CN108860108A - Brake control method, electronic stability controlling system and computer-readable medium - Google Patents
Brake control method, electronic stability controlling system and computer-readable medium Download PDFInfo
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- CN108860108A CN108860108A CN201810611123.7A CN201810611123A CN108860108A CN 108860108 A CN108860108 A CN 108860108A CN 201810611123 A CN201810611123 A CN 201810611123A CN 108860108 A CN108860108 A CN 108860108A
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- Prior art keywords
- master cylinder
- brake
- hydraulic connecting
- wheel brake
- valve
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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
- B60T13/12—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 liquid
- B60T13/14—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 liquid using accumulators or reservoirs fed by pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of brake control method, electronic stability controlling system and computer-readable mediums；Wherein, this method includes：Connect the hydraulic connecting and master cylinder of master cylinder and the first side front wheel brake and the hydraulic connecting of the first side rear wheel brake；When receiving brake signal, master cylinder can generate regenerative braking force to the first side front wheel brake and the first side rear wheel brake.The present invention solves the problems, such as Brake energy recovery amount exists in the prior art few, after driver's brake pedal, prevent the intervention of friction catch, a part of kinetic energy when regenerative braking motor is by automobile brake is converted into the energy of other forms, and it is stored in energy-storage units by reforming unit, the deceleration control that certain brake force realizes vehicle is generated simultaneously, to improve the recycling of braking energy, reduces the waste of braking energy.
Description
Technical field
The present invention relates to automobile technical fields, more particularly, to a kind of brake control method, electronic stability controlling system
And computer-readable medium.
Background technique
Braking system is to apply certain external force in certain part of automobile, to realize forced brake vapour to a certain extent
The special arrangement of vehicle wheel, purposes have：So that the automobile travelled slow down or even is stopped according to the requirement of driver, makes
The automobile travelled on gug keeps speed stabilizing traveling, and the automobile of stagnation of movement is made to keep stablizing park.
Service brake is to be manipulated by driver with foot, therefore also known as foot brake system, its function are to make travelling
In car deceleration or shortest apart from interior parking.Parking braking system is manipulated by driving with hand, therefore also known as hand braking
System, it is as you were that its function is that the automobile made have pulled up on various road surfaces is resident.Secondary brakes refer in service brake
In the case where system's failure, guarantee that automobile is still able to achieve the set of device of deceleration or parking.
Currently, as long as driver's brake pedal, friction brake is opened in traditional vacuum boosting braking system
Beginning work simultaneously consumes energy, seriously hampers the Brake energy recovery of the new-energy automobiles such as electric car and hybrid vehicle,
Cause the braking energy of recycling few.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of brake control method, when driver's brake pedal it
Afterwards, the intervention of friction catch is prevented, a part of kinetic energy when regenerative braking motor is by automobile brake is converted into the energy of other forms
Amount, and be stored in energy-storage units by reforming unit, while generating the deceleration control that certain brake force realizes vehicle, thus
The recycling for improving braking energy reduces the waste of braking energy.
In a first aspect, being applied to electronic stability controlling system the embodiment of the invention provides a kind of brake control method
ESC, the method includes：
The hydraulic connecting and the master cylinder and the first side rear-wheel of connection master cylinder and the first side front wheel brake
The hydraulic connecting of brake；
When receiving brake signal, the master cylinder is to first side front wheel brake and first side rear-wheel
Brake generates regenerative braking force.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
State the hydraulic connecting for connecting master cylinder and the first side front wheel brake and the master cylinder and the first side rear wheel brake
Hydraulic connecting, specifically include：
Open the back cavity pressure limiting valve and the first side front-wheel pressure charging valve between master cylinder and the first side front wheel brake；
Open the ante-chamber pressure limiting valve and the first side rear-wheel pressure charging valve between the master cylinder and the first side rear wheel brake.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein should
Method further includes：
Judge whether the regenerative braking force meets braking requirement；
If it is, disconnecting hydraulic connecting and the braking master of the master cylinder and second side front wheel brake
The hydraulic connecting of cylinder and second side rear wheel brake, and the hydraulic connecting of the master cylinder Yu back cavity accumulator is connected, and
The hydraulic connecting of the master cylinder and ante-chamber accumulator.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein disconnect the master cylinder and second side front wheel brake hydraulic connecting and the braking
The hydraulic connecting of master cylinder and second side rear wheel brake, specifically includes：
Second side front-wheel pressure charging valve being closed between the master cylinder and second side front wheel brake；
Second side rear-wheel pressure charging valve being closed between the master cylinder and second side rear wheel brake.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the hydraulic connecting for connecting the master cylinder and back cavity accumulator and the braking are led
The hydraulic connecting of cylinder and ante-chamber accumulator, specifically includes：
Before opening back cavity pressure limiting valve, the first side front-wheel pressure charging valve and the first side between the master cylinder and rear accumulator
Take turns pressure reducing valve；
After opening ante-chamber pressure limiting valve, the first side rear-wheel pressure charging valve and the first side between the master cylinder and preceding accumulator
Take turns pressure reducing valve.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein it is described judge whether the regenerative braking force meets braking requirement after, this method is also wrapped
It includes：
If it is not, then connecting hydraulic connecting and the braking master of the master cylinder and second side front wheel brake
The hydraulic connecting of cylinder and second side rear wheel brake, and the hydraulic connecting of the master cylinder Yu ante-chamber accumulator is disconnected, and
The hydraulic connecting of the master cylinder and back cavity accumulator.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein the hydraulic connecting for connecting the master cylinder and second side front wheel brake and described
The hydraulic connecting of master cylinder and second side rear wheel brake, specifically includes：
Open the ante-chamber pressure limiting valve and second side front-wheel pressure charging valve between the master cylinder and second side front wheel brake；
Open the back cavity pressure limiting valve and second side rear-wheel pressure charging valve between the master cylinder and second side rear wheel brake.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein the hydraulic connecting for disconnecting the master cylinder and ante-chamber accumulator and the braking are led
The hydraulic connecting of cylinder and back cavity accumulator, specifically includes：
The first side rear-wheel pressure reducing valve and second side front-wheel pressure reducing valve being closed between the master cylinder and preceding accumulator；
The first side front-wheel pressure reducing valve and second side rear-wheel pressure reducing valve being closed between the master cylinder and rear accumulator.
Second aspect, the embodiment of the invention provides a kind of electronic stability controlling system, including ESC assembly, memory,
Processor and it is stored in the computer program that can be run on the memory and on the processor, wherein the processor
The step of realizing method as described in relation to the first aspect when executing the computer program.
The third aspect, the embodiment of the invention provides a kind of meters of non-volatile program code that can be performed with processor
Calculation machine readable medium, wherein said program code makes the method for the processor execution as described in relation to the first aspect.
The embodiment of the present invention brings following beneficial effect：It is steady by using a kind of brake control method of the present invention, electronics
Qualitative control system and computer-readable medium, wherein brake control method is applied to electronic stability controlling system ESC, institute
The method of stating includes：The hydraulic connecting and the master cylinder of connection master cylinder and the first side front wheel brake and the first side
The hydraulic connecting of rear wheel brake；When receiving brake signal, the master cylinder can be to first side front wheel brake
Device and first side rear wheel brake generate regenerative braking force.This method solve Brake energy recovery exists in the prior art
Few problem is measured, after driver's brake pedal, prevents the intervention of friction catch, regenerative braking motor is by automobile brake
When a part of kinetic energy be converted into the energy of other forms, and be stored in accumulator by reforming unit, while generating certain
Brake force realize vehicle deceleration control, to improve the recycling of vehicle braking energy, reduce the waste of braking energy.
Other feature and advantage of the disclosure will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the disclosure.The purpose of the disclosure and other advantages are in specification and attached drawing
Specifically noted structure is achieved and obtained.
To enable the above objects, features, and advantages of the disclosure to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of assisted Regeneration braking principle figure provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of vehicle brake control method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of electronic stability controlling system provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the braking control system of vehicle provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of braking system actuator assembly provided in an embodiment of the present invention.
Icon：31- processor；32- memory；33- communication interface；34- bus；1- brake pedal unit；2- off-front wheel
Cylinder pressure transducer；3- off-front wheel brake；4- off hind wheel cylinder pressure transducer；5- off hind wheel brake；The braking of 6- left rear wheel
Device；The left back Wheel cylinder pressure sensors of 7-；8- near front wheel brake；The left front Wheel cylinder pressure sensors of 9-；10-ESC assembly；1001-
Ante-chamber inlet valve；1002- ante-chamber pressure limiting valve；1003- back cavity pressure limiting valve；1004- master cylinder pressure sensor；1005- back cavity pressure limiting
Valve；1006- pump motor；1007- ante-chamber accumulator；1008- back cavity accumulator；1009- left rear wheel pressure charging valve；1010- off-front wheel
Pressure charging valve；1011- off hind wheel pressure charging valve；1012- the near front wheel pressure charging valve；1013- the near front wheel pressure reducing valve；The decompression of 1014- off hind wheel
Valve；1015- off-front wheel pressure reducing valve；1016- left rear wheel pressure reducing valve；11- braking system actuator assembly；1101-ECU；1102-
Firewall connecting flange；1103- dust cover；1104- brake pushrod；1105- shell；1106- transmission mechanism；1107- braking electricity
Machine；1108- master cylinder；1109- oil can.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, friction brake can intervene work and consume energy in vehicle braking, seriously hamper electric car and
The Brake energy recovery of the new-energy automobiles such as hybrid vehicle causes the braking energy of recycling few, and the embodiment of the present invention provides
A kind of brake control method, electronic stability controlling system and computer-readable medium, can be applied to vehicle braking control
Field and other brake fields.
For convenient for understanding the present embodiment, first to a kind of brake control method disclosed in the embodiment of the present invention into
Row is discussed in detail.
Embodiment one：
The embodiment of the present invention provides a kind of brake control method, is applied to electronic stability controlling system ESC, above-mentioned auxiliary
Regenerative braking control principle drawing is as shown in Figure 1, including braking system actuator assembly 11, brake pedal unit 1 and electricity
Sub- stabilizing control system (Electrical Speed Controller, abbreviation ESC) assembly 10.ESC assembly 10 is inhaled including ante-chamber
Entering valve 1001,1002 is ante-chamber pressure limiting valve, and 1003 be back cavity pressure limiting valve, and 1004 be master cylinder pressure sensor, and 1005 limit for back cavity
Pressure valve, 1006 be pump motor, and 1007 be ante-chamber accumulator, and 1008 be back cavity accumulator, and 1009 be left rear wheel pressure charging valve, and 1010 are
Off-front wheel pressure charging valve, 1011 be off hind wheel pressure charging valve, and 1012 be the near front wheel pressure charging valve, and 1013 be the near front wheel pressure reducing valve, and 1014 are
Off hind wheel pressure reducing valve, 1015 be off-front wheel pressure reducing valve, and 1016 be left rear wheel pressure reducing valve.
As shown in Fig. 2, the brake control method includes the following steps：
S101：The hydraulic connecting and master cylinder and off hind wheel brake of connection master cylinder and off-front wheel brake
Hydraulic connecting.
Above-mentioned steps S101 is specifically included：
Open the back cavity pressure limiting valve and off-front wheel pressure charging valve between master cylinder and off-front wheel brake；Open master cylinder
Ante-chamber pressure limiting valve and off hind wheel pressure charging valve between off hind wheel brake.
The concrete operations of above-mentioned steps are：Control ante-chamber pressure limiting valve 1002, the power-off of back cavity pressure limiting valve 1003 is opened, the control right side
Front-wheel pressure charging valve 1010, the power-off of off hind wheel pressure charging valve 1011 are opened, and off hind wheel pressure reducing valve 1014, off-front wheel pressure reducing valve 1015 are controlled
It is powered and opens, control ante-chamber inlet valve 1001,1005 power-failure close of back cavity inlet valve, control left rear wheel pressure charging valve 1009, left front
The energization closure of pressure charging valve 1012 is taken turns, the near front wheel pressure reducing valve 1013,1016 power-failure close of left rear wheel pressure reducing valve are controlled.
S102：When receiving brake signal, master cylinder generates regeneration to off-front wheel brake and off hind wheel brake
Brake force.
Specifically, after driver's brake pedal, before the master cylinder in braking system actuator assembly 11
Intracavitary brake fluid enters back cavity accumulator through ante-chamber pressure limiting valve 1002, off hind wheel pressure charging valve 1011 and off hind wheel pressure reducing valve 1014
In 1007, at this point, not setting up brake fluid pressure in off hind wheel brake and near front wheel brake；System in 1108 back cavity of master cylinder
Hydrodynamic enters in back cavity accumulator 1008 through back cavity pressure limiting valve 1003, off-front wheel pressure charging valve 1010 and off-front wheel pressure reducing valve 1015,
At this point, brake fluid pressure is not set up in off hind wheel brake and near front wheel brake, in off-front wheel brake and left rear wheel brake
Brake fluid pressure is not set up.
In brake control method provided in an embodiment of the present invention, it can also include the following steps：
S103：Judge whether regenerative braking force meets braking requirement.
If so, S104 is thened follow the steps, if not, thening follow the steps S105.
Assuming that the maximum braking moment that regenerative braking motor can be output is TbPower train transmission ratio i=igi0, igFor speed change
The gear ratio of device, i0For final driver ratio, then it is represented by by the maximum braking force that regenerative braking motor provides：
Wherein, ηrFor transmission system mechanical efficiency, r is wheel effective radius.
The maximum braking deceleration of generation is：
The braking requirement of driver relationship proportional to pedal travel, proportionality coefficient k can be demarcated by real vehicle and be tested
It arrives, operator brake demand deceleration expression formula is：
ar=ksp
When the pedal travel of acquisitionWhen, regenerative braking force meets braking requirement, on the contrary then be unsatisfactory for.
S104：The hydraulic connecting and master cylinder and off hind wheel brake of disconnection master cylinder and off-front wheel brake
Hydraulic connecting, and connect the hydraulic connecting of master cylinder and back cavity accumulator and the liquid of master cylinder and ante-chamber accumulator
Pressure connection.
Above-mentioned steps S104 is specifically included：
The near front wheel pressure charging valve being closed between master cylinder and near front wheel brake；It is closed master cylinder and left rear wheel is braked
Left rear wheel pressure charging valve between device；Open back cavity pressure limiting valve between master cylinder and back cavity accumulator, off-front wheel pressure charging valve and
Off-front wheel pressure reducing valve；Ante-chamber pressure limiting valve, off hind wheel pressure charging valve and the off hind wheel opened between master cylinder and preceding accumulator depressurize
Valve.
The concrete operations of above-mentioned steps are：Left rear wheel pressure charging valve 1009, the energization closure of the near front wheel pressure charging valve 1012 are controlled, is cut
The hydraulic connecting of disconnected master cylinder 1108 and the near front wheel and left rear wheel；Control off hind wheel pressure reducing valve 1014, off-front wheel pressure reducing valve
1015, which are powered, opens, so that 1108 front and back chamber brake fluid of master cylinder respectively enters ante-chamber accumulator 1007 and back cavity accumulator
In 1008.
S105：Connect the hydraulic connecting and master cylinder and left rear wheel brake of master cylinder and near front wheel brake
Hydraulic connecting, and disconnect the hydraulic connecting of master cylinder and ante-chamber accumulator and the liquid of master cylinder and back cavity accumulator
Pressure connection.
Above-mentioned steps S105 is specifically included：
Open the ante-chamber pressure limiting valve and the near front wheel pressure charging valve between master cylinder and near front wheel brake；Open master cylinder
Back cavity pressure limiting valve and left rear wheel pressure charging valve between left rear wheel brake；It is closed left back between master cylinder and preceding accumulator
Take turns pressure reducing valve and off-front wheel pressure reducing valve；The near front wheel pressure reducing valve and off hind wheel being closed between master cylinder and rear accumulator depressurize
Valve.
The concrete operations of above-mentioned steps are：Left rear wheel pressure charging valve 1009, the power-off opening of the near front wheel pressure charging valve 1012 are controlled, it is extensive
The hydraulic connecting of multiple master cylinder 1108 and the near front wheel and left rear wheel；Control off hind wheel pressure reducing valve 1014, off-front wheel pressure reducing valve
1015 power-failure closes, the liquid of cutting 1108 front and back chamber brake fluid of master cylinder and ante-chamber accumulator 1007 and back cavity accumulator 1008
Pressure connection.
The embodiment of the invention provides a kind of vehicle brake control method, solves and braking energy time exists in the prior art
The few problem of receipts amount prevents the intervention of friction catch after driver's brake pedal, and regenerative braking motor is by automobile system
A part of kinetic energy when dynamic is converted into the energy of other forms, and is stored in accumulator by reforming unit, while generating one
Fixed brake force realizes the deceleration control of vehicle, to improve the recycling of vehicle braking energy, reduces the wave of braking energy
Take.
In addition, in step s 103, if regenerative braking force is unsatisfactory for brake request and thens follow the steps S105, disconnecting braking master
Cylinder and the hydraulic connecting of ante-chamber accumulator and the hydraulic connecting of master cylinder and back cavity accumulator are cancelled to 10 liquid of ESC assembly
Press unit control, such brake fluid just by braking system actuator assembly 11 motor and manpower push braking system jointly
Brake master cylinder piston in system actuating mechanism assembly 11 is established, to generate the deceleration control that brake force realizes vehicle on the disc brake rotor
System.
Embodiment two：
The embodiment of the present disclosure provides a kind of electronic stability controlling system, as shown in figure 3, electronic stability controlling system packet
It includes：ESC assembly (not shown), processor 31, memory 32 are stored with the calculating that can be run on a processor in memory
The step of machine program, processor realizes the method that above-described embodiment one provides when executing the computer program.
Referring to Fig. 3, electronic stabilizing control system further includes communication interface 33 and bus 34, and processor 31, memory 32 are logical
Cross the connection of bus 34.Processor 31 is for executing the executable module stored in memory 32, such as computer program.
Wherein, memory 32 may include high-speed random access memory (RAM, Random Access Memory),
It may further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.By at least
One communication interface 33 (can be wired or wireless) realizes the communication between the system network element and at least one other network element
Connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 34 can be isa bus, pci bus or eisa bus etc..It is total that bus can be divided into address bus, data
Line, control bus etc..Only to be indicated with a four-headed arrow in Fig. 3, it is not intended that an only bus or one convenient for indicating
The bus of seed type.
Wherein, memory 32 is for storing program, and processor 31 executes described program after receiving and executing instruction, preceding
Stating method performed by the device that the stream process that embodiment of the present disclosure any embodiment discloses defines can be applied to processor 31
In, or realized by processor 31.
Processor 31 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 31 or the instruction of software form.Above-mentioned
Processor 31 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc..It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present disclosure
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor is also possible to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present disclosure, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 32, and processor 31 reads the information in memory 32, in conjunction with
Its ESC assembly completes the step of above method.
Above-mentioned electronic stability controlling system belongs to the braking control system of vehicle, the knot of the braking control system of the vehicle
Structure schematic diagram is as shown in figure 4, the system is active-passive integratedization electro-hydraulic brake system, before mainly including brake pedal unit 1, being right
Wheel cylinder pressure sensors 2, off-front wheel brake 3, off hind wheel cylinder pressure transducer 4, off hind wheel brake 5, left rear wheel brake
6, left back Wheel cylinder pressure sensors 7, near front wheel brake 8, left front Wheel cylinder pressure sensors 9, ESC assembly 10, braking system are held
Row mechanism assembly composition 11.Wherein, as shown in figure 5, braking system actuator assembly 11 includes electronic control unit
(Electronic Control Unit, abbreviation ECU) 1101, firewall connecting flange 1102, dust cover 1103, brake pushrod
1104, shell 1105, transmission mechanism 1106, motor 1107, master cylinder 1108, oil can 1109.
Electronic stability controlling system provided in an embodiment of the present invention, the brake control method provided with embodiment one have
Identical technical characteristic, therefore also can solve identical technical problem, reach identical technical effect.
Embodiment three：
The embodiment of the present disclosure provides a kind of computer-readable Jie of non-volatile program code that can be performed with processor
Matter, the method that program code makes processor execute the offer of above-described embodiment one.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Finally it should be noted that：Embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that：Anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of brake control method, which is characterized in that it is applied to electronic stability controlling system ESC, the method includes：
The hydraulic connecting and the master cylinder and the first side rear service brake of connection master cylinder and the first side front wheel brake
The hydraulic connecting of device；
When receiving brake signal, the master cylinder is to first side front wheel brake and first side rear service brake
Device generates regenerative braking force.
2. the method according to claim 1, wherein master cylinder and the first side front wheel brake connected
The hydraulic connecting of hydraulic connecting and the master cylinder and the first side rear wheel brake, specifically includes：
Open the back cavity pressure limiting valve and the first side front-wheel pressure charging valve between master cylinder and the first side front wheel brake；
Open the ante-chamber pressure limiting valve and the first side rear-wheel pressure charging valve between the master cylinder and the first side rear wheel brake.
3. the method according to claim 1, wherein further including：
Judge whether the regenerative braking force meets braking requirement；
If it is, disconnect the master cylinder and second side front wheel brake hydraulic connecting and the master cylinder with
The hydraulic connecting of second side rear wheel brake, and connect the hydraulic connecting of the master cylinder and back cavity accumulator and described
The hydraulic connecting of master cylinder and ante-chamber accumulator.
4. according to the method described in claim 3, it is characterized in that, described disconnect the master cylinder and second side front wheel brake
The hydraulic connecting of the hydraulic connecting of device and the master cylinder and second side rear wheel brake, specifically includes：
Second side front-wheel pressure charging valve being closed between the master cylinder and second side front wheel brake；
Second side rear-wheel pressure charging valve being closed between the master cylinder and second side rear wheel brake.
5. according to the method described in claim 3, it is characterized in that, the liquid for connecting the master cylinder and back cavity accumulator
The hydraulic connecting of pressure connection and the master cylinder and ante-chamber accumulator, specifically includes：
The back cavity pressure limiting valve between the master cylinder and rear accumulator, the first side front-wheel pressure charging valve and the first side front-wheel is opened to subtract
Pressure valve；
The ante-chamber pressure limiting valve between the master cylinder and preceding accumulator, the first side rear-wheel pressure charging valve and the first side rear-wheel is opened to subtract
Pressure valve.
6. according to the method described in claim 3, it is characterized in that, judging whether the regenerative braking force meets braking described
After demand, further include：
If it is not, then connect the master cylinder and second side front wheel brake hydraulic connecting and the master cylinder with
The hydraulic connecting of second side rear wheel brake, and disconnect the hydraulic connecting of the master cylinder and ante-chamber accumulator and described
The hydraulic connecting of master cylinder and back cavity accumulator.
7. according to the method described in claim 6, it is characterized in that, described connect the master cylinder and second side front wheel brake
The hydraulic connecting of the hydraulic connecting of device and the master cylinder and second side rear wheel brake, specifically includes：
Open the ante-chamber pressure limiting valve and second side front-wheel pressure charging valve between the master cylinder and second side front wheel brake；
Open the back cavity pressure limiting valve and second side rear-wheel pressure charging valve between the master cylinder and second side rear wheel brake.
8. according to the method described in claim 6, it is characterized in that, the liquid for disconnecting the master cylinder and ante-chamber accumulator
The hydraulic connecting of pressure connection and the master cylinder and back cavity accumulator, specifically includes：
The first side rear-wheel pressure reducing valve and second side front-wheel pressure reducing valve being closed between the master cylinder and preceding accumulator；
The first side front-wheel pressure reducing valve and second side rear-wheel pressure reducing valve being closed between the master cylinder and rear accumulator.
9. a kind of electronic stability controlling system, including ESC assembly, memory, processor and it is stored on the memory simultaneously
The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program
The step of existing 1 to 8 described in any item methods of the claims.
10. a kind of computer-readable medium for the non-volatile program code that can be performed with processor, which is characterized in that described
Program code makes the processor execute described any the method for claim 1 to 8.
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| CN201810611123.7A CN108860108B (en) | 2018-06-14 | 2018-06-14 | Brake control method, electronic stability control system, and computer readable medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111720389A (en) * | 2020-07-06 | 2020-09-29 | 长沙理工大学 | Combined hydraulic potential energy regeneration system |
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| CN105150858A (en) * | 2015-09-14 | 2015-12-16 | 清华大学 | Regenerative braking system based on ESC hardware and control method of regenerative braking system |
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| US5433512A (en) * | 1992-11-13 | 1995-07-18 | Honda Giken Kogyo Kabushiki Kaisha | Braking system for electric vehicle |
| CN101837773A (en) * | 2010-05-19 | 2010-09-22 | 清华大学 | Brake energy recovery hydraulic braking system based on VDC (Vehicle Dynamics Control)/VSC (Vehicle Stability Control)/ESP (Electronic Stability Program) pressure regulator |
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| CN111720389B (en) * | 2020-07-06 | 2022-09-06 | 长沙理工大学 | Combined hydraulic potential energy regeneration system |
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