CN115534918A - Vehicle brake control system, vehicle and vehicle brake method - Google Patents
Vehicle brake control system, vehicle and vehicle brake method Download PDFInfo
- Publication number
- CN115534918A CN115534918A CN202211323924.6A CN202211323924A CN115534918A CN 115534918 A CN115534918 A CN 115534918A CN 202211323924 A CN202211323924 A CN 202211323924A CN 115534918 A CN115534918 A CN 115534918A
- Authority
- CN
- China
- Prior art keywords
- brake
- vehicle
- deceleration
- controller
- electronic stability
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
-
- 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
Abstract
The application belongs to the technical field of automobile braking, and relates to a vehicle braking control system, a vehicle and a vehicle braking method, wherein the vehicle braking control system comprises: the brake system comprises an EPB switch, an electronic stability controller, a line control controller and a brake caliper; the EPB switch is connected with the electronic stability controller and the line control controller, the brake calipers are connected with the electronic stability controller and the line control controller, and the electronic stability controller is also connected with the line control controller; the line control controller is used for responding to the continuous pulling of the EPB switch and controlling the brake caliper to perform deceleration braking when the control of the electronic stability controller on the brake caliper is determined to be failed when the vehicle speed of the vehicle is larger than a preset braking threshold value. The application starts the line control controller and controls the vehicle to decelerate and brake, different decelerations are selected according to different vehicle speeds, driving safety is guaranteed, and the friction plate loss is small.
Description
Technical Field
The application relates to the technical field of automobile braking, in particular to a vehicle braking control system, a vehicle and a vehicle braking method.
Background
In the prior art, if the EPB switch is continuously pulled up during the running of the vehicle, the electronic stability controller controls the brake pressure to push the calipers to clamp, in particular to decelerate the vehicle according to a constant large deceleration (generally-0.6 g), but when the vehicle speed is small, the friction plate is greatly worn by decelerating and braking by using the constant deceleration.
In view of the above problems, those skilled in the art have sought solutions.
Disclosure of Invention
The technical problem to be solved by the present application is to provide a vehicle braking control system, a vehicle and a vehicle braking method, which can reduce the loss of a friction plate while ensuring deceleration and braking of the vehicle.
In order to achieve the above purpose, the present application is implemented by the following technical solutions:
a vehicle brake control system comprising: an electronic parking brake system (EPB) switch, an electronic stability controller, a line control controller and a brake caliper; the EPB switch is connected with the electronic stability controller and the line control controller, the brake caliper is connected with the electronic stability controller and the line control controller, and the electronic stability controller is also connected with the line control controller; the electronic stability controller is used for controlling the brake calipers to perform deceleration braking in response to the EPB switch being continuously pulled up when the vehicle speed of the vehicle is greater than a preset braking threshold value; the line control controller is used for responding to the continuous pull-up of the EPB switch and controlling the brake caliper to brake in a deceleration mode when the speed of the vehicle is larger than a preset brake threshold value and the control of the electronic stability controller on the brake caliper is determined to be failed.
Optionally, the electronic stability controller is further configured to output a braking command of the vehicle to the line control controller when the electronic stability controller fails to control the brake caliper.
Optionally, the line control controller is further configured to, after receiving the braking instruction output by the electronic stability controller, obtain a target deceleration and determine a target braking pressure according to the vehicle speed and the target deceleration, and control the brake caliper to perform deceleration braking according to the target braking pressure.
Optionally, the line control controller is further configured to acquire an actual deceleration of the vehicle according to a vehicle speed of the vehicle when the control of the brake caliper by the electronic stability controller fails, and determine the target brake pressure according to the actual deceleration and the target deceleration.
The application also provides a vehicle, which comprises the vehicle brake control system.
The application also provides a vehicle braking method, which is applied to the vehicle braking control system and comprises the following steps:
acquiring the speed of the vehicle and judging whether the speed is greater than a preset brake threshold value;
if the vehicle speed is greater than the brake threshold value, judging whether the EPB switch is continuously pulled up;
if the EPB switch is continuously pulled up, determining whether the electronic stability controller can normally control the brake caliper;
if the electronic stability controller can normally control the brake calipers, the electronic stability controller controls the brake calipers to brake in a speed reduction manner;
and if the electronic stability controller cannot normally control the brake caliper, the line control controller controls the brake caliper to perform deceleration braking.
