CN116968704B - Vehicle brake control method, device, storage medium and vehicle - Google Patents
Vehicle brake control method, device, storage medium and vehicle Download PDFInfo
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- CN116968704B CN116968704B CN202311228461.XA CN202311228461A CN116968704B CN 116968704 B CN116968704 B CN 116968704B CN 202311228461 A CN202311228461 A CN 202311228461A CN 116968704 B CN116968704 B CN 116968704B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- 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
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- 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 disclosure relates to a vehicle braking control method, a vehicle braking control device, a storage medium and a vehicle, and relates to the technical field of vehicles. According to the method, the target rotating speed corresponding to the braking motor of the vehicle is determined according to the running state of the vehicle in response to the requirement of reducing the braking force of the vehicle, and the braking force output by the braking motor is reduced by controlling the braking motor through the target rotating speed, so that the vehicle can dynamically adjust the magnitude of the braking force output by the braking motor according to the real-time running state of the vehicle, and the vehicle can have better operability and stability when driving on a racing track. In particular, by dynamically adjusting the braking force output by the braking motor, the braking force hysteresis of the vehicle during drifting and bending can be reduced, so that the vehicle is better helped to drift and bending, the speed of the vehicle during racing can be increased, and better driving experience can be brought to a driver.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a vehicle braking control method, a vehicle braking control device, a storage medium and a vehicle.
Background
At present, although many vehicles have the function of a track mode, the related track mode cannot meet the requirement of a driver on a track driving scene. For example, the relevant track mode cannot meet the power control of the vehicle when drifting through a curve.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a vehicle braking control method, apparatus, storage medium, and vehicle to provide better braking force control for the vehicle in a track driving scenario to increase the speed of the vehicle in the track.
According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle brake control method including:
in response to a vehicle having a need to reduce braking force, determining a target rotational speed corresponding to a brake motor of the vehicle according to a running state of the vehicle;
and controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed.
Optionally, the running state of the vehicle includes opening degree reduction information of a brake pedal of the vehicle;
the determining, according to the running state of the vehicle, a target rotation speed corresponding to a brake motor of the vehicle includes:
and determining the target rotating speed according to the opening degree reduction information.
Optionally, the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount, and the determining the target rotation speed according to the opening degree reduction information includes:
and taking the maximum rotating speed of the brake motor as the target rotating speed under the condition that the opening degree reduction rate is larger than or equal to a first preset rate threshold value and the opening degree reduction amount is larger than or equal to a first preset stroke threshold value.
Optionally, the method further comprises:
and determining the target rotating speed according to a preset braking force attenuation curve under the condition that the opening degree reduction rate is greater than or equal to a second preset rate threshold value and the opening degree reduction amount reaches a preset travel interval, wherein the upper limit value of the preset travel interval is smaller than the first preset travel threshold value, and the target rotating speed is used for enabling the braking force output by the braking motor to be attenuated according to the braking force attenuation curve.
Optionally, the opening degree reducing information includes an opening degree reducing rate, and the determining the target rotation speed according to the opening degree reducing information includes:
and taking the maximum rotating speed of the brake motor as the target rotating speed under the condition that the opening degree reducing speed is larger than or equal to a first preset speed threshold value and the continuous time period of the opening degree reducing speed of the brake pedal is longer than a preset time period threshold value.
Optionally, the running state of the vehicle includes a front wheel load, a rear wheel load, a steering wheel swing angle, and a vehicle speed of the vehicle;
the determining, according to the running state of the vehicle, a target rotation speed corresponding to a brake motor of the vehicle includes:
and determining the target rotating speed according to the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed.
Optionally, the determining the target rotation speed according to the front wheel load, the rear wheel load, the steering wheel swing angle, and the vehicle speed includes:
inputting the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed into a trained machine learning model to obtain the target rotating speed;
the machine learning model after training is obtained by training an initial machine learning model through training samples, wherein the training samples comprise historical front wheel loads marked with rotating speeds, historical rear wheel loads, historical steering wheel swinging angles and historical vehicle speeds.
According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle brake control device including:
a determining module configured to determine a target rotational speed corresponding to a brake motor of a vehicle according to a running state of the vehicle in response to a need for the vehicle to reduce a braking force;
and a control module configured to control the brake motor to reduce a braking force output by the brake motor through the target rotation speed.
According to a third aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle brake control method provided by the first aspect of the present disclosure.
According to a fourth aspect of embodiments of the present disclosure, there is provided a vehicle comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
in response to a vehicle having a need to reduce braking force, determining a target rotational speed corresponding to a brake motor of the vehicle according to a running state of the vehicle;
and controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: by responding to the requirement of reducing the braking force of the vehicle, determining the target rotating speed corresponding to the braking motor of the vehicle according to the running state of the vehicle and controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed, the vehicle can dynamically adjust the magnitude of the braking force output by the braking motor according to the real-time running state of the vehicle, and therefore the vehicle can have better controllability and stability when driving on a racing track. In particular, by dynamically adjusting the braking force output by the braking motor, the braking force hysteresis of the vehicle during drifting and bending can be reduced, so that the vehicle is better helped to drift and bending, the speed of the vehicle during racing can be increased, and better driving experience can be brought to a driver.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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.
Fig. 1 is a flowchart illustrating a vehicle brake control method according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating a structure of an EMB according to an exemplary embodiment.
FIG. 3 is a schematic diagram illustrating a path of a vehicle as it drifts through a curve, according to an example embodiment.
Fig. 4 is a schematic diagram showing a change in the opening degree of a brake pedal of a vehicle when the vehicle drifts over a curve according to an exemplary embodiment.
Fig. 5 is a schematic diagram showing a braking force variation corresponding to a vehicle braking control method according to an exemplary embodiment.
Fig. 6 is a block diagram of a vehicle brake control device according to an exemplary embodiment.
Fig. 7 is a block diagram of a vehicle, according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Fig. 1 is a flowchart illustrating a vehicle brake control method according to an exemplary embodiment. As shown in fig. 1, the embodiment of the present disclosure provides a vehicle brake control method, which may be performed by a vehicle, and in particular, may be performed by a vehicle brake control device, which may be implemented by software and/or hardware and configured in the vehicle. As shown in fig. 1, the method may include the following steps.
In step 110, in response to the vehicle having a need to reduce braking force, a target rotational speed corresponding to a brake motor of the vehicle is determined according to a driving state of the vehicle.
Here, the vehicle brake control method provided by the embodiment of the present disclosure may be performed in a case where the vehicle turns on the track mode. Of course, the vehicle braking control method provided by the embodiment of the present disclosure may also be executed in a case where the track mode is not turned on by the vehicle. The track mode is a vehicle running mode which is specially designed for the track, is controlled by taking performance as a guide and is configured for the track driving. When the vehicle is traveling on the track, the driver can improve the drivability of the vehicle by turning on the track mode.
Illustratively, the driver may turn on the racetrack mode via a racetrack mode switch provided on the accelerator pedal. Of course, the driver may also turn on the racetrack mode by a virtual switch provided on the central control screen or by a physical key provided on the vehicle.
When the vehicle starts the track mode, the vehicle detects whether the vehicle has a requirement of reducing braking force in real time. When it is detected that there is a need for reducing braking force of the vehicle, the vehicle executes the vehicle braking control method provided by the embodiment of the present disclosure.
Wherein the need for a vehicle to reduce braking force means that the braking system of the vehicle needs to reduce the braking force output. The vehicle can determine whether the vehicle has a need to reduce braking force by detecting an opening amount variation of a brake pedal of the vehicle. For example, when the driver releases the brake pedal of the vehicle, a brake pedal sensor provided at the brake pedal detects a decrease in the opening degree of the brake pedal, indicating that there is a need for reducing the braking force of the vehicle. It will be appreciated that during track travel, there is generally a need to reduce braking forces in the event of over-bending.
When it is detected that there is a need for reducing braking force of the vehicle, the vehicle determines a target rotational speed corresponding to a brake motor of the vehicle according to a running state of the vehicle in response to the need. The target rotational speed is used to reduce the braking force output by the brake motor.
It is worth noting that in the embodiments of the present disclosure, the braking system of the vehicle is an EMB (Electromechanical Brake ). Fig. 2 is a schematic diagram of an EMB structure according to an exemplary embodiment, as shown in fig. 2, a brake pedal sensor 202 detects an opening signal of a brake pedal 201, and transmits the opening signal to a controller 203, and the controller 203 calculates a magnitude of a braking force output by a brake motor 204 provided at a wheel according to the opening signal, and the brake motor 204 outputs a corresponding braking force to control the vehicle to brake.
The running state of the vehicle means information such as opening degree reduction information of a brake pedal, front wheel load, rear wheel load, steering wheel swing angle, and vehicle speed of the vehicle. The target rotational speed corresponding to the brake motor of the vehicle may be determined according to a correspondence between the running state of the vehicle and the rotational speed of the brake motor.
It should be noted that the target rotational speed is understood as a vector, i.e. the target rotational speed indicates the rotational direction and the rotational speed of the brake motor. For example, the braking motor forward rotation increases the braking force output by the braking motor, and the braking motor reverse rotation decreases the braking force output by the braking motor. Accordingly, the rotation direction of the target rotation speed is reverse rotation.
In step 120, control decreases the braking force output by the brake motor by the target rotational speed.
Here, the vehicle controls the brake motor to rotate at a target rotation speed to reduce the magnitude of the braking force output by the brake motor according to the target rotation speed. For example, when the magnitude of the rotation speed corresponding to the target rotation speed is the maximum rotation speed of the brake motor, the brake motor is controlled to reverse at the maximum rotation speed, so that the brake motor reduces the braking force output at the maximum capacity, thereby enabling the vehicle to quickly resume the power output.
It should be noted that the target rotation speed may refer to the same target rotation speed provided at the 4 brake motors. Of course, the target rotational speed may be a target rotational speed at which each brake motor has its corresponding.
Therefore, by responding to the requirement of reducing the braking force of the vehicle, determining the target rotating speed corresponding to the braking motor of the vehicle according to the running state of the vehicle and controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed, the vehicle can dynamically adjust the magnitude of the braking force output by the braking motor according to the real-time running state of the vehicle, and therefore the vehicle can have better operability and stability when driving on a racing track. In particular, by dynamically adjusting the braking force output by the braking motor, the braking force hysteresis of the vehicle during drifting and bending can be solved, so that the vehicle is better helped to drift and bending, the speed of the vehicle during racing can be increased, and better driving experience can be brought to a driver.
In some possible embodiments, the running state of the vehicle includes opening degree reduction information of the brake pedal. The opening degree of the brake pedal refers to the opening degree of the brake pedal caused by the force exerted on the brake pedal by a driver. The greater the force applied to the brake pedal, the greater the opening of the brake pedal. The opening degree reduction information of the brake pedal may refer to information about the opening degree of the brake pedal becoming smaller. The vehicle may detect the opening degree reduction information by a brake pedal sensor. When the force exerted by the driver on the brake pedal is reduced, the brake stroke of the brake pedal starts to be reduced, and the brake pedal release information acquired by the brake pedal sensor is opening degree reduction information.
Accordingly, in step 110, the target rotation speed may be determined according to the opening degree reduction information.
Wherein, the target rotation speed can be determined according to the corresponding relation between the opening degree reduction information and the rotation speed. It should be understood that different opening degree reduction information may correspond to different target rotational speeds. The larger the opening degree reduction value amount and/or opening degree reduction rate represented by the opening degree reduction information is, the larger the target rotation speed is. For example, when the opening degree reduction information indicates that the driver releases the brake pedal quickly, one target rotational speed is corresponding, and when the opening degree reduction information indicates that the driver releases the brake pedal slowly, one target rotational speed is corresponding.
In some embodiments, the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount.
Wherein the opening degree decrease rate refers to a speed at which the opening degree of the brake pedal decreases, such as a speed at which the opening degree of the brake pedal decreases by 10 mm/s. The opening degree decrease amount refers to the total amount by which the opening degree of the brake pedal is decreased within a preset period of time. The opening degree decrease amount may be represented by a braking stroke in which the brake pedal is decreased within a preset period of time. For example, the opening degree reduction amount of the brake pedal may be 10mm within 1 s.
In the embodiment of the present disclosure, in the case where the opening degree reduction rate is greater than or equal to the first preset rate threshold value and the opening degree reduction amount is greater than or equal to the first preset stroke threshold value, the maximum rotation speed of the brake motor is taken as the target rotation speed.
Here, when the brake pedal sensor detects that the opening degree of the brake pedal starts to decrease, if it is detected that the opening degree decrease rate of the brake pedal is greater than or equal to the first preset rate threshold value, and the opening degree of the brake pedal is continuously decreasing at the opening degree decrease rate equal to or greater than the first preset rate threshold value and is greater than or equal to the first preset stroke threshold value, the vehicle takes the maximum rotation speed of the brake motor as the target rotation speed. And under the condition that the opening degree reduction rate is greater than or equal to a first preset rate threshold value and the opening degree reduction amount is greater than or equal to a first preset travel threshold value, the brake motor is reversed at the maximum rotation speed and operates at the maximum capacity until the braking force output by the brake motor is reduced to 0, so that the braking force output by the brake motor is quickly reduced.
It should be appreciated that the opening degree reduction rate is greater than or equal to the first preset rate threshold value and the opening degree reduction amount is greater than or equal to the first preset travel threshold value, indicating that the driver wishes the vehicle to be able to quickly reduce the braking force output to quickly resume the vehicle. At this time, the vehicle controls the brake motor to reduce the braking force output by the brake motor at the maximum rotation speed so that the braking force output by the brake motor is rapidly reduced to 0.
Illustratively, the first preset rate threshold may be 60mm/s and the first preset travel threshold may be 30mm. Of course, the first preset speed threshold and the first preset travel threshold may also be set according to actual situations.
Therefore, when the opening degree reduction rate is greater than or equal to the first preset rate threshold value and the opening degree reduction amount is greater than or equal to the first preset travel threshold value, the maximum rotation speed of the brake motor is taken as the target rotation speed, so that the brake motor is rapidly controlled to reduce the output braking force of the brake motor with the maximum capability under the condition that a driver needs to rapidly reduce the braking force, the situation that the vehicle is over-bent and accelerated due to the fact that the residual braking force influences the vehicle in the process of over-bending is avoided, the vehicle is better helped to drift and over-bending, and the speed of the vehicle is improved.
In some possible embodiments, the target rotation speed is determined according to a braking force decay curve that is configured in advance, in a case where the opening degree reduction rate is greater than or equal to a second preset rate threshold value and the opening degree reduction amount reaches a preset stroke interval.
Here, when the brake pedal sensor detects that the opening degree of the brake pedal starts to decrease, if it is detected that the opening degree decrease rate of the brake pedal is greater than or equal to the second preset rate threshold value, and the opening degree of the brake pedal is continuously decreased at the opening degree decrease rate equal to or greater than the second preset rate threshold value, and when the opening degree decrease amount reaches the range of the preset stroke interval, the vehicle determines the target rotation speed according to the braking force decrease curve configured in advance.
The upper limit value of the preset travel interval is smaller than the first preset travel threshold value. That is, the opening degree of the brake pedal is reduced by a second preset speed threshold value, and after the opening degree reduction is greater than or equal to a second preset travel threshold value, which is the lower limit value of the preset travel interval, the vehicle determines the target rotation speed according to a braking force attenuation curve configured in advance. After the opening degree reduction amount is greater than the upper limit value of the preset travel interval, the vehicle is switched to other strategy determination target rotation speed.
For example, the preset travel interval may be [0mm,30 mm), and the target rotational speed is determined when the opening degree of the brake pedal is reduced by the second preset rate threshold value, that is, according to a braking force attenuation curve configured in advance. Of course, the preset travel range may also be set according to practical situations, for example, the preset travel range may be (0 mm,20 mm), (5 mm,20 mm), and so on.
It should be appreciated that the second preset rate threshold may be less than or equal to the first preset rate threshold.
The braking motor reduces the output braking force at the target rotation speed determined according to the braking force attenuation curve, so that the braking force output by the braking motor is attenuated according to the braking force attenuation curve. In the braking force decay curve, the decay rate of the braking force increases with time.
It is worth noting that the opening degree reduction rate is greater than or equal to the second preset rate threshold value, and the opening degree reduction amount reaches the preset travel interval, which effectively represents that the driver gradually releases the brake pedal when the vehicle is in a curve.
Therefore, when the opening degree reduction rate is greater than or equal to the second preset rate threshold value and the opening degree reduction amount reaches the preset travel interval, the target rotating speed is determined according to the pre-configured braking force attenuation curve, so that the vehicle can have a better braking force distribution scheme when in the bending, and the vehicle is ensured to be in the bending better.
Of course, in other possible embodiments, the target rotational speed is determined according to a pre-configured braking force decay curve in the case where the opening degree reduction rate is greater than or equal to the second preset rate threshold value and the duration of the brake pedal decreasing the opening degree at the opening degree reduction rate is less than the target duration threshold value.
The opening reduction rate is greater than or equal to a second preset rate threshold, the duration of the opening reduction of the brake pedal at the opening reduction rate is smaller than a target duration threshold, and the driver is characterized by the fact that the driver needs to quickly reduce the braking force output.
It should be appreciated that the target duration threshold may be a set duration value. The target duration threshold may be determined by the upper and/or lower limits of the preset travel interval described above.
In some possible embodiments, the maximum rotational speed of the brake motor is set as the target rotational speed in the case where the opening degree decrease rate is greater than or equal to a first preset rate threshold value and the duration of the brake pedal decreasing the opening degree at the opening degree decrease rate is greater than a preset duration threshold value.
Here, when the brake pedal sensor detects that the opening degree of the brake pedal starts to decrease, if it is detected that the opening degree decrease rate of the brake pedal is greater than or equal to the first preset rate threshold value, and the opening degree of the brake pedal continues to decrease at the opening degree decrease rate equal to or greater than the first preset rate threshold value, and in the case where the duration time is greater than the preset duration time threshold value, the vehicle takes the maximum rotation speed of the brake motor as the target rotation speed. And under the condition that the opening reduction rate is greater than or equal to a first preset rate threshold value and the duration time of the opening reduction of the brake pedal by the opening reduction rate is longer than a preset duration threshold value, the brake motor is reversed at the maximum rotation speed and operates at the maximum capacity until the braking force output by the brake motor is reduced to 0, so that the braking force output by the brake motor is quickly reduced.
It should be appreciated that the opening rate reduction is greater than or equal to the first preset rate threshold and the duration is greater than the preset duration threshold, indicating that the driver wishes the vehicle to be able to quickly reduce the braking force output to quickly resume the vehicle. At this time, the vehicle controls the brake motor to reduce the braking force output by the brake motor at the maximum rotation speed so that the braking force output by the brake motor is rapidly reduced to 0.
It should be noted that the preset duration threshold may be determined by the first preset travel threshold, that is, the opening of the brake pedal is equal to the first preset travel threshold after the preset duration threshold is reduced at an opening reduction rate greater than or equal to the first preset rate threshold.
Therefore, when the opening degree reduction rate is greater than or equal to a first preset rate threshold value and the duration time is greater than a preset duration time threshold value, the maximum rotation speed of the brake motor is taken as the target rotation speed, so that the brake motor is rapidly controlled to reduce the output braking force of the brake motor with the maximum capability under the condition that a driver has the requirement of rapidly reducing the braking force, the phenomenon that the residual braking force of the vehicle influences the over-bending and acceleration of the vehicle in the over-bending process is avoided, the vehicle is better helped to drift and over-bending, and the speed of the vehicle is improved.
Fig. 3 is a schematic view of a path of a vehicle at the time of drifting over a curve according to an exemplary embodiment, fig. 4 is a schematic view of a change in an opening degree of a brake pedal of the vehicle at the time of drifting over a curve according to an exemplary embodiment, and fig. 5 is a schematic view of a corresponding braking force change of a vehicle braking control method according to an exemplary embodiment, and the embodiments described above are described in detail with reference to fig. 3, 4 and 5.
As shown in fig. 3, the curve drifting process of the vehicle may be divided into 6 processes. Process 1: before entering a curve, the vehicle brakes fully. Process 2: the vehicle is bent in, and the brake pedal is gradually released. Process 3: and at the critical point of the brake pedal and the accelerator, the vehicle is cut and bent. Process 4: the vehicle is about to bend out, and the vehicle is stepped on the accelerator to hold the bending center. Process 5: and (5) bending, and gradually increasing the accelerator. Process 6: and the accelerator is completely bent and is stepped on by full force.
In the course of the curve drifting, in order to ensure that the vehicle can smoothly pass the curve, a driver generally rapidly releases a brake pedal at the moment of exiting the curve and rapidly steps on an accelerator. At this time, in order to ensure that the vehicle can smoothly go out of the curve and that the vehicle can have a larger acceleration after going out of the curve, the braking force of the brake motor needs to be regulated.
As shown in fig. 4 and 5, the driver depresses the brake pedal at time 0 to t1, ensuring that the brake pedal maintains a certain braking stroke. At the time t1 to t2, the driver releases the brake pedal, the opening degree reduction rate is greater than or equal to a second preset rate threshold value, and the opening degree reduction amount reaches a preset travel interval, a target rotating speed is determined according to a preset braking force reduction curve, and the brake motor is controlled to reduce braking force output according to the target rotating speed. At time t2-t3, the driver continues to release the brake pedal, the opening degree reduction rate is greater than or equal to the first preset rate threshold value, and the opening degree reduction amount is greater than or equal to the first preset stroke threshold value, and the brake motor reduces the brake force output at the maximum rotation speed, so that the brake motor can reduce the brake force output at the maximum capacity, and the brake force output by the brake motor is quickly reduced to 0. At time t4, the opening degree of the brake pedal becomes 0.
It should be understood that, as shown in fig. 4 and fig. 5, by the vehicle brake control method provided by the embodiment of the present disclosure, in the case that the opening degree of the brake pedal has not reached 0, the braking force output by the brake motor may become 0, so as to ensure that the vehicle can be rapidly bent, and better acceleration performance can be achieved after the vehicle is bent. In the prior art, the braking motor reduces the braking force output according to a hysteresis curve, and the braking force output by the braking motor is reduced to 0 at the time t 5. Compared with the prior art, the vehicle braking control method provided by the embodiment of the disclosure can quickly reduce the braking force output by the braking motor, so that the vehicle can quickly drift and pass the curve.
In some implementations that may be implemented, the target rotational speed is determined based on the front wheel load, the rear wheel load, the steering wheel swing angle, and the vehicle speed in step 110.
Here, the target rotation speed may be determined from the front wheel load, the rear wheel load, the steering wheel swing angle, and the correspondence between the vehicle speed and the rotation speed. It should be understood that in this correspondence, different front wheel loads, rear wheel loads, steering wheel swing angles, and vehicle speeds may correspond to different rotational speeds.
It should be appreciated that by the front wheel load, the rear wheel load, the steering wheel swing angle, and the vehicle speed, it is possible to determine the steady state of the vehicle body in the case where there is a need to reduce the braking force, and thus determine how to reduce the braking force output by the brake motor based on the steady state of the vehicle body.
In some embodiments, the front wheel load, rear wheel load, steering wheel swing angle, and vehicle speed may be input into a trained machine learning model to obtain a target rotational speed.
The training machine learning model is obtained by training an initial machine learning model through training samples. The training samples may be a historical front wheel load, a historical rear wheel load, a historical steering wheel swing angle, and a historical vehicle speed marked with rotational speed.
It should be noted that, the machine learning model provided by the embodiments of the present disclosure may be a neural network model, a logistic regression model, a support vector machine, and so on.
Therefore, the target rotating speed is determined through the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed, and the running states of all aspects of the vehicle can be comprehensively considered to determine how to reduce the braking force output by the braking motor, so that the optimal braking force reduction scheme can be provided when the vehicle runs in the racing mode.
Fig. 6 is a block diagram of a vehicle brake control device according to an exemplary embodiment. Referring to fig. 6, the vehicle brake control apparatus 600 includes:
a determining module 601 configured to determine a target rotation speed corresponding to a brake motor of a vehicle according to a running state of the vehicle in response to a need for the vehicle to reduce a braking force;
a control module 602 configured to control the brake motor to reduce a braking force output by the brake motor by the target rotational speed.
Optionally, the running state of the vehicle includes opening degree reduction information of a brake pedal of the vehicle; the determining module 601 is specifically configured to:
and determining the target rotating speed according to the opening degree reduction information.
Optionally, the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount, and the determining module 601 is specifically configured to:
and taking the maximum rotating speed of the brake motor as the target rotating speed under the condition that the opening degree reduction rate is larger than or equal to a first preset rate threshold value and the opening degree reduction amount is larger than or equal to a first preset stroke threshold value.
Optionally, the determining module 601 is further configured to:
and determining the target rotating speed according to a preset braking force attenuation curve under the condition that the opening degree reduction rate is greater than or equal to a second preset rate threshold value and the opening degree reduction amount reaches a preset travel interval, wherein the upper limit value of the preset travel interval is smaller than the first preset travel threshold value, and the target rotating speed is used for enabling the braking force output by the braking motor to be attenuated according to the braking force attenuation curve.
Optionally, the first preset speed threshold is 60mm/s, and the first preset stroke threshold is 30mm.
Optionally, the running state of the vehicle includes a front wheel load, a rear wheel load, a steering wheel swing angle, and a vehicle speed of the vehicle; the determining module 601 is specifically configured to:
and determining the target rotating speed according to the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed.
Optionally, the determining module 601 is specifically configured to:
inputting the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed into a trained machine learning model to obtain the target rotating speed;
the machine learning model after training is obtained by training an initial machine learning model through training samples, wherein the training samples comprise historical front wheel loads marked with rotating speeds, historical rear wheel loads, historical steering wheel swinging angles and historical vehicle speeds.
With respect to the vehicle brake control apparatus 600 in the above-described embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment regarding the method, and will not be explained in detail here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle brake control method provided by the present disclosure.
Fig. 7 is a block diagram of a vehicle, according to an exemplary embodiment. For example, vehicle 700 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 700 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 7, a vehicle 700 may include various subsystems, such as an infotainment system 710, a perception system 720, a decision control system 730, a drive system 740, and a computing platform 750. Vehicle 700 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 700 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 710 may include a communication system, an entertainment system, a navigation system, and the like.
The sensing system 720 may include several sensors for sensing information of the environment surrounding the vehicle 700. For example, the sensing system 720 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 730 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 740 may include components that provide powered movement of the vehicle 700. In one embodiment, drive system 740 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 700 are controlled by the computing platform 750. Computing platform 750 may include at least one processor 751 and memory 752, processor 751 may execute instructions 753 stored in memory 752.
The processor 751 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 752 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 753, memory 752 may also store data such as road maps, route information, vehicle location, direction, speed, etc. The data stored by memory 752 may be used by computing platform 750.
In an embodiment of the present disclosure, the processor 751 may execute instructions 753 to perform all or part of the steps of the vehicle brake control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle brake control method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A vehicle brake control method characterized by comprising:
under the condition that a vehicle starts a track mode, responding to the need of reducing braking force of the vehicle, and determining a target rotating speed corresponding to a braking motor of the vehicle according to the running state of the vehicle;
controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed;
the running state of the vehicle includes opening degree reduction information of a brake pedal of the vehicle;
the determining, according to the running state of the vehicle, a target rotation speed corresponding to a brake motor of the vehicle includes:
determining the target rotating speed according to the opening degree reduction information;
the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount, and the determining the target rotation speed according to the opening degree reduction information includes:
and taking the maximum rotating speed of the brake motor as the target rotating speed when the opening degree reduction rate is larger than or equal to a first preset rate threshold value and the opening degree reduction amount is larger than or equal to a first preset stroke threshold value, wherein the target rotating speed is used for controlling the brake motor to rotate reversely at the maximum rotating speed until the braking force output by the brake motor is reduced to 0.
2. The method according to claim 1, wherein the method further comprises:
and determining the target rotating speed according to a preset braking force attenuation curve under the condition that the opening degree reduction rate is greater than or equal to a second preset rate threshold value and the opening degree reduction amount reaches a preset travel interval, wherein the upper limit value of the preset travel interval is smaller than the first preset travel threshold value, and the target rotating speed is used for enabling the braking force output by the braking motor to be attenuated according to the braking force attenuation curve.
3. The method according to claim 1, wherein the opening degree reduction information includes an opening degree reduction rate, and the determining the target rotation speed from the opening degree reduction information includes:
and taking the maximum rotating speed of the brake motor as the target rotating speed when the opening degree reducing speed is larger than or equal to a first preset speed threshold value and the duration time of the opening degree reducing speed of the brake pedal by the opening degree reducing speed is longer than a preset duration threshold value, wherein the target rotating speed is used for controlling the brake motor to rotate reversely at the maximum rotating speed until the braking force output by the brake motor is reduced to 0.
4. The method of claim 1, wherein the driving conditions of the vehicle include a front wheel load, a rear wheel load, a steering wheel swing angle, and a vehicle speed of the vehicle;
the determining, according to the running state of the vehicle, a target rotation speed corresponding to a brake motor of the vehicle includes:
and determining the target rotating speed according to the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed.
5. The method of claim 4, wherein said determining said target rotational speed based on said front wheel load, said rear wheel load, said steering wheel swing angle, and said vehicle speed comprises:
inputting the front wheel load, the rear wheel load, the steering wheel swing angle and the vehicle speed into a trained machine learning model to obtain the target rotating speed;
the machine learning model after training is obtained by training an initial machine learning model through training samples, wherein the training samples comprise historical front wheel loads marked with rotating speeds, historical rear wheel loads, historical steering wheel swinging angles and historical vehicle speeds.
6. A vehicle brake control apparatus characterized by comprising:
a determining module configured to determine a target rotational speed corresponding to a brake motor of a vehicle according to a running state of the vehicle in response to a need for the vehicle to reduce a braking force in a case where the vehicle starts a track mode;
a control module configured to control the brake motor to reduce a braking force output by the brake motor by the target rotational speed;
the running state of the vehicle includes opening degree reduction information of a brake pedal of the vehicle; the determination module is specifically configured to:
determining the target rotating speed according to the opening degree reduction information;
the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount, and the determination module is specifically configured to:
and taking the maximum rotating speed of the brake motor as the target rotating speed when the opening degree reduction rate is larger than or equal to a first preset rate threshold value and the opening degree reduction amount is larger than or equal to a first preset stroke threshold value, wherein the target rotating speed is used for controlling the brake motor to rotate reversely at the maximum rotating speed until the braking force output by the brake motor is reduced to 0.
7. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 5.
8. A vehicle, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
under the condition that a vehicle starts a track mode, responding to the need of reducing braking force of the vehicle, and determining a target rotating speed corresponding to a braking motor of the vehicle according to the running state of the vehicle;
controlling the braking motor to reduce the braking force output by the braking motor through the target rotating speed;
the running state of the vehicle includes opening degree reduction information of a brake pedal of the vehicle;
the determining, according to the running state of the vehicle, a target rotation speed corresponding to a brake motor of the vehicle includes:
determining the target rotating speed according to the opening degree reduction information;
the opening degree reduction information includes an opening degree reduction rate and an opening degree reduction amount, and the determining the target rotation speed according to the opening degree reduction information includes:
and taking the maximum rotating speed of the brake motor as the target rotating speed when the opening degree reduction rate is larger than or equal to a first preset rate threshold value and the opening degree reduction amount is larger than or equal to a first preset stroke threshold value, wherein the target rotating speed is used for controlling the brake motor to rotate reversely at the maximum rotating speed until the braking force output by the brake motor is reduced to 0.
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| CN116968704A (en) | 2023-10-31 |
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