WO2022017061A1 - 一种汽车制动控制方法、装置及汽车 - Google Patents

一种汽车制动控制方法、装置及汽车 Download PDF

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Publication number
WO2022017061A1
WO2022017061A1 PCT/CN2021/099902 CN2021099902W WO2022017061A1 WO 2022017061 A1 WO2022017061 A1 WO 2022017061A1 CN 2021099902 W CN2021099902 W CN 2021099902W WO 2022017061 A1 WO2022017061 A1 WO 2022017061A1
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WIPO (PCT)
Prior art keywords
braking
drag
vehicle
determination result
failure determination
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Ceased
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PCT/CN2021/099902
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English (en)
French (fr)
Inventor
周成斌
薛琴波
刘浪
崔洋
谷建东
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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Priority to US17/776,714 priority Critical patent/US20220388402A1/en
Publication of WO2022017061A1 publication Critical patent/WO2022017061A1/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • 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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/24—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 fluid assistance, drive, or release the fluid being gaseous
    • B60T13/46—Vacuum systems
    • B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/92—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/403—Brake circuit failure
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/406—Test-mode; Self-diagnosis

Definitions

  • the present invention relates to the technical field of automobiles, and in particular, to a method and device for controlling automobile braking and an automobile.
  • the car mainly uses the electric motor to generate electricity during anti-drag braking, thereby charging the battery to increase the cruising range.
  • existing cars do not automatically apply anti-drag braking.
  • Braking system failures generally include vacuum booster failure, electronic control booster failure, pipeline system failure, etc. After the vacuum failure or the electric control booster failure, the brake is completely manually braked, and the brake master cylinder is pushed by stepping on the brake pedal. The hydraulic pressure is established, and the hydraulic pressure pushes the wheel cylinder piston to clamp the brake disc to realize braking.
  • the pipeline failure includes single pipeline failure and dual pipeline failure at the same time. When the dual pipeline fails at the same time, the vehicle will completely fail to brake. When the above braking components or systems fail, the existing vehicles will greatly increase the braking distance, or even completely lose the braking ability, resulting in lower vehicle safety.
  • the embodiments of the present invention aim to provide a vehicle braking control method and device to solve the above technical problems, so as to control the motor to perform anti-drag braking when the braking system fails or when the performance is reduced to a certain level, thereby effectively improving the performance of the vehicle. security.
  • an embodiment of the present invention provides a vehicle braking control method, including:
  • an anti-drag braking command corresponding to the anti-drag braking condition is generated and sent to the motor control so that the motor controller performs anti-drag braking according to the anti-drag braking command.
  • the failure determination result includes at least a first failure determination result, a second failure determination result, and a third failure determination result; and the corresponding failure determination result is generated according to the vehicle operating condition information in the fault state, specifically: :
  • the first failure determination result is generated
  • the vehicle operating condition information after judging the failure of the braking system satisfies the anti-drag braking condition corresponding to the failure judgment result specifically:
  • the failure determination result is the first failure determination result, and it is determined that the vehicle speed is greater than the preset first vehicle speed threshold, it is determined that the preset first anti-drag braking condition is satisfied;
  • the failure determination result is the second failure determination result, and it is determined that the vehicle speed is greater than the preset second vehicle speed threshold, it is determined that the preset second anti-drag braking condition is satisfied;
  • the failure determination result is the third failure determination result, and it is determined that the vehicle speed is greater than the preset third vehicle speed threshold, it is determined that the preset third anti-drag braking condition is satisfied.
  • the demand anti-drag deceleration is the difference between the braking system deceleration and the preset target deceleration.
  • the causing the motor controller to perform anti-drag braking according to the anti-drag braking instruction is specifically:
  • the motor controller performs anti-drag braking in combination with the anti-drag braking command, the vehicle battery status, and the high-voltage accessory status.
  • vehicle braking control method also includes:
  • the motor controller is controlled not to respond to the anti-drag braking command.
  • the present invention also provides a vehicle brake control device, including a controller, which is used for:
  • an anti-drag braking command corresponding to the anti-drag braking condition is generated and sent to the motor control so that the motor controller performs anti-drag braking according to the anti-drag braking command.
  • the present invention also provides an automobile, comprising the above-mentioned automobile brake control device.
  • the present invention has the following beneficial effects:
  • Embodiments of the present invention provide a vehicle braking control method and device.
  • the method includes: performing fault monitoring on the vehicle braking system in real time; acquiring vehicle operating condition information when the vehicle braking system is in a fault state; When it is judged that the vehicle operating condition information after the brake system fails to meet the anti-drag braking condition corresponding to the failure determination result, a corresponding failure determination result is generated;
  • the anti-drag braking command corresponding to the dynamic condition is sent to the motor controller, so that the motor controller performs anti-drag braking according to the anti-drag braking command.
  • the invention can control the motor to perform anti-drag braking when the braking system fails or the performance is reduced to a certain level, thereby effectively improving the safety of the vehicle.
  • FIG. 1 is a schematic flowchart of a vehicle braking control method provided by an embodiment of the present invention
  • FIG. 2 is another schematic flowchart of a vehicle braking control method provided by an embodiment of the present invention.
  • an embodiment of the present invention provides a vehicle braking control method, including the steps:
  • step S1 is to monitor the fault of the automobile braking system in real time, and detect the working status of the components of the braking system through sensors, such as the vacuum degree in the vacuum booster, and install the electronically controlled booster to monitor the electronically controlled booster. Working status, pipeline hydraulic level, etc. For vehicles already equipped with detection sensors (such as vacuum sensors, pedal displacement sensors, etc.), the cost and weight of components will not be increased, but the safety of the vehicle will be greatly improved.
  • Step S2 is to obtain information on the working conditions of the automobile at this time, including but not limited to obtaining the working state of the braking system, the travel information of the brake pedal, the vehicle speed information, etc., when it is detected that the transmission failure of the automobile braking system is used for the subsequent troubleshooting of the automobile.
  • the determination of the situation and the determination of the anti-drag braking condition are to obtain information on the working conditions of the automobile at this time, including but not limited to obtaining the working state of the braking system, the travel information of the brake pedal, the vehicle speed information, etc.
  • the failure determination result includes at least a first failure determination result, a second failure determination result, and a third failure determination result; step S3 is specifically:
  • the first failure determination result is generated
  • step S3 is to determine the failure of the vehicle, and to determine the corresponding anti-drag braking conditions according to different failure types.
  • an anti-drag braking instruction corresponding to the anti-drag braking condition is generated and sent to a motor controller, so that the motor controller performs anti-drag braking according to the anti-drag braking command.
  • the vehicle operating condition information after judging the failure of the braking system satisfies the anti-drag braking condition corresponding to the failure judgment result specifically:
  • the failure determination result is the first failure determination result, and it is determined that the vehicle speed is greater than the preset first vehicle speed threshold, it is determined that the preset first anti-drag braking condition is satisfied;
  • the failure determination result is the second failure determination result, and it is determined that the vehicle speed is greater than the preset second vehicle speed threshold, it is determined that the preset second anti-drag braking condition is satisfied;
  • the failure determination result is the third failure determination result, and it is determined that the vehicle speed is greater than the preset third vehicle speed threshold, it is determined that the preset third anti-drag braking condition is satisfied.
  • the construction mode of the braking strategy table is:
  • the demand anti-drag deceleration is the difference between the braking system deceleration and the preset target deceleration.
  • the preset target deceleration is equal to the deceleration of the driver operating the brake and the motor anti-drag deceleration is superimposed, for example, a deceleration of ⁇ 4m/s 2 (can be calibrated).
  • the magnitude of the motor anti-drag deceleration can be related to the pedal stroke.
  • different anti-drag deceleration speeds anti-drag torque
  • the causing the motor controller to perform anti-drag braking according to the anti-drag braking instruction is specifically:
  • the motor controller After the motor controller receives the anti-drag braking command, it also performs comprehensive judgment according to the battery state and the state of the high-voltage accessories, and executes the anti-drag braking to decelerate the vehicle. If the expected deceleration cannot be achieved when fully charged, the high-voltage components can be forced to be turned on to consume electricity for absorbing and recovering torque.
  • the vehicle braking control method further includes:
  • the motor controller is controlled not to respond to the anti-drag braking command.
  • the anti-drag braking function is activated when the driver has a brake request (the brake pedal is depressed and the brake switch sensor is active), but if the pedal travel sensor and the brake switch sensor failure are detected , the anti-drag braking function is not activated.
  • Condition 1 The vacuum booster fails or the performance is degraded, and the electronic stability system (ESC) fails at the same time;
  • the vacuum degree is zero or lower than a certain threshold value (for example, ⁇ 15KPa, which can be calibrated), and at the same time, the electronic stability system fails (the boost auxiliary braking function fails);
  • a certain threshold value for example, ⁇ 15KPa, which can be calibrated
  • the anti-drag braking condition is met.
  • the preset braking strategy table (as shown in Table 1) ) obtain the anti-drag torque corresponding to the stroke of the brake pedal, generate the anti-drag braking command according to the obtained anti-drag torque and send it to the motor controller. Drag the brakes to slow down the vehicle.
  • the electronically controlled booster when it is detected that the electronically controlled booster fails completely, the electronically controlled booster sends a failure signal, and at the same time the electronic stability system fails (the boost auxiliary braking function fails);
  • the anti-drag braking condition is met.
  • the preset braking strategy table for example, as shown in Table 1
  • obtain the anti-drag torque corresponding to the stroke of the brake pedal generate the anti-drag braking command according to the obtained anti-drag torque and send it to the motor controller. Drag the brakes to slow down the vehicle.
  • the brake pedal stroke sensor monitors that the pedal is depressed until the stroke is greater than 50mm (can be calibrated), and the hydraulic sensor in the pipeline detects that the hydraulic pressure in the pipeline is lower than the normal working value to a certain threshold value (generally ⁇ 1MPa, can be calibrated) or decrease.
  • a certain threshold generally ⁇ 1m/s 2 , which can be calibrated
  • the speed sensor detects that the deceleration is lower than a certain threshold (generally ⁇ 1m/s 2 , which can be calibrated)
  • the vehicle speed is greater than 5km/h (higher than the crawling speed, which can be calibrated)
  • the anti-drag torque corresponding to the stroke of the brake pedal is obtained, and the anti-drag braking command is generated according to the obtained anti-drag torque and sent to the motor
  • the controller (or VCU vehicle controller) and motor controller (or VCU vehicle controller) make comprehensive judgments according to the battery status and the status of high-voltage accessories, and perform anti-drag braking to decelerate the vehicle.
  • the brake pedal stroke sensor monitors that the pedal is depressed until the stroke is greater than 70mm (can be calibrated), and the hydraulic pressure sensor in the pipeline detects that the hydraulic pressure in the pipeline is lower than the normal working value to a certain threshold value (usually ⁇ 1MPa, can be calibrated) or decrease.
  • a certain threshold usually ⁇ 1m/s 2 , which can be calibrated
  • the speed sensor detects that the deceleration is lower than a certain threshold (generally ⁇ 1m/s 2 , which can be calibrated)
  • the vehicle speed is greater than 0.5km/h (higher than the crawling speed, it can be calibrated)
  • the anti-drag torque corresponding to the brake pedal stroke is obtained, and the anti-drag braking command is generated according to the obtained anti-drag torque and sent to
  • the motor controller or VCU vehicle controller
  • the motor controller or VCU vehicle controller
  • the embodiment of the present invention has the following beneficial effects:
  • the present invention detects the working state of the parts of the braking system through sensors, and when it is detected that there are braking parts or the system fails or the performance is reduced to a certain extent, it sends an anti-drag braking command to the motor controller to control the motor to execute the anti-drag braking. It can reduce the braking distance of the vehicle and improve the safety of the vehicle.
  • the present invention also provides a vehicle brake control device, including a controller, which is used for:
  • an anti-drag braking command corresponding to the anti-drag braking condition is generated and sent to the motor control so that the motor controller performs anti-drag braking according to the anti-drag braking command.
  • the present invention also provides an automobile, comprising the above-mentioned automobile brake control device.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

一种汽车制动控制方法、装置及汽车，所述方法包括：实时对汽车制动系统进行故障监测；获取汽车制动系统发生故障状态时的汽车工况信息；根据所述故障状态时的汽车工况信息生成对应的失效判定结果；当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。该方法能够在制动系统失效时或性能降低到一定程度时，控制电机执行反拖制动，从而有效提高汽车的安全性。

Description

一种汽车制动控制方法、装置及汽车 技术领域
本发明涉及汽车技术领域，尤其是涉及一种汽车制动控制方法、装置及汽车。
背景技术
目前，汽车主要通过电机在反拖制动时产生电能，从而给电池充电以增加续航里程。但是，当制动系统失效时，现有的汽车并不能自动进行反拖制动。制动系统失效一般包含真空助力失效、电控助力器失效、管路系统失效等，真空失效或电控助力器失效后，完全由人力制动，通过脚踩制动踏板，推动制动主缸建立液压，液压推动轮缸活塞夹紧制动盘，实现制动。管路失效包含单管路失效和双管路同时失效，当双管路同时失效时车辆将完全失效制动。现有的汽车在以上制动零部件或系统失效时会大幅增加制动距离，甚至完全丧失制动能力，导致车辆安全性较低。
发明内容
本发明实施例旨在提供一种汽车制动控制方法及装置，以解决上述技术问题，从而能够在制动系统失效时或性能降低到一定程度时，控制电机执行反拖制动，有效提高汽车的安全性。
为了解决上述技术问题，本发明实施例提供了一种汽车制动控制方法，包括：
实时对汽车制动系统进行故障监测；
获取汽车制动系统发生故障状态时的汽车工况信息；
根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
进一步地，所述失效判定结果至少包括第一失效判定结果、第二失效判定结果、第三失效判定结果；所述根据所述故障状态时的汽车工况信息生成对应的失 效判定结果，具体为：
当根据所述故障状态时的汽车工况信息，判断真空助力系统的真空度低于预设的真空阈值且电子稳定系统失效时，生成所述第一失效判定结果；
当根据所述故障状态时的汽车工况信息，判断电控助力器完全失效且所述电子稳定系统失效时，生成所述第二失效判定结果；
当根据所述故障状态时的汽车工况信息，判断制动踏板行程大于预设的阈值，且制动管路液压低于预设的液压阈值或汽车减速度低于预设的减速阈值时，生成所述第三失效判定结果。
进一步地，所述判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件，具体为：
当所述失效判定结果为第一失效判定结果，且判断汽车车速大于预设的第一车速阈值时，判定为满足预设的第一反拖制动条件；
当所述失效判定结果为第二失效判定结果，且判断汽车车速大于预设的第二车速阈值时，判定为满足预设的第二反拖制动条件；
当所述失效判定结果为第三失效判定结果，且判断汽车车速大于预设的第三车速阈值时，判定为满足预设的第三反拖制动条件。
进一步地，所述生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，具体为：
根据汽车工况信息所满足的反拖制动条件查询对应的制动策略表，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器。
进一步地，所述制动策略表的构建方式为：
对制动踏板在真空状态下进行自学习，根据需求反拖减速度获取制动踏板行程与反拖力矩的对应关系，根据获取的对应关系进行构建得到所述制动策略表；其中，所述需求反拖减速度为制动系统减速度与预设的目标减速度之差。
进一步地，所述以使所述电机控制器根据所述反拖制动指令执行反拖制动，具体为：
以使所述电机控制器结合所述反拖制动指令、汽车电池状态、高压附件状态执行反拖制动。
进一步地，所述汽车制动控制方法还包括：
当监测到踏板行程传感器故障且制动开关传感器故障时，控制所述电机控制器不响应所述反拖制动指令。
为了解决相同的技术问题，本发明还提供了一种汽车制动控制装置，包括控制器，所述控制器用于：
实时对汽车制动系统进行故障监测；
获取汽车制动系统发生故障状态时的汽车工况信息；
根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
本发明还提供一种汽车，包括上述的汽车制动控制装置。
与现有技术相比，本发明具有如下有益效果：
本发明实施例提供了一种汽车制动控制方法及装置，所述方法包括：实时对汽车制动系统进行故障监测；获取汽车制动系统发生故障状态时的汽车工况信息；根据所述故障状态时的汽车工况信息生成对应的失效判定结果；当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。本发明能够在制动系统失效时或性能降低到一定程度时，控制电机执行反拖制动，从而有效提高汽车的安全性。
附图说明
图1是本发明一实施例提供的汽车制动控制方法的流程示意图；
图2是本发明一实施例提供的汽车制动控制方法的另一流程示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参见图1-2，本发明实施例提供了一种汽车制动控制方法，包括步骤：
S1、实时对汽车制动系统进行故障监测；
需要说明的是，步骤S1为实时对汽车制动系统进行故障监测，通过传感器检测制动系统零部件工作状态，如真空助力器内真空度的大小，装配电控助力器的监测电控助力器工作状态，管路液压水平等。对于已装配检测用传感器的车辆(如真空度传感器、踏板位移传感器等)，不会带来零部件成本和重量的增加，但大幅提高车辆的安全性。
S2、获取汽车制动系统发生故障状态时的汽车工况信息；
步骤S2为当检测到汽车制动系统发送故障时，获取此时的汽车工况信息，包括但不限于获取制动系统工作状态、制动踏板行程信息、车速信息等，用于后续进行汽车故障情况的判定以及反拖制动条件的判定。
S3、根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
在本发明实施例中，进一步地，所述失效判定结果至少包括第一失效判定结果、第二失效判定结果、第三失效判定结果；步骤S3具体为：
当根据所述故障状态时的汽车工况信息，判断真空助力系统的真空度低于预设的真空阈值且电子稳定系统失效时，生成所述第一失效判定结果；
当根据所述故障状态时的汽车工况信息，判断电控助力器完全失效且所述电子稳定系统失效时，生成所述第二失效判定结果；
当根据所述故障状态时的汽车工况信息，判断制动踏板行程大于预设的阈值，且制动管路液压低于预设的液压阈值或汽车减速度低于预设的减速阈值时，生成所述第三失效判定结果。
需要说明的是，步骤S3为对汽车故障情况进行判定，并根据不同的故障类型进行相应的反拖制动条件的判断。
S4、当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
在本发明实施例中，进一步地，所述判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件，具体为：
当所述失效判定结果为第一失效判定结果，且判断汽车车速大于预设的第一车速阈值时，判定为满足预设的第一反拖制动条件；
当所述失效判定结果为第二失效判定结果，且判断汽车车速大于预设的第二车速阈值时，判定为满足预设的第二反拖制动条件；
当所述失效判定结果为第三失效判定结果，且判断汽车车速大于预设的第三车速阈值时，判定为满足预设的第三反拖制动条件。
在本发明实施例中，进一步地，所述生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，具体为：
根据汽车工况信息所满足的反拖制动条件查询对应的制动策略表，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器。
在本发明实施例中，进一步地，所述制动策略表的构建方式为：
对制动踏板在真空状态下进行自学习，根据需求反拖减速度获取制动踏板行程与反拖力矩的对应关系，根据获取的对应关系进行构建得到所述制动策略表；其中，所述需求反拖减速度为制动系统减速度与预设的目标减速度之差。
需要说明的是，预设的目标减速度等于驾驶员操作制动减速度的基础上叠加电机反拖减速度，例如产生≥4m/s 2的减速度(可标定)。
电机反拖减速度的大小可与踏板行程关联，可通过真空失效状态下，踏板行程自学习，标定不同踏板行程需对应不同的反拖减速度(反拖力矩)。
在本发明实施例中，进一步地，所述以使所述电机控制器根据所述反拖制动指令执行反拖制动，具体为：
以使所述电机控制器结合所述反拖制动指令、汽车电池状态、高压附件状态 执行反拖制动。
电机控制器接收到反拖制动指令后，还根据电池状态、高压附件状态进行综合判断后，执行反拖制动以对车辆进行减速。如满电时不能达到预期的减速度，可以强制开启高压零部件消耗电能，用于吸收回收扭矩。
在本发明实施例中，进一步地，所述汽车制动控制方法还包括：
当监测到踏板行程传感器故障且制动开关传感器故障时，控制所述电机控制器不响应所述反拖制动指令。
需要说明的是，当驾驶员有制动请求(制动踏板处于踩下，制动开关传感器处于激活状态)时激活反拖制动功能，但如果检测到踏板行程传感器和制动开关传感器故障时，反拖制动功能不激活。
基于上述方案，下面列举具体的反拖制动方案进行说明：
工况1：真空助力失效或性能下降，且电子稳定系统(ESC)同时失效；
具体地，检测到真空度为零或低于一定门限值(如≤15KPa，可标定)，同时电子稳定系统失效(增压辅助制动功能失效)；
若根据汽车工况信息判断汽车的车速＞5km/h(高于爬行车速，可标定)，则判定为满足反拖制动条件，此时根据预设的制动策略表(如表1所示)，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器，电机控制器根据电池状态，高压附件状态进行综合判断，执行反拖制动以对车辆进行减速。
表1
踏板行程(mm)或踏板深度(％) 反拖力矩(牛.米)
0 0
5 0
10 0
15 0
20 200
25 400
30 最大
… 最大
工况2：电控助力器完全失效且电子稳定系统(ESC)同时失效；
具体地，当检测到电控助力器完全失效，电控助力器发出失效信号，同时电子稳定系统失效(增压辅助制动功能失效)时；
若根据汽车工况信息判断汽车的车速＞5km/h(高于爬行车速，可标定)，则判定为满足反拖制动条件，此时根据预设的制动策略表(例如表1所示)，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器，电机控制器根据电池状态，高压附件状态进行综合判断，执行反拖制动以对车辆进行减速。
工况3.1：管路失效(单管路)
制动踏板行程传感器监测踏板踩下到行程大于50mm(可标定)，管路中的液压传感器监测到管路液压低于正常工作值到一定门限值后(一般＜1MPa，可标定)或减速度传感器监测到减速度低于一定门限值后(一般＜1m/s 2，可标定)，同时检测到车速＞5km/h(高于爬行车速，可标定)，则判定为满足反拖制动条件，此时根据预设的制动策略表(例如表2所示)，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器(或VCU整车控制器)，电机控制器(或VCU整车控制器)根据电池状态，高压附件状态进行综合判断，执行反拖制动以对车辆进行减速。
表2
Figure PCTCN2021099902-appb-000001
Figure PCTCN2021099902-appb-000002
工况3.1：管路失效(双管路)
制动踏板行程传感器监测踏板踩下到行程大于70mm(可标定)，管路中的液压传感器监测到管路液压低于正常工作值到一定门限值后(一般＜1MPa，可标定)或减速度传感器监测到减速度低于一定门限值后(一般＜1m/s 2，可标定)，同时检测到车速＞0.5km/h(高于爬行车速，可标定)，则判定为满足反拖制动条件，此时根据预设的制动策略表(例如表3所示)，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器(或VCU整车控制器)，电机控制器(或VCU整车控制器)根据电池状态，高压附件状态进行综合判断，执行反拖制动以对车辆进行减速。
表3
踏板行程(mm)或踏板深度(％) 反拖力矩(牛.米)
0 0
20 0
60 0
70 0
80 200
90 500
100 最大
… 最大
与现有技术相比，本发明实施例具有如下有益效果：
本发明通过传感器检测制动系统零部件工作状态，当检测到有制动零部件或系统失效或性能降低到一定程度时，发送反拖制动指令给电机控制器，以控制电机执行反拖制动，实现车辆减速，保证车辆在制动零部件或系统失效时，仍能产生一定的减速度，减小汽车的制动距离，提高车辆安全性。
需要说明的是，对于以上方法或流程实施例，为了简单描述，故将其都表述 为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作并不一定是本发明实施例所必须的。
为了解决相同的技术问题，本发明还提供了一种汽车制动控制装置，包括控制器，所述控制器用于：
实时对汽车制动系统进行故障监测；
获取汽车制动系统发生故障状态时的汽车工况信息；
根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
本发明还提供一种汽车，包括上述的汽车制动控制装置。
可以理解的是上述装置项实施例，是与本发明方法项实施例相对应的，本发明实施例提供的一种汽车制动控制装置，可以实现本发明任意一项方法项实施例提供的汽车制动控制方法。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (9)

  1. 一种汽车制动控制方法，其特征在于，包括：
    实时对汽车制动系统进行故障监测；
    获取汽车制动系统发生故障状态时的汽车工况信息；
    根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
    当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
  2. 根据权利要求1所述的汽车制动控制方法，其特征在于，所述失效判定结果至少包括第一失效判定结果、第二失效判定结果、第三失效判定结果；所述根据所述故障状态时的汽车工况信息生成对应的失效判定结果，具体为：
    当根据所述故障状态时的汽车工况信息，判断真空助力系统的真空度低于预设的真空阈值且电子稳定系统失效时，生成所述第一失效判定结果；
    当根据所述故障状态时的汽车工况信息，判断电控助力器完全失效且所述电子稳定系统失效时，生成所述第二失效判定结果；
    当根据所述故障状态时的汽车工况信息，判断制动踏板行程大于预设的阈值，且制动管路液压低于预设的液压阈值或汽车减速度低于预设的减速阈值时，生成所述第三失效判定结果。
  3. 根据权利要求2所述的汽车制动控制方法，其特征在于，所述判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件，具体为：
    当所述失效判定结果为第一失效判定结果，且判断汽车车速大于预设的第一车速阈值时，判定为满足预设的第一反拖制动条件；
    当所述失效判定结果为第二失效判定结果，且判断汽车车速大于预设的第二车速阈值时，判定为满足预设的第二反拖制动条件；
    当所述失效判定结果为第三失效判定结果，且判断汽车车速大于预设的第三车速阈值时，判定为满足预设的第三反拖制动条件。
  4. 根据权利要求3所述的汽车制动控制方法，其特征在于，所述生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，具体为：
    根据汽车工况信息所满足的反拖制动条件查询对应的制动策略表，获取与制动踏板行程相对应的反拖力矩，根据获取的反拖力矩生成反拖制动指令并发送至电机控制器。
  5. 根据权利要求4所述的汽车制动控制方法，其特征在于，所述制动策略表的构建方式为：
    对制动踏板在真空状态下进行自学习，根据需求反拖减速度获取制动踏板行程与反拖力矩的对应关系，根据获取的对应关系进行构建得到所述制动策略表；其中，所述需求反拖减速度为制动系统减速度与预设的目标减速度之差。
  6. 根据权利要求1所述的汽车制动控制方法，其特征在于，所述以使所述电机控制器根据所述反拖制动指令执行反拖制动，具体为：
    以使所述电机控制器结合所述反拖制动指令、汽车电池状态、高压附件状态执行反拖制动。
  7. 根据权利要求1所述的汽车制动控制方法，其特征在于，还包括：
    当监测到踏板行程传感器故障且制动开关传感器故障时，控制所述电机控制器不响应所述反拖制动指令。
  8. 一种汽车制动控制装置，其特征在于，包括控制器，所述控制器用于：
    实时对汽车制动系统进行故障监测；
    获取汽车制动系统发生故障状态时的汽车工况信息；
    根据所述故障状态时的汽车工况信息生成对应的失效判定结果；
    当判断制动系统发生故障后的汽车工况信息满足与所述失效判定结果对应的反拖制动条件时，生成与所述反拖制动条件对应的反拖制动指令并发送至电机控制器，以使所述电机控制器根据所述反拖制动指令执行反拖制动。
  9. 一种汽车，其特征在于，包括如权利要求8所述的汽车制动控制装置。
PCT/CN2021/099902 2020-07-21 2021-06-12 一种汽车制动控制方法、装置及汽车 Ceased WO2022017061A1 (zh)

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