CN116533955A - Vehicle braking control method and device and vehicle - Google Patents

Vehicle braking control method and device and vehicle Download PDF

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Publication number
CN116533955A
CN116533955A CN202310746297.5A CN202310746297A CN116533955A CN 116533955 A CN116533955 A CN 116533955A CN 202310746297 A CN202310746297 A CN 202310746297A CN 116533955 A CN116533955 A CN 116533955A
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CN
China
Prior art keywords
wheel
vehicle
threshold value
speed
determining
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
CN202310746297.5A
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Chinese (zh)
Inventor
李爽
闫鲁平
李论
禹真
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FAW Group Corp
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FAW Group Corp
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Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202310746297.5A priority Critical patent/CN116533955A/en
Publication of CN116533955A publication Critical patent/CN116533955A/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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle braking control method and device and a vehicle. Wherein the method comprises the following steps: under the condition that a rear wheel anti-lock function is started, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle; controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration; determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used to determine derating rules for braking deceleration at a plurality of wheel speed failure states; the brake caliper is adjusted from a first target state to a second target state in accordance with the target deceleration. The invention solves the technical problems of low accuracy, poor safety and stability of the vehicle in the vehicle brake control method provided by the related technology.

Description

Vehicle braking control method and device and vehicle
Technical Field
The invention relates to the field of vehicle brake control, in particular to a vehicle brake control method and device and a vehicle.
Background
Vehicle brakes include service brakes, emergency brakes (Crash Dynamic Pulse, CDP), electronic parking brake (Electrical Park Brake, EPB) system rear wheel anti-lock function three-level brakes, and the priority of service brakes is highest and the priority of electronic parking brake system rear wheel anti-lock function is lowest. The service brake failure can be four-wheel pressure building by using the emergency brake function of the electronic stability control system (Electronic Stability Control, ESC), and when the emergency brake fails, a switch of the electronic parking brake system can be manually pulled up by a driver so as to realize the anti-lock function of the rear wheels of the electronic parking brake system. However, the prior art has low accuracy in controlling the braking of the vehicle, which easily results in poor control effect, that is, poor safety and stability of the vehicle.
From the above analysis, it is known that, in the vehicle brake control method provided by the related art, the accuracy is low, and the safety and stability of the vehicle are poor, so that no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle braking control method and device and a vehicle, and aims to at least solve the technical problems of low accuracy, poor safety and poor stability of the vehicle braking control method provided by the related technology.
According to an aspect of an embodiment of the present invention, there is provided a vehicle brake control method including:
under the condition that a rear wheel anti-lock function is started, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle; controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration; determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used to determine derating rules for braking deceleration at a plurality of wheel speed failure states; the brake caliper is adjusted from a first target state to a second target state in accordance with the target deceleration.
Optionally, the vehicle brake control method further includes: and controlling the vehicle to start the rear wheel anti-lock function in response to the vehicle speed being greater than a first threshold and the duration of the switch control lever of the electronic parking brake system being greater than a second threshold in the on position.
Optionally, the wheel speed includes a wheel center speed and a wheel angular speed, and acquiring the wheel slip rate and the wheel acceleration includes: calculating to obtain the wheel slip rate according to the wheel center speed, the wheel angular speed and the wheel rolling radius; and calculating the wheel acceleration by utilizing the variation of the wheel speed in a plurality of time slices.
Optionally, controlling the brake caliper of the electronic parking brake system of the vehicle to adjust to the first target state according to the vehicle speed, the wheel slip ratio and the wheel acceleration includes: determining a first threshold value, a second threshold value, a third threshold value, a fourth threshold value and a fifth threshold value according to the vehicle speed, wherein the first threshold value is used for determining a target minimum threshold of the wheel acceleration, the second threshold value is used for determining a target recovery threshold of the wheel acceleration, the third threshold value is used for determining a target maximum threshold of the wheel acceleration, the fourth threshold value is used for determining a target minimum threshold of the wheel slip rate, and the fifth threshold value is used for determining a target maximum threshold of the wheel slip rate; determining a first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value; a brake caliper of an electronic parking brake system of a vehicle is controlled to be adjusted to a first target state.
Optionally, determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value comprises: determining the first target state as a first clamped state in response to the wheel acceleration being greater than or equal to a first threshold value and the wheel slip rate being less than or equal to a fourth threshold value; determining the first target state as a second clamped state in response to the wheel acceleration being greater than or equal to a second threshold value and the wheel slip rate being less than or equal to a fifth threshold value; determining the first target state as a released state in response to the wheel acceleration being less than a third threshold value; and in response to the wheel acceleration being less than the second threshold value and the wheel slip rate being greater than the fifth threshold value, determining that the first target state is a released state.
Optionally, the plurality of wheel speed failure states includes: a first state indicating that a wheel speed corresponding to at least one rear wheel of the vehicle is invalid and that wheel speeds corresponding to other wheels are not invalid; a second state, which indicates that the wheel speeds corresponding to two front wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid; a third state, which indicates that wheel speeds corresponding to one rear wheel and one front wheel of the vehicle are invalid and wheel speeds corresponding to other wheels are not invalid; a fourth state indicating that wheel speeds corresponding to any three wheels of the vehicle fail and wheel speeds corresponding to other wheels do not fail; and a fifth state indicating that the wheel speeds of the four wheels of the vehicle are invalid.
Optionally, determining the target deceleration based on the wheel speed and the derating strategy includes: performing failure detection on the wheel speed to obtain a detection result; and determining the target deceleration according to the detection result and the wheel speed failure states.
Optionally, the vehicle brake control method further includes: and controlling the vehicle to turn off the rear wheel anti-lock function in response to the accelerator opening of the vehicle being greater than a third threshold.
According to another aspect of the embodiment of the present invention, there is also provided a vehicle brake control apparatus including:
the acquisition module is used for acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle under the condition that the vehicle starts a rear wheel anti-lock function; the control module is used for controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration; a determination module to determine a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is to determine derating rules for braking deceleration in a plurality of wheel speed failure states; and the adjusting module is used for adjusting the brake caliper from the first target state to the second target state according to the target deceleration.
Optionally, the vehicle brake control method further includes: and the starting module is used for controlling the vehicle to start the rear wheel anti-lock function in response to the vehicle speed being greater than a first threshold value and the duration of the switch control rod of the electronic parking brake system at the starting position being greater than a second threshold value.
Optionally, the above-mentioned acquisition module is further configured to: the wheel speed includes a wheel center speed and a wheel angular speed, and the obtaining of the wheel slip ratio and the wheel acceleration includes: calculating to obtain the wheel slip rate according to the wheel center speed, the wheel angular speed and the wheel rolling radius; and calculating the wheel acceleration by utilizing the variation of the wheel speed in a plurality of time slices.
Optionally, the control module is further configured to: controlling the brake caliper of the electronic parking brake system of the vehicle to adjust to a first target state according to the vehicle speed, the wheel slip ratio and the wheel acceleration comprises: determining a first threshold value, a second threshold value, a third threshold value, a fourth threshold value and a fifth threshold value according to the vehicle speed, wherein the first threshold value is used for determining a target minimum threshold of the wheel acceleration, the second threshold value is used for determining a target recovery threshold of the wheel acceleration, the third threshold value is used for determining a target maximum threshold of the wheel acceleration, the fourth threshold value is used for determining a target minimum threshold of the wheel slip rate, and the fifth threshold value is used for determining a target maximum threshold of the wheel slip rate; determining a first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value; a brake caliper of an electronic parking brake system of a vehicle is controlled to be adjusted to a first target state.
Optionally, the determining module is further configured to: determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value includes: determining the first target state as a first clamped state in response to the wheel acceleration being greater than or equal to a first threshold value and the wheel slip rate being less than or equal to a fourth threshold value; determining the first target state as a second clamped state in response to the wheel acceleration being greater than or equal to a second threshold value and the wheel slip rate being less than or equal to a fifth threshold value; determining the first target state as a released state in response to the wheel acceleration being less than a third threshold value; and in response to the wheel acceleration being less than the second threshold value and the wheel slip rate being greater than the fifth threshold value, determining that the first target state is a released state.
Optionally, the determining module is further configured to: the plurality of wheel speed failure states include: a first state indicating that a wheel speed corresponding to at least one rear wheel of the vehicle is invalid and that wheel speeds corresponding to other wheels are not invalid; a second state, which indicates that the wheel speeds corresponding to two front wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid; a third state, which indicates that wheel speeds corresponding to one rear wheel and one front wheel of the vehicle are invalid and wheel speeds corresponding to other wheels are not invalid; a fourth state indicating that wheel speeds corresponding to any three wheels of the vehicle fail and wheel speeds corresponding to other wheels do not fail; and a fifth state indicating that the wheel speeds of the four wheels of the vehicle are invalid.
Optionally, the determining module is further configured to: based on the wheel speed and the derating strategy, determining the target deceleration includes: performing failure detection on the wheel speed to obtain a detection result; and determining the target deceleration according to the detection result and the wheel speed failure states.
Optionally, the vehicle brake control method further includes: and the closing module is used for controlling the vehicle to close the rear wheel anti-lock function in response to the accelerator opening of the vehicle being greater than a third threshold value.
According to still another aspect of the embodiment of the present invention, there is also provided a vehicle, characterized by comprising an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to run the computer program to execute the vehicle brake control method of any one of the foregoing.
According to the embodiment of the invention, under the condition that a rear wheel anti-lock function is started, the speed, the wheel slip rate and the wheel acceleration of the vehicle are obtained, then, according to the speed, the wheel slip rate and the wheel acceleration, the brake calipers of the electronic parking brake system of the vehicle are controlled to be adjusted to a first target state, and then, the target deceleration is determined based on the wheel speed and a degradation strategy, wherein the degradation strategy is used for determining degradation rules of the brake deceleration in a plurality of wheel speed failure states, finally, the brake calipers are adjusted to a second target state from the first target state according to the target deceleration, and the brake calipers of the electronic parking brake system are controlled by combining the speed, the wheel slip rate, the wheel acceleration and the degradation strategy of the vehicle, so that the purpose of ensuring the brake deceleration and the whole vehicle stability of the vehicle in the vehicle brake control process is achieved, the technical effects of improving the brake control accuracy of the vehicle and the safety and stability of the vehicle are achieved, and the technical problems of low accuracy, the vehicle safety and poor stability of the vehicle brake control method provided by related technologies are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a block diagram of the hardware architecture of an alternative vehicle terminal for a vehicle brake control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle brake control method according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a vehicle brake control process according to an embodiment of the present invention;
FIG. 4 is a block diagram of an alternative vehicle brake control device according to an embodiment of the present invention;
FIG. 5 is a block diagram of another alternative vehicle brake control device according to an embodiment of the present invention;
fig. 6 is a block diagram of still another alternative vehicle brake control device according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided a method embodiment of a vehicle brake control method, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a hardware block diagram of an alternative vehicle terminal for a vehicle brake control method according to an embodiment of the invention, as shown in fig. 1, a vehicle terminal 10 (or a mobile device 10 associated with a vehicle having communication) may include one or more processors 102 (the processors 102 may include, but are not limited to, a processing means such as a microprocessor (Microcontroller Unit, MCU) or programmable logic device (Field Programmable Gate Array, FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, the method may further include: display device 110, input/output device 108 (i.e., I/O device), universal serial bus (Universal Serial Bus, USB) port (which may be included as one of the ports of a computer bus, not shown), network interface (not shown), power supply (not shown), and/or camera (not shown). It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors 102 and/or other data processing circuits described above may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the vehicle terminal 10 (or mobile device).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the vehicle brake control method in the embodiment of the present invention, and the processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, that is, implement the vehicle brake control method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
In the above-mentioned operating environment, the embodiment of the present invention provides a vehicle brake control method as shown in fig. 2, and fig. 2 is a flowchart of a vehicle brake control method according to an embodiment of the present invention, as shown in fig. 2, where the embodiment shown in fig. 2 may at least include implementation steps, that is, may be a technical solution implemented by steps S21 to S24.
Step S21, under the condition that a rear wheel anti-lock function is started, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle;
step S22, controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration;
Step S23, determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used for determining a derating rule of the braking deceleration in a plurality of wheel speed failure states;
step S24, adjusting the brake caliper from the first target state to the second target state according to the target deceleration.
In the alternative solution provided in the above steps S21 to S24, the above rear wheel Anti-lock (Rear Wheel Unlocker, RWU) function may be used to prevent the rear wheels from locking during emergency braking of the vehicle, in particular, when the vehicle is braked suddenly, the braking system monitors the rotation speed of the tire by means of the sensor, and when it is determined that the rear wheels are to be locked based on the rotation speed value, the Anti-lock braking system (Anti-lock Braking System, ABS) may automatically adjust the braking force to keep the rear wheels rotating to avoid locking by applying and releasing the braking pressure rapidly.
In the alternative solutions provided in the above steps S21 to S24, the method for obtaining the vehicle speed may include, but is not limited to: directly read through a vehicle speed instrument of the vehicle, acquired by using a vehicle navigator and read by using an On-vehicle diagnostic tool (On-Board Diagnostics, OBD). Methods of obtaining the wheel speeds described above may include, but are not limited to: acquired with an anti-lock braking system (Antilock Braking System, ABS) sensor and acquired with a separate wheel speed sensor. The wheel slip ratio can be calculated based on the running speed of the vehicle and the rotational speed of the wheel, and can be used for evaluating the adhesion between the wheel and the road surface and judging the traction and braking force of the vehicle. It will also be appreciated that the vehicle's travel data may be monitored and the wheel slip calculated using an electronic control system such as the ABS system or traction control system (Traction Control System, TCS) of the vehicle. The wheel acceleration may be calculated based on the running speed (including, but not limited to, an initial running speed, a real-time running speed) and a running time of the vehicle, and may be used to change the rotational speed and steering of the wheels to control the running state of the vehicle. It will also be appreciated that wheel acceleration may be measured using vehicle dynamics sensors (e.g., speed sensors, inertial measurement units).
In the alternative solutions provided in the above steps S21 to S24, the electronic parking brake system may be used to maintain a parking position of the vehicle in a parking state to prevent the vehicle from slipping or accidentally moving. It is also noted herein that the devices of the electronic parking brake system may include, but are not limited to: the electronic parking switch can be used for starting or closing the electronic parking brake system; electronic control unit (Electronic Control Unit, ECU): the electronic parking brake system can be used for receiving and processing information from other sensors and controlling the electronic parking brake system; the hand brake switch can be used for manually activating and releasing the electronic parking brake system; the electronic parking module can be used for controlling the operation (such as braking and releasing) of the electronic parking brake system; a motor or electromagnet for applying or releasing a braking force to keep the vehicle in a stopped state; the sensor can be used for detecting information such as the inclination angle, the speed and the like of the vehicle so as to ensure that the electronic parking brake system operates correctly; the alarm or the sound prompting device can be used for prompting the driver of the real-time running state of the electronic parking brake system. The brake calipers can control the brake pads to clamp or loosen the brake disc through electronic signals, so that parking and releasing of a parking function are achieved, and particularly when a vehicle is parked, the brake calipers clamp the brake disc to generate certain friction force so that the vehicle is fixed at a parking position; when the parking brake is released, the brake calipers release the brake disc so that the vehicle can travel freely. The first target state may be one of: a clamping state and a releasing state.
In the alternative solutions provided in the above steps S21 to S24, the degradation strategy may be a strategy predetermined by a technician to control the braking deceleration during the braking control of the vehicle, and may be determined based on vehicle data (including, but not limited to, vehicle speed, wheel slip rate, and wheel acceleration). The plurality of wheel speed failure states may include, but are not limited to: failure of a single wheel speed, failure of multiple wheel speeds on the same side, and failure of multiple wheel speeds on different sides. The target deceleration may be determined based on the real-time braking deceleration, or may be preset by a technician. The second target state may be, but is not limited to: a low force clamped state.
According to the embodiment of the invention, under the condition that a rear wheel anti-lock function is started, the speed, the wheel slip rate and the wheel acceleration of the vehicle are obtained, then, according to the speed, the wheel slip rate and the wheel acceleration, the brake calipers of the electronic parking brake system of the vehicle are controlled to be adjusted to a first target state, and then, the target deceleration is determined based on the wheel speed and a degradation strategy, wherein the degradation strategy is used for determining degradation rules of the brake deceleration in a plurality of wheel speed failure states, finally, the brake calipers are adjusted to a second target state from the first target state according to the target deceleration, and the brake calipers of the electronic parking brake system are controlled by combining the speed, the wheel slip rate, the wheel acceleration and the degradation strategy of the vehicle, so that the purpose of ensuring the brake deceleration and the whole vehicle stability of the vehicle in the vehicle brake control process is achieved, the technical effects of improving the brake control accuracy of the vehicle and the safety and stability of the vehicle are achieved, and the technical problems of low accuracy, the vehicle safety and poor stability of the vehicle brake control method provided by related technologies are solved.
The above-described methods of embodiments of the present invention are further described below.
In an alternative embodiment, the vehicle brake control method further includes:
and step S25, controlling the vehicle to start the rear wheel anti-lock function in response to the vehicle speed being greater than a first threshold value and the duration of the switch control lever of the electronic parking brake system being in the starting position being greater than a second threshold value.
According to the technical scheme provided by the invention, as an optional implementation mode, when the real-time speed of the vehicle is greater than 5km/h and the duration of the switch control rod of the electronic parking brake system at the opening position is greater than 150ms, the rear wheel anti-lock function of the vehicle is controlled to be started, so that the real-time state of the vehicle is actively responded, the rear wheel anti-lock function of the vehicle is timely controlled to be started, the vehicle braking control efficiency is improved, and the vehicle using experience of a user is improved.
In an alternative embodiment, in step S21, the wheel speed includes a wheel center speed and a wheel angular speed, and acquiring the wheel slip rate and the wheel acceleration includes:
step S211, calculating to obtain the wheel slip rate according to the wheel center speed, the wheel angular speed and the wheel rolling radius;
in step S212, the wheel acceleration is calculated using the variation of the wheel speed in a plurality of time periods.
In the technical scheme provided by the invention, as an optional implementation manner, the wheel center speed v, the wheel angular speed omega and the wheel rolling radius r are recorded, and the wheel slip rate delta of the rear wheel of the vehicle is calculated according to the wheel center speed, the wheel angular speed and the wheel rolling radius and can be shown as the following formula (1):
in the technical scheme provided by the invention, as another optional implementation manner, for a left rear wheel (right rear wheel) of a vehicle, 10 wheel speeds can be taken and divided into five groups for difference calculation to obtain the wheel acceleration of the left rear wheel (right rear wheel), specifically, the time length of a certain time segment in a plurality of time segments is recorded as t, and the initial wheel speed corresponding to the time segment at the starting moment is recorded as v 1 The corresponding end speed at the end time is denoted v 2 Inner wheel according to multiple time segmentsThe amount of change in the speed, the calculated wheel acceleration a, can be expressed as the following formula (2):
the above method is further described below in conjunction with fig. 3.
Fig. 3 is a schematic diagram of a vehicle brake control process according to an embodiment of the present invention, as shown in fig. 3, in the vehicle brake control process, wheel speeds of vehicle wheels are obtained first and whether the wheel speeds are abnormal is judged, when the wheel speeds are abnormal, anti-lock braking of vehicle rear wheels is degraded based on a degradation strategy, and a brake caliper of an electronic parking brake system is controlled to clamp with a small clamping force, so that locked wheels are controlled to ensure stability and safety of the vehicle. And when the wheel speed is normal and the vehicle speed is greater than 5km/h and the switch pull-up time of the electronic parking brake system is greater than 150ms, calculating the wheel slip rate and the wheel acceleration.
In an alternative embodiment, in step S22, controlling the brake caliper of the electronic parking brake system of the vehicle to adjust to the first target state based on the vehicle speed, the wheel slip ratio, and the wheel acceleration includes:
step S221, determining a first threshold value, a second threshold value, a third threshold value, a fourth threshold value and a fifth threshold value according to the vehicle speed, wherein the first threshold value is used for determining a target minimum threshold of the wheel acceleration, the second threshold value is used for determining a target recovery threshold of the wheel acceleration, the third threshold value is used for determining a target maximum threshold of the wheel acceleration, the fourth threshold value is used for determining a target minimum threshold of the wheel slip rate, and the fifth threshold value is used for determining a target maximum threshold of the wheel slip rate;
step S222, determining a first target state based on the wheel slip ratio, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value;
in step S223, the brake caliper of the electronic parking brake system of the vehicle is controlled to be adjusted to a first target state.
Wherein determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value comprises:
Step S2221, in response to the wheel acceleration being greater than or equal to the first threshold value and the wheel slip rate being less than or equal to the fourth threshold value, determining that the first target state is the first clamped state;
step S2222, in response to the wheel acceleration being greater than or equal to the second threshold value and the wheel slip rate being less than or equal to the fifth threshold value, determining that the first target state is the second clamped state;
step S2223, in response to the wheel acceleration being less than the third threshold value, determining that the first target state is the released state;
in step S2224, the first target state is determined to be the released state in response to the wheel acceleration being smaller than the second threshold value and the wheel slip ratio being larger than the fifth threshold value.
Further, as shown in fig. 3, the dynamic brake clamping and releasing is determined based on the real-time vehicle speed, the real-time wheel acceleration, the wheel acceleration threshold value (including the first threshold value, the second threshold value and the third threshold value), the wheel slip ratio threshold value (including the fourth threshold value and the fifth threshold value), and specifically, for example, based on three vehicle speed intervals [0, 15]km/h、(15，50]km/h, setting a first threshold SSP greater than 50km/h WhlAcceltnLo Is-2 m/s 2 Second threshold SSP WhlAcceltnHi Is-4 m/s 2 Third threshold SSP WhlAcceltnRec At 8m/s 2 Fourth threshold SSP WhlSlLo 6%, fifth threshold SSP WhlSlHi 20%, and also a speed segmentation parameter SSP of RWU function may be set WehSpdBP (in 0.1 kph), maximum time threshold SSP for one clamping of the brake caliper CntrRWAStpApp Minimum latency threshold SSP of 30ms after one clamping of brake caliper CntrRWAAppHld Minimum latency threshold SSP of 100ms after one brake caliper release CntrRWARelHld 20ms.
As further shown in fig. 3, when the wheel acceleration is greater than or equal to the first threshold value and the wheel slip rate does not exceed the fourth threshold value, controlling the brake caliper of the electronic parking brake system to be in a clamped state; when the wheel acceleration is greater than or equal to a second threshold value and the wheel slip rate does not exceed a fifth threshold value, controlling a brake caliper of the electronic parking brake system to be in a clamping state; when the acceleration of the wheel is smaller than a third threshold value, controlling a brake caliper of the electronic parking brake system to be in a release state; and when the wheel acceleration is smaller than the second threshold value and the wheel slip rate exceeds the fifth threshold value, controlling the brake calipers of the electronic parking brake system to be in a release state.
In an alternative embodiment, in step S23, the plurality of wheel speed failure states includes: a first state indicating that a wheel speed corresponding to at least one rear wheel of the vehicle is invalid and that wheel speeds corresponding to other wheels are not invalid; a second state, which indicates that the wheel speeds corresponding to two front wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid; a third state, which indicates that wheel speeds corresponding to one rear wheel and one front wheel of the vehicle are invalid and wheel speeds corresponding to other wheels are not invalid; a fourth state indicating that wheel speeds corresponding to any three wheels of the vehicle fail and wheel speeds corresponding to other wheels do not fail; and a fifth state indicating that the wheel speeds of the four wheels of the vehicle are invalid.
And, in step S23, determining the target deceleration based on the wheel speed and the derating strategy includes:
step S231, failure detection is carried out on the wheel speed, and a detection result is obtained;
step S232, determining a target deceleration according to the detection result and the wheel speed failure states.
In the technical scheme provided by the invention, as an optional implementation mode, the vehicle is a four-wheel automobile, and the multiple wheel speed failure states comprise: the following table 1 may be used for determining the target deceleration based on the degradation policy after determining the wheel speed failure by using the failure of any one front wheel, the failure of any one rear wheel, the failure of the wheel speed of two front wheels, the failure of the wheel speed of two rear wheels, the failure of the wheel speed of any one front wheel, the failure of the wheel speed of any one rear wheel, the failure of the wheel speed of any one front wheel and the failure of the wheel speed of any one rear wheel, the failure of the wheel speed of three wheels (two front wheels and any one rear wheel, or the failure of the wheel speed of any one rear wheel and the failure of the wheel speed of four wheels), and further, performing failure detection on the wheel speed, and determining the wheel speed failure by combining a plurality of wheel speed failure states:
TABLE 1
Wheel with failure wheel speed Function of Degradation policy
Either front wheel RWU function is not failed Undegraded
Either rear wheel RWU failure of function Brake control with 0.1g target deceleration
Two front wheels RWU failure of function Brake control with 0.1g target deceleration
Two rear wheels RWU failure of function Brake control with 0.1g target deceleration
Any front wheel and any rear wheel RWU failure of function Brake control with 0.1g target deceleration
Three wheels RWU failure of function Brake control with 0.1g target deceleration
Four wheels RWU failure of function Brake control with 0.1g target deceleration
In the above-described alternative embodiment, it is understood that when the wheel speeds of the two front wheels or any one of the rear wheels are invalid, the RWU function of the vehicle is disabled, at which time, since the wheel speed of the vehicle is disabled, it is not possible to accurately determine the vehicle speed, and it is necessary to perform the derated brake control on the rear wheels based on the derated strategy, that is, the brake control at the target deceleration.
In an alternative embodiment, the vehicle brake control method further includes:
and step S26, controlling the vehicle to turn off the rear wheel anti-lock function in response to the accelerator opening of the vehicle being greater than a third threshold.
As further shown in fig. 3, when the vehicle is detected to be in a special condition, a special condition processing strategy is executed, specifically, when the accelerator pedal is depressed (i.e., the accelerator pedal opening is greater than 0), the vehicle is controlled to turn off the rear wheel anti-lock function; when the brake pedal is depressed (i.e., the brake pedal opening is greater than 0), the rear wheel anti-lock function of the vehicle is maintained in an on state.
As still shown in fig. 3, in the technical scheme provided by the invention, when the anti-lock function of the rear wheel of the vehicle is in an on state, a display signal CAN be sent to a display device (such as an instrument panel) of the vehicle through a controller area network (Controller Area Network, CAN) bus, so that a working indicator lamp corresponding to the electronic parking brake system is in a flashing state, and the running state of the vehicle is prompted to a user.
The vehicle braking control method provided by the invention has the following technical effects: the brake calipers of the electronic parking brake system are adjusted to a target state by monitoring the speed of the vehicle, the wheel speed of the wheels, the wheel slip rate and the wheel acceleration and combining a degradation strategy, so that the accuracy of vehicle braking control is improved, the safety and stability of the whole vehicle are improved, and the vehicle using experience of a user is improved.
In this embodiment, a vehicle brake control device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, a combination of software and/or hardware that belongs to a "module" may implement a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 4 is a block diagram of an alternative vehicle brake control device according to an embodiment of the present invention, as shown in fig. 4, including:
an acquisition module 401 for acquiring a vehicle speed, a wheel slip ratio and a wheel acceleration of the vehicle in the case that the vehicle starts a rear wheel anti-lock function;
a control module 402, configured to control a brake caliper of an electronic parking brake system of a vehicle to adjust to a first target state according to a vehicle speed, a wheel slip rate, and a wheel acceleration;
a determination module 403 for determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used to determine derating rules for braking deceleration in a plurality of wheel speed failure states;
an adjustment module 404 for adjusting the brake caliper from the first target state to the second target state based on the target deceleration.
Alternatively, fig. 5 is a block diagram of another alternative vehicle brake control apparatus according to an embodiment of the present invention, as shown in fig. 5, which includes, in addition to all the modules shown in fig. 4: an activation module 405 for controlling the vehicle to activate the rear wheel anti-lock function in response to the vehicle speed being greater than a first threshold and the switch lever of the electronic parking brake system being in an activated position for a duration greater than a second threshold.
Optionally, the above-mentioned obtaining module 401 is further configured to: the wheel speed includes a wheel center speed and a wheel angular speed, and the obtaining of the wheel slip ratio and the wheel acceleration includes: calculating to obtain the wheel slip rate according to the wheel center speed, the wheel angular speed and the wheel rolling radius; and calculating the wheel acceleration by utilizing the variation of the wheel speed in a plurality of time slices.
Optionally, the control module 402 is further configured to: controlling the brake caliper of the electronic parking brake system of the vehicle to adjust to a first target state according to the vehicle speed, the wheel slip ratio and the wheel acceleration comprises: determining a first threshold value, a second threshold value, a third threshold value, a fourth threshold value and a fifth threshold value according to the vehicle speed, wherein the first threshold value is used for determining a target minimum threshold of the wheel acceleration, the second threshold value is used for determining a target recovery threshold of the wheel acceleration, the third threshold value is used for determining a target maximum threshold of the wheel acceleration, the fourth threshold value is used for determining a target minimum threshold of the wheel slip rate, and the fifth threshold value is used for determining a target maximum threshold of the wheel slip rate; determining a first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value; a brake caliper of an electronic parking brake system of a vehicle is controlled to be adjusted to a first target state.
Optionally, the determining module 403 is further configured to: determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value includes: determining the first target state as a first clamped state in response to the wheel acceleration being greater than or equal to a first threshold value and the wheel slip rate being less than or equal to a fourth threshold value; determining the first target state as a second clamped state in response to the wheel acceleration being greater than or equal to a second threshold value and the wheel slip rate being less than or equal to a fifth threshold value; determining the first target state as a released state in response to the wheel acceleration being less than a third threshold value; and in response to the wheel acceleration being less than the second threshold value and the wheel slip rate being greater than the fifth threshold value, determining that the first target state is a released state.
Optionally, the determining module 403 is further configured to: the plurality of wheel speed failure states include: a first state indicating that a wheel speed corresponding to at least one rear wheel of the vehicle is invalid and that wheel speeds corresponding to other wheels are not invalid; a second state, which indicates that the wheel speeds corresponding to two front wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid; a third state, which indicates that wheel speeds corresponding to one rear wheel and one front wheel of the vehicle are invalid and wheel speeds corresponding to other wheels are not invalid; a fourth state indicating that wheel speeds corresponding to any three wheels of the vehicle fail and wheel speeds corresponding to other wheels do not fail; and a fifth state indicating that the wheel speeds of the four wheels of the vehicle are invalid.
Optionally, the determining module 403 is further configured to: based on the wheel speed and the derating strategy, determining the target deceleration includes: performing failure detection on the wheel speed to obtain a detection result; and determining the target deceleration according to the detection result and the wheel speed failure states.
Alternatively, fig. 6 is a block diagram of a further alternative vehicle brake control device according to an embodiment of the present invention, as shown in fig. 6, which includes, in addition to all the modules shown in fig. 5: a closing module 406 is configured to control the vehicle to close the rear wheel anti-lock function in response to the accelerator opening of the vehicle being greater than a third threshold.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
According to still another aspect of the embodiment of the present invention, there is also provided a vehicle, characterized by comprising an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to run the computer program to execute the vehicle brake control method of any one of the foregoing.
Alternatively, in the present embodiment, the above-described in-vehicle memory may be configured to store a computer program for executing the steps of:
step S1, under the condition that a rear wheel anti-lock function is started, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle;
step S2, controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration;
step S3, determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used for determining a derating rule of the braking deceleration in a plurality of wheel speed failure states;
and S4, adjusting the brake caliper from the first target state to the second target state according to the target deceleration.
Alternatively, in the present embodiment, the above-mentioned on-vehicle memory may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media in which a computer program can be stored.
Alternatively, in the present embodiment, the above-described in-vehicle processor may be configured to execute the following steps by a computer program:
Step S1, under the condition that a rear wheel anti-lock function is started, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle;
step S2, controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration;
step S3, determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used for determining a derating rule of the braking deceleration in a plurality of wheel speed failure states;
and S4, adjusting the brake caliper from the first target state to the second target state according to the target deceleration.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations thereof, and this embodiment is not described herein.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A vehicle brake control method characterized by comprising:
under the condition that the vehicle starts a rear wheel anti-lock function, acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle;
controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration;
determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used to determine a derating rule for braking deceleration at a plurality of wheel speed failure states;
and adjusting the brake caliper from the first target state to a second target state according to the target deceleration.
2. The vehicle brake control method according to claim 1, characterized in that the vehicle brake control method further comprises:
and controlling the vehicle to start the rear wheel anti-lock function in response to the vehicle speed being greater than a first threshold and the duration of the switch control lever of the electronic parking brake system being greater than a second threshold in the on position.
3. The vehicle brake control method according to claim 1, characterized in that the wheel speed includes a wheel center speed and a wheel angular speed, and acquiring the wheel slip rate and the wheel acceleration includes:
calculating the wheel slip rate according to the wheel center speed, the wheel angular speed and the wheel rolling radius;
and calculating the wheel acceleration by using the variation of the wheel speed in a plurality of time segments.
4. The vehicle brake control method according to claim 1, characterized in that controlling the brake caliper of an electronic parking brake system of the vehicle to be adjusted to the first target state in accordance with the vehicle speed, the wheel slip ratio, and the wheel acceleration includes:
determining a first threshold value, a second threshold value, a third threshold value, a fourth threshold value and a fifth threshold value according to the vehicle speed, wherein the first threshold value is used for determining a target minimum threshold of the wheel acceleration, the second threshold value is used for determining a target recovery threshold of the wheel acceleration, the third threshold value is used for determining a target maximum threshold of the wheel acceleration, the fourth threshold value is used for determining a target minimum threshold of the wheel slip rate, and the fifth threshold value is used for determining a target maximum threshold of the wheel slip rate;
Determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value; the brake caliper of an electronic parking brake system of the vehicle is controlled to be adjusted to the first target state.
5. The vehicle brake control method according to claim 4, characterized in that determining the first target state based on the wheel slip rate, the wheel acceleration, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value includes:
determining that the first target state is a first clamped state in response to the wheel acceleration being greater than or equal to the first threshold value and the wheel slip rate being less than or equal to the fourth threshold value;
determining that the first target state is a second clamped state in response to the wheel acceleration being greater than or equal to the second threshold value and the wheel slip rate being less than or equal to the fifth threshold value;
determining that the first target state is a released state in response to the wheel acceleration being less than the third threshold value;
And in response to the wheel acceleration being less than the second threshold value and the wheel slip rate being greater than the fifth threshold value, determining that the first target state is the released state.
6. The vehicle brake control method according to claim 1, characterized in that the plurality of wheel speed failure states include:
a first state indicating that the wheel speed corresponding to at least one rear wheel of the vehicle is invalid and the wheel speeds corresponding to other wheels are not invalid;
a second state indicating that the wheel speeds corresponding to two front wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid;
a third state indicating that the wheel speeds of one rear wheel and one front wheel of the vehicle are failed and the wheel speeds of the other wheels are not failed;
a fourth state indicating that the wheel speeds corresponding to any three wheels of the vehicle are invalid and the wheel speeds corresponding to other wheels are not invalid;
and a fifth state indicating that the wheel speeds corresponding to the four wheels of the vehicle fail.
7. The vehicle brake control method according to claim 6, characterized in that determining the target deceleration based on the wheel speed and the derating strategy includes:
Performing failure detection on the wheel speed to obtain a detection result;
and determining the target deceleration according to the detection result and the wheel speed failure states.
8. The vehicle brake control method according to claim 1, characterized in that the vehicle brake control method further comprises:
and controlling the vehicle to turn off the rear wheel anti-lock function in response to the accelerator opening of the vehicle being greater than a third threshold.
9. A vehicle brake control apparatus characterized by comprising:
the acquisition module is used for acquiring the speed, the wheel slip rate and the wheel acceleration of the vehicle under the condition that the vehicle starts a rear wheel anti-lock function;
the control module is used for controlling a brake caliper of an electronic parking brake system of the vehicle to be adjusted to a first target state according to the vehicle speed, the wheel slip rate and the wheel acceleration;
a determination module for determining a target deceleration based on the wheel speed and a derating strategy, wherein the derating strategy is used to determine derating rules for braking deceleration at a plurality of wheel speed failure states;
and the adjusting module is used for adjusting the brake caliper from the first target state to the second target state according to the target deceleration.
10. A vehicle comprising an on-board memory in which a computer program is stored and an on-board processor arranged to run the computer program to perform the vehicle brake control method of any one of claims 1 to 8.
CN202310746297.5A 2023-06-21 2023-06-21 Vehicle braking control method and device and vehicle Pending CN116533955A (en)

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CN202310746297.5A CN116533955A (en) 2023-06-21 2023-06-21 Vehicle braking control method and device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310746297.5A CN116533955A (en) 2023-06-21 2023-06-21 Vehicle braking control method and device and vehicle

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