CN116373814A - Brake control method, device, computer equipment and storage medium - Google Patents

Brake control method, device, computer equipment and storage medium Download PDF

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Publication number
CN116373814A
CN116373814A CN202310411201.XA CN202310411201A CN116373814A CN 116373814 A CN116373814 A CN 116373814A CN 202310411201 A CN202310411201 A CN 202310411201A CN 116373814 A CN116373814 A CN 116373814A
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CN
China
Prior art keywords
preset
vehicle
speed
air pressure
detected
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
CN202310411201.XA
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Chinese (zh)
Inventor
庄晓
樊宇
孙钦安
徐贞森
孙毅
李晓明
董丹秀
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.)
FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
Original Assignee
FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
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.)
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Publication date
Application filed by FAW Jiefang Automotive Co Ltd, FAW Jiefang Qingdao Automobile Co Ltd filed Critical FAW Jiefang Automotive Co Ltd
Priority to CN202310411201.XA priority Critical patent/CN116373814A/en
Publication of CN116373814A publication Critical patent/CN116373814A/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
    • 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
    • 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
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • 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
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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 present application relates to a brake control method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch under the condition that the detected speed is greater than the preset speed and the switching state is the pulling-up state; under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve so as to control the vehicle to exit a preset mode and slide according to the current speed; and detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the speed and the switching state meet second preset conditions. By adopting the method, the braking safety of the vehicle can be improved.

Description

Brake control method, device, computer equipment and storage medium
Technical Field
The present application relates to the field of vehicle control technology, and in particular, to a brake control method, apparatus, computer device, storage medium, and computer program product.
Background
The electronic hand brake is an electronic control switch which realizes the hand brake function of the traditional vehicle through a button. In the running process of a vehicle, if an electronic hand brake is pulled up to brake, the problem of tail flick of the vehicle is often caused, and in order to ensure running safety, smoothness in the emergency braking process is improved, tail flick of the vehicle is avoided, and a brake control method capable of improving the braking safety of the vehicle is needed.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a brake control method, apparatus, computer device, computer-readable storage medium, and computer program product that are capable of improving the braking safety of a vehicle.
In a first aspect, the present application provides a brake control method. The method comprises the following steps:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state;
under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed;
Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In one embodiment, the first opening/closing control of the pressure reducing valve and the pressure increasing valve includes:
acquiring braking air pressure;
under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure;
when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
In one embodiment, the second opening/closing control of the pressure reducing valve and the pressure increasing valve includes:
acquiring braking air pressure;
controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
In one embodiment, the first preset condition includes:
the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
In one embodiment, in a case where the detected vehicle speed and the switch state satisfy the second preset condition, the emergency braking control is performed until the vehicle is stopped, including:
acquiring braking air pressure;
acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed;
and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
In one embodiment, the brake control method further includes:
and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
In a second aspect, the present application also provides a brake control device. The device comprises:
The detection module is used for detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch under the condition that the detected speed is greater than the preset speed and the detected switching state is in a pulling-up state.
The first control module is used for performing first opening and closing control on the pressure reducing valve and the pressure increasing valve under the condition that the pulling time is longer than the preset time so as to control the vehicle to decelerate according to the preset mode and detect the speed of the vehicle in real time; and under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed.
And the second control module is used for detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state;
under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed;
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state;
Under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed;
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state;
under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed;
Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
The braking control method, the device, the computer equipment, the storage medium and the computer program product are used for detecting the speed of the vehicle and the switching state of the emergency braking switch in real time, and acquiring the pulling-up time length of the emergency braking switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state. And under the condition that the pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to the preset mode, and detecting the speed of the vehicle in real time. In the driving process, the vehicle speed is higher, and under the condition that the pulling emergency brake switch is longer than the preset time, the vehicle can be controlled to be decelerated in a preset mode through controlling the opening and closing of the pressure reducing valve and the pressure increasing valve, so that the problem of tail flicking of the vehicle is avoided. And under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed. Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions. After exiting the preset mode, emergency braking is carried out according to the vehicle speed and the switch state until the vehicle stops, so that the problem of tail flicking of the vehicle is further avoided, and the improvement of the braking safety of the vehicle is facilitated.
Drawings
FIG. 1 is an application environment diagram of a brake control method in one embodiment;
FIG. 2 is a flow chart of a brake control method in one embodiment;
FIG. 3 is a general flow diagram of a brake control method in one embodiment;
FIG. 4 is a block diagram of a brake control device in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The braking control method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the controller 102 communicates with the vehicle 104 and the emergency brake switch 106, respectively. The controller 102 detects the speed of the vehicle 104 and the on-off state of the emergency brake switch 106 in real time, and obtains the pull-up duration of the emergency brake switch 106 when the detected speed is greater than a preset speed and the detected on-off state is a pull-up state; under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle 104 to decelerate according to a preset mode and detect the speed of the vehicle 104 in real time; under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle 104 to exit the preset mode and slide at the current speed; the vehicle speed of the vehicle 104 and the on-off state of the emergency brake switch 106 are detected in real time, and emergency brake control is performed until the vehicle 104 is stopped, in the case where the detected vehicle speed and on-off state satisfy the second preset condition. The controller 102 may be an Electronic Control Unit (ECU) or a Vehicle Control Unit (VCU) of a vehicle, and the controller 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and so on. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The emergency brake switch 106 is a control switch on the vehicle 104.
In one embodiment, as shown in fig. 2, a brake control method is provided, and the method is applied to the controller 102 in fig. 1 for illustration, and includes the following steps:
step 202, detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state.
The emergency brake switch refers to an electronic switch for emergency braking of a vehicle. The emergency brake switch may be an electronic manual brake switch, for example. The switching state of the emergency brake switch includes: a pulled-up state, a pressed-down state, and a released state. The controller detects the speed of the vehicle and the switching state of the emergency brake switch in real time, and obtains the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state.
204, under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; and under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed.
The pressurizing valve is a pressure valve for inflating the brake cylinder and for increasing the air pressure of the brake cylinder. The pressure reducing valve is a pressure valve for discharging brake cylinder gas and for reducing brake cylinder air pressure. In some embodiments, the pressurization valve is opened, the brake cylinder is inflated, the brake air pressure is increased, and the braking force can be released, thereby reducing the braking capability. The pressure reducing valve is opened, the brake cylinder is exhausted, the brake air pressure is reduced, and the braking force can be increased, so that the braking capability is improved.
Under the general condition that the emergency brake switch is in a pulled-up state and the pulling time is longer than the preset time, the controller controls the pressure reducing valve to be opened, the pressure increasing valve to be closed, the vehicle brakes, and the tail flicking problem is easy to occur. In this embodiment, when the pull-up time period is longer than the preset time period, the first opening and closing control is performed on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate in accordance with the preset mode. The vehicle is decelerated according to a preset mode, the problem of tail flick can be avoided, and the braking safety of the vehicle is improved.
The controller detects the vehicle speed of the vehicle in real time during deceleration according to a preset pattern. And under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed. After exiting the preset mode, the vehicle is no longer subject to the braking forces of the pressure reducing valve and the pressure increasing valve, and thus coasts at the current speed.
And 206, detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet the second preset condition.
The controller detects the speed of the vehicle and the on-off state of the emergency brake switch in real time in the process that the vehicle slides at the current speed. And under the condition that the detected vehicle speed and the switch state meet the second preset condition, performing emergency braking control until the vehicle stops. In some embodiments, the emergency braking control may be to control the pressure reducing valve to open and the pressure increasing valve to close, thereby increasing the braking force and thus controlling the vehicle to slow down until the vehicle stops. Because the vehicle is decelerated in the preset mode, the speed of the vehicle is reduced, and emergency braking is performed at the reduced speed of the vehicle, the tail flick of the vehicle is avoided, and the braking safety of the vehicle is improved.
According to the brake control method, the speed of the vehicle and the switching state of the emergency brake switch are detected in real time, and when the detected speed is larger than the preset speed and the detected switching state is in the pulled-up state, the pulling-up time length of the emergency brake switch is obtained. And under the condition that the pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to the preset mode, and detecting the speed of the vehicle in real time. In the driving process, the vehicle speed is higher, and under the condition that the pulling emergency brake switch is longer than the preset time, the vehicle can be controlled to be decelerated in a preset mode through controlling the opening and closing of the pressure reducing valve and the pressure increasing valve, so that the problem of tail flicking of the vehicle is avoided. And under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed. Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions. After exiting the preset mode, emergency braking is carried out according to the vehicle speed and the switch state until the vehicle stops, so that the problem of tail flicking of the vehicle is further avoided, and the improvement of the braking safety of the vehicle is facilitated.
In one embodiment, the first opening/closing control of the pressure reducing valve and the pressure increasing valve includes: acquiring braking air pressure; under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
Wherein, the braking air pressure refers to the air pressure of a braking air cylinder. The brake air pressure is used to provide a braking force to the vehicle. The braking air pressure is positively correlated with the magnitude of the braking force.
The braking air pressure is smaller than the first preset air pressure, which indicates that the braking air pressure is lower and the braking force on the vehicle is higher. The controller controls the pressure reducing valve to be closed and controls the pressurizing valve to be opened, so that the braking air pressure is increased until the braking air pressure is greater than or equal to a first preset air pressure.
The braking air pressure is greater than the second preset air pressure, which indicates that the braking air pressure is higher and the braking force on the vehicle is lower. The controller controls the pressurizing valve to be closed and controls the depressurizing valve to be opened, so that the braking air pressure is reduced until the braking air pressure is less than or equal to a second preset air pressure.
In this embodiment, when the brake pressure is low, the controller controls the pressure reducing valve to close and controls the pressure increasing valve to open, thereby increasing the brake pressure, and when the brake pressure is high, the controller controls the pressure increasing valve to close and controls the pressure reducing valve to open, thereby decreasing the brake pressure. The braking air pressure is controlled within the range between the first preset air pressure and the second preset air pressure. In the process of controlling the high and low change of the braking air pressure, the vehicle is controlled by the changed braking force, the speed of the vehicle is continuously reduced according to the corresponding preset mode, the problem of vehicle tail flick caused by directly controlling the larger braking force of the vehicle is avoided, and the improvement of braking safety is facilitated.
In one embodiment, the second opening/closing control of the pressure reducing valve and the pressure increasing valve includes: acquiring braking air pressure; controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
Wherein, the braking air pressure refers to the air pressure of a braking air cylinder. The brake air pressure is used to provide a braking force to the vehicle. The braking air pressure is positively correlated with the magnitude of the braking force.
The controller controls the pressure reducing valve to be closed and controls the pressurizing valve to be opened, thereby improving the braking air pressure and reducing the braking force on the vehicle.
The braking air pressure is greater than a third preset air pressure, which is the braking air pressure when no braking force is applied. When the braking air pressure is larger than the braking air pressure without braking force, the braking air pressure is indicated to not provide braking force for the vehicle, and the vehicle slides according to the current vehicle speed under the control of no braking force.
And when the braking air pressure is larger than the third preset air pressure, the controller closes the pressurizing valve. No further inflation of the brake cylinder is required.
In this embodiment, the pressure reducing valve is controlled to be closed, and the pressure increasing valve is controlled to be opened, so that the brake air pressure is continuously increased until the brake air pressure is greater than the third preset air pressure, and the pressure increasing valve is closed. The braking air pressure is braking air pressure corresponding to no braking force, namely after the vehicle exits from the preset mode, no braking force is provided for the vehicle, and the vehicle slides according to the current speed. The running stability of the vehicle can be ensured, and the braking control safety of the vehicle is improved.
In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
The preset exit vehicle speed is a vehicle speed capable of exiting a preset mode.
The detected vehicle speed is smaller than or equal to the preset exit vehicle speed, and the detected vehicle speed indicates that the vehicle speed of the vehicle is reduced to a relatively low vehicle speed under the first opening and closing control of the pressure reducing valve and the pressure increasing valve, so that the vehicle can directly exit from the preset mode, and the first opening and closing control of the pressure reducing valve and the pressure increasing valve is not performed any more.
The detected vehicle speed is greater than the preset exit vehicle speed, indicating that the vehicle speed is reduced under the first opening and closing control of the pressure reducing valve and the pressure increasing valve, but still higher. When the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is the release state, the controller is used for controlling the vehicle to exit the preset mode if the detected switch state of the emergency brake switch is the release state under the condition that the detected vehicle speed is reduced according to the preset mode but the vehicle speed is still higher.
In this embodiment, the controller performs the second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit the preset mode and slide at the current speed, when the detected vehicle speed is less than or equal to the preset exit vehicle speed, or when the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is the released state. When the vehicle speed is smaller than or equal to the preset exit vehicle speed, the vehicle exits from the preset mode, so that the problem of tail flick of the vehicle is avoided, and the safety of vehicle braking control is improved. When the vehicle speed is greater than the preset exit vehicle speed, the switch state is used as a mark, the preset mode is exited, and then the preset mode is exited, so that the problem of tail flick of the vehicle is avoided, and the braking control safety of the vehicle is improved.
In one embodiment, in a case where the detected vehicle speed and the switch state satisfy the second preset condition, the emergency brake control is performed until the vehicle is stopped, including: acquiring braking air pressure; acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed; and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
Wherein, the braking air pressure refers to the air pressure of a braking air cylinder. The brake air pressure is used to provide a braking force to the vehicle. The braking air pressure is positively correlated with the magnitude of the braking force.
The detected vehicle speed is greater than the preset exit vehicle speed, and the detected switch state is a pull-up state, which indicates that the vehicle speed is reduced under the first switching control, and when the vehicle speed is still relatively high, the emergency automatic switch is detected to be pulled up for more than the preset time. The controller continues to perform first opening and closing control on the pressure reducing valve and the pressure increasing valve, so that the vehicle is controlled to continue to decelerate according to the preset mode until the target vehicle speed is smaller than or equal to the preset exit vehicle speed. The vehicle speed is reduced to the preset exit speed, the tail flick problem of the vehicle is avoided, and the braking control safety of the vehicle is improved.
The detected vehicle speed is smaller than or equal to the preset exit vehicle speed, the detected switch state is a pull-up state after releasing, the detected vehicle speed is indicated that the vehicle speed is reduced to a relatively low vehicle speed under the first opening and closing control of the pressure reducing valve and the pressure increasing valve, and the detected switch is pulled up after releasing. The controller controls the pressure reducing valve to be opened, the braking air pressure is reduced, the braking force is increased, and the vehicle speed is continuously reduced under the braking force.
The brake air pressure is smaller than or equal to the fourth preset air pressure, which indicates that the brake air pressure is lower and the braking force is larger. And closing the pressure reducing valve until the braking air pressure is smaller than or equal to the fourth preset air pressure, continuously reducing the vehicle speed, and finally stopping.
In this embodiment, the vehicle is controlled to stop by using different emergency braking methods under different vehicle speeds and switching states. When the vehicle speed is higher and the switch is pulled up for longer than a preset time, the first opening and closing control of the pressure reducing valve and the pressure increasing valve is continued, so that the vehicle speed is reduced to a preset exit vehicle speed, and the problem of tail flicking of the vehicle is avoided. When the vehicle speed is lower and the switch is pulled up after being released, the vehicle speed is lower, the pressure reducing valve is directly controlled to be opened, so that the vehicle is controlled to stop, braking is carried out when the vehicle speed is lower, the problem of tail flicking of the vehicle can be avoided, and the braking safety of the vehicle is improved.
In one embodiment, the brake control method further includes: and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
The detected vehicle speed is smaller than or equal to a preset vehicle speed, the detected switch state is in a pulled-up state, the pulling-up time is longer than a preset time, when the vehicle speed is lower, the emergency brake switch is pulled up to exceed the preset time, the controller directly performs emergency brake control until the vehicle stops, specifically, the pressure reducing valve can be controlled to be opened for acquiring brake air pressure until the brake air pressure is smaller than or equal to fourth preset air pressure, and the pressure reducing valve is closed to control the vehicle to stop.
In this embodiment, through carrying out emergency braking control until the vehicle stops when the detected vehicle speed is less than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulled-up time is longer than the preset time, the vehicle can be prevented from being thrown out of tail by directly utilizing the brake switch to carry out emergency braking when the vehicle speed is smaller, thereby improving the safety of vehicle braking control.
To describe the effect of the brake control method in this embodiment in detail, the following describes one of the most detailed embodiments:
the brake control method is applied to a brake control system. The brake control system comprises a vehicle control unit VCU, a brake switch EPB (Electrical Park Brake, electronic parking brake system), a pressurizing valve, a pressure reducing valve, a driving motor, a pressure sensor and a vehicle speed sensor. The pressure sensor is used for collecting the air pressure in the brake cylinder. The vehicle speed sensor is used for collecting the vehicle speed of the vehicle. The vehicle controller is used for executing a brake control method.
The whole vehicle controller detects the speed of the vehicle and the switching state of the emergency brake switch in real time. Fig. 3 is a schematic general flow chart of the brake control method.
And under the condition that the detected vehicle speed is greater than the preset vehicle speed and the detected switch state is the pulled-up state, the whole vehicle controller acquires the pulling-up time length of the emergency brake switch.
And under the condition that the pulling time length is longer than the preset time length, the whole vehicle controller performs first opening and closing control on the pressure reducing valve and the pressure increasing valve so as to control the vehicle to decelerate according to the preset mode. Wherein, carry out first switching control to relief valve and pressurization valve, include: under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
The whole vehicle controller detects the speed of the vehicle in real time. And under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed, or the detected vehicle speed is larger than the preset exit vehicle speed and the detected switch state is in a release state, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve so as to control the vehicle to exit the preset mode and slide according to the current speed. Wherein the second opening/closing control of the pressure reducing valve and the pressure increasing valve includes: acquiring braking air pressure, controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
The whole vehicle controller detects the speed of the vehicle and the on-off state of the emergency brake switch in real time, and acquires the brake air pressure. Acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; and under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed. And under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
And under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, the whole vehicle controller performs emergency braking control until the vehicle stops.
According to the brake control method, the speed of the vehicle and the switching state of the emergency brake switch are detected in real time, and when the detected speed is larger than the preset speed and the detected switching state is in the pulled-up state, the pulling-up time length of the emergency brake switch is obtained. And under the condition that the pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to the preset mode, and detecting the speed of the vehicle in real time. In the driving process, the vehicle speed is higher, and under the condition that the pulling emergency brake switch is longer than the preset time, the vehicle can be controlled to be decelerated in a preset mode through controlling the opening and closing of the pressure reducing valve and the pressure increasing valve, so that the problem of tail flicking of the vehicle is avoided. And under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed. Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions. After exiting the preset mode, emergency braking is carried out according to the vehicle speed and the switch state until the vehicle stops, so that the problem of tail flicking of the vehicle is further avoided, and the improvement of the braking safety of the vehicle is facilitated. In addition, in the running process of the vehicle, the pressure reducing valve and the pressure increasing valve are controlled so as to simulate the functions of an ABS (Antilock Brake System, anti-lock braking system), realize the stability of the emergency braking process and avoid the tail flicking phenomenon of the vehicle caused by locking of rear wheels. Meanwhile, a release mechanism of emergency braking is designed, response time of vehicle control personnel is guaranteed according to control of the vehicle control personnel on a brake switch, and safety problems caused by untimely withdrawal of the emergency braking are avoided.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a brake control device for realizing the above related brake control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in one or more embodiments of the brake control device provided below may refer to the limitation of the brake control method hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 4, there is provided a brake control apparatus 100 including: a detection module 120, a first control module 140, and a second control module 160, wherein:
the detection module 120 is configured to detect a vehicle speed of the vehicle and a switch state of the emergency brake switch in real time, and obtain a pull-up duration of the emergency brake switch when the detected vehicle speed is greater than a preset vehicle speed and the detected switch state is a pull-up state.
The first control module 140 is configured to perform a first opening and closing control on the pressure reducing valve and the pressure increasing valve when the pull-up time period is longer than a preset time period, so as to control the vehicle to decelerate according to a preset mode, and detect the vehicle speed of the vehicle in real time; and under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed.
And a second control module 160, configured to detect a vehicle speed of the vehicle and a switching state of the emergency brake switch in real time, and perform emergency brake control until the vehicle stops if the detected vehicle speed and switching state meet a second preset condition.
According to the brake control device, the speed of the vehicle and the switching state of the emergency brake switch are detected in real time, and when the detected speed is greater than the preset speed and the detected switching state is in the pulled-up state, the pulling-up duration of the emergency brake switch is acquired. And under the condition that the pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to the preset mode, and detecting the speed of the vehicle in real time. In the driving process, the vehicle speed is higher, and under the condition that the pulling emergency brake switch is longer than the preset time, the vehicle can be controlled to be decelerated in a preset mode through controlling the opening and closing of the pressure reducing valve and the pressure increasing valve, so that the problem of tail flicking of the vehicle is avoided. And under the condition that the detected vehicle speed meets the first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit from the preset mode and slide at the current speed. Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions. After exiting the preset mode, emergency braking is carried out according to the vehicle speed and the switch state until the vehicle stops, so that the problem of tail flicking of the vehicle is further avoided, and the improvement of the braking safety of the vehicle is facilitated.
In one embodiment, the first opening and closing control is performed on the pressure reducing valve and the pressure increasing valve, and the first control module 140 is further configured to: acquiring braking air pressure; under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
In one embodiment, the pressure reducing valve and the pressure increasing valve are controlled to be opened and closed in a second mode, and the first control module 140 is further configured to: acquiring braking air pressure; controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
In one embodiment, in the case where the detected vehicle speed and the switch state satisfy the second preset condition, the emergency braking control is performed until the vehicle is stopped, and the second control module 160 is further configured to: acquiring braking air pressure; acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed; and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
In one embodiment, the brake control device 100 further includes a third control module, where the third control module is further configured to perform emergency brake control until the vehicle is stopped when the detected vehicle speed is less than or equal to a preset vehicle speed, the detected switch state is a pulled-up state, and the pull-up time is longer than a preset time period.
The respective modules in the above-described brake control apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a brake control method.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state; under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed; detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring braking air pressure; under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring braking air pressure; controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring braking air pressure; acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed; and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
In one embodiment, the processor when executing the computer program further performs the steps of:
and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state; under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed; detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
In one embodiment, the first preset condition includes:
the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed; and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state; under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to exit a preset mode and slide at the current speed; detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; under the condition that the braking air pressure is smaller than the first preset air pressure, controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened until the braking air pressure is larger than or equal to the first preset air pressure; when the braking air pressure is larger than the second preset air pressure, controlling the pressurizing valve to be closed and controlling the reducing valve to be opened until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than the third preset air pressure, and closing the pressurizing valve; the third preset air pressure is a braking air pressure when no braking force is applied.
In one embodiment, the first preset condition includes: the detected vehicle speed is less than or equal to the preset exit vehicle speed, or the detected vehicle speed is greater than the preset exit vehicle speed and the detected switch state is a release state.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring braking air pressure; acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed; and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (10)

1. A brake control method, characterized in that the method comprises:
detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is the pulling-up state;
under the condition that the pulling time length is longer than the preset time length, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve to control the vehicle to decelerate according to a preset mode, and detecting the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve so as to control the vehicle to exit the preset mode and slide at the current speed;
Detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
2. The method of claim 1, wherein the first opening and closing control of the pressure reducing valve and the pressure increasing valve comprises:
acquiring braking air pressure;
controlling the pressure reducing valve to be closed and controlling the pressurizing valve to be opened under the condition that the braking air pressure is smaller than a first preset air pressure until the braking air pressure is larger than or equal to the first preset air pressure;
controlling the pressurizing valve to be closed and controlling the reducing valve to be opened under the condition that the braking air pressure is larger than a second preset air pressure until the braking air pressure is smaller than or equal to the second preset air pressure; the second preset air pressure is greater than the first preset air pressure.
3. The method of claim 1, wherein the second opening and closing control of the pressure reducing valve and the pressure increasing valve comprises:
acquiring braking air pressure;
controlling the pressure reducing valve to be closed, controlling the pressurizing valve to be opened until the braking air pressure is greater than a third preset air pressure, and closing the pressurizing valve; the third preset air pressure is braking air pressure without braking force.
4. The method of claim 1, wherein the first preset condition comprises:
the detected vehicle speed is smaller than or equal to a preset exit vehicle speed, or the detected vehicle speed is larger than the preset exit vehicle speed and the detected switch state is a release state.
5. The method according to claim 1, wherein the emergency braking control is performed until the vehicle is stopped in a case where the detected vehicle speed and the switching state satisfy the second preset condition, comprising:
acquiring braking air pressure;
acquiring a target pulling-up duration under the condition that the detected vehicle speed is greater than a preset exit vehicle speed and the detected switch state is a pulling-up state; under the condition that the target pulling time is longer than the preset time, performing first opening and closing control on the pressure reducing valve and the pressure increasing valve until the target vehicle speed is smaller than or equal to the preset exit vehicle speed;
and under the condition that the detected vehicle speed is smaller than or equal to the preset exit vehicle speed and the detected switch state is the pull-up state after the release, controlling the pressure reducing valve to be opened until the braking air pressure is smaller than or equal to the fourth preset air pressure, and closing the pressure reducing valve to control the vehicle to stop.
6. The method according to claim 1, wherein the method further comprises:
and under the conditions that the detected vehicle speed is smaller than or equal to the preset vehicle speed, the detected switch state is in a pulled-up state, and the pulling-up time is longer than the preset time, emergency braking control is carried out until the vehicle stops.
7. A brake control apparatus, characterized in that the apparatus comprises:
the detection module is used for detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and acquiring the pulling-up time length of the emergency brake switch when the detected speed is greater than the preset speed and the detected switching state is in a pulling-up state;
the first control module is used for performing first opening and closing control on the pressure reducing valve and the pressure increasing valve under the condition that the pulling time is longer than the preset time so as to control the vehicle to decelerate according to a preset mode and detect the speed of the vehicle in real time; under the condition that the detected vehicle speed meets a first preset condition, performing second opening and closing control on the pressure reducing valve and the pressure increasing valve so as to control the vehicle to exit the preset mode and slide at the current speed;
and the second control module is used for detecting the speed of the vehicle and the switching state of the emergency brake switch in real time, and performing emergency brake control until the vehicle stops under the condition that the detected speed and the detected switching state meet second preset conditions.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
CN202310411201.XA 2023-04-17 2023-04-17 Brake control method, device, computer equipment and storage medium Pending CN116373814A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310411201.XA CN116373814A (en) 2023-04-17 2023-04-17 Brake control method, device, computer equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310411201.XA CN116373814A (en) 2023-04-17 2023-04-17 Brake control method, device, computer equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116373814A true CN116373814A (en) 2023-07-04

Family

ID=86963253

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310411201.XA Pending CN116373814A (en) 2023-04-17 2023-04-17 Brake control method, device, computer equipment and storage medium

Country Status (1)

Country Link
CN (1) CN116373814A (en)

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