted brake system is at a minimum operating noise when the pedal state is a relaxed state and the vehicle speed is less than or equal to a reference speed.
Specifically, if the pedal state is a relaxed state and the target vehicle speed is less than or equal to the reference speed, the fourth assist ratio corresponding to the target vehicle speed is determined according to the correlation between the vehicle speed and the system assist ratio of the electronic assisted brake system, so that the electronic assisted brake system is at the fourth assist ratio when the operating noise is minimum at the target vehicle speed, and the fourth assist ratio is used as the target assist ratio.
And S350, determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system.
And S360, determining a target rotating speed and a target maximum boosting moment of the electronic boosting brake system according to the target boosting saturation inflection point.
According to the technical scheme of the embodiment, when the sub-power-assisted braking system is not in a power-assisted saturation state, if the pedal state is a relaxed state and the target vehicle speed is greater than the reference speed, determining a third power-assisted ratio corresponding to the target vehicle speed as the target power-assisted ratio according to the incidence relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system; if the pedal state is a relaxed state and the target vehicle speed is less than or equal to the reference speed, determining a fourth assistance ratio corresponding to the target vehicle speed as the target assistance ratio according to the incidence relation between the vehicle speed and the system assistance ratio of the electronic assistance brake system; and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system, and determining a target rotating speed and a target maximum boosting torque when the electronic boosting brake system works according to the target boosting saturation inflection point. According to the scheme, when the pedal state is the relaxed state, the working state of the electronic power-assisted braking system is determined according to the target vehicle speed of the vehicle through setting the incidence relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system, so that the working noise of the electronic power-assisted braking system at the target vehicle speed is reduced, and the electronic power-assisted braking system is accurately controlled.
Example four
Fig. 4 is a schematic structural diagram of a working device of an electric power-assisted brake system according to a fourth embodiment of the present invention. The embodiment is applicable to the case of controlling the working state of the electronic power-assisted brake system. As shown in fig. 4, the operating device of the electric power assisted brake system includes: the assistance saturation state determination module 410, the target vehicle speed determination module 420, the assistance saturation inflection point determination module 430, and the maximum assistance torque determination module 440.
The power-assisted saturation state determining module 410 is configured to determine whether the electronic power-assisted braking system is in a power-assisted saturation state according to a displacement of a push rod of the electronic power-assisted braking system;
the target vehicle speed determining module 420 is used for determining a target corner of the electronic power-assisted braking system according to the push rod displacement if the push rod displacement is not detected, determining a target vehicle speed of the vehicle according to the target corner, and comparing the target vehicle speed with a reference speed;
a power-assisted saturation inflection point determining module 430, configured to determine a target power-assisted ratio corresponding to the target vehicle speed according to the pedal state, the comparison result between the target vehicle speed and the reference speed, and the correlation relationship between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system, and determine a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio;
and a maximum boosting moment determining module 440, configured to determine a target rotation speed and a target maximum boosting moment of the electronic power-assisted brake system according to the pedal state and the target boosting saturation inflection point.
According to the technical scheme provided by the embodiment, whether the electronic power-assisted braking system is in a power-assisted saturation state or not is judged according to the displacement of a push rod of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted brake system according to the displacement of the push rod, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed; determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio; and determining the target rotating speed and the target maximum boosting moment of the electronic boosting brake system according to the target boosting saturation inflection point. The problem that when an electronic power-assisted brake system takes a motor as power and provides power for braking of a vehicle under the condition of not considering the actual conditions of a pedal state and a target vehicle speed, obvious working noise is accompanied is solved. According to the scheme, the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system is set, after the target vehicle speed of the vehicle is determined, the target boosting ratio corresponding to the target vehicle speed is determined according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic power-assisted brake system, the target power-assisted saturation inflection point of the electronic power-assisted brake system is determined according to the target boosting ratio, and the working state of the electronic power-assisted brake system is determined according to the target power-assisted saturation inflection point. The working state of the electronic power-assisted brake system is differentially controlled according to the pedal state and the target vehicle speed, the working mode of the electronic power-assisted brake system is optimized, the working noise of the electronic power-assisted brake system is reduced, and the riding experience of passengers is improved.
For example, the power assist saturation inflection point determination module 430 includes:
a first assist ratio determination unit configured to, if the pedal state is a depressed state and the target vehicle speed is greater than a reference speed, set a first assist ratio, which corresponds to the target vehicle speed, of the system assist ratios as a target assist ratio, according to a correlation between the vehicle speed and the system assist ratio of the electronic power brake system;
a second assist ratio determination unit configured to, if the pedal state is a depressed state and the target vehicle speed is less than or equal to a reference speed, set a second assist ratio, which corresponds to the target vehicle speed, of the system assist ratios as a target assist ratio, according to a correlation between the vehicle speed and the system assist ratio of the electronic power brake system; wherein, the second assistance ratio is smaller than the first assistance ratio;
and the target power-assisted saturation inflection point acquisition unit is used for determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
For example, the power-assisted saturation inflection point determination module 430 is specifically configured to:
if the pedal state is a relaxed state and the target vehicle speed is greater than the reference speed, taking a third boosting ratio corresponding to the target vehicle speed in the system boosting ratios as a target boosting ratio according to the incidence relation between the vehicle speed and the system boosting ratios of the electronic boosting brake system;
if the pedal state is a relaxed state and the target vehicle speed is less than or equal to the reference speed, taking a fourth boosting ratio corresponding to the target vehicle speed in the system boosting ratios as a target boosting ratio according to the correlation between the vehicle speed and the system boosting ratios of the electronic power-assisted braking system; wherein the fourth assistance ratio is smaller than the third assistance ratio;
and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
Illustratively, the maximum assist torque determination module 440 is specifically configured to:
if the pedal state is a pressing state, determining the motor rotating speed corresponding to the target power-assisted saturation inflection point as the target rotating speed of the electronic power-assisted braking system according to the incidence relation between the system power-assisted saturation inflection point and the motor rotating speed of the electronic power-assisted braking system; the smaller the system power-assisted saturation inflection point is, the smaller the motor rotating speed of the electronic power-assisted braking system corresponding to the system power-assisted saturation inflection point is;
and determining the target maximum power-assisted torque corresponding to the target rotating speed according to the incidence relation between the motor rotating speed of the electronic power-assisted braking system and the maximum power-assisted torque of the system.
For example, the boost saturation state determination module 410 is specifically configured to:
determining whether the electronic power-assisted braking system reaches a maximum power-assisted point or not according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system;
if not, the electronic power-assisted brake system is not in a power-assisted saturation state.
In an exemplary embodiment, the operating device of the electric power assisted brake system further includes:
and the working state control module is used for controlling the electronic power-assisted braking system to stop working if the target vehicle speed is less than or equal to the reference speed and the system power-assisted torque of the electronic power-assisted braking system is greater than the target maximum power-assisted torque, and controlling the electronic power-assisted braking system to recover working until the target vehicle speed is greater than the reference speed.
The working device of the electronic power-assisted brake system provided by the embodiment can be applied to the working method of the electronic power-assisted brake system provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the method of operation of an electric power assisted brake system.
In some embodiments, the method of operation of the electric power assisted brake system may be implemented as a computer program tangibly embodied in a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method of operation of the electric power assisted brake system described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of operation of the electric power assisted brake system by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of operating an electric power assisted brake system, comprising:
judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system;
if not, determining a target rotation angle of the electronic power-assisted brake system according to the push rod displacement, determining a target vehicle speed of the vehicle according to the target rotation angle, and comparing the target vehicle speed with a reference speed;
determining a target boosting ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system boosting ratio of the electronic boosting brake system, and determining a target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio;
and determining a target rotating speed and a target maximum boosting torque of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
2. The method of claim 1, wherein determining a target boost ratio corresponding to the target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed, and a correlation between a vehicle speed and a system boost ratio of the electronic power-assisted brake system, and determining a target boost saturation inflection point of the electronic power-assisted brake system according to the target boost ratio comprises:
if the pedal state is a depressed state and the target vehicle speed is greater than a reference speed, taking a first assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the incidence relation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system;
if the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, taking a second assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the correlation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system; wherein the second assistance ratio is smaller than the first assistance ratio;
and determining the target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system.
3. The method of claim 1, wherein determining a target boost ratio corresponding to the target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed, and a correlation between a vehicle speed and a system boost ratio of the electronic power-assisted brake system, and determining a target boost saturation inflection point of the electronic power-assisted brake system according to the target boost ratio comprises:
if the pedal state is a relaxed state and the target vehicle speed is greater than a reference speed, taking a third boosting ratio corresponding to the target vehicle speed in the system boosting ratios as a target boosting ratio according to the incidence relation between the vehicle speed and the system boosting ratios of the electronic power-assisted braking system;
if the pedal state is a relaxed state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the incidence relation between the vehicle speed and the system assistance ratios of the electronic power-assisted braking system; wherein the fourth assist ratio is less than the third assist ratio;
and determining the target boosting saturation inflection point of the electronic boosting brake system according to the target boosting ratio and the corresponding relation between the system boosting ratio and the system boosting saturation inflection point of the electronic boosting brake system.
4. The method of claim 1, wherein determining a target speed and a target maximum assist torque for the electric assist brake system based on the pedal state and the target saturation assist inflection point comprises:
if the pedal state is a pressing state, determining the motor rotating speed corresponding to the target power-assisted saturation inflection point as the target rotating speed of the electronic power-assisted braking system according to the incidence relation between the system power-assisted saturation inflection point and the motor rotating speed of the electronic power-assisted braking system; the smaller the system power-assisted saturation inflection point is, the smaller the motor rotating speed of the electronic power-assisted braking system corresponding to the system power-assisted saturation inflection point is;
and determining a target maximum power-assisted torque corresponding to the target rotating speed according to the incidence relation between the motor rotating speed of the electronic power-assisted braking system and the maximum power-assisted torque of the system.
5. The method of claim 1, wherein determining whether the electronic power-assisted brake system is in a power-assisted saturation state according to a displacement of a push rod of the electronic power-assisted brake system comprises:
determining whether the electronic power-assisted braking system reaches a maximum power-assisted point or not according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system;
if not, the electronic power-assisted brake system is not in a power-assisted saturation state.
6. The method of claim 1, further comprising:
and if the target speed is less than or equal to the reference speed and the system power-assisted torque of the electronic power-assisted braking system is greater than the target maximum power-assisted torque, controlling the electronic power-assisted braking system to stop working until the target speed is greater than the reference speed, and controlling the electronic power-assisted braking system to recover working.
7. An operating device of an electric power assisted brake system, comprising:
the power-assisted saturation state determining module is used for judging whether the electronic power-assisted braking system is in a power-assisted saturation state or not according to the displacement of a push rod of the electronic power-assisted braking system;
the target speed determining module is used for determining a target corner of the electronic power-assisted braking system according to the push rod displacement if the push rod displacement is not detected, determining the target speed of the vehicle according to the target corner, and comparing the target speed with a reference speed;
the power-assisted saturation inflection point determining module is used for determining a target power-assisted ratio corresponding to the target vehicle speed according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the incidence relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio;
and the maximum boosting moment determining module is used for determining a target rotating speed and a target maximum boosting moment of the electronic boosting brake system according to the pedal state and the target boosting saturation inflection point.
8. The apparatus of claim 7, wherein the power assist saturation inflection point determination module comprises:
a first assist ratio determination unit configured to, if a pedal state is a depressed state and the target vehicle speed is greater than a reference speed, determine, as a target assist ratio, a first assist ratio corresponding to the target vehicle speed from among the system assist ratios, based on a correlation between a vehicle speed and the system assist ratios of the electronic power-assisted brake system;
a second assist ratio determination unit configured to, if the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, determine, as a target assist ratio, a second assist ratio corresponding to the target vehicle speed from among the system assist ratios, based on a correlation between a vehicle speed and the system assist ratio of the electronic power brake system; wherein the second assistance ratio is smaller than the first assistance ratio;
and the target power-assisted saturation inflection point acquisition unit is used for determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of operating an electric power assisted brake system of any of claims 1 to 6.
10. A computer readable storage medium, having stored thereon computer instructions for causing a processor to perform a method of operating an electric power assisted brake system according to any of claims 1 to 6.
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| CN116968704A (en) * | 2023-09-21 | 2023-10-31 | 小米汽车科技有限公司 | Vehicle brake control method, device, storage medium and vehicle |
| CN116968704B (en) * | 2023-09-21 | 2024-01-02 | 小米汽车科技有限公司 | Vehicle brake control method, device, storage medium and vehicle |
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