CN116061902A - Brake control method and computer-readable storage medium - Google Patents

Brake control method and computer-readable storage medium Download PDF

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Publication number
CN116061902A
CN116061902A CN202111292821.3A CN202111292821A CN116061902A CN 116061902 A CN116061902 A CN 116061902A CN 202111292821 A CN202111292821 A CN 202111292821A CN 116061902 A CN116061902 A CN 116061902A
Authority
CN
China
Prior art keywords
vehicle
control method
hydraulic motor
brake control
brake
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
Application number
CN202111292821.3A
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Chinese (zh)
Inventor
李晓宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to CN202111292821.3A priority Critical patent/CN116061902A/en
Publication of CN116061902A publication Critical patent/CN116061902A/en
Pending legal-status Critical Current

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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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/30—ESP control system
    • B60T2270/306—ESP control system hydraulic system components
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up

Abstract

The application discloses a brake control method and a computer-readable storage medium. The brake control method comprises the following steps: (S1) in the event of failure of the electric brake booster, calculating a relationship between a pressure in a hydraulic system of the vehicle body stabilization system and a vehicle brake deceleration, setting a target pressure that a hydraulic motor of the vehicle body stabilization system should provide, and controlling the hydraulic motor by the vehicle body stabilization system; (S2) determining that the vehicle braking deceleration corresponding to the target pressure of the hydraulic motor is equal to or greater than the prescribed vehicle braking deceleration and that the vehicle braking deceleration corresponding to the actual pressure of the hydraulic motor is less than the prescribed vehicle braking deceleration; (S3) determining that the actual pressure of the hydraulic motor does not increase or that the derivative of the actual pressure with respect to time is less than a prescribed vehicle braking deceleration gradient over a period of time. According to the braking control method, the vehicle can be reliably braked under the condition that the electronic brake booster fails.

Description

Brake control method and computer-readable storage medium
Technical Field
The present application relates to the field of automobiles, and more particularly, to a brake control method and a computer-readable storage medium.
Background
With the rapid development of unmanned technology, vehicles are designed with an automatic parking function. In the case of fully automatic parking of a vehicle without the driver being in the vehicle, it must be ensured that the vehicle, in particular the brake system, can always be brought to a safe stop. In implementing the automatic parking function, if any of the systems performing the automatic parking program fails, it may cause unknown consequences. In the field of development of unmanned technologies, automatic parking brake backup has become a focus of attention for developers.
There is a backup scheme for automatic parking, such as a dual-brake backup scheme, in which a dual-brake backup design is performed using a body stabilization system and an electric brake booster.
Disclosure of Invention
The main technical problem to be solved by the application is how to perform reliable brake control on a vehicle under the condition that an electronic brake booster fails.
In order to solve the above technical problems, in one aspect, the present application provides a brake control method, which includes the following steps:
(S1) in the event of failure of the electric brake booster, calculating a relationship between a pressure in a hydraulic system of the vehicle body stabilization system and a vehicle brake deceleration, setting a target pressure pTarget that a hydraulic motor of the vehicle body stabilization system should supply, and controlling the hydraulic motor by the vehicle body stabilization system through the target pressure pTarget;
(S2) determining whether the following condition is satisfied: the vehicle braking deceleration corresponding to the target pressure pTarget of the hydraulic motor is greater than or equal to the prescribed vehicle braking deceleration and the vehicle braking deceleration corresponding to the actual pressure pModel of the hydraulic motor is less than the prescribed vehicle braking deceleration;
if the judgment condition in (S2) is satisfied, executing (S3) to judge whether the following condition is satisfied: the actual pressure pModel of the hydraulic motor does not increase over a period of time or the derivative of the actual pressure pModel with respect to time is less than a prescribed vehicle braking deceleration gradient;
braking by the electronic parking system if the judgment condition in (S3) is satisfied, and braking by the vehicle body stabilization system if the judgment condition in (S3) is not satisfied.
In another aspect the present application provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the aforementioned method.
According to the technical scheme of the application, in the case of failure of the electronic brake booster, the step (S2) is used for confirming that the hydraulic motor of the vehicle body stabilizing system is insufficient to brake the vehicle at a specified vehicle braking deceleration currently; braking by the electronic parking system if the condition in step (S3) is satisfied, and braking by the vehicle body stabilization system if the condition in step (S3) is not satisfied; finally, reliable braking control of the vehicle is realized under the condition that the electronic brake booster fails.
Detailed Description
The brake control method according to one embodiment of the present application includes the steps of:
(S1) in the event of failure of the electric brake booster, calculating a relationship between a pressure in a hydraulic system of the vehicle body stabilization system and a vehicle brake deceleration, setting a target pressure pTarget that the hydraulic motor of the vehicle body stabilization system should supply (for example, setting a vehicle brake deceleration corresponding to the target pressure pTarget that the hydraulic motor of the vehicle body stabilization system should supply to be equal to or greater than a prescribed vehicle brake deceleration), and controlling the hydraulic motor by the vehicle body stabilization system through the target pressure pTarget;
(S2) determining whether the following condition is satisfied: the vehicle braking deceleration corresponding to the target pressure pTarget of the hydraulic motor is equal to or greater than a prescribed vehicle braking deceleration (e.g., 2.44m/s 2 Can be specified by regulations or industry standards, or by the practitioner himself) and the vehicle braking deceleration corresponding to the actual pressure pModel of the hydraulic motor is smaller than the previously specified vehicle braking deceleration;
if the judgment condition in (S2) is satisfied (i.e., the vehicle braking deceleration corresponding to the target pressure pTarget of the hydraulic motor is equal to or greater than the prescribed vehicle braking deceleration and the vehicle braking deceleration corresponding to the actual pressure pModel of the hydraulic motor is less than the prescribed vehicle braking deceleration), then (S3) is performed to judge whether the following condition is satisfied: the actual pressure pModel of the hydraulic motor does not increase or the derivative of the actual pressure pModel with respect to time is less than a prescribed vehicle braking deceleration gradient (e.g. 2.44m/s over a period of time (e.g. 20 ms) 3 ）；
Braking by the electronic parking system if the determination condition in (S3) is established (i.e., the actual pressure pModel of the hydraulic motor does not increase over a period of time or the derivative of the actual pressure pModel with respect to time is less than a prescribed vehicle braking deceleration gradient), and braking by the vehicle body stabilization system (e.g., by the hydraulic control module of the vehicle body stabilization system) if the determination condition in (S3) is not established (i.e., the actual pressure pModel of the hydraulic motor increases over a period of time and the derivative of the actual pressure pModel with respect to time is equal to or greater than the prescribed vehicle braking deceleration gradient).
According to the brake control method of this embodiment, in the event of failure of the electric brake booster, it is confirmed by step (S2) that the hydraulic motor of the vehicle body stabilization system is currently insufficient to brake the vehicle at a prescribed vehicle brake deceleration; if the condition in the step (S3) is met, indicating that the hydraulic motor of the vehicle body stabilizing system has insufficient pressure build-up capacity or pressure build-up speed, braking by the electronic parking system; if the condition in step (S3) is not satisfied, indicating that the vehicle body stabilization system can normally operate in addition to failing to bring the vehicle to a prescribed vehicle braking deceleration, braking by the vehicle body stabilization system; finally, reliable braking control of the vehicle is realized under the condition that the electronic brake booster fails.
A system in a vehicle capable of providing braking force to the vehicle includes a body stabilization system and an electric brake booster. In addition, an electronic parking system is used as a backup system. The vehicle body stabilization system refers to a vehicle body electronic stabilization system, and is a generic term for a system or program that is intended to effectively prevent an automobile from losing control when the automobile reaches its dynamic limit while improving the handling behavior of the vehicle. The electric brake booster is capable of providing boost to the brakes of the vehicle to slow or park the vehicle upon receipt of an external signal, such as a signal from a driver depressing a brake pedal or other control signal. The electric brake booster is exemplified by a two-stage transmission of a worm gear and a rack and pinion, and converts the torque output by a motor into the assistance of a push rod of a brake master cylinder.
For example, a brake actuator of the vehicle preferably selects an electric brake booster, selects a body stabilization system after the electric brake booster fails, and selects an electric parking system brake after the body stabilization system fails. For example, the electric brake booster is iBooster or eboster and the body stabilization system is ESP.
The hydraulic motor of the vehicle body stabilizing system is used as a power source to power the hydraulic system of the vehicle body stabilizing system.
According to one embodiment of the present application, the brake control method according to the present application is performed while the vehicle is in an auto-park state. Automatic parking refers to automatic parking of a vehicle into a vehicle without manual control. Automatic parking may refer to unmanned parking, or to manned (but not operating) parking. In the automatic parking state, because the driver is not stepping on the brake pedal as a backup brake, emergency braking can still be ensured when the vehicle is in danger, and thus, the braking control in the automatic parking state is critical. The brake control method according to the present application can ensure emergency braking of the vehicle when the vehicle is in an automatic parking state without human intervention.
According to one embodiment of the present application, if the determination condition in (S3) is satisfied, which means that the hydraulic motor of the vehicle body stabilization system does not have sufficient build-up capacity or build-up rate, the vehicle body stabilization system is braked directly by the electronic parking system (for example, a brake signal is immediately transmitted to a control unit of the electronic parking system) to ensure safety.
According to one embodiment of the present application, if the determination condition in (S3) is not satisfied, which means that the vehicle body stabilization system can normally operate in addition to failing to bring the vehicle to a prescribed vehicle braking deceleration, braking is directly performed by the vehicle body stabilization system (for example, a braking signal is immediately sent to a control unit of the vehicle body stabilization system) to ensure safety.
The present invention further includes a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of the method according to any one or more of the foregoing embodiments, with the technical features and the technical effects corresponding to the foregoing description, and therefore will not be described herein.

Claims (10)

1. A brake control method, characterized by comprising the steps of:
(S1) in the event of failure of the electric brake booster, calculating a relationship between a pressure in a hydraulic system of the vehicle body stabilization system and a vehicle brake deceleration, setting a target pressure pTarget that a hydraulic motor of the vehicle body stabilization system should supply, and controlling the hydraulic motor by the vehicle body stabilization system through the target pressure pTarget;
(S2) determining whether the following condition is satisfied: the vehicle braking deceleration corresponding to the target pressure pTarget of the hydraulic motor is greater than or equal to the prescribed vehicle braking deceleration and the vehicle braking deceleration corresponding to the actual pressure pModel of the hydraulic motor is less than the prescribed vehicle braking deceleration;
if the judgment condition in (S2) is satisfied, executing (S3) to judge whether the following condition is satisfied: the actual pressure pModel of the hydraulic motor does not increase over a period of time or the derivative of the actual pressure pModel with respect to time is less than a prescribed vehicle braking deceleration gradient;
braking by the electronic parking system if the judgment condition in (S3) is satisfied, and braking by the vehicle body stabilization system if the judgment condition in (S3) is not satisfied.
2. The brake control method according to claim 1, characterized in that,
the brake control method is executed when the vehicle is in an automatic parking state.
3. The brake control method according to claim 1, characterized in that the vehicle braking deceleration corresponding to the target pressure pTarget that the hydraulic motor of the vehicle body stabilization system should supply is set to be equal to or greater than a prescribed vehicle braking deceleration in step (S1).
4. The brake control method according to claim 1, wherein the prescribed vehicle brake deceleration in step (S2) is 2.44m/S 2 。
5. The brake control method according to claim 1, characterized in that the period of time in step (S3) lasts 20ms.
6. The brake control method according to claim 1, characterized in that the prescribed vehicle brake deceleration gradient in step (S3) is 2.44m/S 3 。
7. The brake control method according to claim 1, wherein if the determination condition in (S3) is satisfied, braking is directly performed by the electronic parking system.
8. The brake control method according to claim 1, wherein if the judgment condition in (S3) is not satisfied, braking is directly performed by the vehicle body stabilization system.
9. The brake control method according to claim 1, wherein the electric brake booster is iBooster and the body stabilization system is ESP.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 9.
CN202111292821.3A 2021-11-03 2021-11-03 Brake control method and computer-readable storage medium Pending CN116061902A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111292821.3A CN116061902A (en) 2021-11-03 2021-11-03 Brake control method and computer-readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111292821.3A CN116061902A (en) 2021-11-03 2021-11-03 Brake control method and computer-readable storage medium

Publications (1)

Publication Number Publication Date
CN116061902A true CN116061902A (en) 2023-05-05

Family

ID=86182484

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111292821.3A Pending CN116061902A (en) 2021-11-03 2021-11-03 Brake control method and computer-readable storage medium

Country Status (1)

Country Link
CN (1) CN116061902A (en)

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