CN114771484A - Vehicle brake control method, vehicle, and storage medium - Google Patents
Vehicle brake control method, vehicle, and storage medium Download PDFInfo
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- CN114771484A CN114771484A CN202210628874.6A CN202210628874A CN114771484A CN 114771484 A CN114771484 A CN 114771484A CN 202210628874 A CN202210628874 A CN 202210628874A CN 114771484 A CN114771484 A CN 114771484A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The invention discloses a brake control method of an intelligent driving vehicle, the vehicle and a storage medium. Wherein, the method comprises the following steps: obtaining map information of an area where a vehicle is located and a planned target motion parameter under the current working condition of the vehicle; the target motion parameter is a target parameter which is required to be reached by the vehicle in a period of time after the current moment; determining the prediction time when the vehicle has a braking demand according to the target motion parameters and the map information; controlling a brake device of the vehicle to perform a pre-fill operation prior to the predicted time. The invention aims to improve the execution accuracy of the vehicle pre-filling action, reduce unnecessary pre-filling action, improve the vehicle braking response speed and prolong the service life of the device.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a brake control method for an intelligent driving vehicle, a vehicle, and a storage medium.
Background
With the development of economic technology, the performance of vehicles is continuously improved. The pre-filling refers to pre-filling pressure on a brake pipeline of the vehicle in advance before the vehicle brakes so as to reduce an air gap between a brake disc and a friction plate and enable the vehicle to quickly complete a braking action when triggering braking.
Currently, generally, the vehicle is controlled to perform pre-filling when the accelerator pedal speed is detected to be rapidly released by detecting the accelerator pedal speed, however, the actual braking condition of the vehicle cannot be accurately identified in such a way, and many times, the vehicle does not perform a braking action after performing the pre-filling, so that the vehicle performs many unnecessary pre-filling actions, and the service life of a vehicle braking device is easily reduced.
Disclosure of Invention
The invention mainly aims to provide a brake control method of an intelligent driving vehicle, the vehicle and a storage medium, aiming at improving the execution accuracy of a vehicle pre-filling action, reducing unnecessary pre-filling action, improving the vehicle brake response speed and prolonging the service life of a device.
In order to achieve the above object, the present invention provides a brake control method of a vehicle, including the steps of:
obtaining map information of an area where a vehicle is located and a planned target motion parameter under the current working condition of the vehicle; the target motion parameter is a target parameter which is required to be reached by the vehicle in a preset time period after the current moment;
determining the predicted moment when the vehicle has a braking demand according to the target motion parameters and the map information;
controlling a brake device of the vehicle to perform a pre-fill operation prior to the predicted time.
Optionally, the target motion parameter includes accelerations corresponding to a plurality of first moments in the preset time period, the plurality of first moments are all later than the current moment, and the step of determining the predicted moment when the vehicle has a braking demand according to the target motion parameter and the map information includes:
determining a speed change value of the vehicle during deceleration in the unpowered state in the area according to the map information;
determining the predicted time in the plurality of first times according to a plurality of the acceleration values and the speed change values.
Optionally, the step of determining the predicted time in the plurality of first time according to the plurality of acceleration and speed variation values comprises:
determining an acceleration smaller than or equal to the speed change value among the plurality of accelerations as a target acceleration;
and determining a first moment corresponding to the target acceleration as the predicted moment.
Optionally, the map information includes road information and/or weather information, and the step of determining a speed change value of the vehicle when the vehicle decelerates in the area without a power state according to the map information includes:
determining the ground friction of the area according to the road information and/or the weather information;
determining the speed change value according to the ground friction force.
Optionally, the road information includes road type, road surface state and/or road material, wherein different road types are different corresponding to the maximum speed allowed by the vehicle to run.
Optionally, the step of controlling a brake device of the vehicle to perform a pre-fill operation before the predicted time comprises:
acquiring a target time length required by the execution of the pre-filling operation;
determining a target time according to the difference value between the predicted time and the target duration;
controlling the brake device to perform the pre-fill operation at the target time.
Optionally, the braking device includes a brake caliper, a brake disc, and a hydraulic driving module, the hydraulic driving module is connected to the brake caliper through an oil pipe, a friction block of the brake caliper is in contact with the brake disc to generate deceleration of the vehicle, and the step of controlling the braking device to perform the pre-filling operation at the target time includes:
and controlling the hydraulic driving module to increase hydraulic pressure at the target moment so as to reduce the spacing distance between the brake caliper and the brake disc and maintain the brake caliper and the brake disc in a non-contact state.
Optionally, the step of obtaining the target duration required for the pre-filling operation to be performed includes:
acquiring a first time length and a second time length, wherein the first time length is the time length required by the hydraulic drive module to increase from the current hydraulic pressure to the target hydraulic pressure, and the second time length is the time length required by the brake caliper to move from the current position to the target position corresponding to the target hydraulic pressure;
and determining a target time length according to the first time length and the second time length.
Further, in order to achieve the above object, the present application also proposes a vehicle including: a memory, a processor and a brake control program of a vehicle stored on the memory and executable on the processor, the brake control program of a vehicle when executed by the processor implementing the steps of the brake control method of a vehicle as claimed in any one of the above.
In order to achieve the above object, the present application also proposes a storage medium having a brake control program of a vehicle stored thereon, which when executed by a processor implements the steps of the brake control method of a vehicle as described in any one of the above.
The invention provides a brake control method of an intelligent driving vehicle, which predicts the time when the vehicle has a brake demand according to target motion parameters of the vehicle driving within a period of time after the current time planned under the current working condition and map information of an area where the vehicle is located, wherein the target motion parameters and the map information can accurately represent the brake demand of the vehicle in the future, and controls a brake device of the vehicle to execute a pre-filling operation before the predicted time, so that the pre-filling operation can be executed before the vehicle has an actual brake demand, the condition that the vehicle is not braked after the pre-filling operation is reduced, the execution accuracy of the pre-filling action of the vehicle is improved, unnecessary pre-filling action is reduced, and the brake response speed of the intelligent driving vehicle and the service life of the device are improved.
Drawings
FIG. 1 is a schematic diagram of the hardware involved in the operation of a braking process of an embodiment of the vehicle according to the present invention;
FIG. 2 is a schematic flow chart illustrating a braking control method for a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating another embodiment of a braking control method for a vehicle according to the present invention;
fig. 4 is a flowchart illustrating a braking control method of a vehicle according to still another embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: obtaining map information of an area where a vehicle is located and a planned target motion parameter under the current working condition of the vehicle; the target motion parameters are target parameters which are required to be reached by the vehicle in a preset time period after the current moment; determining the prediction time when the vehicle has a braking demand according to the target motion parameters and the map information; controlling a brake device of the vehicle to perform a pre-fill operation prior to the predicted time.
In the prior art, the vehicle is controlled to perform the pre-filling when the speed of the accelerator pedal is detected to be rapidly released through detecting the speed of the accelerator pedal, however, the actual braking condition of the vehicle cannot be accurately identified in such a way, the vehicle does not perform the braking action after performing the pre-filling in many times, the vehicle performs many unnecessary pre-filling actions, and the service life of the vehicle braking device is easily reduced.
The invention provides the solution, and aims to improve the execution accuracy of the vehicle pre-filling action, reduce unnecessary pre-filling action, and improve the braking response speed of the intelligent driving vehicle and the service life of the braking device.
The embodiment of the invention provides a vehicle. The vehicle can be any motor vehicle with a braking function, such as a new energy automobile, a traditional energy automobile and the like, and comprises an auxiliary driving function or an intelligent driving function.
In the present embodiment, referring to fig. 1, the vehicle includes a control device 1 and a brake device 2 connected to the control device 1.
In the present embodiment, the brake device 2 is a hydraulic brake device 2. Specifically, the braking device 2 may include, for example, a brake caliper, a brake disc, and a hydraulic drive module connected to the brake caliper through an oil pipe. The hydraulic drive module may regulate a hydraulic environment to drive the brake caliper toward or away from the brake disc through changes in the hydraulic environment. Wherein, when the friction block of the brake caliper contacts with the brake disc, the vehicle deceleration brake is generated. When the brake caliper is not in contact with the brake disc, the vehicle is in an acceleration state, a current speed running state is maintained or a power-off state is realized. In addition, other types of hydraulic brake actuators, such as drum brake actuators having shoes and a brake drum, can also be adapted to the braking method of the present application.
In an embodiment of the present invention, referring to fig. 1, a brake control apparatus 1 for a vehicle includes: a processor 1001 (e.g., a CPU), a memory 1002, a timer 1003, and the like. The components in the control device 1 are connected by a communication bus. The memory 1002 may be a high-speed RAM memory or a non-volatile memory such as a disk memory. The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device illustrated in fig. 1 is not intended to be limiting of the device, and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a brake control program of the vehicle may be included in the memory 1002 as a kind of storage medium. In the apparatus shown in fig. 1, the processor 1001 may be configured to call up a brake control program of the vehicle stored in the memory 1002 and perform operations of relevant steps of a brake control method of the vehicle in the following embodiments.
The embodiment of the invention also provides a brake control method of the vehicle, which is applied to the vehicle.
Referring to fig. 2, an embodiment of a braking control method of a vehicle according to the present application is provided. In this embodiment, the brake control method of a vehicle includes:
step S10, obtaining map information of the area where the vehicle is located and the planned target motion parameters under the current working condition of the vehicle; the target motion parameter is a target parameter which is required to be reached by the vehicle in a preset time period after the current moment;
the map information specifically includes road information, weather information, and/or environmental information of an area where the vehicle is located. The map information may be obtained by acquiring data in a car navigation system, or by acquiring data input from a user terminal connected to the vehicle.
Specifically, the target motion parameter may include a target parameter that the vehicle needs to reach in a preset time period after the current time. The preset time period may be a fixed time period set in advance. The target motion parameter can be a parameter for controlling the vehicle to run, and can also be a parameter for outputting prompt information to assist the user in driving.
The target motion parameter is a parameter that characterizes a driving state of the vehicle after the current time. The target motion parameters may specifically include a target travel path, a target acceleration, a target speed, and/or a target displacement, among others. Specifically, the positioning information of the vehicle, the obstacle information of the area where the vehicle is located (for example, the distance and/or direction of the obstacle with respect to the vehicle and/or the type of the obstacle, etc.) and the map information may be obtained, and the target motion parameter may be obtained by planning the driving of the vehicle according to a preset rule by combining a plurality of data in the map information. The obstacle information can be determined through information collected by a vehicle-mounted radar and a camera.
In the present embodiment, step S10 is executed when the vehicle is running in the assisted driving mode, specifically, the assisted driving mode is a mode in which the driving control of the vehicle is executed entirely by the in-vehicle control system, and may also be a mode in which the driving control of the vehicle is controlled partly by the in-vehicle control system and partly manually by the driver. In other embodiments, S10 may also be executed when a preset instruction input by a user is received.
Step S20, determining the forecast time when the vehicle has the braking demand according to the target motion parameter and the map information;
the predicted time here is specifically a time at which the vehicle performs a braking operation after the current time, which is predicted by the target motion parameter and the map information. The braking operation here is specifically an operation for decelerating the vehicle.
Different target motion parameters and different map information correspond to different prediction moments. The corresponding relationship between the target motion parameter, the map information and the predicted time may be preset, and the corresponding relationship may include a calculation formula, a mapping relationship, an algorithm model or a processing rule, and the like. And determining the prediction time corresponding to the current target motion parameter and the map information based on the corresponding relation. For example, a characteristic value corresponding to map information can be determined, and the characteristic value and the target motion parameter are substituted into a preset formula to calculate the predicted time; for another example, the motion parameters of the object and the map information may be input into a prediction model, where the prediction model is a machine learning model obtained through training of a large amount of data, and a result output by the prediction model is used as a prediction time. For another example, the target motion parameter may include motion characteristic values (e.g., acceleration, velocity, and/or angular velocity) corresponding to a plurality of different times after the current time, determine, according to the map information, that a condition that the motion characteristic value needs to satisfy when the vehicle has a braking demand is a target condition, and take a time corresponding to the motion characteristic value that satisfies the target condition as a predicted time, and so on.
And step S30, controlling a brake device of the vehicle to execute a pre-filling operation before the predicted time.
The pre-fill operation is an operation for bringing the vehicle to a target state of an environment required for a braking operation without causing deceleration of the vehicle.
Specifically, a target time at which the pre-charge operation is performed may be calculated based on the predicted time and the preset time period, the target time being earlier than the predicted time, at which the brake device of the vehicle is controlled to perform the pre-charge operation.
In addition, a prompt message including the predicted time is output, and a prefill command input by a user is received after the prompt message is output, and the brake device of the vehicle is controlled to execute a prefill operation.
The method predicts the moment when the vehicle has the braking requirement according to the target motion parameter planned after the current moment under the current working condition of the vehicle and the map information of the area where the vehicle is located, wherein the target motion parameter and the map information can accurately represent the braking requirement of the vehicle in the future, and controls the braking device of the vehicle to execute the pre-filling operation before the predicted moment, so that the pre-filling operation can be executed before the actual braking requirement of the vehicle is met, the condition that the vehicle is not braked after the pre-filling operation is reduced, the accuracy of executing the pre-filling action of the vehicle is improved, and unnecessary pre-filling action is reduced, so that the service life of the braking device of the vehicle is prolonged. The pre-filling operation is beneficial to ensuring that a braking system of the vehicle can quickly respond when the vehicle performs the braking operation so as to shorten the deceleration time of the vehicle, so that the vehicle can quickly achieve a larger speed change rate in a short time, and the quick braking of the vehicle is realized.
Further, in the present embodiment, after step S20, an operation state parameter of the braking device may be acquired, it is determined whether a function of the braking device, which is operated in response to the electronic control command, is normal based on the operation state parameter, and step S30 is performed when the function of the braking device, which is operated in response to the electronic control command, is normal; when the function of the braking device, which operates in response to the electric control instruction, is abnormal, the vehicle is controlled to re-plan the target motion parameters and the operation returns to the step 10, or the vehicle is controlled to stop emergently, or the vehicle is controlled to generate an avoidance track and run along the avoidance track, or the vehicle is controlled to adjust the level of the auxiliary driving so as to increase the manual driving control, or the vehicle is controlled to exit the auxiliary driving mode so that the running of the vehicle is controlled manually. Therefore, the situation that the vehicle cannot timely execute the pre-filling operation and/or the braking operation when the electric control function of the braking device is abnormal is effectively avoided, the effectiveness and timeliness of vehicle braking are improved, and the driving safety of the vehicle is ensured.
Further, based on the above embodiment, another embodiment of the braking control method of the vehicle of the present application is provided. In this embodiment, the target motion parameter includes accelerations corresponding to a plurality of first moments in the preset time period, where the plurality of first moments are all later than the current moment. Wherein, the time interval between any two adjacent moments in the plurality of first moments is equal. Specifically, the plurality of first moments are all located within the preset time period. Referring to fig. 3, the step S20 includes:
step S21, determining the speed change value of the vehicle in the unpowered state in the area when the vehicle decelerates according to the map information;
the speed change value is understood to mean the deceleration of the vehicle, i.e. the rate of change of the speed at which the vehicle decelerates. The speed variation value is negative.
Specifically, a feature value corresponding to the current map information may be determined, and the speed change value may be calculated based on the feature value. And a preset mapping table can be inquired through the current map information, and the value matched with the map information in the mapping table is used as the speed change value.
Step S22 is a step of determining the predicted time among the plurality of first times based on the plurality of acceleration and speed change values.
Specifically, the plurality of accelerations may be compared with the speed change value respectively to obtain a plurality of comparison results, and a target time of the plurality of first times may be determined according to the plurality of comparison results; the target time in the plurality of first times can also be determined according to a plurality of characteristic values, such as the difference value or the ratio value between each acceleration and each speed change value.
In this embodiment, the acceleration less than or equal to the speed change value among the plurality of accelerations is determined as the target acceleration; and determining a first moment corresponding to the target acceleration as the prediction moment. The speed variation value is a critical value of the vehicle acceleration for distinguishing whether the vehicle has a braking demand. And if the target acceleration is more than one, respectively taking the first time corresponding to each target acceleration as the prediction time. In other embodiments, the first time which is the earliest time among the corresponding more than one times or more than one first time which meets the preset condition may also be determined as the predicted time.
In the embodiment, whether the vehicle has the braking requirement at different first moments after the current moment can be accurately analyzed through the method, so that the accuracy of the braking requirement representation of the vehicle in the future at the prediction moment is effectively improved, and the accuracy of the execution of the vehicle pre-filling action is further improved. The moment corresponding to the acceleration which is smaller than or equal to the speed change value is used as the prediction moment, the absolute value of the deceleration required by the vehicle is larger than the absolute value of the deceleration when the vehicle does not slide under power, and the dynamic braking action of the vehicle can be accurately represented.
In another embodiment, the speed variation value of the deceleration in the unpowered state of the vehicle may be a preset fixed value, or a correction value corresponding to a plurality of accelerations may be determined according to the map information, the plurality of accelerations may be corrected according to the correction value to obtain corresponding reference accelerations, the plurality of reference accelerations may be respectively compared with the fixed value, and the first time corresponding to the reference acceleration smaller than or equal to the fixed value may be used as the prediction time.
Further, in this embodiment, the map information includes road information and/or weather information, based on which the ground friction of the area may be determined according to the road information and/or the weather information, and the speed change value may be determined according to the ground friction.
In this embodiment, the road information includes road types, road surface states and/or road materials, wherein different road types are different corresponding to the maximum speed allowed by the vehicle to travel. In other embodiments, other types of road information may be included in addition to the type of road, the state of the road surface, and the road material, such as the number of lanes and/or the road grade, etc.
In the present embodiment, the ground friction is determined in combination with the road type, the road surface state, the road material, and the weather information. In other embodiments, the ground friction may also be determined in conjunction with road type, road surface conditions, road materials, and some parameters of ground friction and/or other types of road information. For example, the ground friction may be determined in conjunction with the road type and weather information, and may also be determined in conjunction with the road type and road surface condition.
Specifically, different road information and/or different weather information correspond to different ground friction forces. When the road information includes the road type, the ground friction is negatively correlated with the maximum speed corresponding to the road type. The corresponding relationship between the road information and/or the weather information and the ground friction may be preset, and may be a calculation relationship, a mapping relationship, or the like, and the ground friction corresponding to the current road information and/or the weather information may be determined based on the corresponding relationship. After the ground friction force is obtained, the speed change value can be obtained by substituting the obtained ground friction force into a preset formula or by inquiring a preset mapping table through the ground friction force.
The road type may include one of a highway, an urban road, a dirt road, and the like, and the weather information may include one of a sunny day, a cloudy day, a snowy day, a foggy day, and the like. The road surface state may include any one of clean, wet, snow, ice, oil, mud, and the like.
In the specific implementation process of this embodiment, a mapping table of at least one parameter of different road information (such as road type, road surface state, road material, etc.) and weather information and corresponding ground friction may be pre-established, the mapping table may be queried according to at least one parameter of the current road information and weather information, and the result obtained by matching may be used as the ground friction. For example, a mapping table of road types, weather information and ground friction is established in advance, different road types and different weather information in the mapping table correspond to different ground friction, and when the road type is an expressway and the weather is sunny, the friction in the mapping table, which has a mapping relationship with the expressway and the sunny day, is taken as the current ground friction in the area where the vehicle is located. For another example, a mapping table of road states and ground friction forces is established in advance, different road states in the mapping table correspond to different ground friction forces, and when the ground state is muddy, the friction force in the mapping table having a mapping relation with the muddy state is used as the current ground friction force of the area where the vehicle is located.
In the embodiment, the speed change value is determined by combining road information such as road types, road surface states and/or road materials and/or weather information in a map, so that the situation that the vehicle represented by the speed change value is in a non-power sliding state in the current area is more suitable for the actual situation of the vehicle is improved, the prediction moment is determined based on the speed change value, the pre-filling operation of the vehicle is more suitable for the actual braking requirement of the vehicle, and the vehicle is further ensured to be pre-filled before the braking requirement is met, so that unnecessary pre-filling actions are reduced, and the service life of a vehicle braking device is prolonged.
Further, based on any of the embodiments, another embodiment of the braking control method of the vehicle according to the present application is provided. In this embodiment, referring to fig. 4, the step S30 includes:
step S31, acquiring a target duration required for executing the pre-fill operation;
the target duration is specifically the total duration from the current time as the starting point of the timing to the completion of the pre-filling operation by the actuator.
The target time period here may be a time period determined by measuring in advance and storing in a memory, or may be a time period determined according to the actual demand condition of the vehicle.
Step S32, determining a target time according to the difference between the predicted time and the target time;
the target time is earlier than the predicted time. The interval duration between the target time and the predicted duration is greater than or equal to the difference. In this embodiment, the target time is the result of subtracting the set time period from the difference. The predicted time is T1, the target time period is Δ T1, and the set time period is Δ T2, then the target time T2 is T1- Δ T1- Δ T2.
Step S33, controlling the brake device to perform the pre-fill operation at the target time.
In the embodiment, the pre-filling of the vehicle can be ensured to be completed when the vehicle is braked, the vehicle forms the target state required by the braking deceleration of the vehicle, and the response speed of the vehicle during the braking deceleration is effectively shortened.
Further, in this embodiment, the braking device includes a brake caliper, a brake disc, and a hydraulic drive module, the hydraulic drive module is connected to the brake caliper through an oil pipe, and a pad of the brake caliper contacts the brake disc to generate deceleration of the vehicle, and the step of controlling the braking device to perform the pre-filling operation at the target time includes: and controlling the hydraulic driving module to increase hydraulic pressure at the target moment so as to reduce the spacing distance between the brake caliper and the brake disc and maintain the brake caliper and the brake disc in a non-contact state. Specifically, the hydraulic drive module is controlled to start to increase the hydraulic pressure at the target moment, and the hydraulic pressure increasing action can be continued for a preset time period or until the hydraulic pressure reaches the target hydraulic pressure. The increase of the hydraulic pressure can drive the brake caliper to move towards the brake disc, and the distance between the brake caliper and the brake disc is reduced. The brake caliper remains out of contact with the brake disc indicating that the increase in hydraulic pressure does not slow the vehicle. In the embodiment, when the vehicle adopts hydraulic braking, the vehicle is stamped to a higher pressure state in advance before braking, so that the vehicle can quickly reach a high hydraulic state required by the contact between the brake caliper and the brake disc from the higher hydraulic state when the braking operation is executed, the vehicle is prevented from being lifted from a low hydraulic state to a high hydraulic state when the braking operation is executed, the required time from the triggering of the braking operation of the vehicle to the deceleration of the vehicle is effectively reduced, and the effective improvement of the braking response speed of the vehicle is realized.
Further, in this embodiment, the step of obtaining the target duration required for the pre-filling operation to be performed includes: acquiring a first time length and a second time length, wherein the first time length is the time length required by the hydraulic drive module to increase from the current hydraulic pressure to the target hydraulic pressure, and the second time length is the time length required by the brake caliper to move from the current position to the target position corresponding to the target hydraulic pressure; and determining a target time length according to the first time length and the second time length.
The first and second periods may be predetermined and stored periods, or may be acquired periods according to the actual running state of the vehicle. For example, the first duration and the second duration may be obtained based on a current speed of the vehicle or a speed at a predicted time. The second time period can be determined according to the first time period and can also be determined according to the current hydraulic pressure of the hydraulic driving module. The different first time periods and/or the different current hydraulic pressures correspond to different second time periods.
The target hydraulic pressure may be a fixed value set in advance, or may be a hydraulic pressure value determined in accordance with the actual running state of the vehicle. For example, the current hydraulic pressure of the hydraulic drive apparatus may be acquired, and the target hydraulic pressure here may be determined based on the current hydraulic pressure and the maximum hydraulic pressure. Wherein the maximum hydraulic pressure is the hydraulic pressure required by the hydraulic drive device when the brake caliper is in contact with the brake disc. The target hydraulic pressure is greater than the current hydraulic pressure and less than the maximum hydraulic pressure.
In the present embodiment, the sum of the first period and the second period is taken as the target period. In other embodiments, the result obtained by correcting the sum of the first duration and the second duration by using the preset value may also be used as the target duration.
In the embodiment, the target duration is determined by combining the first duration and the second duration, which is beneficial to ensure that the determined target duration can fit the actual situation of the pre-filling operation of the hydraulic brake system, so that when the target time is determined based on the target duration, the determined target time can be more accurate, the pre-filling operation before the braking and decelerating of the vehicle is further ensured, and the execution of the pre-filling operation can effectively improve the corresponding speed during the braking and decelerating, so as to further improve the accuracy of the execution of the pre-filling operation.
In addition, an embodiment of the present invention further provides a storage medium, where a braking control program of a vehicle is stored, and when executed by a processor, the braking control program of the vehicle implements the relevant steps of any embodiment of the above braking control method of the vehicle.
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 system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A brake control method of a vehicle, characterized by comprising:
obtaining map information of an area where a vehicle is located and a planned target motion parameter under the current working condition of the vehicle; the target motion parameter is a target parameter which is required to be reached by the vehicle in a preset time period after the current moment;
determining the predicted moment when the vehicle has a braking demand according to the target motion parameters and the map information;
controlling a brake device of the vehicle to perform a pre-fill operation prior to the predicted time.
2. The brake control method for a vehicle according to claim 1, wherein the target motion parameter includes accelerations corresponding to a plurality of first times within the preset time period, each of the plurality of first times being later than the current time, and the step of determining the predicted time at which the vehicle has a braking demand based on the target motion parameter and the map information includes:
determining a speed change value of the vehicle during deceleration in the unpowered state in the area according to the map information;
determining the predicted time in the plurality of first times according to a plurality of the acceleration values and the speed change values.
3. A brake control method of a vehicle according to claim 2, wherein the step of determining the predicted time among the plurality of first times based on a plurality of the acceleration and the speed variation values includes:
determining an acceleration smaller than or equal to the speed change value among the plurality of accelerations as a target acceleration;
and determining a first moment corresponding to the target acceleration as the predicted moment.
4. A brake control method of a vehicle according to claim 2, wherein the map information includes road information and/or weather information, and the step of determining the speed variation value at which the vehicle decelerates in the area without a power state according to the map information includes:
determining the ground friction of the area according to the road information and/or the weather information;
determining the speed change value according to the ground friction force.
5. A brake control method for a vehicle according to claim 4, characterized in that the road information comprises road types, road surface conditions and/or road materials, wherein different road types differ for the maximum speed the vehicle is allowed to travel.
6. The brake control method of a vehicle according to any one of claims 1 to 5, characterized in that the step of controlling a brake device of the vehicle to perform a pre-charge operation before the predicted time includes:
acquiring a target time length required by the execution of the pre-filling operation;
determining a target time according to the difference value between the predicted time and the target time;
controlling the brake device to perform the pre-fill operation at the target time.
7. The brake control method of a vehicle according to claim 6, wherein the brake device includes a brake caliper, a brake disc, and a hydraulic drive module connected to the brake caliper through an oil pipe, a pad of the brake caliper being in contact with the brake disc to generate deceleration of the vehicle, and the step of controlling the brake device to perform the pre-fill operation at the target timing includes:
and controlling the hydraulic driving module to increase hydraulic pressure at the target moment so as to reduce the spacing distance between the brake caliper and the brake disc and maintain the brake caliper and the brake disc in a non-contact state.
8. The brake control method for a vehicle according to claim 7, wherein the step of acquiring the target period of time required for the pre-fill operation to be performed includes:
acquiring a first time length and a second time length, wherein the first time length is the time length required by the hydraulic drive module to increase from the current hydraulic pressure to the target hydraulic pressure, and the second time length is the time length required by the brake caliper to move from the current position to the target position corresponding to the target hydraulic pressure;
and determining a target time length according to the first time length and the second time length.
9. A vehicle, characterized in that the vehicle comprises:
a braking device;
a control device, the brake device being connected with the control device, the control device comprising: memory, a processor and a brake control program of a vehicle stored on the memory and executable on the processor, the brake control program of a vehicle, when executed by the processor, implementing the steps of the brake control method of a vehicle according to any one of claims 1 to 8.
10. A storage medium characterized in that the storage medium has stored thereon a brake control program of a vehicle, which when executed by a processor implements the steps of the brake control method of a vehicle according to any one of claims 1 to 8.
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| CN202210628874.6A CN114771484A (en) | 2022-06-06 | 2022-06-06 | Vehicle brake control method, vehicle, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210628874.6A CN114771484A (en) | 2022-06-06 | 2022-06-06 | Vehicle brake control method, vehicle, and storage medium |
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| CN202210628874.6A Pending CN114771484A (en) | 2022-06-06 | 2022-06-06 | Vehicle brake control method, vehicle, and storage medium |
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