CN105539409B - Brake boosting system of vehicle and vehicle with same - Google Patents
Brake boosting system of vehicle and vehicle with same Download PDFInfo
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- CN105539409B CN105539409B CN201510852201.9A CN201510852201A CN105539409B CN 105539409 B CN105539409 B CN 105539409B CN 201510852201 A CN201510852201 A CN 201510852201A CN 105539409 B CN105539409 B CN 105539409B
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- 238000013528 artificial neural network Methods 0.000 claims description 41
- 238000012549 training Methods 0.000 claims description 12
- 210000002569 neuron Anatomy 0.000 claims description 5
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000005086 pumping Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000013021 overheating Methods 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 230000004913 activation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- 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
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a brake boosting system of a vehicle, which comprises: a vacuum pump; a vacuum booster; a pressure sensor connected to the vacuum booster to detect a vacuum pressure value; the acquisition module is used for acquiring the accumulated working time, the starting pressure and the ending pressure and determining the altitude according to the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump; and the controller determines a starting threshold and a closing threshold according to the altitude, and controls the starting and closing of the vacuum pump according to the detected vacuum pressure value of the vacuum booster, the starting threshold and the closing threshold. According to the brake boosting system provided by the embodiment of the invention, the altitude of the vehicle is determined by accumulating the working time, the initial pressure and the ending pressure and the continuous running time of the vacuum pump, so that the adaptability of the vehicle is improved on the premise of ensuring the performance and reliability of the vehicle, and the use requirements of various working conditions are better met. The invention also discloses a vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a brake boosting system of a vehicle and the vehicle with the brake boosting system.
Background
In a small fuel vehicle, the vacuum degree required for brake boosting depends on an engine, and a driving motor of a pure electric vehicle is in a non-stop idling state. Therefore, at present, the pure electric vehicle generally adopts the electric vacuum pump to extract vacuum for the brake boosting system.
Specifically, a brake system controller of the electric automobile controls the starting and the closing of the vacuum pump according to the internal pressure value of the boosting system, so that the internal of the boosting system maintains enough vacuum degree to ensure the braking requirement of a driver. The threshold for starting and stopping the vacuum pump is generally a fixed threshold.
However, due to the huge altitude difference in different regions, the fixed threshold cannot be well adapted to the altitude difference in various regions, and at present, most of domestic pure electric vehicles are designed with brake power-assisted systems according to low altitude plain regions, so that the vehicles only adapt to plain working conditions, but the problem of poor adaptability of the plain working conditions is urgently solved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
Therefore, an object of the present invention is to provide a brake boosting system for a vehicle, which can improve the adaptability of the vehicle and better meet the use requirements of various working conditions.
Another object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of the present invention provides a brake boosting system for a vehicle, including: a vacuum pump; a vacuum booster connected to a brake pedal and the vacuum pump; the pressure sensor is connected with the vacuum booster and used for detecting the vacuum pressure value of the vacuum booster; the acquisition module is used for acquiring the accumulated working time of the vacuum pump, the starting pressure and the ending pressure of the vacuum pump and determining the altitude of the vehicle through a neural network according to the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump; and the controller is respectively connected with the vacuum pump and the pressure sensor so as to determine a starting threshold value and a closing threshold value of the vacuum pump according to the altitude of the vehicle, and control the starting and closing of the vacuum pump according to the vacuum pressure value of the vacuum booster detected by the pressure sensor and the starting threshold value and the closing threshold value of the vacuum pump.
According to the brake boosting system of the vehicle provided by the embodiment of the invention, the pressure sensor arranged on the vacuum booster is used for detecting the vacuum pressure value, so that potential safety hazards caused by blocking of a check valve and the like are avoided, the altitude of the vehicle is determined by accumulating the working time, the starting pressure and the ending pressure and the continuous operation time of the vacuum pump, the adaptability of the vehicle is improved on the premise of ensuring the performance and the reliability of the vehicle, the use requirements of various working conditions are better met, the controller is used for controlling the starting and the closing of the vacuum pump, the cost is reduced, and the economy of the vehicle is improved.
In addition, the brake boosting system of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the controller further includes: and the controller controls the vacuum pump to be closed after the continuous working time of the vacuum pump reaches the set time.
Further, in one embodiment of the present invention, the neural network is:
wherein,x is an input vector, x ═ TworkPstartPendΔT]T，TworkFor said cumulative working time, PstartIs the starting pressure, PendΔ T is the end pressure, Δ T is the continuous run time of the vacuum pump; y (x, w) is the altitude at which the vehicle is located; w is aiIs a weight; l is the number of hidden layer neurons; c. CiIs a central vector; i x-ci| is the distance to the center; phi is the radial basis function.
Further, in an embodiment of the present invention, the determining an altitude of the vehicle through a neural network according to the accumulated operating time, the starting pressure and the ending pressure, and the continuous operating time of the vacuum pump further includes: acquiring training samples of accumulated working time, starting pressure, ending pressure and continuous running time of a vacuum pump; training the neural network according to the training samples; and inputting the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump into the trained neural network so as to output the altitude of the vehicle through the neural network.
Optionally, in one embodiment of the present invention, at least one check valve may be disposed between the vacuum pump and the vacuum booster.
Optionally, in an embodiment of the present invention, the system further includes: and the vacuum tank is connected with the vacuum booster, and at least one-way valve is arranged between the vacuum tank and the vacuum booster.
Optionally, in an embodiment of the present invention, the controller may be a vehicle controller.
In another aspect, the present invention provides a vehicle including the brake boosting system of the vehicle. This vehicle can detect the vacuum pressure value through the pressure sensor who sets up on with vacuum booster, avoid because the potential safety hazard that causes because reasons such as check valve jam, and through accumulative total operating time, the altitude that the vehicle was located is confirmed to initial pressure and final pressure and vacuum pump continuous operation duration, under the prerequisite of guaranteeing vehicle performance and reliability, improve the adaptability of vehicle, satisfy the user demand of each operating mode better, and through the start-up and the closing of controller control vacuum pump, and the cost is reduced, the economic nature of vehicle is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a brake boosting system of a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of the control of a vacuum pump in a non-failure state according to one embodiment of the present invention;
FIG. 3 is a block diagram of an RBF neural network according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of vacuum pressure threshold switching according to one embodiment of the present invention; and
fig. 5 is a flow chart illustrating control of a vacuum pump that experiences a leak failure according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
A brake assist system of a vehicle and a vehicle having the same according to an embodiment of the present invention will be described below with reference to the accompanying drawings, and first, the brake assist system of a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings. Referring to fig. 1, the brake boosting system includes: vacuum pump 100, vacuum booster 200, pressure sensor 300, controller 400, and acquisition module 500 (not specifically identified in the figures).
Wherein the vacuum booster 200 is connected to the brake pedal and the vacuum pump 100. The pressure sensor 300 is connected to the vacuum booster 200, and the pressure sensor 300 is used to detect the vacuum pressure value of the vacuum booster 200. The obtaining module 500 is configured to obtain the accumulated operating time of the vacuum pump, the starting pressure and the ending pressure of the vacuum pump, and determine an altitude of the vehicle through a neural network according to the accumulated operating time, the starting pressure and the ending pressure, and the continuous operating time of the vacuum pump. The controller 400 is connected to the vacuum pump 100 and the pressure sensor 300, respectively, to determine a start threshold and a stop threshold of the vacuum pump according to an altitude at which the vehicle is located, and to control the start and stop of the vacuum pump 100 according to the vacuum pressure value of the vacuum booster 200 detected by the pressure sensor 300 and the start threshold and the stop threshold of the vacuum pump 100.
In the embodiment of the invention, the brake boosting system of the embodiment of the invention detects the vacuum pressure value through the pressure sensor 300 arranged on the vacuum booster 200, so that potential safety hazards caused by blocking of a one-way valve and the like are avoided, the altitude of the vehicle is determined through accumulating the working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump, the adaptability of the vehicle is improved on the premise of ensuring the performance and the reliability of the vehicle, the use requirements of various working conditions are better met, the controller 400 is used for controlling the starting and the closing of the vacuum pump 100, the cost is reduced, and the economy of the vehicle is improved.
Optionally, in an embodiment of the present invention, referring to fig. 1, at least one check valve (e.g., shown as check valve a) may be disposed between the vacuum pump 100 and the vacuum booster 200.
Optionally, in an embodiment of the present invention, as shown in fig. 1, the brake boosting system of the embodiment of the present invention further includes: a vacuum tank 600. Wherein, the vacuum tank 600 is connected with the vacuum booster 200, and at least one check valve (for example, a check valve b) is arranged between the vacuum tank 600 and the vacuum booster 200.
Optionally, in one embodiment of the present invention, the controller 400 may be a vehicle control unit.
In one embodiment of the present invention, the pressure sensor 300 is disposed on the vacuum booster 200, and the vacuum booster 200 provides the driver with a brake boosting demand. The vehicle control unit collects and analyzes signals of the pressure sensor 300 through the A/D interface, and then drives the vacuum pump to enable according to the internal pressure value of the vacuum booster 200, namely the vacuum pressure value, wherein the current for driving the vacuum pump 100 can be generated by a special driving chip in the vehicle control unit. When the vacuum pump 100 works, air in the vacuum tank 600 and the vacuum booster 200 can be pumped through the two check valves, so that the vacuum degree is guaranteed. The vacuum reservoir 600 provides a vacuum reserve for the entire power assist system, and the vacuum within the vacuum reservoir 600 can provide the driver with a brake assist demand, particularly when the vacuum pump 100 is not operating. In addition, the vehicle control unit judges and responds to the fault of the vacuum power-assisted system according to the system state so as to ensure the driving safety.
In the embodiment of the invention, the hardware cost can be reduced through the integrated design scheme. The whole vehicle controller directly controls the vacuum pump 100 to work, so that a special vacuum pump controller is omitted, and hardware purchasing cost is reduced; secondly, in order to realize the large current for driving the vacuum pump 100, a special driving chip is added in the design of the vehicle controller to drive the vacuum pump 100, the chip automatic detection of the driving channel fault is realized by the introduction of the driving chip, other auxiliary circuits for detecting the vacuum pump driving channel fault, such as a current detection circuit and the like, are omitted, the cost is reduced, and the detection reliability is improved; third, arrange pressure sensor 300 on vacuum booster 200, it is effective to have guaranteed the directness of gathering the vacuum pressure signal, but not on general pure electric vehicles's the vacuum tank, and then avoided because the potential safety hazard that reasons such as check valve jam caused (vacuum enough in the vacuum tank, the vacuum pump does not reach the start threshold value, but because check valve jam leads to vacuum booster in the vacuum tank very low, will not provide the braking helping hand this moment, and then lead to the fact the braking potential safety hazard), and adopt single vacuum pressure sensor scheme, through the rational design strategy, the function of many pressure sensor schemes has been realized, the cost and the complexity of system have been reduced to a certain extent.
Further, in one embodiment of the present invention, the controller 400 further comprises: timing module 401 (not specifically identified in the figure). The timing module 401 is configured to record a continuous working time of the vacuum pump, and the controller 400 controls the vacuum pump 100 to be turned off after the continuous working time of the vacuum pump reaches a set time.
For example, fig. 2 is a control flow chart of a vacuum pump in a non-failure state, and referring to fig. 2, when a slight or more serious leakage failure of a brake boosting system does not occur, the specific steps are as follows:
s201, the vehicle is powered on.
S202, detecting whether the brake boosting system has faults such as slight leakage faults.
In short, after the vehicle is powered on, it is first determined whether a slight or more serious leakage fault of the brake boosting system occurs, and if the above fault occurs, the process is ended directly, and then the strategy in the fault state is adopted to control the enabling of the vacuum pump (which will be described in detail below).
S203, pressure thresholds V _ on and V _ off are adjusted, wherein the threshold value of the last power-off is adopted in the first circulation.
Further, if the faults are not detected, pressure thresholds for starting and closing the vacuum pump, namely a starting threshold V _ on and a closing threshold V _ off, are called, and if the faults are in a first circulation after power-on, the pressure threshold stored in a PROM of the whole vehicle controller E2 when the vehicle is powered off last time is called as the starting threshold and the closing threshold.
S204, judging whether the vacuum pressure is less than V _ on, if so, executing the step S205; if not, the process is ended.
S205, judging whether the vacuum pump is enabled, if so, executing the step S206; if not, step S207 is performed.
And S206, accumulating the working time of the vacuum pump.
And S207, starting a vacuum pump and timing.
Specifically, whether a vacuum pressure value in the vacuum booster is smaller than V _ on or not is judged, if the vacuum pressure value in the vacuum booster is smaller than V _ on, the vacuum degree in the vacuum booster is considered to be incapable of meeting the braking assistance requirement, whether the vacuum pump is enabled or not is judged, if the vacuum pump is enabled, the working time of the vacuum pump is recorded, and if the vacuum pump is not enabled, the vacuum pump is enabled and the working time of the vacuum pump is recorded; and if the vacuum pressure value in the vacuum booster is greater than or equal to V _ on, directly ending.
S208, judging whether the vacuum pressure is larger than V _ off, if so, executing a step S209; otherwise, the detection is continued.
And further, judging whether the vacuum pressure value in the vacuum booster is larger than V _ off, if so, considering that the vacuum degree in the boosting system meets the boosting requirement of a driver, and closing the vacuum pump at the moment. If the condition is not met, the vacuum pump enable state is continuously maintained until the condition is met.
And S209, closing the vacuum pump and updating the total working time of the vacuum pump.
That is, when the vacuum pressure in the vacuum booster meets the requirement, after the vacuum pump is closed, the total working time and the accumulated working time of the vacuum pump are updated according to the working time of the vacuum pump at this time, and then the operation is finished, and the threshold values V _ on and V _ off adopted at this time are stored in the E of the whole vehicle controller when the vehicle is powered off2In the PROM.
And S210, ending.
Further, in one embodiment of the present invention, the neural network is:
where x is the input vector, [ T ═ X ═ TworkPstartPendΔT]T，TworkTo accumulate the working time, PstartTo an initial pressure, PendTo end the pressure, Δ T is the vacuum pump continuous run time; y (x, w) is the altitude at which the vehicle is located; w is aiIs a weight; l is the number of hidden layer neurons; c. CiIs a central vector; i x-ci| is the distance to the center; phi is the radial basis function.
Further, in an embodiment of the present invention, determining an altitude at which the vehicle is located through a neural network according to the accumulated operating time, the starting pressure and the ending pressure, and the continuous operating time of the vacuum pump, further comprises: acquiring training samples of accumulated working time, starting pressure, ending pressure and continuous running time of a vacuum pump; training a neural network according to the training samples; and inputting the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump into the trained neural network so as to output the altitude of the vehicle through the neural network.
For example, the strategy shown in FIG. 2 is critical in determining vacuum pump enable and enable thresholds and shut down thresholds that will vary depending on the different altitudes at which the vehicle is located to ensure proper operation of the brake boosting system. However, the V _ on and V _ off values adopted by most of the current pure electric vehicles using an electric vacuum pump as a vacuum source of a brake boosting system are 50kp and 70kp respectively, and the above threshold values are completely suitable for low-altitude areas but not suitable for plateau areas. Assuming that the vacuum pumping capacity of the vacuum pump is 85%, the highest vacuum degree in the vacuum booster can be pumped to 85kp in an area with an altitude of 100m (the corresponding atmospheric pressure value is about 100kp), and the vacuum degree can be pumped to 70kp on the premise that the vacuum booster system does not have faults such as leakage and the like, namely the closing threshold value of the vacuum pump; if the vehicle is in an area with an altitude of 2500m (the corresponding atmospheric pressure value is about 73.7kp), the vacuum pump can pump the vacuum degree in the vacuum booster to 62.65kp at the maximum, and if the V _ off is still 70kp, the vacuum pump cannot be closed, so that continuous operation is caused, and further, a safety hazard is generated.
Therefore, the brake boosting system provided by the embodiment of the invention can select different starting thresholds and closing thresholds to control the enabling of the vacuum pump according to different altitudes of the vehicle.
For example, the start threshold V _ on and the stop threshold V _ off can be obtained by first calculating the altitude of the vehicle through a neural network, and then determining the start threshold V _ on and the stop threshold V _ off according to the altitude.
Specifically, under the enabling condition of the vacuum pump, the pressure change inside the brake boosting system is closely related to the altitude and the vacuum pumping capacity of the vacuum pump, the vacuum pumping capacity of the vacuum pump is closely related to the performance attenuation (related to the total working time) of the vacuum pump, a complex nonlinear relationship exists between the vacuum pumping capacity and the performance attenuation, the neural network method has a nonlinear basic characteristic and learning capacity, can give corresponding output aiming at external excitation, and has natural advantages for solving the nonlinear problem, so the embodiment of the invention can be combined with the neural network, and reversely deduces the method for obtaining the vehicle altitude according to the pressure change trend of the brake boosting system and the performance attenuation characteristic of the vacuum pump, and the specific steps are as follows:
s1, data acquisition
The pressure change curve inside the vacuum boosting system under the enabling state of the vacuum pump (without the leakage fault of the boosting system) is collected under the conditions of altitudes of 0m, 500m, 1000m, 1500m, 2000m, 2500m, 3000m, 3500m, 4000m, 4500m and 5000m (performed under the condition of equivalent air pressure) and different accumulated working time of the vacuum pump.
S2, variable definition
The following variables are defined for the collected curves: t iswork: accumulated working time of the vacuum pump; t isstart: starting timing time; pstart: internal pressure of vacuum boosting system at timingI.e. the starting pressure of the vacuum pump; t isend: ending the timing moment; pend: the internal pressure of the vacuum boosting system at the timing ending moment, namely the ending pressure of the vacuum pump; h: the altitude at which the vehicle is located. The above parameters are all obtained in a pressure variation curve at TstartAnd TendAnd ensuring that the vacuum pump is in an enabled state and the driver does not step on the brake pedal in a time period. Defining the continuous operation time delta T ═ T of vacuum pump for convenient subsequent calculationstart－Tend。
S3 neural network design
For the same PstartAnd PendCondition, with accumulated working time TworkAnd the altitude H, the time Δ T increases accordingly, which cannot be accurately described in a general manner due to a complex nonlinear relationship therebetween. The RBF neural network is used as a feedforward neural network with excellent performance, can approach any nonlinear function at any precision, has compact topological structure and global approximation capability, and solves the local optimal problem of the BP network, so that the RBF neural network is designed to calculate the altitude H of the vehicle.
In an embodiment of the present invention, the RBF neural network may be divided into three layers, an input layer, a hidden layer and an output layer, wherein the number of neurons in the hidden layer may be 9. The specific expression may be as follows:
where x is the input vector, [ T ═ X ═ TworkPstartPendΔT]T，TworkTo accumulate the working time, PstartTo an initial pressure, PendTo end the pressure, Δ T is the vacuum pump continuous run time; y (x, w) is the network output, i.e. the altitude at which the vehicle is located; w is aiIs a weight; l is the number of hidden layer neurons, and l can be taken as 3; c. CiIs a central vector; i x-ci| is the distance to the center; φ is a radial basis function, which may be taken as a Gaussian radial basis function.
S4, neural network training
Training the neural network after the neural network design is finished, and utilizing the number T obtained beforeworkPstartPendΔT H]And training the RBF neural network as basic data, and finally using the trained neural network to calculate the altitude of the vehicle. During the running of the vehicle, the [ T ] is collected in real timeworkPstartPendΔT]And calculating the altitude H by using the RBF neural network.
Referring to fig. 3, the altitude H is calculated by the RBF neural network, and then the vacuum pump activation threshold V _ on and the deactivation threshold V _ off are determined according to the different altitudes. For example, referring to fig. 4, the vehicle is divided into 6-gear intervals according to the altitude of the vehicle, which are respectively 0m interval, 1000m interval, 2000m interval, 3000m interval, 4000m interval, and 5000m interval, and when the vehicle enters the corresponding altitude interval, the corresponding brake boosting system vacuum pump is adopted to start and close the thresholds V _ on and V _ off for control, which are as follows:
① when the altitude of the vehicle is lower than 1000m, entering 0m interval, controlling the start and close thresholds V _ on _0 and V _ off _0 of the vacuum pump of the brake boosting system;
② when the vehicle is at a rising altitude of 1000m but not 2000m, entering 1000m interval, controlling the start and close thresholds V _ on _1 and V _ off _1 of the vacuum pump of the brake boosting system, if the vehicle is at a rising altitude of 1000m interval, then entering 0m interval again when the vehicle is below 500 m;
③ when the vehicle altitude continues to rise and reaches 2000m but not 3000m, entering 2000m interval, controlling the start and close thresholds V _ on _2 and V _ off _2 of the brake boosting system vacuum pump, if entering 2000m interval, the vehicle altitude decreases, and if less than 1500m, entering 1000m interval again;
④ when the vehicle altitude continues to rise and reaches 3000m but not 4000m, entering 3000m interval, controlling the start and close thresholds V _ on _3 and V _ off _3 of the brake boosting system vacuum pump, if the vehicle altitude decreases after entering 3000m interval, and if the vehicle altitude decreases below 2500m, entering 2000m interval again;
⑤ when the vehicle altitude continues to rise and reaches 4000m but not 5000m, entering 4000m interval, controlling the start and close thresholds V _ on _4 and V _ off _4 of the brake power-assisted system vacuum pump, if entering 4000m interval, the vehicle altitude decreases, and if the vehicle altitude is lower than 3500m, entering 3000m interval again;
⑥ when the vehicle is at an altitude further rising to reach 5000m, entering a 5000m interval, controlling the start and close thresholds V _ on _5 and V _ off _5 of the vacuum pump of the brake boosting system, if the vehicle altitude is reduced after entering the 5000m interval, and if the vehicle altitude is lower than 4500m, entering the 4000m interval again.
In the embodiment of the invention, the threshold switching method of the embodiment of the invention not only can ensure that the vehicle can switch corresponding thresholds according to different altitudes to ensure that the brake boosting system works normally, but also eliminates the problem of frequent switching at the threshold of the critical altitude due to the introduction of a hysteresis strategy.
Specifically, the calculation of the altitude is critical in the embodiment of the invention, under the condition that the vacuum pump is enabled, the pressure change in the brake boosting system is closely related to the altitude and the vacuum pumping capacity of the vacuum pump, the vacuum pumping capacity of the vacuum pump is closely related to the performance attenuation (related to the total working time) of the vacuum pump, a complex nonlinear relation exists, the neural network is considered to have natural advantages for solving the nonlinear problem, therefore, the brake power-assisted system of the embodiment of the invention combines the RBF neural network to calculate the vehicle altitude according to the pressure change trend of the brake power-assisted system and the performance attenuation characteristic of the vacuum pump, the RBF neural network is trained through a large number of working data of the vacuum boosting system collected in the early stage under different altitudes, and the RBF neural network does not need to be learned again in the using process, so that the calculation speed is high, and the RBF neural network has excellent real-time performance on the premise of ensuring the reliability.
Further, the enabling of the policy-controlled vacuum pump in the fault state is described in detail below.
FIG. 5 is a control flow chart of a vacuum pump with leakage fault, and referring to FIG. 5, when a slight leakage fault or a more serious leakage fault occurs in the brake boosting system, the foregoing method for calculating the altitude of the vehicle through the neural network is not applicable because Pstart、PendThe relation with the delta T is changed due to the leakage of the system, so that the altitude calculated by the neural network is not accurate any more, and at the moment, the vacuum pump is controlled by adopting the following method, which comprises the following specific steps:
s501, the vehicle is powered on.
At this time, the vacuum pump start-up and shut-down thresholds V _ on and V _ off corresponding to the above-described 0m section are used for control.
S502, judging whether the vacuum pressure is less than V _ on, if so, executing a step S503; if not, the process is ended.
S503, judging whether the vacuum pump is enabled, if so, executing the step S504; if not, step S505 is performed.
And S504, accumulating the working time of the vacuum pump.
And S505, starting a vacuum pump and timing.
Specifically, when the vacuum degree, namely the vacuum pressure value is lower than V _ on, whether the vacuum pump is enabled or not is further judged, if not, the vacuum pump is started and timed, and if the vacuum pump is enabled, the enabled state is continuously kept, and meanwhile, the working time of the vacuum pump is recorded.
S506, judging whether the vacuum pressure is larger than V _ off, if so, executing a step S507; if not, step S508 is performed.
And S507, closing the vacuum pump to update the total working time of the vacuum pump.
That is, the vacuum pump is turned off when the vacuum pressure value is greater than V _ off, and the vacuum pump cumulative operation time is updated.
S508, judging whether the working time of the vacuum pump is greater than the set time T, if so, executing a step S509; if not, step S506 is performed.
S509, judging whether the pressure of the vacuum pump is larger than V _ on, if so, executing the step S507, and if not, executing the step S506.
Specifically, if the vacuum pressure value does not reach V _ off, whether the current working time of the vacuum pump is greater than a set time T is judged, if so, whether the vacuum degree is greater than V _ on is continuously judged, if so, the vacuum pump is closed, and the accumulated working time of the vacuum pump is updated.
And S510, ending.
In the embodiment of the invention, after a slight leakage fault occurs to a vehicle, the vacuum pump corresponding to the 0m interval is adopted to start and close threshold values V _ on and V _ off for control, after the slight leakage fault occurs to a brake system, the vacuum pump has the possibility that the vacuum pump can not pump the vacuum degree to V _ off, in addition, if the vehicle is in a plateau area, the vacuum pump can not pump the vacuum degree to V _ off, a single-time working time strategy of the vacuum pump is introduced for the problem, when the continuous working of the vacuum pump exceeds the set time T, the V _ on is adopted as the close threshold value of the vacuum pump, so that the effective working of the brake power-assisting system can be ensured when the vehicle has the slight leakage fault in a certain altitude area, the normal starting and closing of the vacuum pump can be realized, the overheating and even damage of the vacuum pump due to long-time working can be prevented, and the driving feeling of a driver can, the vehicle brake system can normally run under the condition of slight fault, and the driving requirement of a driver is guaranteed as much as possible.
In the embodiment, the control strategy of the vacuum pump and the fault strategy of the brake system are taken as a whole body to realize the brake boosting function, the control strategy realizes the basic control function of the brake boosting system, and the perfect fault strategy can protect the safety of vehicles, drivers and passengers to the maximum extent when the fault occurs. Therefore, the fault strategy of the embodiment of the invention may specifically be as follows:
① Low vacuum Fault
A fault triggering condition: the vacuum degree in the vacuum booster is lower than PlowAnd trigger the fault after lasting for 2 seconds;
and (3) fault recovery conditions: the vacuum degree in the vacuum booster is higher than PhighAnd the fault is recovered after 2 seconds;
the failure processing mode is as follows: lightening a fault lamp of a braking system, alarming sound and short ringing, and limiting the speed of the vehicle;
note: for 6 altitude intervals where vehicles are located, 6 different groups of P are corresponding tolowAnd PhighAnd (4) a threshold value.
The embodiment of the invention can ensure the driving safety when the vacuum degree of the brake system is lower.
② vacuum pressure sensor failure
A fault triggering condition: triggering the fault after the collected vacuum pressure sensor voltage is not in the effective interval and lasts for 2 seconds;
and (3) fault recovery conditions: powering up the whole vehicle again;
the failure processing mode is as follows: a fault lamp of the brake system is lightened, an alarm sound is given for sounding short, and the vacuum pump is enabled continuously;
the embodiment of the invention can ensure the driving safety when the vacuum pressure sensor fails, and because the vacuum degree in the booster can not be obtained, the vacuum pump is continuously enabled so as to ensure the braking boosting requirement of a driver.
③ failure of vacuum pump drive path
A fault triggering condition: detecting that a high-side driving channel of the vacuum pump breaks down (the high-side driving chip for driving the vacuum pump in the vehicle control unit detects the failure) and triggering the failure after the failure lasts for 2 seconds;
and (3) fault recovery conditions: powering up the whole vehicle again;
the failure processing mode is as follows: lightening a fault lamp of a braking system, alarming sound and short ringing, and limiting the speed of the vehicle;
the embodiment of the invention can ensure the driving safety when the driving path fails.
④ brake boosting system leak failure
A fault triggering condition: if the vacuum pump is in an enabled state and the driver does not step on the brake pedal, the vacuum degree in the booster rises to be lower than P within 2 secondsminThe fault is triggered;
and (3) fault recovery conditions: powering up the whole vehicle again;
the failure processing mode is as follows: a fault lamp of the braking system is lightened, and the alarm sound is short;
note: for 6 altitude intervals where vehicles are located, 6 different groups of P are corresponding tominA threshold value;
the embodiment of the invention can ensure the driving safety when the brake boosting system leaks.
⑤ slight leakage fault of brake boosting system
A fault triggering condition: if the vacuum pump is in a non-enabled state and the driver does not step on the brake pedal, the vacuum degree in the booster is reduced to be higher than P within 5 secondsmaxThe fault is triggered;
and (3) fault recovery conditions: powering up the whole vehicle again;
the failure processing mode is as follows: a fault lamp of the braking system is lightened, and the alarm sound is short;
note: for 6 altitude intervals where vehicles are located, 6 different groups of P are corresponding tomaxA threshold value;
the embodiment of the invention can ensure the driving safety when the brake boosting system is slightly leaked.
That is, in order to ensure the driving safety in the fault state of the brake boosting system, the embodiment of the invention defines the low vacuum degree fault, the vacuum pressure sensor fault, the vacuum pump driving channel fault, the brake boosting system leakage fault and the slight brake boosting system leakage fault, the fault strategies are matched with the vacuum pump control strategy, when the fault occurs, the fault is prompted to the driver through the instrument warning lamp and the alarm sound, whether the fault can be recovered is determined according to the potential danger level of the fault, and when the danger level reaches a certain degree, the safety of the vehicle and the driver and passengers is ensured by limiting the speed of the vehicle. The brake boosting system fault strategy provided by the invention can better ensure the safety of vehicles and drivers and passengers.
According to the brake boosting system of the vehicle provided by the embodiment of the invention, the pressure sensor arranged on the vacuum booster is used for detecting the vacuum pressure value, so that potential safety hazards caused by blocking of a check valve and the like are avoided, the altitude of the vehicle is determined by accumulating the working time, the starting pressure and the ending pressure and the continuous operation time of the vacuum pump, the adaptability of the vehicle is improved on the premise of ensuring the performance and the reliability of the vehicle, the use requirements of various working conditions are better met, the controller is used for controlling the starting and the closing of the vacuum pump, the cost is reduced, and the economy of the vehicle is improved. The embodiment of the invention can differentially control the vacuum pump according to whether the brake boosting system has leakage faults or not, and when the leakage faults do not occur, the normal work of the brake boosting system is ensured by calculating the altitude of the vehicle and adaptively adjusting the pressure threshold value of the starting and stopping of the vacuum pump according to the altitude, the continuous enabling phenomenon of the electric vacuum pump in a plateau environment caused by fixed threshold values is eliminated, the service life of the vacuum pump is prolonged, and the potential safety hazard of overheating of the vacuum pump and a driving system caused by long-time work is reduced. If the brake boosting system has a leakage fault, the enabling of the vacuum pump is controlled by adopting a fixed threshold value, but in order to prevent the problem of the constant rotation of the vacuum pump caused by the slight leakage of the brake boosting system or the high-altitude area and other reasons, a variable threshold value scheme is designed, namely after the vacuum pump is enabled, if the vacuum degree can not be pumped to the vacuum pump closing threshold value within the specified time, whether the vacuum degree is higher than the vacuum pump enabling threshold value is judged, if the requirement is met, the vacuum pump enabling is closed, so that the normal start-stop work of the vacuum pump under a certain altitude and slight leakage state of the brake boosting system is ensured as far as possible on the premise of providing enough brake boosting requirements, and the potential safety hazard of overheating of the vacuum pump and a driving system caused by long-time work is reduced.
In addition, the embodiment of the invention also provides a vehicle, and the vehicle comprises the brake boosting system of the vehicle. This vehicle can detect the vacuum pressure value through the pressure sensor who sets up on with vacuum booster, avoid because the potential safety hazard that causes because reasons such as check valve jam, and through accumulative total operating time, the altitude that the vehicle was located is confirmed to initial pressure and final pressure and vacuum pump continuous operation duration, under the prerequisite of guaranteeing vehicle performance and reliability, improve the adaptability of vehicle, satisfy the user demand of each operating mode better, and through the start-up and the closing of controller control vacuum pump, and the cost is reduced, the economic nature of vehicle is improved. The embodiment of the invention can differentially control the vacuum pump according to whether the brake boosting system has leakage faults or not, and when the leakage faults do not occur, the normal work of the brake boosting system is ensured by calculating the altitude of the vehicle and adaptively adjusting the pressure threshold value of the starting and stopping of the vacuum pump according to the altitude, the continuous enabling phenomenon of the electric vacuum pump in a plateau environment caused by fixed threshold values is eliminated, the service life of the vacuum pump is prolonged, and the potential safety hazard of overheating of the vacuum pump and a driving system caused by long-time work is reduced. If the brake boosting system has a leakage fault, the enabling of the vacuum pump is controlled by adopting a fixed threshold value, but in order to prevent the problem of the constant rotation of the vacuum pump caused by the slight leakage of the brake boosting system or the high-altitude area and other reasons, a variable threshold value scheme is designed, namely after the vacuum pump is enabled, if the vacuum degree can not be pumped to the vacuum pump closing threshold value within the specified time, whether the vacuum degree is higher than the vacuum pump enabling threshold value is judged, if the requirement is met, the vacuum pump enabling is closed, so that the normal start-stop work of the vacuum pump under a certain altitude and slight leakage state of the brake boosting system is ensured as far as possible on the premise of providing enough brake boosting requirements, and the potential safety hazard of overheating of the vacuum pump and a driving system caused by long-time work is reduced.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (8)
1. A brake boosting system for a vehicle, comprising:
a vacuum pump;
a vacuum booster connected to a brake pedal and the vacuum pump;
the pressure sensor is connected with the vacuum booster and used for detecting the vacuum pressure value of the vacuum booster;
the acquisition module is used for acquiring the accumulated working time of the vacuum pump, the starting pressure and the ending pressure of the vacuum pump and determining the altitude of the vehicle through a neural network according to the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump; and
and the controller is respectively connected with the vacuum pump and the pressure sensor so as to determine a starting threshold value and a closing threshold value of the vacuum pump according to the altitude of the vehicle, and control the starting and closing of the vacuum pump according to the vacuum pressure value of the vacuum booster detected by the pressure sensor and the starting threshold value and the closing threshold value of the vacuum pump.
2. The brake boosting system of a vehicle according to claim 1, wherein the controller further comprises:
and the controller controls the vacuum pump to be closed after the continuous working time of the vacuum pump reaches the set time.
3. The brake boosting system of a vehicle of claim 1, wherein the neural network is:
where x is the input vector, [ T ═ X ═ TworkPstartPendΔT]T，TworkFor said cumulative working time, PstartIs the starting pressure, PendΔ T is the end pressure, Δ T is the continuous run time of the vacuum pump; y (x, w) is the altitude at which the vehicle is located; w is aiIs a weight; l is the number of hidden layer neurons; c. CiIs a central vector; i x-ci| is the distance to the center; phi is the radial basis function.
4. The brake boosting system of a vehicle according to claim 1, wherein the altitude at which the vehicle is located is determined by a neural network according to the accumulated operating time, the starting pressure and the ending pressure, and a continuous operating time of the vacuum pump, further comprising:
acquiring training samples of accumulated working time, starting pressure, ending pressure and continuous running time of a vacuum pump;
training the neural network according to the training samples; and
inputting the accumulated working time, the starting pressure and the ending pressure and the continuous running time of the vacuum pump into the trained neural network so as to output the altitude of the vehicle through the neural network.
5. The brake boosting system of a vehicle according to claim 1, wherein at least one check valve is provided between the vacuum pump and the vacuum booster.
6. The brake boosting system of a vehicle according to claim 1, further comprising:
and the vacuum tank is connected with the vacuum booster, and at least one-way valve is arranged between the vacuum tank and the vacuum booster.
7. The brake boosting system of a vehicle of claim 1, wherein the controller is a vehicle control unit.
8. A vehicle, characterized by comprising: a brake boosting system for a vehicle according to any one of claims 1 to 7.
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| CN107117155A (en) * | 2017-04-26 | 2017-09-01 | 北京新能源汽车股份有限公司 | Fault detection method and device for brake boosting system of electric automobile and automobile |
| CN107246970B (en) * | 2017-05-27 | 2020-02-07 | 北京新能源汽车股份有限公司 | Fault monitoring method of vacuum power assisting system and server |
| CN108372851B (en) * | 2018-02-01 | 2021-03-30 | 阿尔特汽车技术股份有限公司 | Electric vacuum pump control system without atmospheric pressure sensor |
| CN110406514B (en) * | 2018-04-28 | 2020-11-13 | 宝沃汽车（中国）有限公司 | Control method and device for working threshold of vacuum pump and automobile |
| CN110395242B (en) * | 2019-08-13 | 2020-06-16 | 中车青岛四方车辆研究所有限公司 | Air brake pressure control system and brake control method |
| CN110682901B (en) * | 2019-09-12 | 2020-12-01 | 东风汽车有限公司 | Control method of vacuum pump of electric vehicle and electronic equipment |
| CN112776789B (en) * | 2019-11-08 | 2022-07-15 | 广州汽车集团股份有限公司 | Brake vacuum power system leakage diagnosis method and system and storage medium |
| CN113044018B (en) * | 2019-12-27 | 2023-11-14 | 观致汽车有限公司 | Control method of vacuum pump and electric automobile |
| CN112455409B (en) * | 2020-11-02 | 2022-03-08 | 东风汽车集团有限公司 | Control method and device for vacuum pump |
| CN112721892B (en) * | 2020-12-30 | 2022-03-01 | 浙江合众新能源汽车有限公司 | Plateau control method for vacuum system of new energy electric vehicle |
| CN114394074A (en) * | 2022-01-20 | 2022-04-26 | 上海汽车集团股份有限公司 | Control method and device of electronic vacuum pump, controller and vehicle |
| CN114577492A (en) * | 2022-02-28 | 2022-06-03 | 重庆长安新能源汽车科技有限公司 | Method and device for simulating plateau working condition of vacuum system of new energy automobile |
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