CN117621840A - Vehicle braking method, device and system and vehicle - Google Patents

Abstract

The invention provides a vehicle braking method, a device, a system and a vehicle, wherein the method is applied to a main braking controller and comprises the following steps: acquiring an expected braking parameter value of the vehicle; sending the expected braking parameter value to a power controller for electric braking; acquiring an actual braking parameter value of the electric braking of the vehicle; and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value. Therefore, when the electric braking effect is insufficient, the main braking controller timely sends the compensation braking parameter value to the mechanical braking controller to execute mechanical braking to brake so as to compensate braking force, reliability of the braking effect under the electric braking condition is improved, and user safety is guaranteed.

Description

Vehicle braking method, device and system and vehicle

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle braking method, device and system and a vehicle.

Background

With the increasing attention of environmental problems, energy-saving and environment-friendly electric automobiles gradually enter the lives of people after the technology is mature. At present, the electric automobile carrying the intelligent driving system can reduce the energy consumption by about 15% by recovering braking energy, and the running distance of the electric automobile can be prolonged by 10% -30%.

In the related art, the conversion of the kinetic energy and the electric energy of the automobile is realized through a reversible motor, the reversible motor works in a generator mode when the automobile is decelerated or braked, and the kinetic energy of the automobile drives the generator to convert the kinetic energy of the automobile into the electric energy which is stored in a storage battery; when the automobile starts or accelerates, the reversible motor works in the form of an electric motor, and the electric energy stored in the energy accumulator is converted into mechanical energy to be supplied to the automobile. However, electric braking is low in reliability and there is a risk of running collision.

Disclosure of Invention

In view of this, the present invention is directed to a vehicle braking method, apparatus, system and vehicle. The problem that the reliability of electric braking of a vehicle is low and the risk of driving collision exists is solved.

In order to achieve the above purpose, the technical scheme of the invention is realized as follows:

the embodiment of the invention discloses a vehicle braking method, which is applied to a main braking controller and comprises the following steps:

acquiring an expected braking parameter value of the vehicle;

sending the expected braking parameter value to a power controller for electric braking;

acquiring an actual braking parameter value of the electric braking of the vehicle;

and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

Further, the sending the desired braking parameter value to the power controller for electric braking includes:

and sending the expected braking parameter value to a power controller for electric braking under the condition that the expected braking parameter value is smaller than or equal to a second preset threshold value.

Further, the acquiring the desired braking parameter value of the vehicle includes:

receiving an expected braking parameter value sent by an intelligent driving controller of the vehicle; the intelligent driving controller obtains at least one of control information of the vehicle and an environment information parameter value of the vehicle, obtains an actual operation parameter value of the vehicle, and obtains an expected braking parameter value of the vehicle according to the at least one of control information, the environment information parameter value and the actual operation parameter value.

Further, the acquiring the actual braking parameter value of the vehicle braking specifically includes:

acquiring an actual operation parameter value of the vehicle;

and acquiring an actual braking parameter value of the vehicle braking according to the actual running parameter value.

Further, the first preset threshold is 5% -15% of the expected braking parameters of the vehicle.

Further, when the difference between the expected braking parameter value and the actual braking parameter value is greater than a first preset threshold value, the step of sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force specifically includes:

Obtaining a compensating braking parameter value according to the difference between the expected braking parameter value and the actual braking parameter value when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value;

and sending the compensation braking parameter value to the mechanical braking controller for mechanical braking to compensate braking force.

Compensating brake parameter value the embodiment of the invention discloses a vehicle braking method, which is applied to a power controller and comprises the following steps:

receiving an expected braking parameter value sent by a main braking controller;

electrically braking according to the expected braking parameter; the main brake controller is used for sending a compensation brake parameter to a mechanical controller of the vehicle when the difference between the expected brake parameter value and the actual brake parameter value is larger than a first preset threshold value; the compensation braking parameter is used for controlling the mechanical braking controller to perform mechanical braking so as to compensate braking force.

The embodiment of the invention discloses a vehicle braking device, which is applied to a main braking controller and comprises:

the system comprises an expected braking parameter value acquisition module, a control module and a control module, wherein the expected braking parameter value acquisition module is used for acquiring an expected braking parameter value of a vehicle;

An electric brake control module: for sending the desired braking parameter value to a power controller for electric braking;

the actual braking parameter value acquisition module is used for acquiring the actual braking parameter value of the electric braking of the vehicle; the method comprises the steps of carrying out a first treatment on the surface of the And the compensation braking module is used for sending a compensation braking parameter value to a mechanical braking controller of the vehicle to carry out mechanical braking so as to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

The embodiment of the invention discloses a vehicle braking system, which is characterized by comprising the following components: a main brake controller, a power controller and a mechanical brake controller;

the main brake controller is used for acquiring an expected brake parameter value of the vehicle and sending the expected brake parameter value to the power controller for electric braking; acquiring an actual braking parameter value of the actual electric braking of the vehicle, and sending a compensating braking parameter value to a mechanical braking controller of the vehicle when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value;

the power controller is used for receiving the expected braking parameter value sent by the main braking controller; electrically braking according to the expected braking parameter;

The mechanical brake controller is used for carrying out mechanical braking according to the received compensation braking parameters so as to compensate braking force.

Accordingly, an embodiment of the present invention discloses a vehicle, which includes a vehicle braking device including a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle braking method as described in any one of the above when executing the program.

Compared with the prior art, the vehicle braking method provided by the invention has the following advantages:

according to the vehicle braking method, expected braking parameter values of a vehicle are obtained; sending the expected braking parameter value to a power controller for electric braking; acquiring an actual braking parameter value of the electric braking of the vehicle; and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value. Under the condition that a power controller of a vehicle is in electric braking, judging whether the difference between an expected braking parameter value and an actual braking parameter value is larger than a first preset threshold value, and executing mechanical braking in time to brake to compensate braking force when the electric braking effect is insufficient, so that the reliability of the braking effect under the electric braking condition is improved, and the safety of a user is ensured; on the other hand, under the condition that the power controller is required to execute electric braking, the actual braking parameter value of the vehicle is continuously obtained, the braking effect is monitored in time, the braking delay is avoided, and the collision risk of the vehicle is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a block diagram of a vehicle braking system according to an embodiment of the present invention;

FIG. 2 is a flow chart illustrating steps of a method for braking a vehicle according to an embodiment of the present invention;

FIG. 3 is a flow chart of steps of a method for braking a vehicle with a small deceleration according to an embodiment of the present invention;

FIG. 4 is a block diagram of a vehicle brake system for a service brake controller according to an embodiment of the present invention;

FIG. 5 is a block diagram of a vehicle brake system for a power controller according to an embodiment of the present invention;

FIG. 6 is a block diagram of a vehicle braking system according to an embodiment of the present invention;

fig. 7 is a block diagram of a vehicle according to an embodiment of the present invention.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

The invention will be described in detail below with reference to the drawings in connection with embodiments.

Referring to fig. 1, which illustrates a block diagram of a vehicle braking system according to an embodiment of the present invention, the system may include:

the environment sensor 001 comprises at least one of a camera and a radar, and is used for acquiring the environment information parameter value of the vehicle and sending the environment information parameter value to the vehicle driving controller.

An intelligent driving controller 002, on which an intelligent driving planning system is mounted, for acquiring control information and actual operation parameter values of the vehicle; acquiring an expected braking parameter value of the vehicle according to the control information, the environment information parameter value and the actual running parameter value; transmitting the desired brake parameter value to a main brake controller; and acquiring a desired driving parameter value of the vehicle according to the control information, the environment information parameter value and the actual running parameter value, and controlling the power controller to execute driving according to the desired driving parameter value.

A main brake controller 003 for receiving a desired brake parameter value of the vehicle; and when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value, informing a mechanical main braking controller of the vehicle to perform mechanical braking so as to compensate braking force.

A power controller 004 connected to the reversible motor for performing electric braking according to the control of the main brake controller; and performing driving according to control of the vehicle driving controller.

A mechanical brake controller 005 may be connected to the hydraulic brake unit for performing mechanical braking to compensate for braking force according to control of the brake controller.

The embodiment of the invention provides a vehicle braking method which is applied to a main braking controller.

Referring to fig. 2, a flowchart illustrating steps of a vehicle braking method according to an embodiment of the present invention may include the steps of:

step 101, obtaining a desired braking parameter value of the vehicle.

In the embodiment of the present invention, the desired braking parameter value of the vehicle is a parameter value for quantifying a braking effect of the vehicle desired by the user or the vehicle driving controller, and may be a desired deceleration of the vehicle, for example, a desired braking acceleration of 0.2g (gravity acceleration, typically g=9.8 meters per second squared). It will be appreciated that the desired braking parameter value may also be a desired braking torque of the vehicle, or a desired braking force of the vehicle, or other parameter value that quantifies the effect of the braking, as the invention is not limited in this regard.

In the embodiment of the invention, the acquiring the expected braking parameter value of the vehicle may be that the main braking controller acquires the expected braking parameter value sent by the intelligent driving controller of the vehicle to the main braking controller.

Optionally, the step of acquiring the expected braking parameter value of the vehicle specifically includes:

sub-step 1011: receiving an expected braking parameter value sent by an intelligent driving planning system of the vehicle; the intelligent driving planning system is used for acquiring at least one of control information of the vehicle and environment information parameter values of the vehicle, acquiring actual operation parameter values of the vehicle, and acquiring expected braking parameter values of the vehicle according to the at least one of the control information, the environment information parameter values and the actual operation parameter values.

The vehicle control information describes information that a user desires the vehicle to brake, including at least one of information input by the user and control information of the braking device by the user. The information input by the user may be that the user may input a desired vehicle speed result on the vehicle driving controller, for example, the user inputs 60 kilometers per hour (km/h) on the vehicle driving controller, indicating that the user desires a vehicle speed change of 60km/h. The braking device may include a brake pedal, and the control information of the braking device includes a user's operation of the brake pedal, for example, the deeper the opening of the brake pedal is, the greater the deceleration required to indicate that the user desires the vehicle to brake faster.

The environmental information parameter value of the vehicle is a parameter value describing the environment in which the vehicle is located, and is obtained by the vehicle driving controller through the vehicle environmental information sent by the vehicle environmental sensor, wherein the vehicle environmental information comprises the speed of a target object around the vehicle or the target vehicle, the relative speed and the relative position, for example, the speed of the target vehicle in front of the vehicle is 60km/h, the relative position is 150m, and the vehicle driving controller can judge whether the vehicle is currently subjected to acceleration or deceleration operation or not and can carry out the acceleration or deceleration according to the information and the actual running parameter value. For example, the target vehicle in front of the vehicle has a vehicle speed smaller than the vehicle speed of the host vehicle, and a collision risk may occur in a relatively close position, and it is determined that the vehicle needs to be decelerated. In the embodiment of the invention, the environmental information parameter value of the vehicle can be obtained through a camera or a radar.

The actual running parameter value of the vehicle describes the current running state of the vehicle and can comprise at least one of information of wheel speed pulse, vehicle speed, three-axis attitude angle, angular velocity and acceleration of the real vehicle. The real vehicle three-axis attitude angle can be obtained through a whole vehicle inertial sensor (Inertial measurement unit, IMU).

In the embodiment of the invention, the control information of the vehicle and the actual running parameter value of the vehicle can be obtained, the environment information parameter value of the vehicle and the actual running parameter value of the vehicle can be obtained, and the control information of the vehicle, the environment information parameter value of the vehicle and the actual running parameter value of the vehicle can be obtained.

In the embodiment of the invention, the expected braking parameter value of the vehicle is obtained according to one of the control information and the environmental information parameter value and the actual running parameter value. The expected braking parameter value of the vehicle may be obtained according to the control information and the actual running parameter value, or the expected braking parameter value of the vehicle may be obtained according to the environmental information parameter value and the actual running parameter value, or the expected braking parameter value of the vehicle may be obtained according to the control information, the environmental information parameter value and the actual running parameter value.

The vehicle driving controller may obtain a desired braking parameter value of the vehicle according to the manipulation information and the actual operation parameter value, for example, the user input vehicle speed is 50km/h, the current vehicle speed is 60km/h, and the vehicle driving controller may obtain the desired braking parameter value, for example, 0.2g, by calculation according to the user input vehicle speed. The three-axis attitude angle of the real vehicle can calculate the component of the gravity acceleration in the longitudinal direction, for example, the vehicle is inclined to the upward slope of running by 0.05 radian, and the component of the gravity acceleration parallel to the road surface is-0.05 g.

The vehicle driving controller library judges that the vehicle needs to be braked according to the environment information parameter value and the actual operation parameter value, and obtains the expected braking parameter value of the vehicle, for example, the environment information parameter value is that the target vehicle speed in front of the vehicle is 60km/h, the relative distance is 200m, the actual operation parameter value is that the vehicle speed is 70km/h, the vehicle driving controller judges that collision risk is possible, the vehicle needs to be braked, and the expected braking parameter value is calculated to be 0.3g.

The vehicle driving controller calculates the desired braking parameter value of the vehicle by integrating, for example, the manipulation information, the environmental information parameter value and the actual operation parameter value, wherein the manipulation information is that a user sets a vehicle speed on the vehicle driving controller to be 50km/h, the environmental information parameter value is that a target vehicle speed in front of the vehicle is 60km/h, the relative distance is 200m, the actual operation parameter value is that the vehicle speed is 70km/h, and the vehicle driving controller can calculate the range for obtaining the desired deceleration of the vehicle according to the information and send the desired braking parameter value of the vehicle to the main braking controller.

According to the embodiment of the invention, the braking effect of the vehicle expected by the user or the vehicle driving controller can be obtained according to various conditions, and the braking expected braking parameter value is sent to the main braking controller to realize the expected braking effect.

In the embodiment of the invention, the vehicle driving controller can also obtain the expected driving parameter value of the vehicle according to at least one of the control information, the environment information parameter value and the actual running parameter value, and directly control the power controller to drive according to the expected driving parameter value of the vehicle.

Step 102: and sending the expected braking parameter value to a power controller for electric braking.

In the embodiment of the invention, the power controller of the vehicle can control the reversible motor of the vehicle, the reversible motor can work in the form of a generator, and when the vehicle decelerates or brakes, the reversible motor works in the form of the generator, and the kinetic energy of the vehicle driving drives the generator to convert the kinetic energy of the vehicle into electric energy which is stored in the storage battery; the reversible electric machine may also operate as an electric motor, which, when the vehicle starts or accelerates, operates as an electric motor, converting the electric energy stored in the energy store into mechanical energy for the vehicle. The power controller of the vehicle is in the electric braking condition, and may be in the case where the reversible electric machine controlled by the power controller operates as a generator. It will be appreciated that the power controller may be in an electric braking condition or may be in a condition where the power controller controls a separate generator to brake.

The power controller performs electric braking, which may be a braking torque value calculated by a desired braking parameter value, and performs electric braking according to the braking torque value, for example, the desired braking parameter value is deceleration of 0.2g, the calculated braking torque is 20Nm (n×m), and the power controller performs braking torque of 20 Nm; or the desired braking parameter value is a braking force of 300N, the calculated braking torque is 30Nm, and the power controller executes the braking torque of 30 Nm; or the desired braking parameter value is a braking torque value of 15Nm, and electric braking of 15Nm is directly performed according to the braking parameter value of 15 Nm.

It will be appreciated that the sending of the desired braking parameter value to the power controller for electric braking may be when the vehicle is only electric braking, for example, only electric braking executes a braking acceleration of 0.3g, and at this time, the vehicle is braked by the power controller to execute electric braking, which has low reliability relative to mechanical braking, and the braking effect needs to be monitored in time. Also included are cases where the vehicle is simultaneously electrically braked and mechanically braked, e.g. the electric brake is required to achieve a braking effect of 0.3g and the mechanical brake is required to achieve a braking effect of 0.1g, at which time the electric brake takes up a substantial part of the braking torque in braking and the braking effect thereof needs to be monitored in time.

Step 103: and acquiring an actual braking parameter value of the electric braking of the vehicle.

The actual braking parameter value of the vehicle describes the quantization effect of actually executing the braking of the vehicle, and may be the actual deceleration of the vehicle, the actual braking torque of the vehicle or the actual braking force of the vehicle. Preferably, the actual deceleration of the vehicle may be used, which directly reflects the effect of the actual electric brake of the vehicle, as well as facilitating monitoring.

The acquisition of the actual braking parameter value of the vehicle braking is carried out all the time under the condition that the power controller of the vehicle is in electric braking, so that the delay of feeding back the braking effect to the main braking controller after the power controller executes electric braking in the related technology is avoided, the risk can be found in time, and the collision risk of the vehicle is reduced. For example, the main brake controller may acquire actual brake parameter values once every 0.1 seconds, and monitor the braking effect in time.

Optionally, the acquiring the actual braking parameter value of the vehicle includes:

step 201: and acquiring an actual operation parameter value of the vehicle.

The actual running parameter value of the vehicle describes the current running state of the vehicle, namely, the information describing the running state of the vehicle under the condition of electric braking is carried out, and the information can comprise at least one of wheel speed pulse, vehicle speed, three-axis attitude angle of the real vehicle, angular velocity and acceleration. The real vehicle three-axis attitude angle can be obtained through an IMU.

Step 202: and acquiring an actual braking parameter value of the vehicle according to the actual operation parameter value.

For example, the vehicle acceleration of-0.2 g in the actual operation parameter value may be obtained, the vehicle actual braking parameter value may be obtained as 0.2g, or the vehicle actual braking torque or the vehicle actual braking force may be obtained, which may be used to describe the state of the vehicle actual braking. The wheel speed pulse is a pulse signal proportional to the wheel rotation speed, 20 pulse signals are obtained in the first 10s, 15 pulse signals are obtained in the last 10s, and the actual braking parameter value of the vehicle can be obtained by obtaining the change rate of the vehicle speed in a period of time. Or directly obtaining the vehicle speed, wherein the 5 th second speed is 10m/s, the 6 th second speed is 8m/s, and calculating to obtain the actual braking parameter value of 0.2g in the period of time. The three-axis attitude angle and the three-axis angular velocity of the real vehicle can calculate the component of the gravity acceleration in the longitudinal direction, for example, the vehicle is inclined to the upward slope of running by 0.05 radian, and the component of the gravity acceleration parallel to the road surface is minus 0.05g at the moment, so that the influence of gravity can be corrected.

The actual braking parameter value of the electric braking of the vehicle is obtained according to the actual running parameter value, so that the accurate obtaining of the braking effect is ensured, the accurate monitoring of the braking of the vehicle can be ensured due to the accurate actual braking effect, and the safety of a user is ensured.

Step 104: and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

In the embodiment of the present invention, the first preset threshold is a parameter value for determining whether the actual braking effect of the vehicle is reliable, and is set corresponding to an expected braking parameter value of the vehicle and an actual braking parameter value of the vehicle, for example, the expected braking parameter value and the actual braking parameter value are described by acceleration, and the first preset threshold is also set as acceleration; or the desired brake parameter value and the actual brake parameter value are described in terms of brake torque, the first preset threshold value also being set to brake torque.

The first preset threshold may be a fixed set value, for example, the first preset threshold is 0g, and at this time, the mechanical main brake controller of the vehicle is controlled to perform mechanical braking whenever the desired brake parameter value is greater than the actual brake parameter value; or 0.03g, and performing mechanical braking when the desired braking parameter value is greater than the actual braking parameter value by 0.03 g. The first preset threshold value may also be a proportion associated with a desired braking parameter value of the vehicle, for example 10% of the desired braking parameter value of the vehicle.

When the difference between the desired braking parameter value and the actual braking parameter value is greater than a first preset threshold value, that is, the actual braking effect of the vehicle is insufficient to achieve the braking effect that the user or the vehicle driving controller expects the vehicle to achieve, the vehicle may be at risk of collision. For example, the desired braking parameter value is 0.3g, but the actual braking parameter value of the obtained vehicle is only 0.24g, and the braking effect is insufficient, and the braking effect desired by the user or the vehicle driving controller cannot be satisfied.

In the embodiment of the invention, the mechanical braking can be hydraulic mechanical braking, the braking effect is reliable, the braking effect can be effectively ensured, and the safety of a user is ensured.

In the embodiment of the invention, when the main brake controller sends the compensation brake parameter value to the mechanical brake controller to compensate the braking force, the power controller still performs electric braking, and the main brake controller continuously acquires the actual brake parameter value of the vehicle, and corrects the magnitude of the mechanical braking force according to the actual brake parameter value so that the actual braking effect meets the expected braking effect.

When the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value, the braking force is insufficient, and the main braking controller sends the compensation braking parameter value to the mechanical braking controller of the vehicle to carry out mechanical braking so as to compensate the braking force, so that the reliability of the braking effect under the condition of electric braking is improved, and the safety of a user is ensured.

Optionally, the first preset threshold is 5% -15% of the expected braking parameter value of the vehicle.

In the embodiment of the invention, the first preset threshold value is a threshold value related to the expected braking parameter value of the vehicle. On the one hand, the fixed set value is insensitive to the judging standard in the case of the adjacent braking, for example, the fixed set value is 0.05g, the judging standard is not suitable when the expected braking parameter value is 0-0.05 g, and the mechanical braking of the control vehicle is not triggered when the braking is insufficient; on the other hand, when the fixed setting value is too small, the mechanical braking is frequently triggered, which causes unnecessary waste, for example, when the fixed setting value is 0g, the mechanical braking is triggered whenever the expected braking parameter value is greater than the actual braking parameter value, and in practical situations, it is impossible to ensure that the actual braking effect is completely equal to the expected braking effect, the mechanical braking is frequently triggered, and the abrasion of the mechanical braking is increased.

For the above reasons, in the embodiment of the present invention, the first preset threshold is a threshold related to the expected braking parameter value of the vehicle, and is set to be 5% -15% of the expected braking parameter value of the vehicle, when the difference between the expected braking parameter value of the vehicle and the actual braking parameter value of the vehicle is greater than 5% -15% of the expected braking parameter value of the vehicle, it is indicated that the electric braking is no longer reliable, and the mechanical braking needs to be requested in time to perform braking supplement, so that whether the current braking effect is insufficient can be accurately determined, that is, the situation that the feedback braking is insufficient in time to ensure the safety of the user can be ensured, the triggering frequency of the mechanical braking can be reduced, and the abrasion of the mechanical braking is reduced.

Optionally, the step of controlling the mechanical brake controller of the vehicle to perform mechanical braking to compensate braking force when the difference between the desired braking parameter value and the actual braking parameter value is greater than a first preset threshold value includes:

substep 1031: and when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value, obtaining a compensating braking parameter value according to the difference between the expected braking parameter value and the actual braking parameter value.

In the embodiment of the invention, when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value, braking is performed in a mode that the power controller performs electric braking and the mechanical braking controller performs mechanical braking together, and in order to enable the together braking to meet the expected braking effect described by the expected braking parameter value, the difference between the expected braking parameter value and the actual braking parameter value is obtained to serve as a compensation braking parameter value.

Sub-step 1032: and controlling the mechanical brake controller of the vehicle to carry out mechanical braking according to the compensation braking parameter value.

In the embodiment of the invention, the magnitude of the braking force of the mechanical braking controller of the vehicle is controlled according to the compensating braking parameter value, for example, the compensating braking parameter value can be braking acceleration of 0.05g, and the magnitude of the braking force of the mechanical braking is obtained according to the acceleration at this time, and the mechanical braking is performed by the mechanical main braking controller according to the magnitude of the braking force. Therefore, the actual braking effect can be ensured to be consistent with the expected braking effect, the braking effect is combined, the braking requirement of a user is met, and the safety of the user is ensured.

In summary, according to the vehicle braking method of the embodiment of the present invention, the desired braking parameter value of the vehicle is obtained; acquiring an actual braking parameter value of the vehicle under the condition that a power controller of the vehicle is in electric braking; and controlling a mechanical brake controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value. Under the condition that a power controller of a vehicle is in electric braking, judging whether the difference between an expected braking parameter value and an actual braking parameter value is larger than a first preset threshold value, and executing mechanical braking in time to brake to compensate braking force when the electric braking effect is insufficient, so that the reliability of the braking effect under the electric braking condition is improved, and the safety of a user is ensured; on the other hand, under the condition that the power controller is required to execute electric braking, the actual braking parameter value of the vehicle is continuously obtained, the braking effect is monitored in time, the braking delay is avoided, and the collision risk of the vehicle is reduced.

Referring to fig. 3, a flowchart of a step of a method for braking a vehicle with small deceleration according to an embodiment of the present invention is shown, which specifically includes:

Step 301: a desired braking parameter value of the vehicle is obtained.

Step 301 is substantially the same as step 101, and for avoiding repetition, the description of step 301 is omitted.

Step 302: and under the condition that the expected braking parameter value is less than or equal to a second preset threshold value, sending the expected braking parameter value to a power controller for electric braking.

In the embodiment of the present invention, the second preset threshold is a preset threshold for judging whether the vehicle is subjected to pure electric braking, where the second preset threshold is a threshold related to an upper limit of executable negative torque of the power controller, and the larger the upper limit of executable negative torque of the power controller is, the larger the second preset threshold can be set, the smaller the upper limit of executable negative torque of the power controller is, and the smaller the second preset threshold can be set.

In case it is determined that the desired braking parameter value is equal to or less than the second preset threshold value, i.e. the desired braking effect of the vehicle is within the upper limit of the negative torque executable by the power controller of the vehicle, the braking may be performed only by the power controller of the vehicle, e.g. the desired braking parameter value is 0.24g, the second preset threshold value is 0.3g, and only the electric braking may be performed at this time, which may be referred to as small deceleration braking.

Accordingly, in the case where the desired braking parameter value is greater than the second preset threshold value, the electric braking performed by the power controller of the vehicle alone cannot satisfy the desired braking effect, and it is necessary to simultaneously control the mechanical braking controller to perform the mechanical braking.

In the embodiment of the invention, when the expected braking parameter value is too large, such as emergency braking, only mechanical braking with high braking reliability is executed, so that the safety of a user is ensured.

And under the condition that the expected braking parameter value is less than or equal to a second preset threshold value, controlling the power controller of the vehicle to perform electric braking, recovering kinetic energy of the vehicle under the condition of small deceleration braking, and prolonging the service life of the vehicle.

Preferably, the second preset threshold is 0.2 g-0.4 g.

In the embodiment of the invention, the second preset threshold value is set according to the executable negative torque upper limit of the power controller, and the setting range of the first preset threshold value is 0.2 g-0.4 g. For example: the first preset threshold is optionally 0.2g,0.23g,0.25g,0.3g,0.35g,0.37g,0.4g. The larger the power controller executable negative torque upper limit is, the larger the first preset threshold value can be set, the smaller the power controller executable negative torque upper limit is, and the smaller the first preset threshold value can be set, and the specific setting can be realized according to the power controller executable negative torque upper limit.

When the second preset threshold value is larger than 0.4g, the power controller of the vehicle can execute negative torque, and the braking effect higher than 0.4g can not be realized, so that the braking effect is insufficient and collision risk can be generated; when the second preset threshold value is smaller than 0.2g, the power controller can execute that negative torque remains, the energy recovery is insufficient, and the energy recovery efficiency is reduced. The threshold range provided by the embodiment of the invention can recover more braking energy as much as possible under the condition of guaranteeing the braking effect.

Step 303: and acquiring an actual braking parameter value of the electric braking of the vehicle.

In the embodiment of the present invention, step 302 is a small deceleration, otherwise the same as step 102, and in order to avoid repetition, step 303 is not repeated.

Step 304: and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

Step 304 is substantially the same as step 103, and for avoiding repetition, the description of step 304 is omitted.

In summary, in the embodiment of the present invention, the desired braking parameter value of the vehicle is obtained; transmitting the expected braking parameter value to a power controller of the vehicle for electric braking under the condition that the expected braking parameter value is less than or equal to a second preset threshold value; acquiring an actual braking parameter value of the electric braking of the vehicle; and controlling a mechanical main brake controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value. And under the condition that the expected braking parameter value is smaller than or equal to a second preset threshold value, determining that the expected braking effect can be realized by only electric braking by the power controller of the vehicle, more braking energy of the vehicle can be recovered, the reliability of electric braking is ensured in the process of recovering the braking energy, and the safety of a user is ensured.

The embodiment of the invention also discloses a vehicle braking method which is applied to the power controller and comprises the following steps:

the desired brake parameter value sent by the main brake controller is received.

The method for receiving the expected braking parameter value sent by the main braking controller is to directly receive the expected braking parameter value sent by the main braking controller, wherein the expected braking parameter value contains braking torque information of braking electric braking, and the power controller executes electric braking according to the expected braking parameter value. For example, in the case where the desired braking parameter value obtained by the main braking controller is less than or equal to the second preset threshold value, the main braking controller may send the desired braking parameter value to the power controller, and the power controller performs electric braking according to the desired braking parameter value sent by the main braking controller.

Electrically braking according to the expected braking parameter; the main brake controller is used for sending a compensation brake parameter to a mechanical controller of the vehicle when the difference between the expected brake parameter value and the actual brake parameter value is larger than a first preset threshold value; the compensation braking parameter is used for controlling the mechanical braking controller to perform mechanical braking so as to compensate braking force.

The power controller performs electric braking according to the desired braking parameter, which may be a braking torque value calculated by the desired braking parameter value, and performs electric braking according to the braking torque value, for example, the desired braking parameter value is deceleration of 0.2g, the calculated braking torque is 20Nm (n×m), and the power controller performs the braking torque of 20 Nm; or the desired braking parameter value is a braking force of 300N, the calculated braking torque is 30Nm, and the power controller executes the braking torque of 30 Nm; or the desired braking parameter value is a braking torque value of 15Nm, and electric braking of 15Nm is directly performed according to the braking parameter value of 15 Nm.

The power controller may also perform driving based on the driving parameter values sent from the vehicle driving controller.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

Referring to fig. 4, which shows a block diagram of a vehicle brake device applied to a main brake controller according to an embodiment of the present invention, the embodiment of the present invention provides a vehicle brake device applied to a main brake controller 400 including:

the expected braking parameter value obtaining module 401 is configured to obtain an expected braking parameter value of the vehicle.

Electric brake control module 402: for sending the desired braking parameter values to a power controller for electric braking.

An actual braking parameter value obtaining module 403 is configured to obtain an actual braking parameter value of the vehicle electric brake.

And the compensation braking module 404 is configured to send a compensation braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force when a difference between the expected braking parameter value and the actual braking parameter value is greater than a first preset threshold value.

Optionally, the vehicle braking device further includes:

and the electric brake control sub-module is used for sending the expected brake parameter value to the power controller for electric braking under the condition that the expected brake parameter value is smaller than or equal to a second preset threshold value.

Optionally, the expected braking parameter value obtaining module 401 includes:

The desired braking parameter value receiving sub-module: the intelligent driving planning controller is used for receiving expected braking parameter values sent by the intelligent driving planning controller of the vehicle; the intelligent driving controller is used for acquiring at least one of control information of the vehicle and an environment information parameter value of the vehicle, acquiring an actual operation parameter value of the vehicle, and acquiring an expected braking parameter value of the vehicle according to the control information and the environment information parameter value, wherein at least one of the control information and the environment information parameter value and the actual operation parameter value. Optionally, the actual braking parameter value obtaining module 403 includes:

actual operation parameter value acquisition sub-module: for obtaining an actual operating parameter value of the vehicle.

The actual braking parameter value acquisition sub-module: and the actual braking parameter value is used for acquiring the vehicle electric braking according to the actual operation parameter value.

Optionally, the vehicle braking device further includes:

the first preset threshold setting module is used for setting the first preset threshold to be 5% -15% of the expected braking parameter value of the vehicle.

Optionally, the mechanical brake execution module 404 further includes:

and the compensation braking parameter value acquisition sub-module is used for acquiring a compensation braking parameter value according to the difference between the expected braking parameter value and the actual braking parameter value when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

And the mechanical braking force control sub-module is used for controlling the mechanical main braking controller of the vehicle to carry out mechanical braking according to the compensation braking parameter value.

In summary, the vehicle braking device according to the embodiment of the present invention is applied to the main brake controller 400, and the expected braking parameter value obtaining module 401 is configured to obtain an expected braking parameter value of the vehicle; electric brake control module 402: for sending the desired braking parameter value to a power controller for electric braking; an actual braking parameter value obtaining module 403, configured to obtain an actual braking parameter value of electric braking of the vehicle; and the compensation braking module 404 is configured to send a compensation braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force when a difference between the expected braking parameter value and the actual braking parameter value is greater than a first preset threshold value. Thus, the reliability of the braking effect under the condition of electric braking is improved, and the safety of users is ensured; on the other hand, under the condition that the power controller is required to execute electric braking, the actual braking parameter value of the vehicle is continuously obtained, the braking effect is monitored in time, the braking delay is avoided, and the collision risk of the vehicle is reduced.

Referring to fig. 5, which shows a block diagram of a vehicle braking device according to an embodiment of the present invention, the embodiment of the present invention provides a vehicle braking device, which is applied to a power controller 500, including:

the desired braking parameter receiving module 501: for receiving a desired braking parameter value sent by the primary braking controller;

electric brake execution module 502: for performing an electric brake according to the desired braking parameter; the expected braking parameter value is used for sending, by the braking controller, a compensating braking parameter to a mechanical controller of the vehicle if a difference between the expected braking parameter value and an actual braking parameter value is greater than a first preset threshold value; the compensation braking parameter is used for controlling the mechanical braking controller to perform mechanical braking so as to compensate braking force.

Referring to fig. 6, which shows a block diagram of a vehicle brake system according to an embodiment of the present invention, the embodiment of the present invention provides a vehicle brake system, including:

a main brake controller 601 for acquiring a desired brake parameter value of the vehicle and transmitting the desired brake parameter value to the power controller for electric braking; acquiring an actual braking parameter value of the actual electric braking of the vehicle, and sending a compensating braking parameter value to a mechanical braking controller of the vehicle when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value;

A power controller 602 for receiving a desired braking parameter value sent by the main braking controller; electrically braking according to the expected braking parameter;

and a mechanical brake controller 603 for performing mechanical braking to compensate for the braking force according to the received compensation braking parameter.

In summary, in the vehicle braking system according to the embodiment of the present invention, the main braking controller 601 determines whether the difference between the expected braking parameter value and the actual braking parameter value is greater than the first preset threshold value when the power controller 602 of the vehicle is in electric braking, and timely sends the compensation braking parameter value to the mechanical braking controller 603 of the vehicle to perform mechanical braking to compensate braking force when the electric braking effect is insufficient, thereby improving the reliability of the braking effect under the electric braking condition and guaranteeing the safety of users; on the other hand, under the condition that the power controller is required to execute electric braking, the actual braking parameter value of the vehicle is continuously obtained, the braking effect is monitored in time, the braking delay is avoided, and the collision risk of the vehicle is reduced.

Referring to fig. 7, a block diagram of a vehicle according to an embodiment of the present invention is shown, and a vehicle 700 is provided, where the vehicle is mounted on the vehicle braking device 701, and the vehicle braking device includes a processor 7011, a memory 7012, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the program, the processor implements each process of the vehicle braking method embodiment, and the same technical effects can be achieved, and for avoiding repetition, a detailed description is omitted herein.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that 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 terminal 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 terminal. 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 terminal device comprising the element.

The foregoing has outlined a detailed description of a vehicle braking method according to the present invention, wherein specific examples are provided herein to illustrate the principles and embodiments of the present invention, the above examples being provided only to assist in understanding the method of the present invention and the core ideas thereof; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (10)

1. A vehicle braking method, applied to a main brake controller, comprising:

acquiring an expected braking parameter value of the vehicle;

sending the expected braking parameter value to a power controller for electric braking;

acquiring an actual braking parameter value of the electric braking of the vehicle;

and sending a compensating braking parameter value to a mechanical braking controller of the vehicle to perform mechanical braking to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

2. The method of claim 1, wherein said sending the desired braking parameter value to a power controller for electric braking comprises:

And sending the expected braking parameter value to a power controller for electric braking under the condition that the expected braking parameter value is smaller than or equal to a second preset threshold value.

3. The method of claim 1, wherein the obtaining the desired brake parameter value for the vehicle comprises:

receiving expected braking parameter values sent by an intelligent driving planning controller of the vehicle; the intelligent driving controller is used for acquiring at least one of control information of the vehicle and an environment information parameter value of the vehicle, acquiring an actual operation parameter value of the vehicle, and acquiring an expected braking parameter value of the vehicle according to the at least one of the control information and the environment information parameter value and the actual operation parameter value.

4. The method according to claim 1, wherein said obtaining an actual braking parameter value of the vehicle electric brake, in particular comprises:

acquiring an actual operation parameter value of the vehicle;

and acquiring an actual braking parameter value of the vehicle according to the actual operation parameter value.

5. The method of claim 1, wherein the first preset threshold is 5-15% of a desired braking parameter of the vehicle.

6. The method according to claim 1, wherein the step of sending a compensating braking parameter value to a mechanical braking controller of the vehicle for mechanical braking to compensate for braking force when the difference between the desired braking parameter value and the actual braking parameter value is greater than a first preset threshold value, specifically comprises:

obtaining a compensating braking parameter value according to the difference between the expected braking parameter value and the actual braking parameter value when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value;

and sending the compensation braking parameter value to the mechanical braking controller for mechanical braking to compensate braking force.

7. A vehicle braking method, applied to a power controller, comprising:

receiving an expected braking parameter value sent by a main braking controller;

electrically braking according to the expected braking parameter; the main brake controller is used for sending a compensation brake parameter to a mechanical controller of the vehicle under the condition that the difference between the expected brake parameter value and the actual brake parameter value is larger than a first preset threshold value; the compensation braking parameter is used for controlling the mechanical braking controller to perform mechanical braking so as to compensate braking force.

8. A vehicle brake apparatus, characterized by being applied to a brake controller, comprising:

the system comprises an expected braking parameter value acquisition module, a control module and a control module, wherein the expected braking parameter value acquisition module is used for acquiring an expected braking parameter value of a vehicle;

an electric brake control module: for sending the desired braking parameter value to a power controller for electric braking;

the actual braking parameter value acquisition module is used for acquiring the actual braking parameter value of the electric braking of the vehicle; the method comprises the steps of carrying out a first treatment on the surface of the

And the compensation braking module is used for sending a compensation braking parameter value to a mechanical braking controller of the vehicle to carry out mechanical braking so as to compensate braking force under the condition that the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value.

9. A vehicle braking system, comprising: a main brake controller, a power controller and a mechanical brake controller;

the main brake controller is used for acquiring an expected brake parameter value of the vehicle and sending the expected brake parameter value to the power controller for electric braking; acquiring an actual braking parameter value of the actual electric braking of the vehicle, and sending a compensating braking parameter value to a mechanical braking controller of the vehicle when the difference between the expected braking parameter value and the actual braking parameter value is larger than a first preset threshold value;

The power controller is used for receiving the expected braking parameter value sent by the main braking controller; electrically braking according to the expected braking parameter;

the mechanical brake controller is used for carrying out mechanical braking according to the received compensation braking parameters so as to compensate braking force.

10. A vehicle comprising a vehicle braking device comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the processor, when executing the program, implements a vehicle braking method as claimed in any one of claims 1 to 6.