CN110539737A - Vehicle parking method and device, storage medium, electronic device and vehicle - Google Patents
Vehicle parking method and device, storage medium, electronic device and vehicle Download PDFInfo
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- CN110539737A CN110539737A CN201810525446.4A CN201810525446A CN110539737A CN 110539737 A CN110539737 A CN 110539737A CN 201810525446 A CN201810525446 A CN 201810525446A CN 110539737 A CN110539737 A CN 110539737A
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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
- B60T13/74—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 electrical assistance or drive
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Abstract
the disclosure relates to a vehicle parking method, a vehicle parking device, a storage medium, electronic equipment and a vehicle, and aims to solve the technical problem that the existing vehicle may slide after being parked for a period of time. The vehicle parking method includes: acquiring the current ambient temperature of the vehicle; when the vehicle is detected to execute the braking operation, the temperature of a brake disc is calculated in real time according to the environment temperature and the corresponding operation parameters of the vehicle; and when the vehicle enters a parking state, if the temperature of the brake disc is greater than a preset temperature threshold value, controlling the electronic parking brake system EPB to execute a re-clamping operation after a target time length.
Description
Technical Field
the present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle parking method and apparatus, a storage medium, an electronic device, and a vehicle.
Background
The parking brake system of the vehicle is an important component in the aspect of vehicle safety, and with the improvement of vehicle technology and the improvement of running speed, the safety of vehicle driving increasingly becomes an important consideration factor for people to purchase vehicles. In the correlation technique, the performance of parking braking system is influenced by the temperature greatly, for example, when the vehicle is parked through frequent braking, the temperature of a brake disc is too high, the parking braking system is naturally cooled after entering a parking state for a period of time, the temperature of the brake disc is reduced to the ambient temperature, and in the process, the brake disc can reduce the parking force due to the effect of thermal expansion and cold contraction, so that the vehicle has the risk of sliding.
Disclosure of Invention
the invention aims to provide a vehicle parking method and device, a storage medium, electronic equipment and a vehicle, and aims to solve the technical problem that the existing vehicle may have a vehicle sliding risk after being parked for a period of time.
in order to achieve the above object, in a first aspect of the embodiments of the present disclosure, there is provided a vehicle parking method including:
Acquiring the current ambient temperature of the vehicle;
when the vehicle is detected to execute the braking operation, the temperature of a brake disc is calculated in real time according to the environment temperature and the running parameters corresponding to the vehicle;
and when the vehicle enters a parking state, if the temperature of the brake disc is greater than a preset temperature threshold value, controlling the electronic parking brake system EPB to execute a re-clamping operation after a target time length.
Optionally, the calculating the temperature of the brake disc in real time according to the ambient temperature and the corresponding operating parameter of the vehicle includes:
in the process that the vehicle executes braking operation, calculating an energy value converted to the brake disc according to the acquired running parameters of the vehicle each time, and calculating a theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc; and the number of the first and second electrodes,
Calculating a theoretical cooling value of the brake disc caused by heat dissipation based on the heat dissipation coefficient of the brake disc and the temperature difference between the temperature obtained by last calculation of the brake disc and the ambient temperature;
And calculating to obtain a difference value between the theoretical temperature rise value and the theoretical temperature drop value after acquiring the running parameters of the vehicle every time by taking the environment temperature as the initial temperature of the brake disc, and accumulating to obtain the current real-time temperature of the brake disc.
optionally, the calculating an energy value converted to the brake disc according to the vehicle operating parameter collected each time includes:
calculating a kinetic energy reduction amount Δ E of the vehicle based on the operating parameter when the vehicle speed decreases;
the calculating the theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc comprises the following steps:
Calculating a theoretical temperature rise value Δ T + of the brake disc by using the kinetic energy reduction amount Δ E as an energy value converted to the brake disc by the following formula:
and delta T < + >, delta E < + > k < + >, wherein k < + > is the temperature rise coefficient obtained by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density rho of the brake disc in advance.
Optionally, the calculating an energy value converted to the brake disc according to the vehicle operating parameter collected each time includes:
Calculating a potential energy reduction amount Δ E1 of the vehicle based on the operating parameter when the vehicle speed is constant;
The calculating the theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc comprises the following steps:
calculating a theoretical temperature rise value Δ T + of the brake disc by using the gravitational potential energy reduction amount Δ E1 as an energy value converted to the brake disc, by the following formula:
And Δ T + ═ Δ E1 × k +, wherein k + is the temperature rise coefficient calculated in advance by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density ρ of the brake disc.
optionally, the calculating a theoretical cooling value of the brake disc due to heat dissipation based on the heat dissipation coefficient of the brake disc and the temperature difference between the last calculated temperature of the brake disc and the ambient temperature includes:
Determining the current heat dissipation coefficient k-of the vehicle according to the current speed of the vehicle and a preset corresponding relation between the speed and the heat dissipation coefficient, wherein the operation parameter comprises the current speed of the vehicle, and the corresponding relation is obtained by calculation at least according to the speed, the heat dissipation surface area of a brake disc, the mass of the brake disc and the specific heat capacity of the brake disc;
The theoretical cooling value delta T-is calculated by the following formula:
ΔT＝(T-T)*k；
and the Tdisc is the brake disc temperature obtained by last calculation, and the Tenv is the ambient temperature, wherein the Tdisc is equal to the Tenv at the initial moment.
optionally, the method further comprises:
after the temperature of the brake disc is calculated in real time according to the environment temperature and the running parameters corresponding to the vehicle, if the difference value between the calculated real-time temperature of the brake disc and the environment temperature of the vehicle is within a preset difference value range within a preset time length, the calculation of the real-time temperature of the brake disc is stopped; and are
And when the fact that the vehicle executes the braking operation is detected again, the real-time calculation of the temperature of the brake disc according to the environment temperature of the vehicle and the corresponding operation parameters of the vehicle is restarted.
Optionally, before setting the control electronic parking brake system EPB to perform the re-clamping operation after the target period, the method further comprises:
determining the current temperature of the brake disc when the vehicle enters a parking state, and calculating a target difference value between the current temperature and the ambient temperature;
And determining the target time length according to the target difference and a preset corresponding relation between the time length of the brake disc temperature and the time length of the environment temperature relative to the delayed re-clamping execution operation.
in a second aspect of the disclosed embodiments, there is provided a vehicle parking apparatus including:
The environment temperature acquisition module is used for acquiring the current environment temperature of the vehicle;
The brake disc temperature calculation module is used for starting to calculate the temperature of the brake disc in real time according to the environment temperature and the running parameters corresponding to the vehicle when the vehicle is detected to execute the braking operation;
and the parking control module is used for controlling the electronic parking brake system EPB to execute re-clamping operation after a target time length if the temperature of the brake disc is greater than a preset temperature threshold value when the vehicle enters a parking state.
optionally, the brake disc temperature calculation module comprises:
the first calculation submodule is used for calculating an energy value converted to the brake disc according to the collected running parameters of the vehicle each time in the process of executing braking operation by the vehicle, and calculating a theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc; and the number of the first and second electrodes,
Calculating a theoretical cooling value of the brake disc caused by heat dissipation based on the heat dissipation coefficient of the brake disc and the temperature difference between the temperature obtained by last calculation of the brake disc and the ambient temperature;
And the second calculation submodule is used for calculating to obtain a difference value between the theoretical temperature rise value and the theoretical temperature drop value after the operation parameters of the vehicle are collected every time by taking the environment temperature as the initial temperature of the brake disc, and accumulating to obtain the current real-time temperature of the brake disc.
optionally, the first calculating submodule is configured to calculate a kinetic energy reduction Δ E of the vehicle based on the operating parameter when the vehicle speed decreases, and calculate a theoretical temperature rise value Δ T + of the brake disc by using the kinetic energy reduction Δ E as an energy value converted to the brake disc by the following formula:
And delta T < + >, delta E < + > k < + >, wherein k < + > is the temperature rise coefficient obtained by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density rho of the brake disc in advance.
optionally, the first calculating submodule is used for calculating the gravitational potential energy reduction amount Δ E1 of the vehicle based on the operation parameters when the vehicle speed is constant;
The calculating the theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc comprises the following steps:
calculating a theoretical temperature rise value Δ T + of the brake disc by using the gravitational potential energy reduction amount Δ E1 as an energy value converted to the brake disc, by the following formula:
And Δ T + ═ Δ E1 × k +, wherein k + is the temperature rise coefficient calculated in advance by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density ρ of the brake disc.
optionally, the first calculation sub-module is configured to determine a current heat dissipation coefficient k-of the vehicle according to the current speed of the vehicle and a preset correspondence between the speed and the heat dissipation coefficient, where the operating parameter includes the current speed of the vehicle, and the correspondence is calculated at least according to the speed, and a heat dissipation surface area, a mass, and a specific heat capacity of a brake disc;
The theoretical cooling value delta T-is calculated by the following formula:
ΔT＝(T-T)*；
And the Tdisc is the brake disc temperature obtained by last calculation, and the Tenv is the ambient temperature, wherein the Tdisc is equal to the Tenv at the initial moment.
optionally, the brake disc temperature calculation module is further configured to, after the brake disc temperature starts to be calculated in real time according to the ambient temperature and the operating parameter corresponding to the vehicle, stop calculating the real-time temperature of the brake disc if the difference between the calculated real-time temperature of the brake disc and the ambient temperature of the vehicle is within a preset difference range within a preset time period; and are
And when the fact that the vehicle executes the braking operation is detected again, the real-time calculation of the temperature of the brake disc according to the environment temperature of the vehicle and the corresponding operation parameters of the vehicle is restarted.
optionally, the parking control module is configured to, before the re-clamping operation is performed after the target duration is set for controlling the electronic parking brake system EPB, determine a current temperature of the brake disc when the vehicle enters the parking state, calculate a target difference between the current temperature and the ambient temperature, and determine the target duration according to the target difference and a preset correspondence between the time duration for performing the re-clamping operation and the time duration in which the difference between the brake disc temperature and the ambient temperature is delayed relatively.
In a third aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the steps of the vehicle parking method provided by the first aspect of the embodiments of the present disclosure.
In a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the vehicle parking method provided by the first aspect of the embodiments of the present disclosure.
In a fifth aspect of the disclosed embodiment, a vehicle is provided that includes the vehicle parking device provided in the second aspect of the disclosed embodiment.
according to the technical scheme, the current environment temperature of the vehicle is obtained, when the fact that the vehicle executes the braking operation is detected, the temperature of the brake disc is calculated in real time according to the detected environment temperature and the operation parameters corresponding to the vehicle, and when the vehicle enters a parking state, if the current temperature of the brake disc is larger than a preset temperature threshold value, the electronic parking braking system (EPB) is controlled to execute the re-clamping operation after the target duration. By adopting the scheme, the temperature of the brake disc can be calculated accurately in real time, reasonable parking operation is adopted according to the temperature of the brake disc, and the electronic parking braking system EPB is controlled to execute re-clamping operation after the vehicle is parked for a period of time under the condition that the temperature of the brake disc is higher when the vehicle enters a parking state, so that parking force is supplemented, the risk of vehicle sliding caused by reduction of the parking force due to expansion caused by heat and contraction caused by cold of the brake disc is reduced, and the parking safety is guaranteed.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
drawings
the accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of parking a vehicle according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of parking a vehicle according to an exemplary embodiment;
FIG. 3 is a block diagram illustrating a vehicle park apparatus according to an exemplary embodiment;
FIG. 4 is a block diagram illustrating a brake disc temperature calculation module of a vehicle parking apparatus according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
when the vehicle is parked through frequent braking, the temperature of the brake disc can be caused to be too high, the parking brake system is naturally cooled after entering the parking state for a period of time, the temperature of the brake disc can be reduced to the ambient temperature, and in the process, the brake disc can reduce the parking force due to the effect of expansion with heat and contraction with cold, so that the vehicle has the risk of sliding. In order to solve the technical problem that the existing vehicle may have a vehicle sliding risk after being parked for a period of time, the embodiment of the disclosure provides a vehicle parking method.
FIG. 1 is a flow chart illustrating a method for parking a vehicle, as shown in FIG. 1, according to an exemplary embodiment, including the steps of:
step 101, obtaining the current ambient temperature of the vehicle.
For example, the current ambient temperature of the vehicle may be obtained by an ambient temperature sensor on the vehicle, and the vehicle brake disc temperature in the subsequent step is calculated based on the obtained ambient temperature.
and 102, when the vehicle is detected to execute the braking operation, starting to calculate the temperature of the brake disc in real time according to the ambient temperature and the corresponding operation parameters of the vehicle.
Specifically, when it is detected that the vehicle performs a braking operation, the corresponding operating parameters of the vehicle include a braking initial speed, a braking final speed, a wheel speed of the vehicle, a longitudinal acceleration, and a characteristic parameter of the brake disc. The wheel speed of the vehicle comprises a left rear wheel speed and a right rear wheel speed, the characteristic parameters of the brake disc comprise the specific heat capacity of the brake disc, the mass of the brake disc, the heat dissipation surface area of the brake disc, the volume of the brake disc and the density of the brake disc, and the operation parameters of the vehicle also comprise the braking force distribution proportion and the maximum mass of the whole vehicle. The real-time calculation of the temperature of the brake disc according to the environmental temperature and the corresponding operating parameters of the vehicle may be performed by calculating an energy value converted to the brake disc during the braking operation of the vehicle according to a braking initial speed, a braking final speed, a wheel speed of the vehicle, a longitudinal acceleration and characteristic parameters of the brake disc, which are acquired each time, calculating a theoretical temperature rise value of the brake disc according to the energy value and a temperature rise coefficient of the brake disc, calculating a temperature difference between the temperature and the environmental temperature based on a heat dissipation coefficient of the brake disc and the last calculation of the brake disc, and calculating a theoretical temperature drop value of the brake disc due to heat dissipation. And then, taking the ambient temperature as the initial temperature of the brake disc, calculating to obtain the difference value between the theoretical temperature rise value and the theoretical temperature drop value based on the operation parameters of the vehicle collected every time, and accumulating to obtain the current real-time temperature of the brake disc.
In a possible implementation manner, when the entire vehicle is initially powered on, after the temperature sensor acquires the ambient temperature information, the ambient temperature information is transmitted through a Controller Area Network (CAN) bus, and the electronic parking Controller acquires the current ambient temperature information through the CAN bus and uses the ambient temperature as the initial temperature of the brake disc. When the vehicle is detected to perform the braking operation, if a signal that a driver steps on a brake pedal is received, the vehicle can be considered to be in a braking state. In the braking process, a friction plate of the brake is in contact with a brake disc, braking force is generated through friction between the friction plate and the brake disc, kinetic energy and/or gravitational potential energy of the vehicle are converted into heat energy generated by friction between the friction plate and the brake disc, and the energy value converted into the brake disc can be calculated by combining vehicle operation parameters and an energy conservation law.
illustratively, the motion state of the vehicle includes a decelerating motion or a constant-speed motion. When the vehicle is in a braking operation and is in a deceleration state, the kinetic energy reduced by the vehicle is converted into heat energy generated by friction between the friction plate and the brake disc; when the vehicle is in braking operation and is basically in a constant speed state, the reduced gravitational potential energy of the vehicle is converted into heat energy generated by friction between the friction plate and the brake disc.
When the vehicle speed decreases, the kinetic energy decrease amount Δ E of the vehicle is calculated based on the operating parameters. Specifically, the kinetic energy reduction amount Δ E of the vehicle during the braking process can be obtained according to the kinetic energy theorem and the initial braking speed and the current final braking speed, the kinetic energy reduction amount Δ E is used as an energy value converted to the brake disc, that is, the heat energy generated by friction between the friction plate and the brake disc, and then the theoretical temperature rise value Δ T + of the brake disc is calculated by the following formula:
and delta T < + >, delta E < + > k < + >, wherein k < + > is a temperature rise coefficient which is obtained by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density rho of the brake disc in advance.
When the vehicle speed is constant, the potential energy of gravity reduction amount Δ E1 of the vehicle is calculated based on the operation parameters. Specifically, when the vehicle runs on a downhill road and performs a braking operation, the vehicle speed is maintained substantially constant, and in the process, energy is conserved, that is, the reduced gravitational potential energy of the vehicle is converted into heat energy generated by friction between the friction plates and the brake disc. Under the working condition, the longitudinal acceleration value detected by the vehicle is a slope value, the electronic parking controller reads the longitudinal acceleration afz of the vehicle as a reference, and a reference value of the vehicle speed at the current slope can be calculated according to a formula Vend-afz-t, wherein Vend is a braking final speed, Vstart is a braking initial speed, and t is a braking time. Calculating to obtain a gravitational potential energy reduction amount delta E1 based on the vehicle speed reference value and the kinetic energy theorem, taking the gravitational potential energy reduction amount delta E1 as an energy value converted to the brake disc, and calculating a theoretical temperature rise value delta T + of the brake disc through the following formula:
Δ T + ═ Δ E1 × k +, where k + is a temperature rise coefficient calculated in advance in combination with the vehicle braking force distribution, the specific heat capacity c of the brake disc, the volume v of the brake disc, and the density ρ of the brake disc.
meanwhile, in the process of braking operation of the vehicle, the temperature difference between the temperature and the ambient temperature is obtained based on the heat dissipation coefficient of the brake disc and the last calculation of the brake disc, and the theoretical cooling value of the brake disc caused by heat dissipation can be calculated.
specifically, when the temperature of the brake disc is greater than the ambient temperature, the brake disc exchanges heat with the ambient environment to transfer the heat of the brake disc to the ambient environment until the heat balance is achieved, which is the heat dissipation process of the brake disc. In the heat dissipation process, the electronic parking controller determines the current heat dissipation coefficient k-of the vehicle according to the current speed of the vehicle and a preset corresponding relation between the speed and the heat dissipation coefficient, wherein the operation parameter comprises the current speed of the vehicle, the corresponding relation is obtained by calculation at least according to the speed, the heat dissipation surface area of a brake disc, the mass of the brake disc and the specific heat capacity of the brake disc, and a theoretical cooling value delta T-is obtained by calculation according to the following formula:
ΔT＝(T-T)*k；
Wherein, Tdisc is the brake disc temperature obtained by the last calculation, and Tenv is the ambient temperature, wherein, Tdisc is equal to Tenv at the initial time.
in summary, in the whole braking process, the actual temperature rise condition of the brake disc is the difference value between the theoretical temperature rise value and the theoretical temperature drop value, and the current real-time temperature of the brake disc can be obtained through accumulation by adding the difference value between the theoretical temperature rise value and the theoretical temperature drop value on the basis of the temperature obtained through the last calculation of the brake disc.
It should be noted that, the relationship between the ambient temperature, the vehicle operating parameter, and the characteristic parameter of the brake disc and the temperature rise coefficient/heat dissipation coefficient may be obtained by calibrating the relevant data under different braking conditions through multiple tests, and stored, for example, a corresponding table is generated for query.
when the vehicle parking method provided by the embodiment of the disclosure is executed for the first time in the vehicle running process, the last temperature obtained by calculating the brake disc refers to the initial temperature of the brake disc, namely the environmental temperature obtained by an environmental temperature sensor of the vehicle, and at this time, the theoretical cooling value of the brake disc due to heat dissipation is zero; and then, the last temperature obtained by calculating the brake disc refers to the real-time temperature of the brake disc obtained by calculating after the last operation parameter is acquired.
in the process of calculating the real-time temperature of the brake disc, if the vehicle stops braking operation and enters a non-braking state or the vehicle stops braking operation and enters a parking state, the theoretical cooling value of the temperature of the brake disc still needs to be calculated, and the temperature of the brake disc needs to be updated until the temperature of the brake disc is cooled to the ambient temperature through heat dissipation, and it is worth noting that the updated temperature of the brake disc is not less than the ambient temperature.
And 103, when the vehicle enters a parking state, if the temperature of the Brake disc is greater than a preset temperature threshold value, controlling an electronic parking Brake system (EPB) to execute a re-clamping operation after a target time length.
The temperature of the brake disc when the detection vehicle gets into the parking state to whether the temperature that judges and detect is greater than predetermined temperature threshold value, wherein, predetermined temperature threshold value can be the brake disc and cause the temperature critical value of potential safety hazard influence to parking power after taking place expend with heat and contract with cold, also can set for according to actual demand. For example, the preset temperature threshold is 300 ℃, if the temperature of the brake disc during parking is greater than 300 ℃, the parking effect is greatly influenced, and a rolling event may occur after the brake disc is naturally cooled, the electronic parking brake system EPB is controlled to execute a re-clamping operation after the target duration to supplement the parking force.
by adopting the method, the temperature of the brake disc can be accurately calculated in real time, reasonable parking operation is adopted according to the temperature of the brake disc, and the electronic parking brake system EPB is controlled to execute re-clamping operation after parking for a period of time under the condition that the temperature of the brake disc is higher when the vehicle enters a parking state, so that the parking force is supplemented, the vehicle sliding risk caused by reduction of the parking force due to thermal expansion and cold contraction of the brake disc is reduced, and the parking safety is ensured.
FIG. 2 is a flow chart illustrating a method of parking a vehicle, as shown in FIG. 2, according to an exemplary embodiment, including the steps of:
in step 201, the current ambient temperature of the vehicle is obtained.
And 202, when the vehicle is detected to execute the braking operation, starting to calculate the temperature of the brake disc in real time according to the ambient temperature and the corresponding operation parameters of the vehicle.
And step 203, judging whether the difference value between the real-time temperature of the brake disc and the ambient temperature of the vehicle is within a preset difference value range within a preset time length.
after the temperature of the brake disc is calculated in real time according to the ambient temperature and the corresponding operating parameter of the vehicle, if the difference between the calculated real-time temperature of the brake disc and the ambient temperature of the vehicle is within a preset difference range within a preset time period, executing step 204, otherwise executing step 206. For example, the preset time is 10min, the preset difference range is 0-5 ℃, when the difference between the real-time temperature of the brake disc and the environment temperature of the vehicle is always less than or equal to 5 ℃ within 10min in the running process of the vehicle, step 204 is executed, and when the difference between the real-time temperature of the brake disc and the environment temperature of the vehicle is greater than 5 ℃, step 206 is executed.
and step 204, stopping calculating the real-time temperature of the brake disc.
If the difference between the real-time temperature of the brake disc and the ambient temperature of the vehicle is within the preset difference range within the preset time period, which indicates that the vehicle does not perform braking operation within the time period, and the temperature of the brake disc does not rise significantly, the calculation of the real-time temperature of the brake disc may be stopped, and step 205 is executed.
and step 205, when the vehicle is detected to perform the braking operation again, restarting to calculate the temperature of the brake disc in real time according to the environment temperature of the vehicle and the corresponding operation parameters of the vehicle.
and step 206, when the vehicle enters the parking state, determining the current temperature of the brake disc when the vehicle enters the parking state, and if the temperature of the brake disc is greater than a preset temperature threshold value, calculating a target difference value between the current temperature and the ambient temperature.
If the difference value between the real-time temperature of the brake disc and the ambient temperature of the vehicle does not meet the condition within the preset difference value range within the preset time length, the brake operation of the vehicle is stored in the time length, the size relation between the temperature of the brake disc and the preset temperature threshold value when the vehicle enters the parking state is compared, and the target difference value between the current temperature of the brake disc and the ambient temperature is calculated. The electronic parking controller stores a temperature threshold, and the temperature threshold can be calibrated through different braking scene experiments or adjusted and set according to actual requirements. For example, the ambient temperature is 25 ℃, the preset temperature threshold is 320 ℃, the temperature of the brake disc when the vehicle enters the parking state is 340 ℃, and the temperature is greater than the preset temperature threshold, and the target difference value between the current temperature of the brake disc and the ambient temperature is 315 ℃.
And step 207, determining a target time length according to the target difference and a preset corresponding relation between the time length of the brake disc temperature and the time length of the environment temperature relative to the time delay execution re-clamping operation.
The temperature of the brake disc when the vehicle enters the parking state can be determined through step 202 or step 205, and if the temperature of the brake disc when the vehicle enters the parking state is greater than a preset temperature threshold, the target time duration is determined according to a preset corresponding relation between the difference value between the current temperature of the brake disc and the ambient temperature and the time duration of the relative delay re-clamping operation. For example, the preset correspondence between the difference Δ T between the current temperature of the brake disc and the ambient temperature and the time period T for which the re-clamping operation is performed with a relative delay satisfies that T is 0.05 Δ T, the difference between the temperature of the brake disc and the ambient temperature when the vehicle enters the parking state is 300 ℃, and the corresponding target time period is 15 min.
In step 208, the electronic parking brake system EPB is controlled to perform the re-clamping operation after the target period.
in order to prevent the situation that the parking force is reduced due to the fact that the temperature of a brake disc is high when a vehicle enters a parking state and the brake disc expands with heat and contracts with cold after the vehicle is parked for a period of time, an electronic parking brake system (EPB) can be controlled to execute re-clamping operation after a target duration, the parking force can be supplemented, the vehicle sliding risk can be reduced, and the parking safety can be guaranteed.
optionally, the EPB of the electronic parking brake system also appropriately prolongs the time required for entering the sleep mode, so as to avoid the situation that the electric vehicle is powered on again before the brake disc is not completely cooled, and the electronic parking controller determines that the current brake disc temperature value is the ambient temperature and has an excessively large difference with the actual brake disc temperature, so that the calculated values of subsequent heating and cooling are deviated, and the algorithm is invalid.
By adopting the method, the environment temperature and the corresponding running parameters of the vehicle are obtained through the CAN bus, and the energy conversion mode in the braking process of the vehicle is determined, so that the temperature of the brake disc CAN be accurately calculated in real time without arranging an additional sensor on the brake disc or a friction plate. When the vehicle is parked, if the temperature of the brake disc is larger than a preset temperature threshold value, the electronic parking brake system EPB is controlled to execute re-clamping operation after the vehicle is parked for a period of time, so that the parking force is supplemented, the risk of vehicle sliding caused by reduction of the parking force due to expansion caused by heat and contraction caused by cold of the brake disc is reduced, and the parking safety is guaranteed.
fig. 3 is a block diagram illustrating a vehicle parking apparatus 300 that may be implemented as part or all of an electronic parking brake system through software, hardware, or a combination of both, according to an exemplary embodiment. As shown in fig. 3, the apparatus 300 may include:
an ambient temperature obtaining module 310, configured to obtain a current ambient temperature of the vehicle;
The brake disc temperature calculating module 320 is used for starting to calculate the temperature of the brake disc in real time according to the ambient temperature and the corresponding operation parameters of the vehicle when the brake operation of the vehicle is detected;
and the parking control module 330 is configured to, when the vehicle enters a parking state, control the electronic parking brake system EPB to perform a re-clamping operation after a target duration if the brake disc temperature is greater than a preset temperature threshold.
By adopting the device, the temperature of the brake disc can be calculated accurately in real time, reasonable parking operation is adopted according to the temperature of the brake disc, the electronic parking braking system EPB is controlled to execute re-clamping operation after the vehicle is parked for a period of time under the condition that the temperature of the brake disc is higher when the vehicle enters a parking state, the parking force is supplemented, the risk of vehicle sliding caused by reduction of the parking force due to expansion caused by heat and contraction caused by cold of the brake disc is reduced, and the parking safety is guaranteed.
Fig. 4 is a block diagram illustrating a brake disc temperature calculation module 320 of a parking apparatus for a vehicle according to an exemplary embodiment, and as shown in fig. 4, the brake disc temperature calculation module 320 includes:
the first calculation submodule 321 is configured to calculate an energy value converted to the brake disc according to the acquired running parameter of the vehicle each time in the process of performing a braking operation on the vehicle, and calculate a theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc; calculating the theoretical cooling value of the brake disc caused by heat dissipation based on the heat dissipation coefficient of the brake disc and the temperature difference between the temperature and the environmental temperature obtained by the last calculation of the brake disc;
and the second calculation submodule 322 is configured to calculate a difference between a theoretical temperature rise value and a theoretical temperature fall value based on the operation parameters of the vehicle collected each time, and accumulate to obtain the current real-time temperature of the brake disc, with the ambient temperature as the initial temperature of the brake disc.
Optionally, the first calculating submodule 321 is configured to calculate a kinetic energy reduction Δ E of the vehicle based on the operating parameter when the vehicle speed decreases, and calculate a theoretical temperature rise Δ T + of the brake disc by using the kinetic energy reduction Δ E as an energy value converted to the brake disc by the following formula:
and delta T < + >, delta E < + > k < + >, wherein k < + > is a temperature rise coefficient which is obtained by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density rho of the brake disc in advance.
Optionally, the first calculating submodule 321 is configured to calculate a gravitational potential energy decrease amount Δ E1 of the vehicle based on the operation parameter when the vehicle speed is constant;
Calculating a theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc, wherein the theoretical temperature rise value comprises the following steps:
Taking the gravitational potential energy reduction amount Δ E1 as an energy value converted to the brake disk, the theoretical temperature rise value Δ T + of the brake disk is calculated by the following formula:
Δ T + ═ Δ E1 × k +, where k + is a temperature rise coefficient calculated in advance in combination with the vehicle braking force distribution, the specific heat capacity c of the brake disc, the volume v of the brake disc, and the density ρ of the brake disc.
Optionally, the first calculating submodule 321 is configured to determine a current heat dissipation coefficient k-of the vehicle according to a current speed of the vehicle and a preset corresponding relationship between the speed and the heat dissipation coefficient, where the operating parameter includes the current speed of the vehicle, and the corresponding relationship is calculated at least according to the speed, and a heat dissipation surface area of the brake disc, a mass of the brake disc, and a specific heat capacity of the brake disc;
the theoretical cooling value delta T-is calculated by the following formula:
ΔT＝(T-T)*k；
Wherein, Tdisc is the brake disc temperature obtained by the last calculation, and Tenv is the ambient temperature, wherein, Tdisc is equal to Tenv at the initial time.
optionally, the brake disc temperature calculating module 320 is further configured to, after the brake disc temperature starts to be calculated in real time according to the ambient temperature and the operating parameter corresponding to the vehicle, stop calculating the real-time temperature of the brake disc if the difference between the calculated real-time temperature of the brake disc and the ambient temperature of the vehicle is within a preset difference range within a preset time period; and when the fact that the vehicle executes the braking operation is detected again, the real-time calculation of the temperature of the brake disc is restarted according to the environment temperature of the vehicle and the corresponding operation parameters of the vehicle.
Optionally, the parking control module 330 is configured to, before the re-clamping operation is performed after the target duration is set and controlled by the electronic parking brake system EPB, determine a current temperature of the brake disc when the vehicle enters the parking state, calculate a target difference between the current temperature and the ambient temperature, and determine the target duration according to the target difference and a preset corresponding relationship between the difference between the brake disc temperature and the ambient temperature and a duration in which the re-clamping operation is performed with a relative delay.
by adopting the device, the temperature of the brake disc can be accurately calculated in real time through the brake disc temperature calculating module, and an additional sensor is not required to be arranged on the brake disc or the friction plate. When the vehicle is parked, if the temperature of the brake disc is larger than a preset temperature threshold value, the electronic parking brake system EPB is controlled to execute re-clamping operation after the vehicle is parked for a period of time, so that the parking force is supplemented, the risk of vehicle sliding caused by reduction of the parking force due to expansion caused by heat and contraction caused by cold of the brake disc is reduced, and the parking safety is guaranteed.
Fig. 5 is a block diagram illustrating an electronic device 500 in accordance with an example embodiment. As shown in fig. 5, the electronic device 500 may include: a processor 501, a memory 502, a multimedia component 503, an input/output (I/O) interface 504, and a communication component 505.
The processor 501 is configured to control the overall operation of the electronic device 500, so as to complete all or part of the steps of the vehicle parking method. The memory 502 is used to store various types of data to support operations at the electronic device 500, such as instructions for any application or method operating on the electronic device 500 and application-related data.
The Memory 502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
the multimedia component 503 may include a screen, which may be, for example, a touch screen, and an audio component for outputting and/or inputting audio signals. The received audio signal may further be stored in the memory 502 or transmitted through the communication component 505. The audio assembly also includes at least one speaker for outputting audio signals.
the I/O interface 504 provides an interface between the processor 501 and other interface modules, which may be a keyboard, buttons, etc. These buttons may be virtual buttons or physical buttons.
The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 505 may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described vehicle parking method.
the disclosed embodiments provide a computer readable storage medium comprising program instructions that, when executed by a processor, implement the steps of the above-described vehicle parking method. For example, the computer readable storage medium may be the memory 502 described above including program instructions executable by the processor 501 of the electronic device 500 to perform the vehicle parking method described above.
The disclosed embodiment further provides a vehicle, which includes the vehicle parking device provided by the disclosed embodiment, and specific reference is made to the corresponding description above, and details are not repeated here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (11)
1. a vehicle parking method, characterized by comprising:
Acquiring the current ambient temperature of the vehicle;
When the vehicle is detected to execute the braking operation, the temperature of a brake disc is calculated in real time according to the environment temperature and the running parameters corresponding to the vehicle;
And when the vehicle enters a parking state, if the temperature of the brake disc is greater than a preset temperature threshold value, controlling the electronic parking brake system EPB to execute a re-clamping operation after a target time length.
2. the method of claim 1, wherein calculating brake disc temperature in real time from the ambient temperature and corresponding operating parameters of the vehicle comprises:
In the process that the vehicle executes braking operation, calculating an energy value converted to the brake disc according to the acquired running parameters of the vehicle each time, and calculating a theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc; and the number of the first and second electrodes,
Calculating a theoretical cooling value of the brake disc caused by heat dissipation based on the heat dissipation coefficient of the brake disc and the temperature difference between the temperature obtained by last calculation of the brake disc and the ambient temperature;
And calculating to obtain a difference value between the theoretical temperature rise value and the theoretical temperature drop value after acquiring the running parameters of the vehicle every time by taking the environment temperature as the initial temperature of the brake disc, and accumulating to obtain the current real-time temperature of the brake disc.
3. The method of claim 2, wherein said calculating an energy value translated to said brake disc as a function of each acquired operating parameter of said vehicle comprises:
Calculating a kinetic energy reduction amount Δ E of the vehicle based on the operating parameter when the vehicle speed decreases;
the calculating the theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc comprises the following steps:
Calculating a theoretical temperature rise value Δ T + of the brake disc by using the kinetic energy reduction amount Δ E as an energy value converted to the brake disc by the following formula:
And delta T < + >, delta E < + > k < + >, wherein k < + > is the temperature rise coefficient obtained by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density rho of the brake disc in advance.
4. the method of claim 2, wherein said calculating an energy value translated to said brake disc as a function of each acquired operating parameter of said vehicle comprises:
Calculating a potential energy reduction amount Δ E1 of the vehicle based on the operating parameter when the vehicle speed is constant;
The calculating the theoretical temperature rise value of the brake disc according to the energy value and the temperature rise coefficient of the brake disc comprises the following steps:
calculating a theoretical temperature rise value Δ T + of the brake disc by using the gravitational potential energy reduction amount Δ E1 as an energy value converted to the brake disc, by the following formula:
and Δ T + ═ Δ E1 × k +, wherein k + is the temperature rise coefficient calculated in advance by combining the braking force distribution of the whole vehicle, the specific heat capacity c of the brake disc, the volume v of the brake disc and the density ρ of the brake disc.
5. the method according to any one of claims 2 to 4, wherein the calculating of the theoretical cooling value of the brake disc due to heat dissipation based on the heat dissipation coefficient of the brake disc and the last calculated temperature difference between the temperature of the brake disc and the ambient temperature comprises:
determining the current heat dissipation coefficient k-of the vehicle according to the current speed of the vehicle and a preset corresponding relation between the speed and the heat dissipation coefficient, wherein the operation parameter comprises the current speed of the vehicle, and the corresponding relation is obtained by calculation at least according to the speed, the heat dissipation surface area of a brake disc, the mass of the brake disc and the specific heat capacity of the brake disc;
The theoretical cooling value delta T-is calculated by the following formula:
ΔT＝(T-T)*k；
and the Tdisc is the brake disc temperature obtained by last calculation, and the Tenv is the ambient temperature, wherein the Tdisc is equal to the Tenv at the initial moment.
6. the method according to any one of claims 1 to 4, further comprising:
After the temperature of the brake disc is calculated in real time according to the environment temperature and the running parameters corresponding to the vehicle, if the difference value between the calculated real-time temperature of the brake disc and the environment temperature of the vehicle is within a preset difference value range within a preset time length, the calculation of the real-time temperature of the brake disc is stopped; and are
and when the fact that the vehicle executes the braking operation is detected again, the real-time calculation of the temperature of the brake disc according to the environment temperature of the vehicle and the corresponding operation parameters of the vehicle is restarted.
7. The method according to any one of claims 1 to 4, characterized in that before setting the control electronic parking brake system EPB to perform a re-clamping operation after a target period of time, the method further comprises:
determining the current temperature of the brake disc when the vehicle enters a parking state, and calculating a target difference value between the current temperature and the ambient temperature;
And determining the target time length according to the target difference and a preset corresponding relation between the time length of the brake disc temperature and the time length of the environment temperature relative to the delayed re-clamping execution operation.
8. a vehicle parking device characterized by comprising:
the environment temperature acquisition module is used for acquiring the current environment temperature of the vehicle;
the brake disc temperature calculation module is used for starting to calculate the temperature of the brake disc in real time according to the environment temperature and the running parameters corresponding to the vehicle when the vehicle is detected to execute the braking operation;
And the parking control module is used for controlling the electronic parking brake system EPB to execute re-clamping operation after a target time length if the temperature of the brake disc is greater than a preset temperature threshold value when the vehicle enters a parking state.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. an electronic device, comprising:
A memory having a computer program stored thereon;
A processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
11. a vehicle characterized by comprising the vehicle parking apparatus according to claim 8.
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| CN201810525446.4A CN110539737A (en) | 2018-05-28 | 2018-05-28 | Vehicle parking method and device, storage medium, electronic device and vehicle |
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| CN201810525446.4A CN110539737A (en) | 2018-05-28 | 2018-05-28 | Vehicle parking method and device, storage medium, electronic device and vehicle |
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