Optionally, if the electronic stability controller cannot normally control the brake caliper, the line control controller controls the brake caliper to perform deceleration braking, including:
if the electronic stability controller cannot normally control the brake caliper, the line control controller receives the brake command output by the electronic stability controller, obtains a target deceleration and obtains a target brake pressure according to the vehicle speed and the target deceleration so as to control the brake caliper to brake in a deceleration way.
Optionally, if the electronic stability controller cannot normally control the brake caliper, the line control controller receives the brake command output by the electronic stability controller, obtains a target deceleration and obtains a target brake pressure according to the vehicle speed and the target deceleration to control the brake caliper to perform deceleration braking, and includes:
acquiring the actual deceleration of the vehicle according to the vehicle speed;
acquiring the target brake pressure according to the actual deceleration and the target deceleration;
and controlling the brake caliper to perform deceleration braking according to the target brake pressure.
Optionally, the determining the target brake pressure according to the actual deceleration and the target deceleration comprises:
defining F as a target brake pressure, X as a proportional term to the actual deceleration, and Y as an integral term to the actual deceleration;
determining X and Y according to the actual deceleration and the target deceleration;
determining the target brake pressure according to F = X + Y.
Optionally, the step of determining X and Y from the actual deceleration and the target deceleration comprises:
defining m as a scale factor, a1 as a target deceleration and a2 as an actual deceleration;
defining n as an integral factor, and [ Y-1] as an integral term of the actual deceleration at the last moment;
then the X is determined from X = m (a 1-a 2) acquisitions and the Y is determined from Y = [ Y-1] + n (a 1-a 2).
The application provides a vehicle brake control system, a vehicle and a vehicle brake method, when the control failure of an electronic stability controller to a brake caliper is determined, an EPB switch is continuously pulled up to control the brake caliper to perform deceleration braking, different decelerations are selected according to different vehicle speeds, driving safety is ensured, and the loss of a friction plate is small.
In order to make the aforementioned and other objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The present application is described in detail below with reference to the attached drawings and detailed description;
FIG. 1 is a functional block diagram of a vehicle brake control system provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle braking method according to an embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a functional block diagram of a vehicle brake control system according to an embodiment of the present application. As shown in fig. 1, a vehicle brake control system includes: an electronic parking brake system (EPB) switch, an electronic stability controller 12, a line control controller 13, and a brake caliper 14.
The EPB switch 11 is connected to the electronic stability controller 12 and the line control controller 13, the brake caliper 14 is connected to the electronic stability controller 12 and the line control controller 13, and the electronic stability controller 12 is further connected to the line control controller 13.
The electronic stability controller 12 is used for controlling the brake caliper 14 to perform deceleration braking in response to the EPB switch 11 being continuously pulled up when the vehicle speed of the vehicle is greater than a preset brake threshold value; the line control controller 13 is configured to control the brake caliper 14 to perform deceleration braking in response to the EPB switch 11 being continuously pulled up when the vehicle speed of the vehicle is greater than a preset brake threshold value and in response to the EPB switch 11 being continuously pulled up when it is determined that the control of the brake caliper 14 by the electronic stability controller 12 is failed.
In one embodiment, the electronic stability controller 12 is further configured to output a braking command of the vehicle to the line control controller 13 when the electronic stability controller 12 fails to control the brake caliper 14.
In one embodiment, the line control controller 13 is further configured to obtain a target deceleration and determine a target brake pressure according to the vehicle speed and the target deceleration after receiving a brake command of the vehicle output by the electronic stability controller 12, and control the brake caliper 14 to perform deceleration braking according to the target brake pressure.
In one embodiment, the line control controller 13 is also configured to acquire an actual deceleration of the vehicle based on the vehicle speed of the vehicle when the control of the brake caliper 14 by the electronic stability controller 12 fails, and determine a target brake pressure based on the actual deceleration and the target deceleration.
The application also provides a vehicle, which comprises the vehicle brake control system.
Fig. 2 is a schematic flow chart of a vehicle braking method according to an embodiment of the present application. As shown in fig. 2, the present application further provides a vehicle braking method applied to the vehicle braking control system as described above, including:
s1: and acquiring the speed of the vehicle and judging whether the speed is greater than a preset brake threshold value.
In this embodiment, the braking threshold is set to 3km/h. In other embodiments, the settings are based on the specific driving conditions of the vehicle.
S2: and if the vehicle speed is greater than the brake threshold value, judging whether the EPB switch is continuously pulled up.
S3: and if the EPB switch is continuously pulled up, determining whether the electronic stability controller can normally control the brake caliper.
S4: if the electronic stability controller can normally control the brake calipers, the electronic stability controller controls the brake calipers to brake in a deceleration mode.
S5: if the electronic stability controller can not normally control the brake calipers, the line control controller controls the brake calipers to brake in a speed reducing mode.
Alternatively, the S1: after the steps of obtaining the vehicle speed of the vehicle and judging whether the vehicle speed is greater than a preset brake threshold value, the method comprises the following steps: if the vehicle speed is less than or equal to the braking threshold value, the method proceeds to step S6: the vehicle is released from braking.
Alternatively, S2: if the vehicle speed is greater than the braking threshold value, after the step of judging whether the EPB switch is continuously pulled up, the method comprises the following steps: if the EPB switch is not continuously pulled up, the process proceeds to step S6: the vehicle is released from braking.
Optionally, the step of S5: if the electronic stability controller can not normally control the brake caliper, the line control controller controls the brake caliper to brake in a speed reducing mode.
The process in which the line control controller obtains the target brake pressure based on the vehicle speed and the target deceleration is referred to as a "pressure build-up process". Specifically, the electronic stability controller includes a pump and a solenoid valve. If the pump and the electromagnetic valve are not in fault, the electronic stability controller can actively pressurize the brake calipers through the pump and the electromagnetic valve so as to reduce the speed of the vehicle and achieve the purpose of deceleration and braking; if any one of the pump and the electromagnetic valve has a fault so that the electronic stability controller cannot control the brake calipers through active pressurization, the electronic stability controller outputs a brake command to the line control controller, and the line control controller acquires a target brake pressure according to the brake command and a target deceleration so as to apply the target brake pressure to the brake calipers, so that the vehicle is decelerated, and the aim of deceleration braking is fulfilled.
Or, the electronic stability controller itself fails, the electronic stability controller cannot control the brake caliper by active boosting, and cannot output a brake command to the line control controller. The line control controller may acquire a target deceleration and a target braking pressure according to the vehicle speed and the target deceleration after performing the fault diagnosis, and apply the target braking pressure to the brake caliper, so that the vehicle is decelerated to achieve the purpose of deceleration braking.
Generally, different vehicle speeds correspond to different vehicle decelerations, and the present embodiment will determine specific values of the target deceleration according to the vehicle speed-target deceleration reference table in table 1, where table 1 is specifically as follows:
| vehicle speed v (unit: km/h) | Target deceleration (unit: g) |
| v≥100 | -0.8 |
| 80≤v<100 | -0.7 |
| 60≤v<80 | -0.6 |
| 50≤v<60 | -0.5 |
| 40≤v<50 | -0.4 |
| 30≤v<40 | -0.3 |
| v<300 | -0.2 |
Note: g is the gravitational acceleration and "-" indicates the direction of the target acceleration.
As can be seen from the above table, the value of the target deceleration gradually decreases as the vehicle speed decreases, and smooth transition and little jerk are achieved.
Alternatively, if the electronic stability controller cannot normally control the brake caliper, the line control controller receives a brake command output by the electronic stability controller, obtains a target deceleration and obtains a target brake pressure according to the vehicle speed and the target deceleration to control the brake caliper to perform deceleration braking, and the method comprises the following steps:
acquiring the actual deceleration of the vehicle according to the vehicle speed;
acquiring target brake pressure according to the actual deceleration and the target deceleration;
and controlling the brake caliper to perform deceleration braking according to the target brake pressure.
In one embodiment, the step of obtaining the actual deceleration of the vehicle in accordance with the vehicle speed includes: the vehicle speed is differentiated to obtain the actual deceleration.
Alternatively, determining the target brake pressure according to the actual deceleration and the target deceleration includes:
defining F as a target brake pressure, X as a proportional term for actual deceleration, and Y as an integral term for the actual deceleration;
determining X and Y according to the actual deceleration and the target deceleration;
the target brake pressure is determined from F = X + Y.
Optionally, the step of determining X and Y from the actual deceleration and the target deceleration comprises:
defining m as a scale factor, a1 as a target deceleration and a2 as an actual deceleration;
defining n as an integral factor, and [ Y-1] as an integral term of the actual deceleration at the last moment;
then X is determined from X = m (a 1-a 2) and Y is determined from Y = [ Y-1] + n (a 1-a 2).
