CN113353049B - Electric control braking method and device and computer storage medium - Google Patents
Electric control braking method and device and computer storage medium Download PDFInfo
- Publication number
- CN113353049B CN113353049B CN202110916690.5A CN202110916690A CN113353049B CN 113353049 B CN113353049 B CN 113353049B CN 202110916690 A CN202110916690 A CN 202110916690A CN 113353049 B CN113353049 B CN 113353049B
- Authority
- CN
- China
- Prior art keywords
- torque
- original
- compensation
- motor target
- target torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention provides an electric control braking method, an electric control braking device and a computer storage medium, which are applied to the electric control braking device, wherein the electric control braking method comprises the following steps: acquiring a motor torque compensation input signal; calculating an original compensation torque according to the motor torque compensation input signal; and compensating the original motor target torque according to the original compensation torque. According to the electric control braking method, the electric control braking device and the computer storage medium, the motor torque compensation input signal is obtained, the original compensation torque is calculated according to the motor torque compensation input signal, the original motor target torque is compensated, the implementation cost is low, the accuracy is high, and the main cylinder damage caused by the fact that the maximum stroke of the main cylinder is not limited when the basic load is seriously underbraked can be effectively avoided.
Description
Technical Field
The invention belongs to the field of electric control braking, and particularly relates to an electric control braking method, an electric control braking device and a computer storage medium.
Background
The existing electric control brake system is characterized in that a pedal stroke sensor is used for sensing and acquiring pedal stroke information of a driver for braking, the pedal stroke information is related to brake force information, a control unit converts the pedal stroke information into a control signal of a motor, and the control signal is transmitted to the motor, so that a brake fluid main cylinder is controlled by the motor to generate hydraulic output, and the electric control brake is realized.
In the existing strategy for performing torque control based on an electronic control brake system, mainly aiming at the electric power-assisted brake control of a gear rack, a worm gear and a ball screw transmission system, when the basic load of the whole vehicle is normal, the torque control is performed, a driver sets a brake pedal stroke to enable a motor to output a certain driving torque, a master cylinder outputs corresponding brake pressure, the torque of the motor is increased along with the increase of the pedal stroke, and the brake pressure is increased along with the increase of the torque of the motor. When the basic load is seriously under-braked due to the fact that oil in the pipeline is insufficient and the single pipeline fails or the whole pipeline fails, the main cylinder cannot establish large brake pressure, and if the motor driving torque is output under the normal condition according to the basic load, the stroke of the main cylinder is too large to exceed the safety threshold, and the main cylinder is damaged. At present, few control technical schemes of the electric control brake system with complete decoupling are provided, and a solution for solving the problem of overlarge stroke of the existing torque control master cylinder is not seen in a patent publication.
Disclosure of Invention
Aiming at the technical problems, the invention provides an electric control braking method, an electric control braking device and a computer storage medium, which have the advantages of low implementation cost and high accuracy, and can effectively avoid the damage of a master cylinder caused by the fact that the maximum stroke of the master cylinder is not limited when the basic load is seriously under-braked.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides an electronic control braking method, which is applied to an electronic control braking device, and includes:
acquiring a motor torque compensation input signal, wherein the motor torque compensation input signal at least comprises an original motor target torque, an actual rack position and an actual rack speed;
calculating an original compensation torque according to the motor torque compensation input signal and the following formula:
TorqueCompenRaw=TargetTorqRaw*P3*P4；
wherein, torqueComenRaw is the original compensation torque, TargetTorqRaw is the original motor target torque, P3 is the compensation torque factor output according to the actual rack position table lookup, P4 is the compensation torque factor output according to the actual rack speed table lookup;
and compensating the original motor target torque according to the original compensation torque.
In one embodiment, before compensating the original motor target torque according to the original compensation torque, the method includes:
when the actual rack position is larger than the product of the master cylinder total stroke and a first scale factor, entering a compensation control mode of the original motor target torque; or
And when the actual rack speed is greater than a first rack speed threshold value, entering a compensation control mode of the original motor target torque.
In one embodiment, the compensating for the original motor target torque based on the original compensation torque includes:
and performing first-order low-pass filtering processing on the original compensation torque by using a first-order low-pass filtering factor.
In one embodiment, the compensating for the original motor target torque according to the original compensation torque further comprises:
limiting the maximum value and the minimum value of the original compensation torque subjected to the first-order low-pass filtering;
and compensating the original motor target torque according to the original compensation torque after the limiting treatment.
In one embodiment, after obtaining the motor torque compensation input signal, the method further includes:
when the actual rack position is smaller than or equal to the product of the master cylinder total stroke and a second scale factor, the compensation control mode of the original motor target torque is exited; or
Exiting the compensation control mode for the original motor target torque when the actual rack speed is less than or equal to a second rack speed threshold;
wherein the second scaling factor is less than the first scaling factor and the second rack speed threshold is less than the first rack speed threshold.
In one embodiment, after compensating the original motor target torque according to the original compensation torque, the method further includes:
and performing gradient limiting processing on the increase and decrease amount of the original compensation torque.
In a second aspect, an embodiment of the present invention provides an electronically controlled braking device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the electronically controlled braking method according to the first aspect when executing the computer program.
In a third aspect, an embodiment of the present invention provides a computer storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the steps of the electronically controlled braking method according to the first aspect.
According to the electric control braking method, the electric control braking device and the computer storage medium, the motor torque compensation input signal is obtained, the original compensation torque is calculated according to the motor torque compensation input signal, the original motor target torque is compensated, the implementation cost is low, the accuracy is high, and the main cylinder damage caused by the fact that the maximum stroke of the main cylinder is not limited when the basic load is seriously underbraked can be effectively avoided.
Drawings
Fig. 1 is a schematic flow chart of an electric control braking method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an electrically controlled braking device according to an embodiment of the present invention.
Detailed Description
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the invention may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present invention are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
It should be noted that step numbers such as S101 and S102 are used herein for the purpose of more clearly and briefly describing the corresponding contents, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S102 first and then S101 in specific implementations, but these steps should be within the scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a flow chart of an electronic control braking method provided in an embodiment of the present invention is schematically shown, where the electronic control braking method may be executed by an electronic control braking device provided in an embodiment of the present invention, and the electronic control braking device may be implemented in a software and/or hardware manner, and the electronic control braking method includes the following steps:
step S101: acquiring a motor torque compensation input signal, wherein the motor torque compensation input signal at least comprises an original motor target torque, an actual rack position and an actual rack speed;
here, the motor torque compensation input signal may include an original motor target torque, an actual rack position, and an actual rack speed. Specifically, a driver gives a brake pedal stroke and receives brake pedal stroke information, so that the motor outputs a certain driving torque, namely an original motor target torque, and the motor rotates according to the original motor target torque to drive the rack to horizontally move so as to obtain an actual rack position and an actual rack speed.
Step S102: calculating an original compensation torque according to the motor torque compensation input signal and the following formula:
TorqueCompenRaw=TargetTorqRaw*P3*P4；
wherein, torqueComenRaw is the original compensation torque, TargetTorqRaw is the original motor target torque, P3 is the compensation torque factor output according to the actual rack position table lookup, P4 is the compensation torque factor output according to the actual rack speed table lookup;
optionally, P3 increases with the increase of the actual rack position, and the value range is [0, 2 ]; p4 increases with increasing actual rack speed, with a value in the range of 0, 2.
It should be noted that, the NBS transmission system is a system in which a motor and a worm gear are driven by a worm gear to a rack gear to push a master cylinder for braking, and the rack gear transmission is to convert a rotary motion of a gear into a reciprocating linear motion of a rack, or convert a reciprocating linear motion of a rack into a rotary motion of a gear, where an actual rack position represents a stroke of pushing the master cylinder, and an actual rack speed represents a speed of the master cylinder stroke. The compensation torque factor P3 output according to the actual rack position lookup table and the compensation torque factor P4 output according to the actual rack speed lookup table are tables obtained according to experimental data, and data calibrated by different motors and master cylinders are different.
Step S103: and compensating the original motor target torque according to the original compensation torque.
It should be noted that, when the basic load is under-braked seriously, the master cylinder cannot establish a large braking pressure, and if the motor driving torque is output under the normal condition according to the basic load, the stroke of the master cylinder is too large to exceed the safety threshold, and the master cylinder is damaged. The basic load under-braking comprises the condition that a braking oil pipeline is insufficient and a single pipeline fails or a whole pipeline fails, wherein the basic load refers to the part of pipelines of the braking oil pipeline, a wheel cylinder and calipers; the single pipeline failure means that two wheels in the vehicle brake pipeline lose braking force, and the other two wheels can brake normally; the failure of the whole pipeline means that the brake pipeline of the vehicle has no braking force on four wheels completely; the conditions causing insufficient brake oil pipelines include ABS triggering, serious pipeline air intake, pipeline leakage and the like. Therefore, it is necessary to compensate for the original motor target torque to prevent damage due to an excessively large stroke of the master cylinder.
Optionally, when the actual rack position is larger than the product of the master cylinder total stroke and a first scale factor, entering a compensation control mode of the original motor target torque; or when the actual rack speed is larger than a first rack speed threshold value, entering a compensation control mode of the original motor target torque.
Specifically, the enabling conditions of the compensation control mode for the original motor target torque include:
(rackpposact > MasterCylinderStrok P1) | (RackVelocityAct > P2), then bl _ torqposplen _ B =1
Wherein rackpoisact is the actual rack position, MasterCylinderStrok is the master cylinder total stroke, P1 is the first scale factor (calculated parameter 0.9, calibratable), rackvelocity act is the actual rack speed, P2 is the first rack speed threshold (calibratable), bl _ torqposcomp _ B is the original motor target torque compensation.
Optionally, when the actual rack position is smaller than or equal to the product of the master cylinder total stroke and a second scale factor, the compensation control mode of the original motor target torque is exited; or when the actual rack speed is less than or equal to a second rack speed threshold, exiting the compensation control mode of the original motor target torque;
wherein the second scaling factor is less than the first scaling factor and the second rack speed threshold is less than the first rack speed threshold.
Specifically, the exit condition of the compensation control mode of the original motor target torque includes:
(RackPosAct < MasterCylinderStrok P8) & & (RackVeloctyAct < P9), then bl _ TorqPosCompen _ B =0
Wherein rackpoisact is the actual rack position, MasterCylinderStrok is the master cylinder total stroke, P8 is the second scale factor (calculated parameter 0.8, calibratable), rackvelocity act is the actual rack speed, P9 is the second rack speed threshold (calibratable), bl _ torqposcomp _ B is the original motor target torque compensation.
In one embodiment, the compensating for the original motor target torque based on the original compensation torque includes: and performing first-order low-pass filtering processing on the original compensation torque by using a first-order low-pass filtering factor.
Specifically, the original compensation torque is subjected to a first-order low-pass filtering process according to the following formula:
TorqueCompenFilter=(1-P5)*TorqueCompenFilter+P5*TorqueCompenRaw
wherein, P5 is a first-order low-pass filter factor, and the value range is [0, 1 ].
In one embodiment, the compensating for the original motor target torque according to the original compensation torque further comprises:
limiting the maximum value and the minimum value of the original compensation torque subjected to the first-order low-pass filtering;
and compensating the original motor target torque according to the original compensation torque after the limiting treatment.
Specifically, the original compensation torque is subjected to the limiting processing of the maximum value and the minimum value according to the following formula:
TorqueCompenLimiter=(TorqueCompenLimiter.max(-P6)).min(P7)
where P6 is the minimum limit and P7 is the maximum limit.
In one embodiment, after compensating the original motor target torque according to the original compensation torque, the method further includes:
and performing gradient limiting processing on the increase and decrease amount of the original compensation torque.
Specifically, the increase and decrease amount of the original compensation torque is subjected to gradient limiting processing according to the following formula:
TargetTorqGrad=DTargetTorqRaw*P10
TargetTorqLimt=TargetTorqCor.min(TargetTorqGrad+TargetTorqCorK1)
wherein, TargetTorqGrad is gradient, DTargetTorqRaw is original motor target torque change rate, and P10 is target torque gradient correction factor.
Optionally, after the target torque of the original motor is compensated, calibration, debugging and verification are carried out on the rack and the whole vehicle, so that the compensation control mode of the target torque of the original motor achieves optimal control.
In summary, in the electronic control braking method provided in the above embodiment, the motor torque compensation input signal is obtained, the original compensation torque is calculated according to the motor torque compensation input signal, and the original motor target torque is compensated, so that the implementation cost is low, the accuracy is high, and the master cylinder damage caused by the fact that the maximum stroke of the master cylinder is not limited when the foundation load is severely under-braked can be effectively avoided.
Referring to fig. 2, a schematic structural diagram of an electrically controlled braking device according to an embodiment of the present invention is shown. As shown in fig. 2, the electrically controlled brake device includes: a processor 110 and a memory 111 for storing computer programs capable of running on the processor 110; the processor 110 illustrated in fig. 2 is not used to refer to the number of the processors 110 as one, but is only used to refer to the position relationship of the processor 110 relative to other devices, and in practical applications, the number of the processors 110 may be one or more; similarly, the memory 111 illustrated in fig. 2 is also used in the same sense, that is, it is only used to refer to the position relationship of the memory 111 relative to other devices, and in practical applications, the number of the memory 111 may be one or more. The processor 110 is configured to implement the electronically controlled braking method when the computer program is executed.
The electrically controlled brake device may further include: at least one network interface 112. The various components of the electric brake are coupled together by a bus system 113. It will be appreciated that the bus system 113 is used to enable communications among the components. The bus system 113 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 113 in FIG. 2.
The memory 111 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 111 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 111 in the embodiment of the present invention is used to store various types of data to support the operation of the electronically controlled brake device. Examples of such data include: any computer program for operating on the electronically controlled brake device, such as operating systems and application programs; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, the program that implements the method of the embodiment of the present invention may be included in an application program.
The embodiment of the present invention further provides a computer storage medium, where a computer program is stored in the computer storage medium, and the computer storage medium may be a magnetic random access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM), and the like; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned electronically controlled braking method is implemented. Please refer to the description of the embodiment shown in fig. 1 for a specific step flow realized when the computer program is executed by the processor, which is not described herein again.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. An electric control braking method is applied to an electric control braking device and is characterized by comprising the following steps:
acquiring a motor torque compensation input signal, wherein the motor torque compensation input signal at least comprises an original motor target torque, an actual rack position and an actual rack speed;
calculating an original compensation torque according to the motor torque compensation input signal and the following formula:
TorqueCompenRaw=TargetTorqRaw*P3*P4；
wherein, torqueComenRaw is the original compensation torque, TargetTorqRaw is the original motor target torque, P3 is the compensation torque factor output according to the actual rack position table lookup, P4 is the compensation torque factor output according to the actual rack speed table lookup;
and compensating the original motor target torque according to the original compensation torque.
2. The electronically controlled braking method of claim 1, wherein prior to compensating for the baseline motor target torque based on the baseline compensation torque, comprising:
when the actual rack position is larger than the product of the master cylinder total stroke and a first scale factor, entering a compensation control mode of the original motor target torque; or
And when the actual rack speed is greater than a first rack speed threshold value, entering a compensation control mode of the original motor target torque.
3. The electronically controlled braking method of claim 1, wherein said compensating a raw motor target torque based on said raw compensation torque comprises:
and performing first-order low-pass filtering processing on the original compensation torque by using a first-order low-pass filtering factor.
4. The electronically controlled braking method of claim 3, wherein the compensating for the original motor target torque based on the original compensation torque further comprises:
limiting the maximum value and the minimum value of the original compensation torque subjected to the first-order low-pass filtering;
and compensating the original motor target torque according to the original compensation torque after the limiting treatment.
5. The electronically controlled braking method of claim 2, wherein after obtaining the motor torque compensation input signal, further comprising:
when the actual rack position is smaller than or equal to the product of the master cylinder total stroke and a second scale factor, the compensation control mode of the original motor target torque is exited; or
Exiting the compensation control mode for the original motor target torque when the actual rack speed is less than or equal to a second rack speed threshold;
wherein the second scaling factor is less than the first scaling factor and the second rack speed threshold is less than the first rack speed threshold.
6. The electronically controlled braking method of claim 1, further comprising, after compensating a raw motor target torque based on the raw compensation torque, the step of:
and performing gradient limiting processing on the increase and decrease amount of the original compensation torque.
7. An electrically controlled braking device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the electrically controlled braking method according to any one of claims 1 to 6 when executing said computer program.
8. A computer storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of an electronically controlled braking method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110916690.5A CN113353049B (en) | 2021-08-11 | 2021-08-11 | Electric control braking method and device and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110916690.5A CN113353049B (en) | 2021-08-11 | 2021-08-11 | Electric control braking method and device and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113353049A CN113353049A (en) | 2021-09-07 |
| CN113353049B true CN113353049B (en) | 2021-11-30 |
Family
ID=77522910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110916690.5A Active CN113353049B (en) | 2021-08-11 | 2021-08-11 | Electric control braking method and device and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113353049B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858973A (en) * | 2021-10-29 | 2021-12-31 | 上海拿森汽车电子有限公司 | Torque correction method, vehicle, and computer-readable storage medium |
| CN115214590B (en) * | 2021-12-15 | 2023-08-15 | 广州汽车集团股份有限公司 | Acquisition method, device, vehicle and storage medium for improving braking noise capability |
| CN114435148B (en) * | 2022-03-23 | 2023-08-15 | 东风汽车集团股份有限公司 | Motor torque adjusting method and device and electronic equipment |
| CN116691639A (en) * | 2023-05-12 | 2023-09-05 | 上海拿森汽车电子有限公司 | Vehicle braking control method and system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100199940B1 (en) * | 1996-10-29 | 1999-06-15 | 양재신 | Brake booster for electric car |
| DE102007018469A1 (en) * | 2007-04-19 | 2008-10-23 | Robert Bosch Gmbh | Electromechanical brake booster |
| US9630601B2 (en) * | 2009-04-06 | 2017-04-25 | Gm Global Technology Operations, Inc. | Method for operating a vehicle brake system |
| CN110758366B (en) * | 2019-10-31 | 2021-12-10 | 上海拿森汽车电子有限公司 | Torque control method and device of electronic power-assisted brake system |
| CN111002967B (en) * | 2019-12-30 | 2021-07-20 | 上海拿森汽车电子有限公司 | Control method and device of electric power-assisted brake system and vehicle |
| CN112721896B (en) * | 2021-01-26 | 2022-02-18 | 同济大学 | IEHB system master cylinder hydraulic pressure estimation method based on displacement pressure model |
| CN112896124A (en) * | 2021-01-28 | 2021-06-04 | 中汽创智科技有限公司 | Power assisting system and braking method |
-
2021
- 2021-08-11 CN CN202110916690.5A patent/CN113353049B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113353049A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113353049B (en) | Electric control braking method and device and computer storage medium | |
| JP5582293B2 (en) | Electric brake device | |
| JP6309690B2 (en) | Accelerator response method, apparatus, program, and recording medium | |
| CN108237949B (en) | Vehicle torque control method and device and vehicle | |
| US10647311B2 (en) | System and method for motor brake boost function failure | |
| CN114802137B (en) | Brake fade compensation method, device, electronic equipment and computer storage medium | |
| US20160072417A1 (en) | Apparatus and method for controlling vibration of driving motor in vehicle | |
| US7374254B2 (en) | Electric caliper position control with adaptive estimation | |
| CN104123952B (en) | Cache-free disc burning method and device | |
| CN110284980B (en) | Oil mass correction method and device based on main injection angle | |
| CN113335283A (en) | Control method and system for crawling with brake and computer readable storage medium | |
| CN113335253A (en) | Vehicle brake control method and device, vehicle and computer storage medium | |
| CN115221609A (en) | Vehicle suspension stiffness curve optimization method and device, vehicle and storage medium | |
| CN112776787B (en) | Vehicle emergency braking control method and device and computer storage medium | |
| CN116080610A (en) | Pressure control method and device for electronic booster braking system | |
| Jo et al. | Control strategy of dual-winding motor for vehicle electro-hydraulic braking systems | |
| CN1577500A (en) | Method and apparatus for head positioning control in a disk drive | |
| CN116001756A (en) | Idle stroke detection method and system for brake booster system | |
| CN116278789A (en) | Single pedal mode control method and device for electric automobile and storage medium | |
| CN115214590B (en) | Acquisition method, device, vehicle and storage medium for improving braking noise capability | |
| CN114312986B (en) | Power-assisted motor steering control method and device and computer equipment | |
| CN114837842A (en) | Engine idling control method and device, vehicle and computer storage medium | |
| CN113858973A (en) | Torque correction method, vehicle, and computer-readable storage medium | |
| US20240157953A1 (en) | Steering apparatus for vehicle and method therefor | |
| CN116080651A (en) | Steering torque compensation method, system, electronic device and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211109 Address after: 311200 Building 1, no.358, Hongxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant after: Nason Automotive Technology (Hangzhou) Co.,Ltd. Address before: 201206 unit 101, building 16, No.1000 Jinhai Road, Pudong New Area pilot Free Trade Zone, Shanghai Applicant before: NASN AUTOMOTIVE ELECTRONICS Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |