WO2023050841A1 - Method for reducing drag torque of brake - Google Patents

Method for reducing drag torque of brake Download PDF

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Publication number
WO2023050841A1
WO2023050841A1 PCT/CN2022/095083 CN2022095083W WO2023050841A1 WO 2023050841 A1 WO2023050841 A1 WO 2023050841A1 CN 2022095083 W CN2022095083 W CN 2022095083W WO 2023050841 A1 WO2023050841 A1 WO 2023050841A1
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Prior art keywords
brake
accelerator pedal
signal
pedal
driving intention
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PCT/CN2022/095083
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French (fr)
Chinese (zh)
Inventor
王魁
徐华
夏金龙
唐安春
李果
杨贵永
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浙江吉利控股集团有限公司
吉利汽车研究院（宁波）有限公司
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Publication of WO2023050841A1 publication Critical patent/WO2023050841A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A method for reducing drag torque of a brake, comprising: determining a driving intention of a driver according to an accelerator pedal signal and the stroke of a brake push rod; and then respectively calculating a first pre-increased pressure or a second pre-increased pressure on the basis of the driving intention of the driver according to a current brake pressure signal, PV curves of front and rear brakes, and starting pressures of the front and rear brakes, so that the gap between a brake disc and a friction plate is reduced as much as possible or completely disappears, thereby reducing the braking response time and the idle stroke of a pedal. Thus, the braking drag of calipers can be reduced, thereby improving the economic efficiency of the vehicle; and moreover, the braking distance is also reduced, thereby improving the braking safety of the vehicle.

Description

一种减小制动器拖滞力矩的方法A Method of Reducing Brake Drag Moment
本专利申请要求2021年09月30日提交的申请号为202111166761.0，申请人为浙江吉利控股集团有限公司，发明名称为“一种减小制动器拖滞力矩的方法”的中国专利申请的优先权，上述申请的全文以引用的方式并入本申请中。This patent application claims the priority of the Chinese patent application with the application number 202111166761.0 submitted on September 30, 2021, and the applicant is Zhejiang Geely Holding Group Co., Ltd., whose invention title is "A Method for Reducing Brake Drag Moment". The entirety of the application is incorporated by reference into this application.
技术领域technical field
本发明涉及汽车制动器及制动系统技术领域，尤其涉及一种减小制动器拖滞力矩的方法。The invention relates to the technical field of automobile brakes and braking systems, in particular to a method for reducing brake drag torque.
背景技术Background technique
盘式制动器由于具备良好的散热性和较高的制动稳定性能，从而在制动系统中占据重要的地位。液压盘式制动器降低拖滞力矩主要依靠矩形密封圈产生的弹性变形产生拖拽，拖动活塞回位，这会使活塞和摩擦片产生间隙。另外，车辆行驶过程中制动盘旋转产生的跳动和振动会使摩擦块脱开制动盘，也会降低拖滞力。Disc brakes play an important role in the braking system due to their good heat dissipation and high braking stability. Hydraulic disc brakes reduce the drag moment mainly by dragging due to the elastic deformation of the rectangular sealing ring, dragging the piston back, which will cause a gap between the piston and the friction plate. In addition, the jump and vibration generated by the rotation of the brake disc during the driving of the vehicle will cause the friction block to disengage from the brake disc, which will also reduce the drag force.
技术问题technical problem
然而，盘式制动器普遍存在拖滞现象，即完成制动并抬起制动踏板后，车轮的制动并未完全解除，进而影响车辆续航里程或油量消耗。由于结构关系，矩形密封圈变形程度也不能过大，过大的变形程度会导致制动盘和摩擦片之间间隙过大，加大了制动踏板的初期行程，导致制动软、响应慢，加大了制动距离，降低了安全性，因此单纯依靠矩形圈拖拽降低拖滞力并不可行。However, disc brakes generally have a dragging phenomenon, that is, after the brake is completed and the brake pedal is lifted, the brake of the wheel is not completely released, which affects the cruising range or fuel consumption of the vehicle. Due to the structural relationship, the degree of deformation of the rectangular sealing ring should not be too large. Excessive deformation will cause the gap between the brake disc and the friction plate to be too large, which will increase the initial stroke of the brake pedal, resulting in soft braking and slow response. , which increases the braking distance and reduces the safety, so it is not feasible to simply rely on the dragging of the rectangular circle to reduce the dragging force.
目前行业中普遍选择在盘式制动器上加装制动片回位装置以减小拖滞，但在保证盘片间隙足够小的前提下，车辆行驶中制动盘和摩擦片在一定程度上仍存在接触，且回位装置的结构形状复杂，还存在制造成本高、安装困难等问题，泛用性不佳。At present, the industry generally chooses to install a brake pad return device on the disc brake to reduce dragging. However, under the premise of ensuring that the disc gap is small enough, the brake disc and the friction pad still remain to a certain extent when the vehicle is running. There is contact, and the structure and shape of the return device is complicated, and there are also problems such as high manufacturing cost and difficult installation, and the versatility is not good.
技术解决方案technical solution
本发明提供了一种无需额外机械结构且泛用性强的减小制动器拖滞力矩的方法，其包括以下步骤：The present invention provides a method for reducing the drag torque of a brake that does not require an additional mechanical structure and has strong versatility, which includes the following steps:
步骤S1：检测到车辆唤醒信号后，读取当前的油门踏板信号，所述油门踏板信号包括油门踏板的开度和油门踏板的斜率；Step S1: After detecting the vehicle wake-up signal, read the current accelerator pedal signal, which includes the opening degree of the accelerator pedal and the slope of the accelerator pedal;
步骤S2：根据所述油门踏板信号确认驾驶员的驾驶意图，并在需要时进一步根据制动压力传感器读取到的当前制动压力信号确认驾驶员的驾驶意图；Step S2: Confirm the driver's driving intention according to the accelerator pedal signal, and further confirm the driver's driving intention according to the current brake pressure signal read by the brake pressure sensor if necessary;
步骤S3：根据驾驶意图计算制动预增压力，并将其施加于制动器上；Step S3: Calculate the brake pre-increasing pressure according to the driving intention, and apply it to the brake;
步骤S4：再次确认驾驶员的驾驶意图，并根据此次确认结果进行相应的操作。Step S4: Confirm the driver's driving intention again, and perform corresponding operations according to the result of this confirmation.
进一步地，所述步骤S2中的根据所述油门踏板信号确认驾驶员的驾驶意图包括：Further, confirming the driver's driving intention according to the accelerator pedal signal in the step S2 includes:
将所述油门踏板信号与踏板开度阀值和踏板斜率阀值进行对比，根据对比结果确认驾驶意图。The accelerator pedal signal is compared with the pedal opening threshold and the pedal slope threshold, and the driving intention is confirmed according to the comparison result.
进一步地，所述步骤S2中的根据所述油门踏板信号确认驾驶员的驾驶意图进一步包括：Further, confirming the driver's driving intention according to the accelerator pedal signal in the step S2 further includes:
若油门踏板的开度大于踏板开度阀值，且油门踏板的斜率小于等于踏板斜率阈值，则表明驾驶意图为正常行驶，驾驶员没有制动需求，返回步骤S1；If the opening of the accelerator pedal is greater than the pedal opening threshold, and the slope of the accelerator pedal is less than or equal to the pedal slope threshold, it indicates that the driving intention is normal driving, and the driver has no braking demand, and returns to step S1;
若油门踏板的开度小于或等于踏板开度阀值，且油门踏板的斜率小于等于踏板斜率阈值，则需要进一步根据当前制动压力信号确认驾驶员的驾驶意图；If the opening of the accelerator pedal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal is less than or equal to the pedal slope threshold, it is necessary to further confirm the driver's driving intention according to the current brake pressure signal;
若油门踏板的开度小于或等于踏板开度阀值，且油门踏板信号中的油门踏板的斜率大于踏板斜率阈值，则表明驾驶意图为紧急制动。If the opening of the accelerator pedal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal in the accelerator pedal signal is greater than the pedal slope threshold, it indicates that the driving intention is emergency braking.
进一步地，所述进一步根据制动压力传感器读取到的当前制动压力信号确认驾驶员的驾驶意图包括：Further, confirming the driver's driving intention according to the current brake pressure signal read by the brake pressure sensor includes:
若油门踏板信号中的油门踏板的开度小于等于踏板开度阀值，且油门踏板信号中的油门踏板的斜率小于等于踏板斜率阈值，则将制动推杆行程与推杆行程阀值进行对比，若其大于等于推杆行程阀值，则表明驾驶意图为减速或减速滑行。If the opening of the accelerator pedal in the accelerator pedal signal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal in the accelerator pedal signal is less than or equal to the pedal slope threshold, compare the brake pushrod stroke with the pushrod stroke threshold , if it is greater than or equal to the push rod stroke threshold, it indicates that the driving intention is to slow down or slow down to coast.
进一步地，所述步骤S3中的根据驾驶意图计算制动预增压力包括：Further, the calculation of the pre-braking pressure according to the driving intention in the step S3 includes:
若在步骤S2中判定驾驶意图为紧急制动，则根据当前制动压力信号、前后制动器PV曲线和前后制动器启动压力计算能够完全消除制动盘和摩擦片之间间隙的第一预增压力；If it is determined in step S2 that the driving intention is emergency braking, the first pre-increasing pressure that can completely eliminate the gap between the brake disc and the friction plate is calculated according to the current brake pressure signal, the PV curve of the front and rear brakes, and the activation pressure of the front and rear brakes;
若在步骤S2中判定驾驶意图为减速或减速滑行，则根据当前制动压力信号、前后制动器PV曲线和前后制动器启动压力计算能够部分消除制动盘和摩擦片之间间隙的第二预增压力。If it is determined in step S2 that the driving intention is deceleration or deceleration coasting, then calculate the second pre-increasing pressure that can partially eliminate the gap between the brake disc and the friction plate according to the current brake pressure signal, the PV curve of the front and rear brakes, and the activation pressure of the front and rear brakes .
进一步地，所述步骤S4中的再次确认驾驶员的驾驶意图，并根据此次确认结果进行相应的操作包括：Further, reconfirming the driver's driving intention in the step S4, and performing corresponding operations according to the confirmation result includes:
再次读取制动压力信号和油门踏板信号，Read the brake pressure signal and accelerator pedal signal again,
若制动压力信号大于被施加的第一预增压力或第二预增压力，则表明驾驶意图为实施制动，解除步骤S3中施加的第一预增压力或第二预增压力，按照驾驶员实际操作制动踏板所产生的制动压力进行制动，然后返回步骤S2；If the brake pressure signal is greater than the first pre-increasing pressure or the second pre-increasing pressure applied, it indicates that the driving intention is to apply the brakes, and the first pre-increasing pressure or the second pre-increasing pressure applied in step S3 is released, and the driving force is adjusted according to the driving force. brake with the brake pressure generated by the driver actually operating the brake pedal, and then return to step S2;
若制动压力信号相较于主控制模块施加第一预增压力或第二预增压力时的制动压力信号无变化且油门踏板信号大于踏板开度信号阀值，则表明驾驶意图为起步或加速或滑行，解除被施加的第一预增压力或第二预增压力，按照油门踏板信号执行起步或加速或滑行，然后返回步骤S2。If the brake pressure signal has no change compared with the brake pressure signal when the main control module applies the first pre-increasing pressure or the second pre-increasing pressure, and the accelerator pedal signal is greater than the threshold value of the pedal opening signal, it indicates that the driving intention is to start or Accelerate or coast, release the applied first pre-increasing pressure or second pre-increasing pressure, start or accelerate or coast according to the accelerator pedal signal, and then return to step S2.
进一步地，所述踏板开度阀值、所述踏板斜率阀值均为标定值。Further, the pedal opening threshold value and the pedal slope threshold value are calibration values.
进一步地，所述推杆行程阀值为标定值。Further, the push rod stroke threshold value is a calibration value.
进一步地，所述第一预增压力大于所述第二预增压力。Further, the first pre-charging pressure is greater than the second pre-charging pressure.
进一步地，所述前后制动器PV曲线和所述前后制动器启动压力均为标定值。Further, the PV curves of the front and rear brakes and the activation pressure of the front and rear brakes are calibration values.
有益效果Beneficial effect
本发明的减小制动器拖滞力矩的方法根据油门踏板信号和制动推杆行程确认驾驶员的驾驶意图，随后根据驾驶员的驾驶意图、当前制动压力信号、前后制动器PV曲线和前后制动器启动压力分别计算第一预增压力或第二预增压力使制动盘和摩擦片间隙尽可能减小或完全消失，减少制动反应时间和踏板空行程，本发明能够降低卡钳拖滞，提升了车辆经济性，同时也降低制动距离，提升了车辆的制动安全性。The method for reducing brake drag torque of the present invention confirms the driver's driving intention according to the accelerator pedal signal and the stroke of the brake push rod, and then according to the driver's driving intention, the current brake pressure signal, the PV curve of the front and rear brakes, and the front and rear brakes. Calculate the first pre-increasing pressure or the second pre-increasing pressure respectively, so that the gap between the brake disc and the friction plate can be reduced or completely eliminated, and the braking reaction time and pedal idle travel can be reduced. The present invention can reduce caliper drag and improve the Vehicle economy, but also reduce the braking distance, improve the braking safety of the vehicle.
附图说明Description of drawings
图1为本发明提供的减小制动器拖滞力矩的方法的流程示意图。Fig. 1 is a schematic flowchart of a method for reducing brake drag torque provided by the present invention.
图2为本发明提供的减小制动器拖滞力矩的方法所基于的液压系统原理示意图。Fig. 2 is a schematic diagram of the principle of the hydraulic system on which the method for reducing the drag torque of the brake provided by the present invention is based.
本发明的实施方式Embodiments of the present invention
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
本发明的说明书和权利要求书中的术语“第一”、“第二”、“第三”、“第四”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。The terms "first", "second", "third", "fourth" and the like in the description and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence .
请参阅图1，本发明的减小制动器拖滞力矩的方法所基于的液压制动系统至少包括液压盘式制动器、制动踏板、制动行程传感器、油门踏板传感器、制动压力传感器、制动踏板模拟器、以及主控制模块。Referring to Fig. 1, the hydraulic braking system based on the method for reducing brake drag torque of the present invention at least includes a hydraulic disc brake, a brake pedal, a brake stroke sensor, an accelerator pedal sensor, a brake pressure sensor, a brake Pedal Simulator, and Master Control Module.
其中，制动踏板为驾驶员操纵制动系统的直接操作机构，与制动踏板模拟器直接连接；制动行程传感器能够采集驾驶员踩踏制动踏板时产生的制动推杆行程；油门踏板传感器能够采集驾驶员踩踏油门踏板时产生的油门踏板信号；制动压力传感器能够采集液压制动系统的制动压力信号；制动踏板模拟器能够根据不同的踏板力和踏板行程为驾驶员提供踏板感；主控制模块包括执行器、处理器、控制器和运算器，主控制模块为本发明中的计算、决策及供能中心，其可对收集到的车辆唤醒信号，油门踏板信号，制动行程信号及制动压力信号进行监测和计算，并对是否进行预增压控制及执行时的具体压力控制进行决策。Among them, the brake pedal is the direct operating mechanism for the driver to manipulate the brake system, and is directly connected to the brake pedal simulator; the brake stroke sensor can collect the brake push rod stroke generated when the driver steps on the brake pedal; the accelerator pedal sensor It can collect the accelerator pedal signal generated when the driver steps on the accelerator pedal; the brake pressure sensor can collect the brake pressure signal of the hydraulic brake system; the brake pedal simulator can provide the driver with a pedal feeling according to different pedal forces and pedal strokes. ; The main control module includes an actuator, a processor, a controller and an arithmetic unit. The main control module is the calculation, decision-making and energy supply center in the present invention, which can collect the vehicle wake-up signal, the accelerator pedal signal, and the braking stroke Signals and brake pressure signals are monitored and calculated, and decisions are made on whether to perform pre-increasing control and the specific pressure control during execution.
本发明的减小制动器拖滞力矩的方法包括以下步骤：The method for reducing brake drag torque of the present invention comprises the following steps:
步骤S1：主控制模块检测到车辆唤醒信号后，读取当前的油门踏板信号。Step S1: After the main control module detects the vehicle wake-up signal, it reads the current accelerator pedal signal.
具体地，车辆唤醒信号可以为车钥匙解锁车辆时发送至主控制模块的信号或制动踏板触发信号的其中之一，只要能够发送至主控制模块，唤醒主控制模块即可。主控制模块在检测到车辆唤醒信号后，开始读取油门踏板信号，通过驾驶员对油门踏板的动作判断此时工况。油门踏板信号包含了驾驶员踩下或释放油门时，油门踏板的开度和油门踏板的斜率，其中油门踏板的开度即为驾驶员踩下或释放油门踏板的幅度，而油门踏板的斜率则为驾驶员踩下或释放油门踏板的速率，驾驶员踩下或释放的越快该斜率越大。油门踏板信号通过整车网络传输发送至主控制模块，其同时也为代表车辆加减速控制及扭矩响应的信号，在本发明中其作为判断是否需要进行预增压的参数之一。Specifically, the vehicle wake-up signal can be one of the signal sent to the main control module when the vehicle is unlocked by the car key or the brake pedal trigger signal, as long as it can be sent to the main control module to wake up the main control module. After the main control module detects the vehicle wake-up signal, it starts to read the accelerator pedal signal, and judges the working condition at this time through the driver's action on the accelerator pedal. The accelerator pedal signal includes the opening of the accelerator pedal and the slope of the accelerator pedal when the driver steps on or releases the accelerator. The rate at which the driver depresses or releases the accelerator pedal, the faster the driver depresses or releases the accelerator pedal, the greater the slope. The accelerator pedal signal is sent to the main control module through the vehicle network transmission, which is also a signal representing vehicle acceleration and deceleration control and torque response. In the present invention, it is used as one of the parameters for judging whether pre-charging is required.
步骤S2：主控制模块根据所述油门踏板信号，并在需要时进一步根据制动压力传感器读取到的当前制动压力信号确认驾驶员的驾驶意图。Step S2: The main control module confirms the driver's driving intention according to the accelerator pedal signal and, if necessary, further according to the current brake pressure signal read by the brake pressure sensor.
具体地，在步骤S2中，油门踏板信号包括油门踏板开度和油门踏板斜率，步骤S2通过将所述油门踏板信号与踏板开度阀值和踏板斜率阀值进行对比，确认驾驶意图。其具体包括：Specifically, in step S2, the accelerator pedal signal includes the accelerator pedal opening and the accelerator pedal slope, and step S2 compares the accelerator pedal signal with the pedal opening threshold and the pedal slope threshold to confirm the driving intention. It specifically includes:
主控制模块将油门踏板信号与踏板开度阀值WPED%和踏板斜率阀值K进行对比：The main control module compares the accelerator pedal signal with the pedal opening threshold WPED% and the pedal slope threshold K:
若油门踏板信号中的油门踏板开度大于踏板开度阀值WPED%，且油门踏板信号中的油门踏板斜率小于等于踏板斜率阈值K，则表明驾驶意图为正常行驶，驾驶员没有制动需求，返回步骤S1；If the accelerator pedal opening in the accelerator pedal signal is greater than the pedal opening threshold WPED%, and the accelerator pedal slope in the accelerator pedal signal is less than or equal to the pedal slope threshold K, it indicates that the driving intention is normal driving, and the driver has no braking demand. Return to step S1;
若油门踏板信号中的油门踏板开度小于等于踏板开度阀值WPED%，且油门踏板信号中的油门踏板斜率小于等于踏板斜率阈值K，则主控制模块通过制动行程传感器读取制动推杆行程并将其与推杆行程阀值进行对比判断，若其大于等于推杆行程阀值，则表明驾驶意图为减速或减速滑行；If the accelerator pedal opening in the accelerator pedal signal is less than or equal to the pedal opening threshold WPED%, and the accelerator pedal slope in the accelerator pedal signal is less than or equal to the pedal slope threshold K, the main control module reads the brake push through the brake travel sensor. and compare it with the threshold value of the push rod stroke, if it is greater than or equal to the threshold value of the push rod stroke, it indicates that the driving intention is to slow down or slow down to coast;
若油门踏板信号中的油门踏板开度小于等于踏板开度阀值WPED%，且油门踏板信号中的油门踏板斜率大于踏板斜率阈值K，则表明驾驶意图为紧急制动。If the accelerator pedal opening in the accelerator pedal signal is less than or equal to the pedal opening threshold WPED%, and the accelerator pedal slope in the accelerator pedal signal is greater than the pedal slope threshold K, it indicates that the driving intention is emergency braking.
易于理解地，步骤S2分别将踏板开度阀值WPED%和踏板斜率阀值K与油门踏板信号中的油门踏板开度和油门踏板斜率进行对比，根据两组数据对比得到的大小关系不同，进而得到三种表明不同工况的对比结果并分别执行后续步骤。特别地，当对比结果为油门踏板信号中的油门踏板开度小于等于踏板开度阀值WPED%，且油门踏板信号中的油门踏板斜率小于等于踏板斜率阈值K时，单单依据油门开度信号并不足以确认驾驶员是否意图减速或减速滑行，此时还需要将“驾驶员踩下制动踏板一定幅度”作为必要的判定条件，读取制动推杆行程以对驾驶意图是否为减速或滑行进一步确认，若制动推杆行程大于推杆行程阀值，则表明驾驶员确实意图减速或减速滑行。在本实施例中，推杆行程阀值为标定值。In an easy-to-understand manner, step S2 compares the pedal opening threshold WPED% and the pedal slope threshold K with the accelerator pedal opening and the accelerator pedal slope in the accelerator pedal signal, and the size relationship obtained by comparing the two sets of data is different. Three comparison results showing different operating conditions are obtained and subsequent steps are performed respectively. In particular, when the comparison result is that the accelerator pedal opening in the accelerator pedal signal is less than or equal to the pedal opening threshold WPED%, and the accelerator pedal slope in the accelerator pedal signal is less than or equal to the pedal slope threshold K, only based on the accelerator opening signal and It is not enough to confirm whether the driver intends to decelerate or decelerate and coast. At this time, it is necessary to take "the driver depresses the brake pedal to a certain extent" as a necessary judgment condition, and read the stroke of the brake push rod to determine whether the driving intention is to decelerate or coast. It is further confirmed that if the brake push rod stroke is greater than the push rod stroke threshold, it indicates that the driver really intends to slow down or slow down to coast. In this embodiment, the push rod stroke threshold value is a calibration value.
步骤S3：主控制模块通过制动压力传感器读取当前制动压力信号，根据驾驶员的驾驶意图，通过当前制动压力信号、前后制动器PV曲线和前后制动器启动压力分别计算第一预增压力或第二预增压力，若驾驶意图为紧急制动，则计算并施加第一预增压力，若驾驶意图为减速或滑行，则计算并施加第二预增压力。Step S3: The main control module reads the current brake pressure signal through the brake pressure sensor, and calculates the first pre-increase pressure or For the second pre-increasing pressure, if the driving intention is emergency braking, the first pre-increasing pressure is calculated and applied, and if the driving intention is deceleration or coasting, the second pre-increasing pressure is calculated and applied.
具体地，若主控制模块在步骤S2中判定驾驶意图为紧急制动，则主控制模块计算能够完全消除制动盘和摩擦片之间间隙的第一预增压力；Specifically, if the main control module determines in step S2 that the driving intention is emergency braking, the main control module calculates the first pre-increasing pressure that can completely eliminate the gap between the brake disc and the friction plate;
类似地，若主控制模块在步骤S2中判定驾驶意图为减速或滑行，随后又在步骤S2中进一步确认驾驶意图确实为减速或滑行，则主控制模块计算能够部分消除制动盘和摩擦片之间间隙的第二预增压力。在本实施例中，前后制动器PV曲线和前后制动器启动压力均为标定参数，可根据制动器不同而存在不同的标定值，也可通过标定前后制动器PV曲线和前后制动器启动压力标定第一预增压力和第二预增压力。Similarly, if the main control module determines in step S2 that the driving intention is deceleration or coasting, and then further confirms in step S2 that the driving intention is indeed deceleration or coasting, then the main control module calculates that the distance between the brake disc and the friction lining can be partially eliminated. The second pre-increasing pressure in the gap. In this embodiment, the PV curves of the front and rear brakes and the activation pressure of the front and rear brakes are calibration parameters, and there may be different calibration values according to different brakes. The first pre-increasing pressure can also be calibrated by calibrating the PV curves of the front and rear brakes and the activation pressure of the front and rear brakes. and the second pre-boost pressure.
进一步地，当判断驾驶员的驾驶意图为紧急制动时，执行器会为制动器施加第一预增压力。第一预增压力用于完全消除制动盘和摩擦片之间的间隙，在用户踩下制动踏板之前就消除制动空行程，以此减小制动反应时间，缩短制动距离，提高车辆安全性。Further, when it is judged that the driver's driving intention is emergency braking, the actuator will apply the first pre-increasing pressure to the brake. The first pre-increasing pressure is used to completely eliminate the gap between the brake disc and the friction plate, and eliminate the brake idle travel before the user steps on the brake pedal, thereby reducing the braking reaction time, shortening the braking distance, and improving vehicle safety.
类似地，当判断驾驶员的驾驶意图为减速或滑行时，执行器会为制动器施加第二预增压力，第二预增压力用于部分消除制动盘和摩擦片之间的间隙，将制动盘和摩擦片之间的间隙控制在常规制动器间隙范围内，保持原有的踏板空行程，提高制动舒适性，同时在非制动工况下最大限度地降低制动器拖滞。Similarly, when it is judged that the driver's driving intention is deceleration or coasting, the actuator will apply a second pre-increasing pressure to the brake, the second pre-increasing pressure is used to partially eliminate the gap between the brake disc and the friction plate, and the brake The gap between the rotor and the friction plate is controlled within the normal brake gap range, maintaining the original pedal vacant travel, improving braking comfort, and minimizing brake dragging under non-braking conditions.
易于理解地，在本实施例中，第一预增压力大于第二预增压力。It is easy to understand that in this embodiment, the first pre-increasing pressure is greater than the second pre-increasing pressure.
步骤S4：主控制模块在施加完毕第一预增压力或第二预增压力后的下一时刻再次读取制动压力信号和油门踏板信号，再次确认驾驶员的驾驶意图，若制动压力大于被施加的第一预增压力或第二预增压力，则表明驾驶意图为实施制动，解除步骤S3中施加的第一预增压力或第二预增压力，按照驾驶员实际操作制动踏板所产生的制动压力进行制动，然后返回步骤S2；Step S4: The main control module reads the brake pressure signal and the accelerator pedal signal again at the next moment after the first pre-increasing pressure or the second pre-increasing pressure is applied, and confirms the driver's driving intention again. If the braking pressure is greater than The applied first pre-increasing pressure or the second pre-increasing pressure indicates that the driving intention is to apply the brakes, the first pre-increasing pressure or the second pre-increasing pressure applied in step S3 is released, and the driver actually operates the brake pedal The generated brake pressure is used for braking, and then returns to step S2;
若制动压力信号相较于主控制模块施加第一预增压力或第二预增压力时的制动压力信号无变化且油门踏板信号大于踏板开度信号阀值WPED%，则表明驾驶意图为起步或加速或滑行，主控制模块解除被施加的第一预增压力或第二预增压力，按照油门踏板信号执行起步或加速或滑行，解除步骤S3中施加的第一预增压力或第二预增压力，返回步骤S2。If the brake pressure signal has no change compared with the brake pressure signal when the main control module applies the first pre-increasing pressure or the second pre-increasing pressure and the accelerator pedal signal is greater than the pedal opening signal threshold WPED%, it indicates that the driving intention is Starting or accelerating or coasting, the main control module releases the applied first pre-increasing pressure or the second pre-increasing pressure, executes starting or accelerating or coasting according to the accelerator pedal signal, and releases the first pre-increasing pressure or the second pre-increasing pressure applied in step S3 Pre-increasing pressure, return to step S2.
本发明的减小制动器拖滞力矩的方法根据油门踏板信号和制动推杆行程确认驾驶员的驾驶意图，随后根据驾驶员的驾驶意图、当前制动压力信号、前后制动器PV曲线和前后制动器启动压力分别计算第一预增压力或第二预增压力，使制动盘和摩擦片间隙尽可能减小或完全消失，减少制动反应时间和踏板空行程，本发明能够降低卡钳拖滞，提升了车辆经济性，同时也降低制动距离，提升了车辆的制动安全性。The method for reducing brake drag torque of the present invention confirms the driver's driving intention according to the accelerator pedal signal and the stroke of the brake push rod, and then according to the driver's driving intention, the current brake pressure signal, the PV curve of the front and rear brakes, and the front and rear brakes. Calculate the first pre-increasing pressure or the second pre-increasing pressure respectively, so that the gap between the brake disc and the friction plate can be reduced or completely eliminated, and the braking reaction time and pedal idle travel can be reduced. It not only improves the vehicle economy, but also reduces the braking distance and improves the braking safety of the vehicle.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

  1. 一种减小制动器拖滞力矩的方法，其特征在于：其包括以下步骤： A method for reducing brake drag torque, characterized in that it comprises the steps of:
    步骤S1：检测到车辆唤醒信号后，读取当前的油门踏板信号，所述油门踏板信号包括油门踏板的开度和油门踏板的斜率；Step S1: After detecting the vehicle wake-up signal, read the current accelerator pedal signal, which includes the opening degree of the accelerator pedal and the slope of the accelerator pedal;
    步骤S2：根据所述油门踏板信号确认驾驶员的驾驶意图，并在需要时进一步根据制动压力传感器读取到的当前制动压力信号确认驾驶员的驾驶意图；Step S2: Confirm the driver's driving intention according to the accelerator pedal signal, and further confirm the driver's driving intention according to the current brake pressure signal read by the brake pressure sensor if necessary;
    步骤S3：根据驾驶意图计算制动预增压力，并将其施加于制动器上；Step S3: Calculate the brake pre-increasing pressure according to the driving intention, and apply it to the brake;
    步骤S4：再次确认驾驶员的驾驶意图，并根据此次确认结果进行相应的操作。Step S4: Confirm the driver's driving intention again, and perform corresponding operations according to the result of this confirmation.
  2. 根据权利要求1所述的减小制动器拖滞力矩的方法，其特征在于：所述步骤S2中的根据所述油门踏板信号确认驾驶员的驾驶意图包括： The method for reducing brake drag torque according to claim 1, characterized in that: confirming the driver's driving intention according to the accelerator pedal signal in the step S2 includes:
    将所述油门踏板信号与踏板开度阀值和踏板斜率阀值进行对比，根据对比结果确认驾驶意图。The accelerator pedal signal is compared with the pedal opening threshold and the pedal slope threshold, and the driving intention is confirmed according to the comparison result.
  3. 根据权利要求2所述的减小制动器拖滞力矩的方法，其特征在于：所述步骤S2中的根据所述油门踏板信号确认驾驶员的驾驶意图进一步包括： The method for reducing brake drag torque according to claim 2, characterized in that: confirming the driver's driving intention according to the accelerator pedal signal in the step S2 further comprises:
    若油门踏板的开度大于踏板开度阀值，且油门踏板的斜率小于等于踏板斜率阈值，则表明驾驶意图为正常行驶，驾驶员没有制动需求，返回步骤S1；If the opening of the accelerator pedal is greater than the pedal opening threshold, and the slope of the accelerator pedal is less than or equal to the pedal slope threshold, it indicates that the driving intention is normal driving, and the driver has no braking demand, and returns to step S1;
    若油门踏板的开度小于或等于踏板开度阀值，且油门踏板的斜率小于等于踏板斜率阈值，则需要进一步根据当前制动压力信号确认驾驶员的驾驶意图；If the opening of the accelerator pedal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal is less than or equal to the pedal slope threshold, it is necessary to further confirm the driver's driving intention according to the current brake pressure signal;
    若油门踏板的开度小于或等于踏板开度阀值，且油门踏板信号中的油门踏板的斜率大于踏板斜率阈值，则表明驾驶意图为紧急制动。If the opening of the accelerator pedal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal in the accelerator pedal signal is greater than the pedal slope threshold, it indicates that the driving intention is emergency braking.
  4. 根据权利要求3所述的减小制动器拖滞力矩的方法，其特征在于：所述进一步根据制动压力传感器读取到的当前制动压力信号确认驾驶员的驾驶意图包括： The method for reducing brake drag torque according to claim 3, characterized in that: further confirming the driver's driving intention according to the current brake pressure signal read by the brake pressure sensor comprises:
    若油门踏板信号中的油门踏板的开度小于等于踏板开度阀值，且油门踏板信号中的油门踏板的斜率小于等于踏板斜率阈值，则将制动推杆行程与推杆行程阀值进行对比，若其大于等于推杆行程阀值，则表明驾驶意图为减速或减速滑行。If the opening of the accelerator pedal in the accelerator pedal signal is less than or equal to the pedal opening threshold, and the slope of the accelerator pedal in the accelerator pedal signal is less than or equal to the pedal slope threshold, compare the brake pushrod stroke with the pushrod stroke threshold , if it is greater than or equal to the push rod stroke threshold, it indicates that the driving intention is to slow down or slow down to coast.
  5. 根据权利要求4所述的减小制动器拖滞力矩的方法，其特征在于：所述步骤S3中的根据驾驶意图计算制动预增压力包括： The method for reducing brake drag torque according to claim 4, characterized in that: calculating the braking pre-increasing pressure according to the driving intention in the step S3 comprises:
    若在步骤S2中判定驾驶意图为紧急制动，则根据当前制动压力信号、前后制动器PV曲线和前后制动器启动压力计算能够完全消除制动盘和摩擦片之间间隙的第一预增压力；If it is determined in step S2 that the driving intention is emergency braking, the first pre-increasing pressure that can completely eliminate the gap between the brake disc and the friction plate is calculated according to the current brake pressure signal, the PV curve of the front and rear brakes, and the activation pressure of the front and rear brakes;
    若在步骤S2中判定驾驶意图为减速或减速滑行，则根据当前制动压力信号、前后制动器PV曲线和前后制动器启动压力计算能够部分消除制动盘和摩擦片之间间隙的第二预增压力。If it is determined in step S2 that the driving intention is deceleration or deceleration coasting, then calculate the second pre-increasing pressure that can partially eliminate the gap between the brake disc and the friction plate according to the current brake pressure signal, the PV curve of the front and rear brakes, and the activation pressure of the front and rear brakes .
  6. 根据权利要求5所述的减小制动器拖滞力矩的方法，其特征在于：所述步骤S4中的再次确认驾驶员的驾驶意图，并根据此次确认结果进行相应的操作包括： The method for reducing brake drag torque according to claim 5, characterized in that: reconfirming the driver's driving intention in the step S4, and performing corresponding operations according to the result of this confirmation includes:
    再次读取制动压力信号和油门踏板信号，Read the brake pressure signal and accelerator pedal signal again,
    若制动压力信号大于被施加的第一预增压力或第二预增压力，则表明驾驶意图为实施制动，解除步骤S3中施加的第一预增压力或第二预增压力，按照驾驶员实际操作制动踏板所产生的制动压力进行制动，然后返回步骤S2；If the brake pressure signal is greater than the first pre-increasing pressure or the second pre-increasing pressure applied, it indicates that the driving intention is to apply the brakes, and the first pre-increasing pressure or the second pre-increasing pressure applied in step S3 is released, and the driving force is adjusted according to the driving force. brake with the brake pressure generated by the driver actually operating the brake pedal, and then return to step S2;
    若制动压力信号相较于主控制模块施加第一预增压力或第二预增压力时的制动压力信号无变化且油门踏板信号大于踏板开度信号阀值，则表明驾驶意图为起步或加速或滑行，解除被施加的第一预增压力或第二预增压力，按照油门踏板信号执行起步或加速或滑行，然后返回步骤S2。If the brake pressure signal has no change compared with the brake pressure signal when the main control module applies the first pre-increasing pressure or the second pre-increasing pressure, and the accelerator pedal signal is greater than the threshold value of the pedal opening signal, it indicates that the driving intention is to start or Accelerate or coast, release the applied first pre-increasing pressure or second pre-increasing pressure, start or accelerate or coast according to the accelerator pedal signal, and then return to step S2.
  7. 根据权利要求3所述的减小制动器拖滞力矩的方法，其特征在于：所述踏板开度阀值、所述踏板斜率阀值均为标定值。 The method for reducing brake drag torque according to claim 3, characterized in that: the pedal opening threshold value and the pedal slope threshold value are all calibration values.
  8. 根据权利要求4所述的减小制动器拖滞力矩的方法，其特征在于：所述推杆行程阀值为标定值。 The method for reducing brake drag torque according to claim 4, characterized in that: the push rod stroke threshold value is a calibration value.
  9. 根据权利要求5所述的减小制动器拖滞力矩的方法，其特征在于：所述第一预增压力大于所述第二预增压力。 The method for reducing brake drag torque according to claim 5, characterized in that: the first pre-increasing pressure is greater than the second pre-increasing pressure.
  10. 根据权利要求5所述的减小制动器拖滞力矩的方法，其特征在于：所述前后制动器PV曲线和所述前后制动器启动压力均为标定值。 The method for reducing brake drag torque according to claim 5, characterized in that: the PV curves of the front and rear brakes and the starting pressure of the front and rear brakes are all calibration values.
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