CN115782834A - Vehicle brake feel adjusting method, device, storage medium and device - Google Patents
Vehicle brake feel adjusting method, device, storage medium and device Download PDFInfo
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- CN115782834A CN115782834A CN202211510411.6A CN202211510411A CN115782834A CN 115782834 A CN115782834 A CN 115782834A CN 202211510411 A CN202211510411 A CN 202211510411A CN 115782834 A CN115782834 A CN 115782834A
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Abstract
The invention discloses a vehicle brake foot feeling adjusting method, a device, a storage medium and a device, which are used for acquiring a foot feeling control mode and vehicle condition information corresponding to a target vehicle; judging whether the parameters of the brake pedal corresponding to the foot feeling control mode need to be adjusted or not according to the actual parameters of the brake pedal corresponding to the vehicle condition information; and performing braking control on the vehicle according to the adjustment result. According to the invention, the brake pedal parameters corresponding to the foot feeling control mode are adjusted through the actual brake pedal parameters corresponding to the vehicle condition information, and the vehicle is subjected to brake control according to the adjustment result, so that compared with the prior art that the parameters of the brake pedal cannot be set in time according to the habit of a user, and the user experience is poor, the invention realizes that the pedal feeling of the vehicle is automatically adjusted according to the actual condition of the vehicle and the driving requirement, and the driving comfort and safety are improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method, equipment, a storage medium and a device for adjusting vehicle brake feel.
Background
After a driver applies operating force to the pedal, the pedal can be displaced, the current pedal feeling is set by a host factory, and only people can adapt to the setting of the vehicle. However, the initial setting of the host factory may not always meet the actual vehicle demand of the customer, and for a vehicle with a large empty and full load difference, the deceleration obtained by the same pedal force may be much smaller in the full load state, and a driver who is familiar with the no-load pedal feeling may cause discomfort or even an accident due to the change of the foot feeling caused by the change of the vehicle load.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle brake pedal feeling adjusting method, vehicle brake pedal feeling adjusting equipment, a vehicle brake pedal feeling adjusting storage medium and a vehicle brake pedal feeling adjusting device, and aims to solve the technical problem that in the prior art, the user experience is poor due to the fact that parameters of a brake pedal cannot be set in time according to user habits.
In order to achieve the above object, the present invention provides a vehicle brake feel adjusting method, including the steps of:
acquiring a foot feeling control mode and vehicle condition information corresponding to a target vehicle;
judging whether the brake pedal parameters corresponding to the foot feeling control mode need to be adjusted or not according to the actual brake pedal parameters corresponding to the vehicle condition information;
and performing braking control on the vehicle according to the adjustment result.
Optionally, the actual brake pedal parameters include brake pedal displacement, brake pedal force, vehicle deceleration; the step of judging whether the brake pedal parameter corresponding to the foot feeling control mode needs to be adjusted according to the actual brake pedal parameter corresponding to the vehicle condition information includes:
comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode;
and judging whether the parameters of the brake pedal need to be adjusted or not according to the comparison result and a preset adjustment range.
Optionally, before the step of comparing the brake pedal displacement, the brake pedal force, the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameter corresponding to the foot feel control mode, the method further includes:
acquiring a first occurrence time of an accelerator pedal signal;
judging whether the target vehicle is in an abnormal state or not according to the first occurrence time and the occurrence time of the brake pedal signal;
and when the target vehicle is not in an abnormal state, comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode.
Optionally, the step of determining whether the parameter of the brake pedal needs to be adjusted according to the comparison result and a preset adjustment range includes:
if the comparison result exceeds a preset adjustment range, judging that the parameters of the brake pedal need to be adjusted;
and if the comparison result does not exceed the preset adjustment range, judging that the parameters of the brake pedal do not need to be adjusted.
Optionally, the step of performing braking control on the vehicle according to the adjustment result includes:
if the brake pedal parameters need to be adjusted, determining state Gaussian distribution between the parameters according to a preset Kalman filtering algorithm and the comparison result;
and correcting parameters of a brake pedal according to the state Gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result.
Optionally, the step of correcting a brake pedal parameter according to the state gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result includes:
determining the correlation among the parameters according to the state Gaussian distribution;
determining whether the brake pedal parameters are abnormal or not according to the correlation and a preset fault-tolerant model, and correcting the abnormal parameters according to a judgment result;
and performing braking control on the vehicle according to the correction result.
Optionally, the step of performing braking control on the vehicle according to the correction result includes:
determining a state variable corresponding to the current moment according to the correction result, and predicting the braking state at the next moment according to the state variable;
and performing braking control on the vehicle according to the prediction result.
Furthermore, in order to achieve the above object, the present invention also proposes a vehicle brake foot feel adjusting device, which comprises a memory, a processor and a vehicle brake foot feel adjusting program stored on the memory and operable on the processor, the vehicle brake foot feel adjusting program being configured to implement the steps of vehicle brake foot feel adjustment as described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a vehicle brake foot feeling adjusting program, and the vehicle brake foot feeling adjusting program realizes the steps of the vehicle brake foot feeling adjusting method as described above when executed by a processor.
In order to achieve the above object, the present invention also provides a vehicle brake feel adjusting device including:
the information acquisition module is used for acquiring a foot feeling control mode and vehicle condition information corresponding to the target vehicle;
the parameter adjusting module is used for judging whether the brake pedal parameters corresponding to the foot feeling control mode need to be adjusted or not according to the actual brake pedal parameters corresponding to the vehicle condition information;
and the brake control module is used for carrying out brake control on the vehicle according to the adjustment result.
The method comprises the steps of obtaining a foot feeling control mode and vehicle condition information corresponding to a target vehicle; judging whether the parameters of the brake pedal corresponding to the foot feeling control mode need to be adjusted or not according to the actual parameters of the brake pedal corresponding to the vehicle condition information; and performing braking control on the vehicle according to the adjustment result. According to the invention, the brake pedal parameters corresponding to the pedal feeling control mode are adjusted through the actual brake pedal parameters corresponding to the vehicle condition information, and the vehicle is subjected to brake control according to the adjustment result, so that compared with the prior art that the parameters of the brake pedal cannot be set in time according to the habit of a user, the user experience is poorer, the pedal feeling of the vehicle can be automatically adjusted according to the actual condition and the driving requirement of the vehicle, and the driving comfort and safety are improved.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle brake feel adjusting device according to a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for adjusting a brake feel of a vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a method for adjusting the feel of a brake pedal of a vehicle according to the present invention;
fig. 4 is a block diagram illustrating a first embodiment of a vehicle brake foot feeling adjusting device according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle brake feel adjusting device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle brake feel adjusting apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of a vehicle brake feel adjustment apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, a memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle brake feel adjustment program.
In the vehicle brake feel adjusting apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the vehicle brake feel adjusting apparatus calls a vehicle brake feel adjusting program stored in the memory 1005 through the processor 1001 and executes the vehicle brake feel adjusting method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the vehicle brake pedal feeling adjusting method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a vehicle brake feel adjusting method according to the present invention, and provides the first embodiment of the vehicle brake feel adjusting method according to the present invention.
In this embodiment, the vehicle brake feel adjusting method includes the steps of:
step S10: and acquiring a foot feeling control mode and vehicle condition information corresponding to the target vehicle.
It should be noted that the execution main body of this embodiment may be a device having a brake foot feeling adjustment function, where the device may be an in-vehicle computer, a tablet, or the like, and the device is connected to an operation device, a communication device, and a brake-by-wire system. The operation equipment can be vehicle-mounted equipment and a mobile phone and is used for setting corresponding parameters; the communication equipment is used for transmitting the parameters set by the operating equipment to the brake-by-wire system; the brake-by-wire system writes the corresponding parameters into the controller. The present invention will be described with reference to a brake feel control apparatus in the present embodiment and the following embodiments.
It should be understood that the foot sensing control mode may be a preset foot sensing control mode, the mode may be a foot sensing control mode initially set by entering the setting interface through the operation device, the mode may be a preset fixed mode, or a mode set by manually setting a corresponding parameter of the mode, and the parameter may be further optimized and adjusted according to the effect after the parameter is currently adjusted. For example: the relevant parameters are pedal displacement, pedal force, vehicle deceleration, and the setting may be performed by setting a specific value, such as a deceleration corresponding to a pedal travel of 50 mm.
It should be understood that the vehicle condition information may be information generated during actual driving of the vehicle, such as: information generated by signals corresponding to an accelerator pedal and a brake pedal, or vehicle load information.
Step S20: and judging whether the parameters of the brake pedal corresponding to the foot feeling control mode need to be adjusted or not according to the actual parameters of the brake pedal corresponding to the vehicle condition information.
The actual brake pedal parameters include brake pedal displacement, brake pedal force, and vehicle deceleration.
In a specific implementation, the greater the force with which the driver steps on the brake pedal, the greater the displacement of the pedal, the greater the brake pressure output, and the greater the deceleration of the vehicle. When the driver adjusts the parameters, the system can give the adjustment range suggestion and limitation, and the situation that the driving safety is influenced by the abnormal parameter setting of the driver is avoided. Under the current automatic driving level, the brake-by-wire system still needs to respond to the driving will of the driver, and the driver steps on different pedal forces according to the actual road condition to decelerate the vehicle.
Further, the step of determining whether the brake pedal parameter corresponding to the foot feel control mode needs to be adjusted according to the actual brake pedal parameter corresponding to the vehicle condition information includes: comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode; and judging whether the parameters of the brake pedal need to be adjusted or not according to the comparison result and a preset adjustment range.
It should be noted that, by comparing the brake pedal displacement, the brake pedal force, and the vehicle deceleration in the actual driving process with the brake pedal displacement, the brake pedal force, and the vehicle deceleration corresponding to the initially set foot feeling mode one by one, it is determined whether the brake pedal parameter needs to be adjusted according to the comparison result and the preset adjustment range.
It can be understood that the preset adjustment range may be an adjustment range determined according to a parameter range corresponding to a preset foot feeling adjustment mode corresponding to the target vehicle, that is, the adjustment range is determined according to a parameter setting range corresponding to multiple types of foot feeling modes configured in advance for the vehicle.
In specific implementation, the comparison result includes that at least one of the brake pedal displacement, the brake pedal force and the vehicle deceleration has a parameter larger or smaller than a brake pedal parameter corresponding to the foot feel control mode, a difference range between the brake pedal displacement, the brake pedal force and the vehicle deceleration is determined, comparison is performed according to the difference range and a preset adjustment range, and whether the brake pedal parameter needs to be adjusted is judged according to the comparison result.
Further, the step of judging whether the parameters of the brake pedal need to be adjusted according to the comparison result and a preset adjustment range includes: if the comparison result exceeds a preset adjustment range, judging that the parameters of the brake pedal need to be adjusted; and if the comparison result does not exceed the preset adjustment range, judging that the parameters of the brake pedal do not need to be adjusted.
In the concrete implementation, the difference range is compared with a preset adjustment range, and if the difference range in the comparison result exceeds the preset adjustment range, the parameter of the brake pedal is judged to be required to be adjusted; and if the difference range does not exceed the preset adjustment range, judging that the parameters of the brake pedal do not need to be adjusted.
Step S30: and performing braking control on the vehicle according to the adjustment result.
It should be noted that the braking control of the vehicle can be performed by adjusting the braking feeling of the vehicle according to the vehicle usage scenario and causing the vehicle to adjust the braking parameters according to the actual situation.
The embodiment comprises the steps of obtaining a foot feeling control mode and vehicle condition information corresponding to a target vehicle; judging whether the brake pedal parameters corresponding to the foot feeling control mode need to be adjusted or not according to the actual brake pedal parameters corresponding to the vehicle condition information; and performing braking control on the vehicle according to the adjustment result. According to the invention, the brake pedal parameters corresponding to the pedal feeling control mode are adjusted through the actual brake pedal parameters corresponding to the vehicle condition information, and the vehicle is subjected to brake control according to the adjustment result, so that compared with the prior art that the parameters of the brake pedal cannot be set in time according to the habit of a user, the user experience is poorer, the pedal feeling of the vehicle can be automatically adjusted according to the actual condition and the driving requirement of the vehicle, and the driving comfort and safety are improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a method for adjusting a brake feel of a vehicle according to the present invention, and the second embodiment of the method for adjusting a brake feel of a vehicle according to the present invention is proposed based on the first embodiment illustrated in fig. 2.
In this embodiment, before the step of comparing the brake pedal displacement, the brake pedal force, the vehicle deceleration corresponding to the vehicle condition information and the brake pedal parameter corresponding to the foot feel control mode, the method further includes: acquiring a first occurrence time of an accelerator pedal signal; judging whether the target vehicle is in an abnormal state or not according to the first occurrence time and the occurrence time of the brake pedal signal; and when the target vehicle is not in an abnormal state, comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feel control mode.
It should be noted that, after the vehicle parameter setting is completed, the vehicle is adjusted and controlled after the parameter is checked for safety, so that the time of occurrence of the accelerator pedal signal and the time of occurrence of the brake pedal signal, which are obtained by the safety check module, are compared, the signal reasonableness is checked to determine whether an abnormal condition exists, wherein, if the accelerator pedal and the brake pedal are simultaneously pressed, and the accelerator pedal is pressed before the brake pedal, the irrational condition is detected. If irrationality is detected, an alternative value will be output as the detected accelerator opening value to the failure mode reset algorithm on the principle that when the accelerator opening is less than the calibrated value.
It should be understood that, based on the function security assurance algorithm, the algorithm principle is as follows: the rationality check result may be determined to be rational if the brake signal occurs prior to the occurrence of a valid accelerator pedal signal by determining when the accelerator pedal and brake signal occur. And if the braking signal appears after the reasonable accelerator pedal signal, the accelerator pedal signal meets the condition that the original opening degree is smaller than the preset threshold value, and the variation amplitude is smaller than the preset amplitude, judging the rationality test result to be unreasonable.
It can be understood that when the checking result is unreasonable, the target vehicle is judged to be in an abnormal state, the abnormal state is diagnosed, the foot feel adjustment is stopped until the fault is eliminated, and when the target vehicle is not in the abnormal state, the steps of comparing the brake pedal displacement, the brake pedal force, the vehicle deceleration and the brake pedal parameters corresponding to the foot feel control mode according to the vehicle condition information are executed.
In this embodiment, the step S30 includes:
step S301: and if the parameters of the brake pedal need to be adjusted, determining the state Gaussian distribution between the parameters according to a preset Kalman filtering algorithm and the comparison result.
It should be noted that the predetermined kalman filtering algorithm may be an algorithm for performing optimal estimation on the system state through the linear system state equation and through the system input and output data, and in this embodiment, in order to better implement the foot feel control, the braking parameter may be modified and adjusted through the kalman filtering algorithm, so as to adjust the foot feel parameter in real time according to the habit of the user.
It should be understood that the state gaussian distribution may be a gaussian distribution between parameters determined by the kalman filter algorithm for each parameter in the comparison results. The correlation among the parameters can be determined through the state Gaussian distribution, so that abnormal data can be determined according to the correlation, and accurate state identification is achieved.
Step S302: and correcting parameters of a brake pedal according to the state Gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result.
It should be noted that the preset fault-tolerant model may be a pre-trained model for correcting error data, so as to avoid the influence on the vehicle performance due to a small error.
It can be understood that parameters of a brake pedal are corrected according to the state Gaussian distribution and a preset fault-tolerant model, and the vehicle is subjected to braking control according to a correction result.
Further, the step S302 further includes: determining the correlation among the parameters according to the state Gaussian distribution; determining whether the brake pedal parameters are abnormal according to the correlation and a preset fault-tolerant model, and correcting the abnormal parameters according to a judgment result; and performing braking control on the vehicle according to the correction result.
It should be noted that the state variables are established based on Gaussian distribution, whether the parameters of the brake pedal are abnormal or not is determined according to the correlation between the state variables under the preset condition and a preset fault-tolerant model determined by a Gaussian function, the interference which does not accord with the Gaussian distribution is filtered, some spectrum-independent data of the sensors are removed by using the predicted value of a Kalman filtering algorithm, and the vehicle is subjected to brake control according to the corrected result.
In concrete implementation, the corresponding relation between the last braking hydraulic pressure and the vehicle deceleration is combined, the related parameters are converted into parameters which can be directly controlled by the brake-by-wire system after operation and are written into the controller, and if the stroke of the push rod reaches 10mm, the brake-by-wire system outputs 3MPa of hydraulic pressure. And after the control parameters are updated, feeding back an adjustment result to the operating equipment through the communication module.
Further, the step of performing braking control on the vehicle according to the correction result includes: determining a state variable corresponding to the current moment according to the correction result, and predicting the braking state at the next moment according to the state variable; and performing braking control on the vehicle according to the prediction result.
It should be noted that the state variables are established based on the gaussian distribution, and the next state (time k) is predicted from the current state (time k-1), and a new gaussian distribution including the covariance of each parameter is predicted, except for the change of the external environment (road surface, wind blow, etc.) of the vehicle itself, such as trajectory planning navigation information, accelerator pedal, decelerator pedal, steering wheel angle, etc. We can represent a vector X, each element being a control quantity. And adding the X vector into the prediction equation to make correction.
The embodiment obtains the foot feeling control mode and the vehicle condition information corresponding to the target vehicle; judging whether the parameters of the brake pedal corresponding to the foot feeling control mode need to be adjusted or not according to the actual parameters of the brake pedal corresponding to the vehicle condition information; if the parameters of the brake pedal need to be adjusted, determining state Gaussian distribution between the parameters according to a preset Kalman algorithm and the comparison result; and correcting parameters of a brake pedal according to the state Gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result. According to the invention, the brake pedal parameters corresponding to the pedal feeling control mode are adjusted through the actual brake pedal parameters corresponding to the vehicle condition information, and the vehicle is subjected to brake control according to the adjustment result, so that compared with the prior art that the parameters of the brake pedal cannot be set in time according to the habit of a user, the user experience is poorer, the pedal feeling of the vehicle can be automatically adjusted according to the actual condition and the driving requirement of the vehicle, and the driving comfort and safety are improved.
Furthermore, in order to achieve the above object, the present invention also proposes a vehicle brake feel adjusting apparatus comprising a memory, a processor and a vehicle brake feel adjusting program stored on the memory and executable on the processor, the vehicle brake feel adjusting program being configured to implement the steps of vehicle brake feel adjustment as described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a vehicle brake foot feeling adjusting program, and the vehicle brake foot feeling adjusting program realizes the steps of the vehicle brake foot feeling adjusting method as described above when executed by a processor.
Referring to fig. 4, fig. 4 is a block diagram illustrating a first embodiment of a vehicle brake foot feeling adjusting device according to the present invention.
As shown in fig. 4, a vehicle brake feel adjusting apparatus according to an embodiment of the present invention includes:
the information acquisition module 10 is used for acquiring a foot feeling control mode and vehicle condition information corresponding to a target vehicle;
the parameter adjusting module 20 is configured to determine whether a brake pedal parameter corresponding to the foot feel control mode needs to be adjusted according to an actual brake pedal parameter corresponding to the vehicle condition information;
and the braking control module 30 is used for performing braking control on the vehicle according to the adjustment result.
The embodiment comprises the steps of obtaining a foot feeling control mode and vehicle condition information corresponding to a target vehicle; judging whether the brake pedal parameters corresponding to the foot feeling control mode need to be adjusted or not according to the actual brake pedal parameters corresponding to the vehicle condition information; and performing braking control on the vehicle according to the adjustment result. According to the invention, the brake pedal parameters corresponding to the pedal feeling control mode are adjusted through the actual brake pedal parameters corresponding to the vehicle condition information, and the vehicle is subjected to brake control according to the adjustment result, so that compared with the prior art that the parameters of the brake pedal cannot be set in time according to the habit of a user, the user experience is poorer, the pedal feeling of the vehicle can be automatically adjusted according to the actual condition and the driving requirement of the vehicle, and the driving comfort and safety are improved.
Further, the parameter adjusting module 20 is further configured to compare the brake pedal displacement, the brake pedal force, the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameter corresponding to the foot feeling control mode; and judging whether the parameters of the brake pedal need to be adjusted or not according to the comparison result and a preset adjustment range.
Further, the parameter adjusting module 20 is further configured to obtain a first occurrence time of an accelerator pedal signal; judging whether the target vehicle is in an abnormal state or not according to the first occurrence time and the brake pedal signal occurrence time; and when the target vehicle is not in an abnormal state, comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode.
Further, the parameter adjusting module 20 is further configured to determine that the parameter of the brake pedal needs to be adjusted if the comparison result exceeds a preset adjustment range; and if the comparison result does not exceed the preset adjustment range, judging that the parameters of the brake pedal do not need to be adjusted.
Further, the brake control module 30 is further configured to determine a state gaussian distribution between parameters according to a preset kalman algorithm and the comparison result if it is determined that the parameters of the brake pedal need to be adjusted; and correcting parameters of a brake pedal according to the state Gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result.
Further, the braking control module 30 is further configured to determine a correlation between parameters according to the state gaussian distribution; determining whether the brake pedal parameters are abnormal according to the correlation and a preset fault-tolerant model, and correcting the abnormal parameters according to a judgment result; and performing braking control on the vehicle according to the correction result.
Further, the braking control module 30 is further configured to determine a state variable corresponding to the current time according to the correction result, and predict a braking state at the next time according to the state variable; and performing braking control on the vehicle according to the prediction result.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in this embodiment can be referred to the vehicle braking feeling adjusting method provided by any embodiment of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, or an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A vehicle brake feel adjusting method is characterized by comprising the following steps:
acquiring a foot feeling control mode and vehicle condition information corresponding to a target vehicle;
judging whether the parameters of the brake pedal corresponding to the foot feeling control mode need to be adjusted or not according to the actual parameters of the brake pedal corresponding to the vehicle condition information;
and performing braking control on the vehicle according to the adjustment result.
2. The vehicle brake feel adjustment method of claim 1 wherein the actual brake pedal parameters include brake pedal displacement, brake pedal force, vehicle deceleration; the step of judging whether the brake pedal parameter corresponding to the foot feeling control mode needs to be adjusted according to the actual brake pedal parameter corresponding to the vehicle condition information includes:
comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode;
and judging whether the parameters of the brake pedal need to be adjusted or not according to the comparison result and a preset adjustment range.
3. The vehicle brake feel adjusting method according to claim 2, wherein the step of comparing the brake pedal displacement, the brake pedal force, the vehicle deceleration corresponding to the vehicle condition information and the brake pedal parameter corresponding to the feel control mode is preceded by the step of:
acquiring a first occurrence time of an accelerator pedal signal;
judging whether the target vehicle is in an abnormal state or not according to the first occurrence time and the occurrence time of the brake pedal signal;
and when the target vehicle is not in an abnormal state, comparing the brake pedal displacement, the brake pedal force and the vehicle deceleration corresponding to the vehicle condition information with the brake pedal parameters corresponding to the foot feeling control mode.
4. The vehicle brake feel adjustment method according to claim 3, wherein the step of determining whether the brake pedal parameter needs to be adjusted according to the comparison result and a preset adjustment range includes:
if the comparison result exceeds a preset adjustment range, judging that the parameters of the brake pedal need to be adjusted;
and if the comparison result does not exceed the preset adjustment range, judging that the parameters of the brake pedal do not need to be adjusted.
5. The vehicle brake feel adjustment method according to claim 4, wherein the step of brake controlling the vehicle according to the adjustment result includes:
if the brake pedal parameters need to be adjusted, determining state Gaussian distribution between the parameters according to a preset Kalman filtering algorithm and the comparison result;
and correcting parameters of a brake pedal according to the state Gaussian distribution and a preset fault-tolerant model, and performing brake control on the vehicle according to a correction result.
6. The vehicle brake feel adjustment method according to any one of claims 1 to 5, wherein the step of correcting a brake pedal parameter according to the state Gaussian distribution and a preset fault-tolerant model and controlling braking of the vehicle according to the correction result comprises:
determining the correlation among the parameters according to the state Gaussian distribution;
determining whether the brake pedal parameters are abnormal or not according to the correlation and a preset fault-tolerant model, and correcting the abnormal parameters according to a judgment result;
and performing braking control on the vehicle according to the correction result.
7. The vehicle brake feel adjustment method according to claim 6, wherein the step of brake controlling the vehicle according to the correction result includes:
determining a state variable corresponding to the current moment according to the correction result, and predicting the braking state at the next moment according to the state variable;
and performing braking control on the vehicle according to the prediction result.
8. A vehicle brake feel adjusting apparatus, characterized by comprising: memory, a processor and a vehicle brake feel adjusting program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the vehicle brake feel adjusting method according to any one of claims 1 to 7.
9. A storage medium, characterized in that a vehicle brake feel adjustment program is stored thereon, which when executed by a processor implements the steps of the vehicle brake feel adjustment method according to any one of claims 1 to 7.
10. A vehicle brake feel adjusting apparatus, characterized by comprising:
the information acquisition module is used for acquiring a foot feeling control mode and vehicle condition information corresponding to the target vehicle;
the parameter adjusting module is used for judging whether the brake pedal parameters corresponding to the foot feeling control mode need to be adjusted or not according to the actual brake pedal parameters corresponding to the vehicle condition information;
and the brake control module is used for carrying out brake control on the vehicle according to the adjustment result.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211510411.6A CN115782834A (en) | 2022-11-29 | 2022-11-29 | Vehicle brake feel adjusting method, device, storage medium and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211510411.6A CN115782834A (en) | 2022-11-29 | 2022-11-29 | Vehicle brake feel adjusting method, device, storage medium and device |
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| CN115782834A true CN115782834A (en) | 2023-03-14 |
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