Generally, the proportional factor and the integral factor are obtained according to the actual debugging result of the vehicle, and the proportional factor and the integral factor will fluctuate due to different actual decelerations at different moments, that is, the values of the proportional factor and the integral factor at different moments are different from the values at the previous moment. The vehicle brake control system further includes a memory (not shown) connected to the line control controller for storing the proportional term and the integral term at different times.
In summary, according to the target brake pressure and the calculation formulas of the proportional term and the integral term, a final calculation formula of the target brake pressure can be obtained:
F＝X+Y＝m*(a1-a2)+[Y-1]+n*(a1-a2)
specifically, the scale factor is obtained according to the current data error (target deceleration-actual deceleration), and when the error is smaller, the scale factor coefficient is smaller, so that the actual deceleration of the vehicle can reach the target deceleration more quickly, and the response performance of the system is improved.
Optionally, in the pressure building process of the online control controller, if the driver steps on the brake pedal, the line control controller needs to calculate the required brake pressure of the driver, the required brake pressure of the electronic stability controller, and the required brake pressure of the line control controller, obtain a maximum pressure value of the required brake pressure, and build pressure control according to the maximum required brake pressure to control the brake caliper to perform deceleration braking.
The application provides a vehicle brake control system, a vehicle and a vehicle brake method, when the control failure of an electronic stability controller to a brake caliper is determined, an EPB switch is continuously pulled up to control the brake caliper to perform deceleration braking, different decelerations are selected according to different vehicle speeds to perform deceleration braking, the driving safety is ensured, and the friction plate loss is small.
It is to be understood that both the foregoing general principles and the principal features of the application, and the advantages thereof, have been shown and described. It should be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and the embodiments and descriptions are only illustrative of the principles of the application, and any modifications, equivalent substitutions or improvements made within the spirit and principle of the application should be included in the scope of the protection of the application.
Claims (10)
1. A vehicle brake control system, comprising: an electronic parking brake system (EPB) switch, an electronic stability controller, a line control controller and a brake caliper;
the EPB switch is connected with the electronic stability controller and the line control controller, the brake caliper is connected with the electronic stability controller and the line control controller, and the electronic stability controller is also connected with the line control controller;
the electronic stability controller is used for controlling the brake calipers to perform deceleration braking in response to the continuous pulling-up of the EPB switch when the vehicle speed of the vehicle is greater than a preset brake threshold value;
the line control controller is used for responding to the continuous pull-up of the EPB switch and controlling the brake caliper to brake in a deceleration mode when the control of the electronic stability controller on the brake caliper is determined to be failed when the vehicle speed of the vehicle is larger than a preset brake threshold value.
2. The vehicle brake control system according to claim 1, wherein the electronic stability controller is further configured to output a braking command of the vehicle to the line control controller when the control of the brake caliper by the electronic stability controller fails.
3. The vehicle brake control system according to claim 2, wherein the line control controller is further configured to obtain a target deceleration and determine a target brake pressure based on the vehicle speed and the target deceleration after receiving the brake command output from the electronic stability controller, and control the brake caliper to perform deceleration braking based on the target brake pressure.
4. The vehicle brake control system according to claim 3, wherein the line control controller is further configured to obtain an actual deceleration of the vehicle based on the vehicle speed of the vehicle when the control of the brake caliper by the electronic stability controller fails, and determine the target brake pressure based on the actual deceleration and the target deceleration.
5. A vehicle characterized by comprising a vehicle brake control system according to any one of claims 1-4.
6. A vehicle braking method applied to a vehicle braking control system according to any one of claims 1 to 4, characterized by comprising:
acquiring the speed of the vehicle and judging whether the speed is greater than a preset braking threshold value;
if the vehicle speed is greater than the braking threshold value, judging whether the EPB switch is continuously pulled up;
if the EPB switch is continuously pulled up, determining whether the electronic stability controller can normally control the brake caliper;
if the electronic stability controller can normally control the brake calipers, the electronic stability controller controls the brake calipers to brake in a speed reduction manner;
and if the electronic stability controller cannot normally control the brake caliper, the line control controller controls the brake caliper to perform deceleration braking.
7. The vehicle braking method according to claim 6, wherein the line control controller controls the brake caliper to perform deceleration braking if the electronic stability controller cannot normally control the brake caliper, includes:
if the electronic stability controller cannot normally control the brake calipers, the line control controller receives the brake instruction output by the electronic stability controller, obtains target deceleration and obtains target brake pressure according to the vehicle speed and the target deceleration so as to control the brake calipers to brake in a deceleration mode.
8. The vehicle braking method according to claim 7, wherein if the electronic stability controller cannot normally control the brake caliper, the line control controller receives the braking command output from the electronic stability controller, obtains a target deceleration, and obtains a target braking pressure according to the vehicle speed and the target deceleration to control the brake caliper to perform deceleration braking, including:
acquiring the actual deceleration of the vehicle according to the vehicle speed;
acquiring the target brake pressure according to the actual deceleration and the target deceleration;
and controlling the brake caliper to perform deceleration braking according to the target brake pressure.
9. A vehicle braking method according to claim 8, characterized in that the determining the target braking pressure based on the actual deceleration and the target deceleration includes:
defining F as a target brake pressure, X as a proportional term to the actual deceleration, and Y as an integral term to the actual deceleration;
determining X and Y according to the actual deceleration and the target deceleration;
determining the target brake pressure according to F = X + Y.
10. A vehicle braking method according to claim 9, characterized in that the step of determining X and Y based on the actual deceleration and the target deceleration comprises:
defining m as a scale factor, a1 as a target deceleration and a2 as an actual deceleration;
defining n as an integral factor, and [ Y-1] as an integral term of the actual deceleration at the last moment;
then the X is determined from X = m (a 1-a 2) acquisitions and the Y is determined from Y = [ Y-1] + n (a 1-a 2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211323924.6A CN115534918A (en) | 2022-10-27 | 2022-10-27 | Vehicle brake control system, vehicle and vehicle brake method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211323924.6A CN115534918A (en) | 2022-10-27 | 2022-10-27 | Vehicle brake control system, vehicle and vehicle brake method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115534918A true CN115534918A (en) | 2022-12-30 |
Family
ID=84717946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211323924.6A Pending CN115534918A (en) | 2022-10-27 | 2022-10-27 | Vehicle brake control system, vehicle and vehicle brake method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115534918A (en) |
-
2022
- 2022-10-27 CN CN202211323924.6A patent/CN115534918A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107161128B (en) | A kind of control method of automobile abrupt slope slow-descending system | |
| CN103189247B (en) | Vehicle, have perform in brake controller, on the hydraulically controlled brake equipment of control routine of hill-start additional function or creep inhibit feature | |
| US9751517B2 (en) | Brake control method for hybrid electric vehicle | |
| CN113022569B (en) | Emergency braking power-assisted control system and method | |
| DE102010064138B4 (en) | Vehicle stop control device and vehicle stop control method | |
| EP2746123B1 (en) | Vehicular brake hydraulic pressure control apparatus | |
| US6254202B1 (en) | Vehicle braking apparatus | |
| US6053584A (en) | Method and device for controlling a brake system | |
| CN103481877B (en) | Method for adjusting braking process | |
| JP2020521666A (en) | Auxiliary deceleration using electronic parking brake in a fully integrated braking system | |
| KR20180057277A (en) | Method for controlling regenerative brake cooperation system | |
| EP4056435A1 (en) | Method for defining at least one characteristic curve of a pressure-medium-actuated brake system of a vehicle | |
| CN111703409A (en) | Auxiliary braking method and device for vehicle | |
| JPH1016737A (en) | Method and device for controlling vehicular brake device | |
| US6003961A (en) | Method and apparatus for controlling a braking system of a vehicle | |
| US6918638B2 (en) | Device for stabilizing a motor vehicle | |
| CN115534918A (en) | Vehicle brake control system, vehicle and vehicle brake method | |
| Kant | Sensotronic brake control (SBC) | |
| US9950698B2 (en) | Vehicle brake system | |
| US20210213922A1 (en) | Controller for braking force generated by brake system of motorcycle, and control method of the same | |
| JP2008110619A (en) | Braking controller for vehicle | |
| CN114750733A (en) | Brake-by-wire system and control method for automobile | |
| CN114735003A (en) | Rail vehicle, rail vehicle holding brake control method and control system | |
| CN112406843B (en) | Method for reducing vehicle jerk and vehicle braking device | |
| US11926307B2 (en) | Method for defining at least one characteristic curve of a pressure-medium-actuated brake system of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |