CN116714562A - Vehicle braking method, device, equipment, storage medium and vehicle - Google Patents
Vehicle braking method, device, equipment, storage medium and vehicle Download PDFInfo
- Publication number
- CN116714562A CN116714562A CN202310996663.2A CN202310996663A CN116714562A CN 116714562 A CN116714562 A CN 116714562A CN 202310996663 A CN202310996663 A CN 202310996663A CN 116714562 A CN116714562 A CN 116714562A
- Authority
- CN
- China
- Prior art keywords
- braking force
- braking
- target
- vehicle
- electric signal
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000011084 recovery Methods 0.000 claims abstract description 64
- 230000000875 corresponding effect Effects 0.000 claims abstract description 53
- 230000002596 correlated effect Effects 0.000 claims abstract description 10
- 230000004044 response Effects 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 18
- 230000001276 controlling effect Effects 0.000 claims description 16
- 230000000994 depressogenic effect Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present disclosure relates to a vehicle braking method, apparatus, device, storage medium, and vehicle, the method comprising: in response to a brake pedal being stepped on, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth; acquiring a first braking force provided by an energy recovery system target; determining a second braking force provided by a braking element target based on the target electric signal and the first braking force so that the sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth; vehicle braking is controlled based on the first braking force and the second braking force. According to the method and the device, the braking force provided by the braking element is determined by acquiring the electric signal corresponding to the pedal depth and the braking force provided by the energy recovery system, so that the total braking force corresponds to the pedal depth, and a driver can conveniently pre-judge the braking distance.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a vehicle braking method, device, equipment, storage medium and a vehicle.
Background
The existing electric or hybrid vehicle widely adopts an energy recovery technology, so that a motor of the vehicle can not only provide driving force when the vehicle runs, but also become a generator when the vehicle brakes, the vehicle is provided with reverse braking force and meanwhile converts kinetic energy into electric energy to be stored in a battery, the purpose of saving electricity or saving oil is achieved, the braking force when the vehicle brakes by adopting energy recovery is jointly provided by the motor and a braking element, wherein the braking force provided by the motor is changed along with the change of the state of the vehicle, the whole braking force is also changed, and a driver cannot predict the braking distance according to the stepping depth of a brake pedal, so that the running safety is affected.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a vehicle braking method, a device, equipment, a storage medium and a vehicle.
A first aspect of an embodiment of the present disclosure provides a vehicle braking method, the method comprising:
in response to a brake pedal being stepped on, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth;
acquiring a first braking force provided by an energy recovery system target;
determining a second braking force provided by a braking element target based on the target electric signal and the first braking force so that the sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth;
vehicle braking is controlled based on the first braking force and the second braking force.
A second aspect of an embodiment of the present disclosure provides a vehicle braking device, the device comprising:
the first acquisition module is used for responding to the fact that a brake pedal is stepped down, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth;
the second acquisition module is used for acquiring a first braking force provided by the energy recovery system target;
a first determining module, configured to determine a second braking force provided by a brake element target based on the target electric signal and the first braking force, so that a sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth;
and a braking module for controlling vehicle braking based on the first braking force and the second braking force.
A third aspect of the disclosed embodiments provides a computer device comprising a memory and a processor, and a computer program, wherein the memory stores the computer program, which when executed by the processor, implements the vehicle braking method as described above in the first aspect.
A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium having a computer program stored therein, which when executed by a processor, implements the vehicle braking method as in the first aspect described above.
A fifth aspect of the disclosed embodiments provides a vehicle comprising a memory and a processor, and a computer program, wherein the memory stores the computer program, which when executed by the processor, implements the vehicle braking method as described above in the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
in the vehicle braking method, the device, the equipment, the storage medium and the vehicle provided by the embodiment of the disclosure, by responding to the fact that the brake pedal is stepped down, the target electric signal sent by the brake pedal is obtained, the target electric signal is used for representing the braking force corresponding to the pedal depth, the target electric signal is positively correlated with the braking force corresponding to the pedal depth, the first braking force provided by the energy recovery system target is obtained, the second braking force provided by the brake element target is determined based on the target electric signal and the first braking force, so that the sum of the first braking force and the second braking force is equal to the braking force corresponding to the pedal depth, the vehicle braking is controlled based on the first braking force and the second braking force, and the magnitude of the braking force can be determined by the electric signal under the condition that new mechanical parts are not added and traditional circuits are changed, so that when the energy recovery system and the brake element jointly provide the braking force of the vehicle, the total braking force provided by the energy recovery system and the brake element corresponds to the depth of the pedal which is stepped down, the driver can conveniently pre-judge the braking distance according to the pedal depth, the driving safety is ensured, and meanwhile the deployment cost is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a vehicle braking method provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method of determining a second braking force provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method of determining a second braking force provided by an embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of determining a first braking force provided by an embodiment of the present disclosure;
FIG. 5 is a flow chart of a method of determining a source of braking force provided by an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a vehicle brake device provided in an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
Fig. 1 is a flow chart of a vehicle braking method provided by an embodiment of the present disclosure, which may be performed by a vehicle braking device. As shown in fig. 1, the vehicle braking method provided in this embodiment includes the following steps:
s101, responding to the fact that a brake pedal is pressed, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth.
The target electric signal in the embodiment of the disclosure may be understood as an electric signal which is generated when the brake pedal is depressed and is used for representing the magnitude of the braking force, the magnitude of the target electric signal corresponds to the depth of the pedal and the magnitude of the braking force corresponding to the depth of the pedal, and the magnitude of the target electric signal is positively correlated with the braking force corresponding to the depth of the pedal.
In the embodiment of the disclosure, the vehicle braking device may receive a target electrical signal emitted when the brake pedal is depressed, the target electrical signal being used to characterize the magnitude of braking force corresponding to the pedal depth at which the brake pedal is depressed.
In one exemplary implementation of the disclosed embodiments, a vehicle braking device may acquire a target electrical signal emitted by a travel sensor mounted on a brake pedal based on a pedal depth at which the brake pedal is depressed.
In another exemplary implementation manner of the embodiment of the present disclosure, for the same vehicle, under a condition that the vehicle speed is fixed, the electric signal and the braking force and the electric signal and the pedal depth are positively correlated, the deeper the pedal depth is, the larger the corresponding electric signal is, the larger the braking force is, and when the brake pedal is fully depressed, the maximum electric signal can reach 5V, wherein a conversion formula between the electric signal and the braking force can be expressed as follows:
U=F/b/（a+k+v2）
wherein U represents an electric signal, F represents braking force, b, a and k are respectively a driving wheel braking force distribution coefficient, a vehicle speed correlation coefficient and a compensation coefficient, and v is the vehicle speed when a brake pedal is depressed.
By way of example, there is a relationship between the target electrical signal and the braking force corresponding to the pedal depth as follows:
U 0 =F 0 /b/（a+k+v 2 ）
wherein U is 0 Representing the target electrical signal, F 0 Representing the braking force corresponding to the pedal depth.
S102, acquiring a first braking force provided by an energy recovery system target.
The energy recovery system in the embodiments of the present disclosure may be understood as a control system for converting an electric motor into a generator, converting kinetic energy of a vehicle into electric energy to be stored in a battery, thereby providing a reverse braking force to the vehicle when the vehicle is braked.
The first braking force in the embodiment of the disclosure may be understood as a braking force provided to the vehicle by the energy recovery system through comprehensively analyzing the current state of the vehicle, for example, the faster the vehicle speed, the lower the battery level, the greater the pedal depth, the greater the first braking force, and the first braking force is less than or equal to the braking force corresponding to the pedal depth.
In the embodiment of the disclosure, the vehicle braking device may acquire the first braking force provided by the target of the energy recovery system after acquiring the target electric signal sent when the brake pedal is depressed.
In one exemplary implementation of the disclosed embodiments, the energy recovery system may determine a first braking force that the energy recovery system is targeted to provide based on torque generated by the generator, a current gear ratio of the transmission, and a final reduction ratio, and then send the first braking force to the vehicle braking device.
S103, determining a second braking force provided by the braking element target based on the target electric signal and the first braking force so that the sum of the first braking force and the second braking force is equal to the braking force corresponding to the pedal depth.
The brake element in the embodiment of the present disclosure may be understood as a component that converts kinetic energy into self thermal energy through friction force in a conventional mechanical braking manner, so as to provide braking force for a vehicle, and the brake element may be a brake pad, a brake disc, or the like, for example, without limitation.
The second braking force in the embodiments of the present disclosure may be understood as a braking force provided by the braking element for compensating the first braking force provided by the energy recovery system target such that the sum of the first braking force and the second braking force corresponds to the pedal depth.
In the embodiment of the disclosure, after the target electric signal and the first braking force are obtained, the vehicle braking device determines the second braking force required to be provided by the braking element according to the target electric signal and the first braking force, so that the sum of the first braking force provided by the energy recovery system and the second braking force provided by the braking element is equal to the total braking force corresponding to the pedal depth.
In an exemplary implementation of the embodiment of the present disclosure, the vehicle braking device may determine a magnitude of a braking force corresponding to the target electric signal after obtaining the target electric signal, and calculate a difference between the braking force corresponding to the target electric signal and the first braking force after obtaining the first braking force provided by the energy recovery system target, and determine the difference as the second braking force.
In another exemplary implementation manner of the embodiment of the present disclosure, after obtaining the target electrical signal, the vehicle braking device may obtain a first electrical signal representing the magnitude of the first braking force sent by the energy recovery system, where the first electrical signal is determined based on a conversion formula between the electrical signal and the braking force in S101, calculate a difference between the target electrical signal and the first electrical signal to obtain a second electrical signal, and further calculate, based on a conversion formula between the electrical signal and the braking force in S101, a braking force corresponding to the second electrical signal, and determine the braking force as the second braking force.
In still another exemplary implementation manner of the embodiment of the present disclosure, before acquiring the first braking force provided by the target of the energy recovery system, the vehicle braking device may first determine whether the vehicle bus is operating normally, if the vehicle bus is operating normally, acquire the first braking force transmitted by the energy recovery system through the vehicle bus, further determine the second braking force provided by the target of the braking element based on the target electrical signal and the first braking force, and if the vehicle bus is not operating normally, determine the second braking force provided by the target of the braking element based on the target electrical signal, so that the second braking force is equal to the braking force corresponding to the pedal depth.
S104, controlling vehicle braking based on the first braking force and the second braking force.
In the embodiment of the disclosure, the vehicle braking device may control the vehicle to complete braking according to the first braking force and the second braking force after determining the first braking force and the second braking force.
In an exemplary implementation manner of the embodiment of the disclosure, after obtaining the first braking force and the second braking force, the vehicle braking device may control the energy recovery system to generate a certain moment when converting kinetic energy into electric energy, and provide the first braking force for the vehicle through the moment, and simultaneously control the compression degree of the braking element, such as a brake disc, so that the brake disc provides the second braking force for the vehicle, thereby realizing braking of the vehicle.
According to the embodiment of the disclosure, the target electric signal sent by the brake pedal is obtained by responding to the fact that the brake pedal is stepped on, the target electric signal is used for representing the magnitude of braking force corresponding to the depth of the pedal, the first braking force provided by the energy recovery system target is obtained, the second braking force provided by the brake element target is determined based on the target electric signal and the first braking force, so that the sum of the first braking force and the second braking force is equal to the braking force corresponding to the depth of the pedal, the vehicle braking is controlled based on the first braking force and the second braking force, the magnitude of the braking force can be determined by the electric signal under the condition that a new mechanical part is not added and a traditional circuit is changed, when the energy recovery system and the brake element jointly provide the braking force, the total braking force provided by the energy recovery system and the brake element corresponds to the stepped-on depth of the brake pedal, a driver can conveniently pre-judge the braking distance according to the depth of the pedal, driving safety is guaranteed, and meanwhile the deployment cost is reduced.
Fig. 2 is a flowchart of a method of determining a second braking force provided by an embodiment of the present disclosure, and as shown in fig. 2, the second braking force may be determined by the following method on the basis of the above-described embodiment.
S201, determining a first electric signal corresponding to the first braking force.
The first electrical signal in the embodiments of the present disclosure may be understood as an electrical signal that characterizes the magnitude of the first braking force, which is less than or equal to the target electrical signal because the first braking force is less than or equal to the braking force corresponding to the target electrical signal.
In an exemplary implementation manner of the embodiment of the present disclosure, the vehicle braking device may calculate a first electrical signal corresponding to the first braking force based on a conversion formula between the braking force and the electrical signal, and specifically, may calculate the first electrical signal corresponding to the first braking force by the following formula:
U 1 =F 1 /b/（a+k+v 2 ）
wherein U is 1 Represents a first electrical signal, F 1 Representing a first braking force.
S202, determining a difference value between the target electric signal and the first electric signal as a second electric signal.
The second electrical signal in the embodiments of the present disclosure may be understood as an electrical signal that characterizes a second braking force magnitude.
In the embodiment of the disclosure, the vehicle braking device may calculate a difference between the target electric signal and the first electric signal and determine the difference as the second electric signal, i.e., U 2 =U 0 -U 1 ，U 2 Representing the second electrical signal.
S203, determining a second braking force based on the second electric signal.
In the embodiment of the disclosure, after determining the second electric signal, the vehicle braking device may determine, according to a conversion formula between the braking force and the electric signal, the second braking force corresponding to the second electric signal, and specifically, may calculate the second braking force corresponding to the second electric signal by using the following formula:
F 2 =U 2 *b*（a+k+v 2 ）
wherein F is 2 Representing a second braking force.
According to the method and the device for determining the second braking force, the first electric signal corresponding to the first braking force is determined, the difference value between the target electric signal and the first electric signal is determined to be the second electric signal, and the second braking force is determined based on the second electric signal, so that the magnitude of the second braking force required to be provided by the braking element can be obtained through electric signal calculation under the condition that a new mechanical part is not added or a traditional circuit is not changed, and the deployment cost is reduced.
Fig. 3 is a flowchart of another method of determining the second braking force provided by the embodiment of the present disclosure, and as shown in fig. 3, the second braking force may be determined by the following method on the basis of the above-described embodiment.
S301, a first electric signal is sent to an anti-lock brake system through a vehicle bus.
An Anti-lock brake system (ABS) in an embodiment of the present disclosure may be understood as a control system that automatically controls the magnitude of braking force of a mechanical braking element so that wheels are not locked when a vehicle is braked.
The vehicle bus in the embodiments of the present disclosure may be understood as a controller area network bus (Controller Area Network, CAN) for connecting the energy recovery system and the antilock brake system for communication therebetween.
In the embodiment of the disclosure, the vehicle braking device may send the first electric signal to the anti-lock braking system from the energy recovery system through the vehicle bus after calculating the first electric signal.
S302, controlling the anti-lock brake system to determine a difference value between the target electric signal and the first electric signal as a second electric signal.
In the embodiment of the present disclosure, the vehicle braking device may control the anti-lock braking system to calculate a difference between the target electric signal and the first electric signal and determine it as the second electric signal after transmitting the first electric signal to the anti-lock braking system through the vehicle bus.
S303, controlling the anti-lock braking system to determine a second braking force based on the second electric signal.
In the embodiment of the disclosure, the vehicle braking device may control the anti-lock braking system to determine the second braking force corresponding to the second electric signal according to a conversion formula between the braking force and the electric signal after determining the second electric signal.
According to the embodiment of the disclosure, the first electric signal is sent to the anti-lock brake system through the vehicle bus, the anti-lock brake system is controlled to determine the difference value between the target electric signal and the first electric signal as the second electric signal, the anti-lock brake system is controlled to determine the second braking force based on the second electric signal, interaction between the HCU and the ABS CAN be realized through the CAN bus, the ABS is controlled to determine the second braking force provided by the controlled brake element target, corresponding functions are realized by utilizing each part of the vehicle, a controller or other parts are not required to be additionally arranged, and the deployment cost is reduced.
Fig. 4 is a flowchart of a method of determining a first braking force provided by an embodiment of the present disclosure. As shown in fig. 4, on the basis of the above-described embodiment, the first braking force may be determined by the following method.
S401, acquiring state information of a vehicle, wherein the state information comprises battery electric quantity, generator state and vehicle speed information.
The state of the generator in the embodiments of the present disclosure may be understood as whether the generator is operating normally.
In the embodiment of the disclosure, the vehicle braking device may first acquire the state information of the vehicle including the battery level, the generator state, and the vehicle speed information before braking, before acquiring the first braking force provided by the energy recovery system target.
In an exemplary implementation of the disclosed embodiment, the vehicle braking device may acquire the electric quantity information of the battery and the vehicle speed information measured by the sensor for measuring the vehicle speed in real time, and periodically detect whether the generator is operating normally.
S402, determining whether preset conditions for energy recovery are met or not based on the target electric signals and the state information.
The preset condition in the embodiment of the present disclosure may be understood as a preset precondition for turning on the energy recovery function.
In the embodiment of the disclosure, the vehicle braking device may determine whether the target electric signal and the state information satisfy a precondition for turning on the energy recovery function after obtaining the target electric signal and the state information.
And S403, if the first braking force provided by the energy recovery system target is obtained, executing the step of obtaining the first braking force provided by the energy recovery system target.
In the embodiment of the present disclosure, the vehicle braking device may execute the step of acquiring the first braking force provided by the energy recovery system target in S102 when it is determined that the currently obtained target electrical signal and the state information of the vehicle satisfy the preset condition for starting the energy recovery function.
And S404, if the braking force does not meet the braking force, determining that the first braking force is zero.
In the embodiment of the disclosure, the vehicle braking device may determine that the first braking force provided by the energy recovery system target is zero when it is determined that the currently obtained target electrical signal and the state information of the vehicle do not satisfy the preset condition for starting the energy recovery function.
According to the method and the device for acquiring the first braking force provided by the energy recovery system target, the state information of the vehicle is acquired, the state information comprises the battery electric quantity, the generator state and the vehicle speed information, whether the preset condition of energy recovery is met is determined based on the target electric signal and the state information, if yes, the step of acquiring the first braking force provided by the energy recovery system target is executed, if not, the step of determining that the first braking force is zero can be performed, whether the current condition meets the condition of starting the energy recovery function or not is determined, the size of the first braking force is determined in different modes, and therefore the situation that when the energy recovery system does not work, the second braking force cannot be determined due to the fact that the first braking force provided by the energy recovery system target cannot be obtained is avoided, vehicle braking cannot be controlled, and driving safety is further improved.
In some embodiments of the present disclosure, the preset condition is that the value of the target electrical signal is greater than a preset value, the battery is not full, the generator is operating properly, and the vehicle speed is greater than a preset vehicle speed.
Specifically, the vehicle braking device may execute the step in S102 when it is determined that the value of the target electrical signal is greater than a preset value, the electric quantity of the battery is in an underfilling state, the generator operates normally, and the vehicle speed before braking is greater than a preset vehicle speed, where the preset value and the preset vehicle speed may be set by themselves according to needs, and the present application is not limited herein.
Fig. 5 is a flowchart of a method of determining a source of braking force according to an embodiment of the present disclosure, and as shown in fig. 5, the source of braking force may be determined as follows on the basis of the above-described embodiment.
S501, sending the target electric signal to an anti-lock brake system through a hard wire.
In the embodiment of the disclosure, the vehicle braking device may send the target electric signal from the brake pedal to the anti-lock braking system through a hard wire after the brake pedal is depressed to send the target electric signal.
S502, judging whether the vehicle bus works normally.
In the embodiment of the disclosure, the vehicle braking device can acquire the working state of the vehicle bus and judge whether the vehicle bus works normally.
In an exemplary implementation manner of the embodiment of the present disclosure, the vehicle braking device may periodically detect a communication state of the vehicle bus, and determine whether the vehicle bus is operating normally.
In another exemplary implementation of the disclosed embodiment, the vehicle braking device may receive status information of the vehicle bus generated by periodic self-inspection of the vehicle machine, and determine whether the vehicle bus is operating normally according to the status information.
And S503, if the vehicle works normally, controlling the anti-lock braking system to send a target electric signal to the energy recovery system through the vehicle bus.
In the embodiment of the disclosure, when the vehicle braking device determines that the vehicle bus is working normally, it is determined that the anti-lock braking system and the energy recovery system can communicate, and at this time, the anti-lock braking system is controlled to send the target electric signal generated by the brake pedal to the energy recovery system through the vehicle bus.
And S504, if the vehicle does not work normally, controlling the anti-lock braking system to determine a second braking force based on the target electric signal.
In the embodiment of the disclosure, when the vehicle braking device determines that the vehicle bus does not work normally, it may be determined that communication between the anti-lock braking system and the energy recovery system is not possible, and at this time, the target electric signal cannot be sent to the energy recovery system through the vehicle bus, and the energy recovery system cannot generate the first braking force, so that the anti-lock braking system is controlled to directly determine the second braking force corresponding to the target electric signal based on the target electric signal.
According to the method and the device for controlling the anti-lock braking system, whether the vehicle bus works normally or not is judged by sending the target electric signal to the anti-lock braking system through a hard wire, if the vehicle bus works normally, the anti-lock braking system is controlled to send the target electric signal to the energy recovery system through the vehicle bus, if the vehicle bus does not work normally, the anti-lock braking system is controlled to determine the second braking force based on the target electric signal, whether the vehicle bus communicating between the anti-lock braking system and the energy recovery system works normally or not can be judged, and if the signal interaction fails, the energy recovery system can not provide the braking force, the anti-lock braking system provides all braking force corresponding to the pedal depth, potential safety hazards possibly existing are eliminated, and driving safety is further improved.
Fig. 6 is a schematic structural view of a vehicle braking device according to an embodiment of the present disclosure. As shown in fig. 6, the vehicle brake device 600 includes: the device comprises a first acquisition module 610, a second acquisition module 620, a first determination module 630 and a braking module 640, wherein the first acquisition module 610 is used for acquiring a target electric signal sent by a brake pedal in response to the brake pedal being stepped on, and the target electric signal is used for representing the braking force corresponding to the pedal depth and positively correlated with the braking force corresponding to the pedal depth; a second acquisition module 620 for acquiring a first braking force provided by the energy recovery system target; a first determining module 630, configured to determine, based on the target electric signal and the first braking force, a second braking force that is provided by the braking element target such that a sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth; a braking module 640 for controlling vehicle braking based on the first braking force and the second braking force.
Optionally, the vehicle braking device 600 further includes: the second determining module is used for determining a first electric signal corresponding to the first braking force; the first determining module 630 includes: a first determining unit configured to determine a difference between the target electrical signal and the first electrical signal as a second electrical signal; and a second determining unit configured to determine a second braking force based on the second electric signal.
Optionally, the vehicle braking device 600 further includes: the first sending module is used for sending a first electric signal to the anti-lock braking system through a vehicle bus; the first determining module 630 includes: a third determining unit for controlling the anti-lock brake system to determine a difference between the target electric signal and the first electric signal as a second electric signal; and a control unit for controlling the antilock brake system to determine the second braking force based on the second electric signal.
Optionally, the vehicle braking device 600 further includes: the third acquisition module is used for acquiring state information of the vehicle, wherein the state information comprises battery electric quantity, generator state and vehicle speed information; the third determining module is used for determining whether preset conditions of energy recovery are met or not based on the target electric signals and the state information; the execution module is used for executing the step of acquiring the first braking force provided by the energy recovery system target if the first braking force is met; and the fourth determining module is used for determining that the first braking force is zero if the first braking force is not satisfied.
Optionally, the preset condition is that the value of the target electric signal is larger than a preset value, the battery is not full, the generator operates normally and the vehicle speed is larger than a preset vehicle speed.
Optionally, the vehicle braking device 600 further includes: the second sending module is used for sending the target electric signal to the anti-lock braking system through a hard wire; the judging module is used for judging whether the vehicle bus works normally or not; the first control module is used for controlling the anti-lock braking system to send a target electric signal to the energy recovery system through the vehicle bus if the first control module works normally; and the second control module is used for controlling the anti-lock braking system to determine a second braking force based on the target electric signal if the anti-lock braking system does not work normally.
The method described in any one of the foregoing embodiments can be executed by the vehicle braking device according to the present embodiment, and the execution manner and the beneficial effects of the method are similar, and are not described herein again.
Fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
As shown in fig. 7, the computer device may include a processor 710 and a memory 720 storing computer program instructions.
In particular, the processor 710 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 720 may include mass storage for information or instructions. By way of example, and not limitation, memory 720 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of these. Memory 720 may include removable or non-removable (or fixed) media, where appropriate. Memory 720 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 720 is a non-volatile solid state memory. In a particular embodiment, the Memory 720 includes Read-Only Memory (ROM). The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (Electrical Programmable ROM, EPROM), electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), electrically rewritable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.
The processor 710 reads and executes the computer program instructions stored in the memory 720 to perform the steps of the vehicle braking method provided by the embodiments of the present disclosure.
In one example, the computer device may also include a transceiver 730 and a bus 740. As shown in fig. 7, the processor 710, the memory 720, and the transceiver 730 are connected and communicate with each other through a bus 740.
Bus 740 includes hardware, software, or both. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics BUS, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) BUS, a Front Side BUS (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industrial Standard Architecture, ISA) BUS, an InfiniBand interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a micro channel architecture (Micro Channel Architecture, MCa) BUS, a peripheral control interconnect (Peripheral Component Interconnect, PCI) BUS, a PCI-Express (PCI-X) BUS, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) BUS, a video electronics standards association local (Video Electronics Standards Association Local Bus, VLB) BUS, or other suitable BUS, or a combination of two or more of these. Bus 740 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
The present disclosure also provides a computer-readable storage medium, which may store a computer program that, when executed by a processor, causes the processor to implement the vehicle braking method provided by the embodiments of the present disclosure.
The storage medium described above may, for example, include a memory 720 of computer program instructions executable by the processor 710 of the vehicle braking device to perform the vehicle braking method provided by the embodiments of the present disclosure. Alternatively, the storage medium may be a non-transitory computer readable storage medium, for example, a ROM, a random access memory (Random Access Memory, RAM), a Compact Disc ROM (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like. The computer programs described above may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The embodiment of the disclosure further provides a vehicle, which includes a memory, a processor, and a computer program, where the memory stores the computer program, and when the computer program is executed by the processor, the processes and effects in the foregoing embodiments of the disclosure may be implemented, which is not described herein.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle braking method, characterized by comprising:
in response to a brake pedal being stepped on, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth;
acquiring a first braking force provided by an energy recovery system target;
determining a second braking force provided by a braking element target based on the target electric signal and the first braking force so that the sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth;
vehicle braking is controlled based on the first braking force and the second braking force.
2. The method of claim 1, wherein after the obtaining the first braking force provided by the energy recovery system target, the method further comprises:
determining a first electric signal corresponding to the first braking force;
the determining a second braking force provided by a braking element target based on the target electrical signal and the first braking force includes:
determining a difference between the target electrical signal and the first electrical signal as a second electrical signal;
the second braking force is determined based on the second electrical signal.
3. The method of claim 2, wherein after the determining the first electrical signal corresponding to the first braking force, the method further comprises:
transmitting the first electrical signal to an antilock braking system via a vehicle bus;
the determining a second braking force provided by a braking element target based on the target electrical signal and the first braking force includes:
controlling the anti-lock brake system to determine a difference between the target electric signal and the first electric signal as a second electric signal;
the antilock brake system is controlled to determine the second braking force based on the second electric signal.
4. The method of claim 1, wherein prior to the obtaining the first braking force provided by the energy recovery system target, the method further comprises:
acquiring state information of a vehicle, wherein the state information comprises battery electric quantity, generator state and vehicle speed information;
determining whether a preset condition for energy recovery is satisfied based on the target electrical signal and the state information;
if yes, executing the step of acquiring the first braking force provided by the energy recovery system target;
if not, the first braking force is determined to be zero.
5. The method of claim 4, wherein the predetermined condition is that the value of the target electrical signal is greater than a predetermined value, that the battery is not full, that the generator is operating properly, and that the vehicle speed is greater than a predetermined vehicle speed.
6. The method of claim 4, wherein before determining whether a preset condition for energy recovery is met based on the target electrical signal and the status information, the method further comprises:
transmitting the target electric signal to an anti-lock braking system through a hard wire;
judging whether the vehicle bus works normally or not;
if the vehicle is in normal operation, controlling the anti-lock braking system to send the target electric signal to the energy recovery system through the vehicle bus;
and if the vehicle is not working normally, controlling the anti-lock braking system to determine the second braking force based on the target electric signal.
7. A vehicle brake device, characterized by comprising:
the first acquisition module is used for responding to the fact that a brake pedal is stepped down, acquiring a target electric signal sent by the brake pedal, wherein the target electric signal is used for representing the braking force corresponding to the pedal depth, and the target electric signal is positively correlated with the braking force corresponding to the pedal depth;
the second acquisition module is used for acquiring a first braking force provided by the energy recovery system target;
a first determining module, configured to determine a second braking force provided by a brake element target based on the target electric signal and the first braking force, so that a sum of the first braking force and the second braking force is equal to a braking force corresponding to the pedal depth;
and a braking module for controlling vehicle braking based on the first braking force and the second braking force.
8. A computer device, comprising: a memory; a processor; a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-6.
9. A computer readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the method according to any of claims 1-6.
10. A vehicle, characterized by comprising: a memory; a processor; a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310996663.2A CN116714562A (en) | 2023-08-09 | 2023-08-09 | Vehicle braking method, device, equipment, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310996663.2A CN116714562A (en) | 2023-08-09 | 2023-08-09 | Vehicle braking method, device, equipment, storage medium and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116714562A true CN116714562A (en) | 2023-09-08 |
Family
ID=87864715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310996663.2A Pending CN116714562A (en) | 2023-08-09 | 2023-08-09 | Vehicle braking method, device, equipment, storage medium and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116714562A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060091488A (en) * | 2005-02-15 | 2006-08-21 | 현대자동차주식회사 | System for distributing a regenerating brake force and an oil pressure brake force in hev and method thereof |
| CN113002321A (en) * | 2021-03-23 | 2021-06-22 | 奇瑞新能源汽车股份有限公司 | New energy automobile braking method and device, whole automobile controller and new energy automobile |
| CN114013288A (en) * | 2021-12-14 | 2022-02-08 | 上海威固信息技术股份有限公司 | Method and system for recovering kinetic energy and braking force of electric automobile |
| CN114211966A (en) * | 2022-01-30 | 2022-03-22 | 中国第一汽车股份有限公司 | Regenerative braking control method and device and vehicle |
-
2023
- 2023-08-09 CN CN202310996663.2A patent/CN116714562A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060091488A (en) * | 2005-02-15 | 2006-08-21 | 현대자동차주식회사 | System for distributing a regenerating brake force and an oil pressure brake force in hev and method thereof |
| CN113002321A (en) * | 2021-03-23 | 2021-06-22 | 奇瑞新能源汽车股份有限公司 | New energy automobile braking method and device, whole automobile controller and new energy automobile |
| CN114013288A (en) * | 2021-12-14 | 2022-02-08 | 上海威固信息技术股份有限公司 | Method and system for recovering kinetic energy and braking force of electric automobile |
| CN114211966A (en) * | 2022-01-30 | 2022-03-22 | 中国第一汽车股份有限公司 | Regenerative braking control method and device and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112109690B (en) | Automatic parking control method, device and computer readable storage medium | |
| US8818669B2 (en) | Motor vehicle regenerative braking method | |
| JP5252118B2 (en) | Vehicle control device | |
| CN107009914B (en) | Auxiliary braking system and control method of electric automobile and electric automobile | |
| EP3168098A1 (en) | Vehicle control device and vehicle control method | |
| US9783174B2 (en) | Electric parking brake control device, control method and control program, and brake system | |
| JP5273289B2 (en) | Vehicle state calculation device and vehicle control device | |
| KR102177284B1 (en) | Control method of motor on caliper based on calculated disc temperature | |
| CN116348348A (en) | Automatic parking control method and system | |
| KR20160048376A (en) | Apparatus and method for road friction coefficient estimating | |
| CN108860111B (en) | Hydraulic brake fade compensation control method and device and automobile | |
| CN108501728B (en) | Rear wheel regenerative braking control system for vehicle and method thereof | |
| KR20140083398A (en) | Method of regenerative brake cooperation control | |
| CN116714562A (en) | Vehicle braking method, device, equipment, storage medium and vehicle | |
| JP4328746B2 (en) | Method and apparatus for managing inner and outer brakes for deceleration vehicle during bend running | |
| US11691520B2 (en) | System for an electrically driven vehicle, vehicle having same and method for same | |
| CN116039589A (en) | Brake control method, device, equipment and storage medium | |
| CN114013288A (en) | Method and system for recovering kinetic energy and braking force of electric automobile | |
| CN114110059A (en) | Brake shoe service life judging method and device | |
| CN111959470B (en) | Electric vehicle braking method, electric vehicle and readable storage medium | |
| CN116461508B (en) | Vehicle control method, device, terminal and medium | |
| CN112109554A (en) | Method and device for controlling regenerative braking, storage medium and vehicle | |
| CN113460012A (en) | Vehicle braking method and device, vehicle control method and vehicle | |
| CN113291272B (en) | Vehicle braking control method, device and system | |
| US20230102024A1 (en) | Electrified vehicle |
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 |