CN115891943A - Brake pedal control method and system and vehicle with same - Google Patents
Brake pedal control method and system and vehicle with same Download PDFInfo
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- CN115891943A CN115891943A CN202211464995.8A CN202211464995A CN115891943A CN 115891943 A CN115891943 A CN 115891943A CN 202211464995 A CN202211464995 A CN 202211464995A CN 115891943 A CN115891943 A CN 115891943A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a brake pedal control method, a brake pedal control system and a vehicle with the brake pedal control system, wherein the control method comprises the steps of collecting pedal travel data information and vehicle speed data information of the vehicle when the vehicle is braked; setting a stroke threshold value of a pedal stroke and a low speed threshold value of a vehicle running speed; when the pedal travel is not greater than the travel threshold and the vehicle running speed is not greater than the low speed threshold, controlling the actual braking deceleration of the vehicle by the algorithm to correspondingly decrease as the vehicle running speed decreases; the invention makes the vehicle enter the static state smoothly. The driver and passengers do not have obvious forward pitching action and discomfort when the speed of the driver is reduced to 0km/h, the riding comfort of the driver and the passengers is improved, and the driver is prevented from frequently adjusting the brake pedal for the comfort in the braking process.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a brake pedal control method and system and a vehicle with the brake pedal control system.
Background
The current brake pedal stroke and braking force/braking deceleration of the automobile are controlled by a relation curve, and when a driver steps on a certain fixed pedal stroke in the actual driving process, the braking deceleration generated by the automobile is generally a constant value. However, under the non-emergency braking condition of urban braking deceleration commonly used by the driver, the brake pedal is generally in a medium-small stroke, the vehicle deceleration required by the driver is relatively small, and under the condition that the driver does not adjust the brake pedal, when the vehicle speed is from low speed to the vehicle is static, the constant vehicle deceleration can cause the driver and passengers to lean forward and discomfort obviously, and the experience is obviously poor. An experienced driver can gradually release the brake pedal during the process of descending to a lower vehicle speed, so that the driver and passengers can not generate obvious forward inclination and discomfort during the process of descending to a standstill, and the riding comfort of the driver and the passengers is improved. However, under the condition of frequent starting and stopping in urban areas, a driver needs to frequently and actively adjust the brake pedal, so that the operation difficulty and fatigue feeling of the driver are increased, and the problems need to be solved urgently.
Disclosure of Invention
The present invention is directed to a brake pedal control method, a brake pedal control system and a vehicle having the same, so as to solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a brake pedal control method comprising:
when the vehicle brakes, pedal travel data information and vehicle speed data information of the vehicle are collected;
setting a stroke threshold value of a pedal stroke and a low speed threshold value of a vehicle running speed;
when the pedal travel is not greater than the travel threshold and the vehicle travel speed is not greater than the low speed threshold, the actual braking deceleration of the vehicle is algorithmically controlled to correspondingly decrease as the vehicle travel speed decreases.
Further, controlling the actual braking deceleration of the vehicle to decrease as the vehicle running speed decreases when the pedal stroke is not greater than the stroke threshold and the vehicle running speed is not greater than the low speed threshold, further includes:
obtaining braking deceleration information according to the pedal travel data information;
setting a correction coefficient, wherein the correction coefficient is associated with the vehicle speed and a low speed threshold value, and when the pedal travel is not greater than the travel threshold value and the vehicle running speed is not greater than the low speed threshold value, the algorithm calculation formula of the actual braking deceleration is as follows:
a 0 ＝a×f；
wherein: n is a low speed threshold, f is a correction factor, v is a vehicle speed, a is a braking deceleration, a 0 Is the actual braking deceleration.
Further, the actual braking deceleration is related to the deceleration at which the vehicle is coasting, and therefore, the arithmetic calculation formula of the actual braking deceleration is:
when a > a 1 When a is 0 ＝a×f；
When a is less than or equal to a 1 When a is 0 ＝a 1 ；
Wherein, a 1 Is the deceleration at which the vehicle coasts.
Further, when the vehicle brakes, the pedal travel data information and the vehicle speed data information of the vehicle are collected, and the method further comprises the following steps:
the pedal travel data information and the vehicle speed data information are received and transmitted through a CAN bus, and the receiving and transmitting frequency is 100HZ.
In another aspect, a brake pedal control system includes:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring pedal travel data information and vehicle speed data information of a vehicle and generating a pedal travel signal and a vehicle speed signal;
a brake unit for braking a vehicle;
the control unit receives the pedal stroke signal and the vehicle speed signal sent by the acquisition unit, the pedal stroke signal and the vehicle speed signal indicate the control unit to generate a deceleration control instruction according to the pedal stroke signal and the vehicle speed signal, and the deceleration control instruction is used for indicating the brake unit to act so that the actual braking deceleration of the vehicle is correspondingly reduced along with the reduction of the running speed of the vehicle.
In still another aspect, a storage medium includes a stored program, wherein when the program is executed, a device in which the storage medium is located is controlled to execute a brake pedal control method according to any one of the above.
In yet another aspect, a processor is configured to execute a program, wherein the program is configured to execute a brake pedal control method as described in any one of the above.
In yet another aspect, a vehicle includes a brake pedal control system as described above.
Compared with the prior art, the invention has the beneficial effects that: the invention makes the vehicle enter the static state smoothly. The driver and passengers do not have obvious forward pitching action and discomfort when the speed of the driver is reduced to 0km/h, the riding comfort of the driver and the passengers is improved, and the driver is prevented from frequently adjusting the brake pedal for the comfort in the braking process.
Drawings
FIG. 1 is a flow chart of a brake pedal control method in an embodiment of the present invention;
FIG. 2 is a schematic illustration of a brake pedal control system connection according to an embodiment of the present invention;
FIG. 3 is a graphical illustration of brake pedal travel versus brake deceleration for an embodiment of the present invention;
FIG. 4 is a brake deceleration control logic diagram in an embodiment of the present invention;
in the figure: 10. a collecting unit; 20. a control unit; 30. and a braking unit.
Detailed Description
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.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to the attached drawings of the specification, the invention provides a technical scheme: a brake pedal control method comprising the steps of:
s102, when the vehicle is braked, collecting pedal travel data information and vehicle speed data information of the vehicle;
s104, setting a stroke threshold of a pedal stroke and a low speed threshold of a vehicle running speed;
and S106, when the pedal stroke is not greater than the stroke threshold value and the vehicle running speed is not greater than the low speed threshold value, controlling the actual braking deceleration of the vehicle to be correspondingly reduced along with the reduction of the vehicle running speed through the algorithm.
In the above embodiment, in the braking condition, under the condition that the vehicle is lowered to the low speed threshold, the braking deceleration of the vehicle is gradually reduced on the basis of the initial deceleration until the moment when the vehicle is about to stop, and the braking force/braking deceleration is reduced to a relatively small state, so that the vehicle is very smoothly brought into the stop state; the strategy can ensure that the driver and passengers do not have obvious forward leaning action and discomfort in the process of reducing the vehicle speed to 0km/h, and the riding comfort of the driver and the passengers is improved; frequent adjustment of the brake pedal by the driver for comfort during braking is also avoided; the preferred low speed threshold for this embodiment is n =5km/h.
Alternatively, controlling the actual braking deceleration of the vehicle to decrease as the vehicle running speed decreases when the pedal stroke is not greater than the stroke threshold and the vehicle running speed is not greater than the low speed threshold, further includes:
obtaining braking deceleration information according to the pedal travel data information;
specifically, the brake deceleration a and pedal travel s of a passenger vehicle, for example, are plotted on the brake pedal-brake deceleration curve strategy shown in fig. 3. The section of 0-5 mm of the abscissa is relatively gentle because physical gaps exist among the brake master cylinder, the booster, the pedal and the friction plate/brake disc, obvious hydraulic pressure can be generated by a pipeline after the idle stroke of the system is overcome, and then the whole vehicle can generate obvious deceleration, and the whole vehicle deceleration corresponding to the ordinate is the deceleration a when the vehicle slides 1 . The slope of the section of the abscissa of 5-25 mm is small, the section is the corresponding vehicle deceleration under the condition of small brake pedal stroke, and the vehicle braking requirement is small at the moment. The slope of the section of the abscissa of 5-25 mm is increased,this segment is the corresponding vehicle deceleration for medium and large brake pedal travel, at which the vehicle braking demand is greater. The deceleration of the vehicle at the abscissa of 80 to 100mm is maintained at a constant maximum value.
As shown in FIG. 4, on the basis of the relationship curve between the brake deceleration and the pedal stroke, 2 judgment conditions are added to form the low-vehicle-speed brake deceleration strategy of the invention, so that when the vehicle brakes at the stroke threshold s of the pedal stroke is less than or equal to 40mm and the vehicle speed is at the low-speed threshold n is less than or equal to 5km/h, the braking force and the brake deceleration change along with the change of the vehicle speed, and the gradual reduction of the vehicle deceleration from the low vehicle speed to the parking state is realized.
Setting a correction coefficient, wherein the correction coefficient is associated with the vehicle speed and a low speed threshold value, and when the pedal travel is not greater than the travel threshold value and the vehicle running speed is not greater than the low speed threshold value, the algorithm calculation formula of the actual braking deceleration is as follows:
a 0 ＝a×f；
wherein: n is a low speed threshold, f is a correction factor, v is a vehicle speed, a is a braking deceleration, a 0 Is the actual braking deceleration.
In the above embodiment, the low speed threshold n =5km/h is preferred, and therefore
Actual braking deceleration
Alternatively, the actual braking deceleration is related to the deceleration at which the vehicle is coasting, and therefore, the arithmetic calculation formula of the actual braking deceleration is:
when a > a 1 When a is turned on 0 ＝a×f；
When a is less than or equal to a 1 When a is turned on 0 ＝a 1 ；
Wherein, a 1 Is the deceleration at which the vehicle coasts.
In the above embodiment, as shown in fig. 3, the section of the abscissa of 0 to 5mm is relatively flat because physical gaps exist among the brake master cylinder, the booster, the pedal, and the friction plate/brake disc, the pipeline can generate obvious hydraulic pressure after the idle stroke of the system needs to be overcome, and further the whole vehicle can generate obvious deceleration, and the whole vehicle deceleration corresponding to the ordinate is the deceleration a when the vehicle slides 1 。
Optionally, when the vehicle brakes, the method collects pedal travel data information and vehicle speed data information of the vehicle, and further includes:
the pedal travel data information and the vehicle speed data information are received and transmitted through a CAN bus, and the receiving and transmitting frequency is 100HZ.
In another aspect, a brake pedal control system includes:
the system comprises an acquisition unit 10, a control unit and a control unit, wherein the acquisition unit 10 is used for acquiring pedal travel data information and vehicle speed data information of a vehicle and generating pedal travel signals and vehicle speed signals;
a brake unit 30, the brake unit 30 being used for braking of a vehicle;
and the control unit 20 is used for receiving the pedal stroke signal and the vehicle speed signal sent by the acquisition unit 10, the pedal stroke signal and the vehicle speed signal instruct the control unit 20 to generate a deceleration control instruction according to the pedal stroke signal and the vehicle speed signal, and the deceleration control instruction is used for instructing the brake unit 30 to act so that the actual braking deceleration of the vehicle is correspondingly reduced along with the reduction of the running speed of the vehicle.
In still another aspect, a storage medium includes a stored program, wherein when the program is executed, a device in which the storage medium is located is controlled to execute a brake pedal control method according to any one of the above.
In yet another aspect, a processor is configured to execute a program, wherein the program is configured to execute a brake pedal control method as described in any one of the above.
In yet another aspect, a vehicle includes a brake pedal control system as described above.
The strategy can realize that the braking deceleration of the whole vehicle is gradually reduced along with the vehicle speed under the extremely low vehicle speed of the braking working condition, the safety of the braking process cannot be influenced because the running distance of the vehicle under the extremely low vehicle speed is very low, the braking comfort under the extremely low vehicle speed is realized, and more comfortable experience is brought to a driver and passengers.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A brake pedal control method characterized by comprising:
when the vehicle brakes, pedal travel data information and vehicle speed data information of the vehicle are collected;
setting a stroke threshold value of a pedal stroke and a low speed threshold value of a vehicle running speed;
when the pedal travel is not greater than the travel threshold and the vehicle travel speed is not greater than the low speed threshold, the actual braking deceleration of the vehicle is algorithmically controlled to correspondingly decrease as the vehicle travel speed decreases.
2. A brake pedal control method as defined in claim 1, wherein when the pedal stroke is not greater than the stroke threshold and the vehicle running speed is not greater than the low speed threshold, controlling the actual braking deceleration of the vehicle to decrease as the vehicle running speed decreases, further comprises:
obtaining braking deceleration information according to the pedal travel data information;
setting a correction coefficient, wherein the correction coefficient is associated with the vehicle speed and a low speed threshold value, and when the pedal travel is not greater than the travel threshold value and the vehicle running speed is not greater than the low speed threshold value, the algorithm calculation formula of the actual braking deceleration is as follows:
a 0 ＝a×f；
wherein: n is a low speed threshold, f is a correction factor, v is a vehicle speed, a is a braking deceleration, a 0 Is the actual braking deceleration.
3. A brake pedal control method as claimed in claim 2, characterized by comprising:
the actual braking deceleration is related to the deceleration at which the vehicle is coasting, and therefore, the arithmetic calculation formula of the actual braking deceleration is:
when a > a 1 When a is 0 ＝a×f；
When a is less than or equal to a 1 When a is 0 ＝a 1 ；
Wherein, a 1 Is the deceleration at which the vehicle is coasting.
4. The brake pedal control method according to claim 1, wherein pedal stroke data information and vehicle speed data information of the vehicle are collected when the vehicle is braked, and further comprising:
the pedal travel data information and the vehicle speed data information are received and transmitted through a CAN bus, and the receiving and transmitting frequency is 100HZ.
5. A brake pedal control system, comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring pedal travel data information and vehicle speed data information of a vehicle and generating pedal travel signals and vehicle speed signals;
a brake unit for braking of a vehicle;
the control unit receives the pedal stroke signal and the vehicle speed signal sent by the acquisition unit, the pedal stroke signal and the vehicle speed signal instruct the control unit to generate a deceleration control instruction according to the pedal stroke signal and the vehicle speed signal, and the deceleration control instruction is used for instructing the brake unit to act so that the actual braking deceleration of the vehicle is correspondingly reduced along with the reduction of the running speed of the vehicle.
6. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is stored is controlled to execute a brake pedal control method according to any one of claims 1 to 4 when the program is executed.
7. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute a brake pedal control method according to any one of claims 1 to 4 when running.
8. A vehicle characterized by comprising a brake pedal control system as recited in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211464995.8A CN115891943A (en) | 2022-11-22 | 2022-11-22 | Brake pedal control method and system and vehicle with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211464995.8A CN115891943A (en) | 2022-11-22 | 2022-11-22 | Brake pedal control method and system and vehicle with same |
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| Publication Number | Publication Date |
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| CN115891943A true CN115891943A (en) | 2023-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211464995.8A Pending CN115891943A (en) | 2022-11-22 | 2022-11-22 | Brake pedal control method and system and vehicle with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022211A (en) * | 2023-10-10 | 2023-11-10 | 金琥新能源汽车(成都)有限公司 | Anti-lock parking method, device, equipment and storage medium |
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2022
- 2022-11-22 CN CN202211464995.8A patent/CN115891943A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022211A (en) * | 2023-10-10 | 2023-11-10 | 金琥新能源汽车(成都)有限公司 | Anti-lock parking method, device, equipment and storage medium |
| CN117022211B (en) * | 2023-10-10 | 2023-12-12 | 金琥新能源汽车(成都)有限公司 | Anti-lock parking method, device, equipment and storage medium |
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