CN116691622A - Method and device for controlling braking pressure of vehicle - Google Patents

Method and device for controlling braking pressure of vehicle Download PDF

Info

Publication number
CN116691622A
CN116691622A CN202310721048.0A CN202310721048A CN116691622A CN 116691622 A CN116691622 A CN 116691622A CN 202310721048 A CN202310721048 A CN 202310721048A CN 116691622 A CN116691622 A CN 116691622A
Authority
CN
China
Prior art keywords
target vehicle
determining
control
control instruction
vehicle
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
CN202310721048.0A
Other languages
Chinese (zh)
Inventor
劳德杏
蒋帅
张建斌
隋清海
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 Group Corp
Original Assignee
FAW Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202310721048.0A priority Critical patent/CN116691622A/en
Publication of CN116691622A publication Critical patent/CN116691622A/en
Pending legal-status Critical Current

Links

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
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • 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 application discloses a method and a device for controlling braking pressure of a vehicle. Wherein the method comprises the following steps: receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to slow down or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned. The application at least solves the technical problem of low safety after the vehicle stops due to untimely adjustment of the braking pressure of the vehicle.

Description

Method and device for controlling braking pressure of vehicle
Technical Field
The application relates to the field of vehicle control, in particular to a method and a device for controlling braking pressure of a vehicle.
Background
The current automobile industry is faced with the change of intellectualization and electrodynamic performance, and new energy electric vehicles are increasingly and widely provided with an integrated brake control system IBC (Integrated Brake Control) as an integrated and intelligent electric control brake system which combines basic brake boosting and single-wheel pressure regulating functions together, has compact configuration and stronger brake performance, and can realize more brake control functions. Meanwhile, the self-adaptive cruise system ACC (Adaptive Cruise Control) can greatly lighten the operation of a driver in the driving process, and the basic working principle is that after the ACC function is activated, the vehicle can advance to follow the vehicle according to the set speed, the current vehicle decelerates, the ACC can control the vehicle to automatically decelerate, and when no vehicle is in front or the vehicle is far away from the front vehicle, the ACC can control the vehicle to automatically accelerate, and the driver does not need to operate an accelerator and a brake pedal in the whole process. When the vehicle needs to be decelerated, the ACC may issue a deceleration request (negative value) command, and the IBC starts to perform the braking function after receiving the deceleration request command. The ACC can make the vehicle slow down to stop by sending a negative acceleration request, and in the process of decelerating and ascending the vehicle, the IBC can also meet the deceleration request sent by the ACC by generating a relatively small braking moment at the wheel side brake through the hydraulic braking system, but after the vehicle stops, the braking pressure at the moment is possibly insufficient to stop the vehicle on the ramp, so that the risk of sliding the vehicle can be generated.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling the braking pressure of a vehicle, which are used for at least solving the technical problem of low safety after the vehicle stops due to untimely adjustment of the braking pressure of the vehicle.
According to an aspect of an embodiment of the present application, there is provided a brake pressure control method of a vehicle, including: receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to decelerate or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
Optionally, determining the working condition of the target vehicle according to the type of the control instruction, the control strategy corresponding to the control instruction and the state of the target vehicle includes: under the condition that a first type of control instruction is received, determining a control strategy corresponding to the first type of control instruction; determining that the target vehicle is in a deceleration working condition when the control strategy corresponding to the first type of control instruction is used for controlling the acceleration of the target vehicle to be a negative value and the absolute value of the acceleration of the target vehicle is larger than a preset acceleration threshold duration time and exceeds a preset duration time; and under the condition that the target vehicle is in the deceleration working condition, determining whether the target vehicle is in the following stop working condition or not at least according to the state of the target vehicle.
Optionally, determining whether the target vehicle is in a following stop condition at least according to the state of the target vehicle includes: collecting a state of the target vehicle, wherein the state of the target vehicle comprises: the speed of the target vehicle and the speeds of all wheels of the target vehicle; and under the condition that the speed of the target vehicle is smaller than a first preset speed threshold value, the speeds of all wheels of the target vehicle are smaller than the first preset speed threshold value and a second type control instruction is received, determining that the target vehicle is in the following stop working condition, wherein the second type control instruction is used for controlling the target vehicle to stop.
Optionally, determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is located includes: determining the gradient of a road where the target vehicle is located under the condition that the target vehicle is in the deceleration working condition and the following stopping working condition at the same time; determining that the braking pressure of the target vehicle is a preset braking pressure after the target vehicle stops under the condition that the gradient of the road on which the target vehicle is positioned is not greater than a preset angle; and under the condition that the gradient of the road on which the target vehicle is positioned is larger than a preset angle, determining the braking pressure of the target vehicle according to a preset strategy after the target vehicle stops.
Optionally, determining the braking pressure of the target vehicle according to a preset strategy includes: determining a target braking pressure according to the full-load mass of the target vehicle, the longitudinal acceleration of the target vehicle, the gradient of a road on which the target vehicle is positioned, the wheel rolling radius of the target vehicle and the braking torque parameter of the target vehicle; and selecting a maximum brake pressure value from the preset brake pressure and the target brake pressure to be determined as the brake pressure of the target vehicle.
Optionally, determining whether the target vehicle is stopped comprises: and determining that the target vehicle is stopped under the condition that the speed of the target vehicle and the speeds of all wheels of the target vehicle are smaller than a second preset speed threshold value.
Optionally, before the receiving the control instruction, the method further includes: and acquiring working states of the adaptive cruise control system and the integrated brake control system to determine that the working states of the adaptive cruise control system and the integrated brake control system are normal, wherein the adaptive cruise control system is used for sending a control instruction to control the target vehicle to decelerate or stop, and the integrated brake control system is used for generating the brake pressure of the target vehicle according to the control instruction.
According to still another aspect of the embodiment of the present application, there is also provided a brake pressure control device of a vehicle, including: the receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the target vehicle to decelerate or stop; the first determining module is used for determining the instruction type of the control instruction and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; and the second determining module is used for determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
According to still another aspect of the embodiment of the present application, there is also provided a vehicle including: the system comprises an adaptive cruise control system and an integrated brake control system, wherein the adaptive cruise control system is connected with the integrated brake control system; the self-adaptive cruise control system is used for sending a control instruction to the integrated brake control system, and the integrated brake control system is used for receiving the control instruction and determining the working condition of the target vehicle according to the type of the received control instruction, the control strategy corresponding to the control instruction and the state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
According to still another aspect of the embodiment of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein the device in which the nonvolatile storage medium is controlled to execute the above-described brake pressure control method of the vehicle when the program runs.
In the embodiment of the application, a control instruction is received, and the control instruction is used for controlling a target vehicle to slow down or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; the method comprises the steps of determining the braking pressure of a target vehicle according to the working condition of the target vehicle and the gradient of a road where the target vehicle is located, determining the working condition of the vehicle according to the command type, the control strategy corresponding to the control command and the state of the target vehicle, and finally determining the braking pressure of the vehicle according to the working condition of the vehicle and the gradient of the road where the vehicle is located, thereby achieving the purpose of accurately determining the braking pressure of the vehicle, further achieving the technical effect of improving the safety after the vehicle is stopped, and further solving the technical problem of low safety after the vehicle is stopped due to untimely adjustment of the braking pressure of the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a hardware block diagram of a computer terminal (or mobile device) for a brake pressure control method of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a method of controlling brake pressure of a vehicle according to the present application;
FIG. 3 is a schematic illustration of an alternative vehicle brake pressure control device according to an embodiment of the present application;
FIG. 4 is a schematic illustration of an alternative vehicle architecture according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application 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 application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application 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 application 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 application, there is also provided an embodiment of a brake pressure control method of a vehicle, 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 sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than here.
The method embodiments provided by the embodiments of the present application may be performed in a mobile terminal, a computer terminal, or similar computing device. Fig. 1 shows a hardware block diagram of a computer terminal (or mobile device) for implementing a brake pressure control method of a vehicle. As shown in fig. 1, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, … …,102 n) which may include, but are not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA, a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer 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 referred to generally herein as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, 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 computer terminal 10 (or mobile device). As referred to in embodiments of the application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination connected to the interface).
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 method for controlling the brake pressure of the vehicle in the embodiment of the present application, and the processor 102 executes the software programs and modules stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method for controlling the brake pressure of the vehicle. 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 located remotely from the processor 102, which may be connected to the computer 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 module 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 computer terminal 10. In one example, the transmission module 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 module 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10 (or mobile device).
According to an embodiment of the present application, there is provided an embodiment of a brake pressure control method of a vehicle, 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 sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than here.
Fig. 2 is a flowchart of a brake pressure control method of a vehicle according to an embodiment of the present application, as shown in fig. 2, the method including the steps of:
step S202, receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to decelerate or stop;
step S204, determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle;
step S206, determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is located.
By the steps, the method can realize the adoption of receiving the control instruction, wherein the control instruction is used for controlling the target vehicle to decelerate or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; the method comprises the steps of determining the braking pressure of a target vehicle according to the working condition of the target vehicle and the gradient of a road where the target vehicle is located, determining the working condition of the vehicle according to the command type, the control strategy corresponding to the control command and the state of the target vehicle, and finally determining the braking pressure of the vehicle according to the working condition of the vehicle and the gradient of the road where the vehicle is located, thereby achieving the purpose of accurately determining the braking pressure of the vehicle, further achieving the technical effect of improving the safety after the vehicle is stopped, and further solving the technical problem of low safety after the vehicle is stopped due to untimely adjustment of the braking pressure of the vehicle.
The control instructions include at least two types of control instructions, wherein the first type of control instruction is used for controlling the target vehicle to decelerate, and the second type of control instruction is used for controlling the target vehicle to stop.
Steps S202 to S206 are specifically described below by way of examples.
In some embodiments of the present application, the specific steps of determining, according to the type of the control command, the control policy corresponding to the control command, and the state of the target vehicle, the working condition of the target vehicle include: under the condition that a first type of control instruction is received, determining a control strategy corresponding to the first type of control instruction; determining that the target vehicle is in a deceleration working condition when the control strategy corresponding to the first type of control instruction is used for controlling the acceleration of the target vehicle to be a negative value and the absolute value of the acceleration of the target vehicle is larger than a preset acceleration threshold duration time and exceeds a preset duration time; and under the condition that the target vehicle is in the deceleration working condition, determining whether the target vehicle is in the following stop working condition or not at least according to the state of the target vehicle.
It is understood that the preset acceleration threshold may be set according to actual situations.
With a preset acceleration threshold of 0.08 m-s 2 For example, the preset time period is 60ms, and the acceleration of the target vehicle is a negative value, for example: -0.09m/s 2 And the duration is 70ms, the target vehicle can be determined to be in a deceleration working condition.
In another optional manner, when the acceleration corresponding to the first type of control signal output by the ACC is a negative value and the absolute value of the acceleration corresponding to the first type of control signal is greater than the preset acceleration threshold for a duration longer than a preset duration, the target vehicle is determined to be in a deceleration working condition.
It will be appreciated that the acceleration corresponding to the first type of control signal output by the ACC may be obtained via the control bus. In an ideal case, the acceleration corresponding to the first type of control signal output by the ACC is the acceleration that needs to be reached by the target vehicle.
Whether the target vehicle is in a following stop condition or not can be determined by collecting the state of the target vehicle, wherein the state of the target vehicle comprises: the speed of the target vehicle and the speeds of all wheels of the target vehicle; and under the condition that the speed of the target vehicle is smaller than a first preset speed threshold value, the speeds of all wheels of the target vehicle are smaller than the first preset speed threshold value and a second type control instruction is received, determining that the target vehicle is in the following stop working condition, wherein the second type control instruction is used for controlling the target vehicle to stop.
Taking the first preset speed threshold value as 1.6kph as an example, determining that the target vehicle is in a following stop condition under the condition that the speed of the target vehicle and the speeds of all wheels of the target vehicle are less than 1.6 kph.
Optionally, determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is located includes: determining the gradient of a road where the target vehicle is located under the condition that the target vehicle is in the deceleration working condition and the following stopping working condition at the same time; determining that the braking pressure of the target vehicle is a preset braking pressure after the target vehicle stops under the condition that the gradient of the road on which the target vehicle is positioned is not greater than a preset angle; and under the condition that the gradient of the road on which the target vehicle is positioned is larger than a preset angle, determining the braking pressure of the target vehicle according to a preset strategy after the target vehicle stops.
In another alternative manner, under the condition that the target vehicle is in a deceleration working condition, judging whether the speed of the target vehicle and the speeds of all wheels of the target vehicle are smaller than a first preset speed threshold value, and under the condition that the speed of the target vehicle and the speeds of all wheels of the target vehicle are smaller than the first preset speed threshold value, determining that the target vehicle is in a following shutdown condition.
Taking the preset angle of 2 degrees as an example, the ACC sends out a second control signal, and when the gradient of the road on which the target vehicle is located is not greater than the preset angle, after the target vehicle stops, determining that the brake pressure of the target vehicle is the preset brake pressure, for example: 8bar.
In an alternative manner, the brake pressure of the target vehicle may be determined by: determining a target braking pressure according to the full-load mass of the target vehicle, the longitudinal acceleration of the target vehicle, the gradient of a road on which the target vehicle is positioned, the wheel rolling radius of the target vehicle and the braking torque parameter of the target vehicle; and selecting a maximum brake pressure value from the preset brake pressure and the target brake pressure to be determined as the brake pressure of the target vehicle.
Specifically, the target brake pressure p stop ＝max[m*Ax*g*|θ|*r/2(Cp f +Cp r ),8]
Where m is 110% of the full load mass of the target vehicle, ax is the longitudinal acceleration of the target vehicle (which can be read from the control bus), g is the gravitational acceleration, θ is the gradient, r is the wheel rolling radius, cp f And Cp r Cp values of front and rear brakes of a hydraulic brake system of the vehicle respectively.
The Cp value is a parameter for calculating the braking torque of the brake in the braking system, and the physical meaning of the Cp value is the magnitude of the braking torque generated at each bar of braking pressure, and the unit is Nm/bar.
Optionally, determining whether the target vehicle is stopped comprises: and determining that the target vehicle is stopped under the condition that the speed of the target vehicle and the speeds of all wheels of the target vehicle are smaller than a second preset speed threshold value.
Taking the second preset speed threshold value as an example, the target vehicle is determined to be stationary when the speed of the target vehicle and the speeds of all wheels of the target vehicle are less than 0.13 kph.
And before receiving the control instruction, acquiring working states of an adaptive cruise control system and an integrated brake control system to determine that the working states of the adaptive cruise control system and the integrated brake control system are normal, wherein the adaptive cruise control system is used for sending the control instruction to control the target vehicle to decelerate or stop, and the integrated brake control system is used for generating the brake pressure of the target vehicle according to the control instruction.
Specifically, the vehicle at adaptive cruise conditions is defined as: and under the condition that the adaptive cruise control ACC working state signal is active (busy), determining that the vehicle is in an adaptive cruise working condition.
The normal functional state of the integrated brake control system IBC means that the integrated brake control system IBC has no fault and can normally respond to the acceleration request of the ACC.
It can be understood that the method for controlling the braking pressure of the vehicle provided by the application is suitable for the vehicle under the self-adaptive cruise working condition, and the working states of the self-adaptive cruise control system and the integrated brake control system can be obtained through the control bus.
The method for controlling the braking pressure of the vehicle according to the embodiment of the present application is also applied to a device for controlling the braking pressure of the vehicle according to the embodiment of the present application, as shown in fig. 3, including: a receiving module 30 for receiving a control instruction for controlling a target vehicle to slow down or stop; the first determining module 32 is configured to determine an instruction type of the control instruction, and determine a working condition of the target vehicle according to the instruction type, a control policy corresponding to the control instruction, and a state of the target vehicle; a second determination module 34 is configured to determine a brake pressure of the target vehicle based on a condition in which the target vehicle is located and a gradient of a road in which the target vehicle is located.
The first determination module 32 includes: the first determining submodule is used for determining a control strategy corresponding to a first type of control instruction under the condition that the first type of control instruction is received; determining that the target vehicle is in a deceleration working condition when the control strategy corresponding to the first type of control instruction is used for controlling the acceleration of the target vehicle to be a negative value and the absolute value of the acceleration of the target vehicle is larger than a preset acceleration threshold duration time and exceeds a preset duration time; and under the condition that the target vehicle is in the deceleration working condition, determining whether the target vehicle is in the following stop working condition or not at least according to the state of the target vehicle.
A first determination submodule comprising: the first determining unit is used for acquiring the state of the target vehicle, wherein the state of the target vehicle comprises the following steps: the speed of the target vehicle and the speeds of all wheels of the target vehicle; and under the condition that the speed of the target vehicle is smaller than a first preset speed threshold value, the speeds of all wheels of the target vehicle are smaller than the first preset speed threshold value and a second type control instruction is received, determining that the target vehicle is in the following stop working condition, wherein the second type control instruction is used for controlling the target vehicle to stop.
The second determination module 34 includes: the second determining submodule is used for determining the gradient of the road where the target vehicle is located under the condition that the target vehicle is simultaneously in the deceleration working condition and the following stopping working condition; determining that the braking pressure of the target vehicle is a preset braking pressure after the target vehicle stops under the condition that the gradient of the road on which the target vehicle is positioned is not greater than a preset angle; and under the condition that the gradient of the road on which the target vehicle is positioned is larger than a preset angle, determining the braking pressure of the target vehicle according to a preset strategy after the target vehicle stops.
A second determination sub-module, comprising: a second determining unit and a third determining unit, the second determining unit is used for determining a target braking pressure according to the full load mass of the target vehicle, the longitudinal acceleration of the target vehicle, the gradient of a road on which the target vehicle is positioned, the wheel rolling radius of the target vehicle and the braking torque parameter of the target vehicle; and selecting a maximum brake pressure value from the preset brake pressure and the target brake pressure to be determined as the brake pressure of the target vehicle.
And a third determining unit configured to determine that the target vehicle is stopped, in a case where the speed of the target vehicle and the speeds of all wheels of the target vehicle are both less than a second preset speed threshold.
The receiving module 30 includes: the system comprises an acquisition submodule, a control module and a control module, wherein the acquisition submodule is used for acquiring working states of an adaptive cruise control system and an integrated brake control system so as to determine that the working states of the adaptive cruise control system and the integrated brake control system are normal, the adaptive cruise control system is used for sending a control instruction to control the target vehicle to decelerate or stop, and the integrated brake control system is used for generating the brake pressure of the target vehicle according to the control instruction.
According to still another aspect of the embodiment of the present application, there is also provided a vehicle, as shown in fig. 4, including: an adaptive cruise control system 40 and an integrated brake control system 42, said adaptive cruise control system 40 and said integrated brake control system 42 being connected; the adaptive cruise control system 40 is configured to send a control instruction to the integrated brake control system 42, where the integrated brake control system 42 is configured to receive the control instruction, and determine a working condition of a target vehicle according to a type of the received control instruction, a control strategy corresponding to the control instruction, and a state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
According to another aspect of the embodiment of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein the device in which the nonvolatile storage medium is controlled to execute the braking pressure control method of the vehicle when the program runs.
The above-described nonvolatile storage medium is used to store a program that performs the following functions: receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to decelerate or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
The working condition of the vehicle is determined through the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle, and finally, the braking pressure of the vehicle is determined according to the working condition of the vehicle and the gradient of the road on which the vehicle is positioned, so that the purpose of accurately determining the braking pressure of the vehicle is achieved, the technical effect of improving the safety of the vehicle after stopping is achieved, and the technical problem of low safety of the vehicle after stopping caused by untimely adjustment of the braking pressure of the vehicle is solved.
According to another aspect of the embodiment of the present application, there is also provided a computer device including a memory, a processor, and a brake pressure control program of a vehicle stored in the memory and operable on the processor, wherein the processor implements the brake pressure control method of the vehicle when executing the program.
The computer device is used for storing and executing programs with the following functions: receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to decelerate or stop; determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle; and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
The working condition of the vehicle is determined through the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle, and finally, the braking pressure of the vehicle is determined according to the working condition of the vehicle and the gradient of the road on which the vehicle is positioned, so that the purpose of accurately determining the braking pressure of the vehicle is achieved, the technical effect of improving the safety of the vehicle after stopping is achieved, and the technical problem of low safety of the vehicle after stopping caused by untimely adjustment of the braking pressure of the vehicle is solved.
The foregoing embodiment numbers of the present application 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 application, 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 application, 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 units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or 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 over 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 application 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 application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several 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 of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), 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 application 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 application, which are intended to be comprehended within the scope of the present application.

Claims (10)

1. A brake pressure control method of a vehicle, characterized by comprising:
receiving a control instruction, wherein the control instruction is used for controlling a target vehicle to decelerate or stop;
determining the instruction type of the control instruction, and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle;
and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
2. The method of claim 1, wherein determining the operating condition of the target vehicle according to the type of the control command, the control strategy corresponding to the control command, and the state of the target vehicle comprises:
under the condition that a first type of control instruction is received, determining a control strategy corresponding to the first type of control instruction;
determining that the target vehicle is in a deceleration working condition when the control strategy corresponding to the first type of control instruction is used for controlling the acceleration of the target vehicle to be a negative value and the absolute value of the acceleration of the target vehicle is larger than a preset acceleration threshold duration time and exceeds a preset duration time;
and under the condition that the target vehicle is in the deceleration working condition, determining whether the target vehicle is in the following stop working condition or not at least according to the state of the target vehicle.
3. The method of claim 2, wherein determining whether the target vehicle is in a stop-and-go condition based at least on the state of the target vehicle comprises:
collecting a state of the target vehicle, wherein the state of the target vehicle comprises: the speed of the target vehicle and the speeds of all wheels of the target vehicle;
and under the condition that the speed of the target vehicle is smaller than a first preset speed threshold value, the speeds of all wheels of the target vehicle are smaller than the first preset speed threshold value and a second type control instruction is received, determining that the target vehicle is in the following stop working condition, wherein the second type control instruction is used for controlling the target vehicle to stop.
4. A method according to claim 3, wherein determining the brake pressure of the target vehicle based on the condition in which the target vehicle is located and the gradient of the road in which the target vehicle is located comprises:
determining the gradient of a road where the target vehicle is located under the condition that the target vehicle is in the deceleration working condition and the following stopping working condition at the same time;
determining that the braking pressure of the target vehicle is a preset braking pressure after the target vehicle stops under the condition that the gradient of the road on which the target vehicle is positioned is not greater than a preset angle;
and under the condition that the gradient of the road on which the target vehicle is positioned is larger than a preset angle, determining the braking pressure of the target vehicle according to a preset strategy after the target vehicle stops.
5. The method of claim 4, wherein determining the target vehicle brake pressure according to a preset strategy comprises:
determining a target braking pressure according to the full-load mass of the target vehicle, the longitudinal acceleration of the target vehicle, the gradient of a road on which the target vehicle is positioned, the wheel rolling radius of the target vehicle and the braking torque parameter of the target vehicle;
and selecting a maximum brake pressure value from the preset brake pressure and the target brake pressure to be determined as the brake pressure of the target vehicle.
6. The method of claim 4, wherein determining whether the target vehicle is stopped by:
and determining that the target vehicle is stopped under the condition that the speed of the target vehicle and the speeds of all wheels of the target vehicle are smaller than a second preset speed threshold value.
7. The method of claim 1, wherein prior to the receiving control instructions, the method further comprises:
and acquiring working states of the adaptive cruise control system and the integrated brake control system to determine that the working states of the adaptive cruise control system and the integrated brake control system are normal, wherein the adaptive cruise control system is used for sending a control instruction to control the target vehicle to decelerate or stop, and the integrated brake control system is used for generating the brake pressure of the target vehicle according to the control instruction.
8. A brake pressure control device of a vehicle, characterized by comprising:
the receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the target vehicle to decelerate or stop;
the first determining module is used for determining the instruction type of the control instruction and determining the working condition of the target vehicle according to the instruction type, the control strategy corresponding to the control instruction and the state of the target vehicle;
and the second determining module is used for determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
9. A vehicle, characterized by comprising: the system comprises an adaptive cruise control system and an integrated brake control system, wherein the adaptive cruise control system is connected with the integrated brake control system;
the self-adaptive cruise control system is used for sending a control instruction to the integrated brake control system, and the integrated brake control system is used for receiving the control instruction and determining the working condition of the target vehicle according to the type of the received control instruction, the control strategy corresponding to the control instruction and the state of the target vehicle; and
and determining the braking pressure of the target vehicle according to the working condition of the target vehicle and the gradient of the road on which the target vehicle is positioned.
10. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the program, when executed, controls a device in which the nonvolatile storage medium is located to execute the brake pressure control method of the vehicle according to any one of claims 1 to 7.
CN202310721048.0A 2023-06-16 2023-06-16 Method and device for controlling braking pressure of vehicle Pending CN116691622A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310721048.0A CN116691622A (en) 2023-06-16 2023-06-16 Method and device for controlling braking pressure of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310721048.0A CN116691622A (en) 2023-06-16 2023-06-16 Method and device for controlling braking pressure of vehicle

Publications (1)

Publication Number Publication Date
CN116691622A true CN116691622A (en) 2023-09-05

Family

ID=87828934

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310721048.0A Pending CN116691622A (en) 2023-06-16 2023-06-16 Method and device for controlling braking pressure of vehicle

Country Status (1)

Country Link
CN (1) CN116691622A (en)

Similar Documents

Publication Publication Date Title
US11731611B2 (en) Vehicle stability control method and device
CN107415704B (en) Composite braking method and device and adaptive cruise controller
US20160107634A1 (en) System and method for controlling torque of hybrid vehicle
US20200317197A1 (en) Vehicle control apparatus and method of controlling vehicle-control force
US10479361B2 (en) Apparatus and method for controlling braking of vehicle
CN113479208B (en) Automobile starting control method, device, equipment and storage medium
CN106004459B (en) System and method for controlling regenerative braking in a vehicle
CN110816281B (en) Control unit, device and method for vehicle recuperation brake control
CN115214599A (en) Four-wheel drive hybrid vehicle control method and device and vehicle
CN112757906B (en) Electric vehicle driving mode control method and device
CN109421678B (en) Braking method, device, braking system and storage medium for automobile
CN116691622A (en) Method and device for controlling braking pressure of vehicle
CN115042638A (en) Method and device for controlling service braking of electric forklift
CN115503494A (en) Control method of single-pedal vehicle, vehicle control terminal and single-pedal vehicle
EP4063982A1 (en) Parking control method and device, vehicle control unit, and new-energy vehicle
CN112319478B (en) Vehicle driving mode switching method and device, storage medium and electric commercial vehicle
CN115123175A (en) Vehicle control method and device and vehicle
CN111301423A (en) Control method, chassis domain control system and timely four-wheel drive type automobile
CN112659915B (en) Pure electric vehicle stable parking control method and device
CN115416667A (en) Vehicle control method and device, intelligent driving control system and storage medium
CN117261610B (en) Braking energy recovery method, device, vehicle and computer readable storage medium
CN113165636B (en) Vehicle control device
CN117656850A (en) Self-adaptive recovery control method and device, vehicle and storage medium
CN112849123A (en) Method and apparatus for controlling vehicle torque
CN114655234A (en) Accelerator pedal fault post-processing method and device and terminal equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination