CN115447550B - Method, device, apparatus and storage medium for operating an electronic power-assisted brake system - Google Patents
Method, device, apparatus and storage medium for operating an electronic power-assisted brake system Download PDFInfo
- Publication number
- CN115447550B CN115447550B CN202211265408.2A CN202211265408A CN115447550B CN 115447550 B CN115447550 B CN 115447550B CN 202211265408 A CN202211265408 A CN 202211265408A CN 115447550 B CN115447550 B CN 115447550B
- Authority
- CN
- China
- Prior art keywords
- target
- assisted
- power
- assistance
- vehicle speed
- 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
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000006073 displacement reaction Methods 0.000 claims abstract description 52
- 229920006395 saturated elastomer Polymers 0.000 claims abstract description 24
- 238000004590 computer program Methods 0.000 claims description 16
- 238000002474 experimental method Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a working method of an electronic power-assisted braking system, which comprises the following steps: judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed; according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining the target assistance ratio corresponding to the target vehicle speed, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio; and determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the pedal state and the target power assisting saturation inflection point. The working noise of the electronic power-assisted braking system is reduced.
Description
Technical Field
The embodiment of the invention relates to the field of vehicles, in particular to a working method, a device, equipment and a storage medium of an electronic power-assisted braking system.
Background
With the development of the motorization and the intellectualization of the automobile, the electronic power-assisted braking system gradually replaces the traditional mechanical power-assisted system, the electronic power-assisted braking system cancels a vacuum power-assisted mechanism, and the motor drives a transmission mechanism to realize braking power assistance; although the electronic power-assisted braking system solves the problem that the electric automobile does not have a vacuum source, the electronic power-assisted braking system uses a motor as power, provides power assistance, and simultaneously has obvious working noise, so that driving and riding experience are seriously affected. Therefore, how to reduce and optimize the working method of the electronic power-assisted braking system to reduce the working noise of the electronic power-assisted braking system is a problem to be solved.
Disclosure of Invention
The invention provides a working method, a device, equipment and a storage medium of an electronic power-assisted braking system, which can reduce working noise of the electronic power-assisted braking system and improve riding experience.
According to an aspect of the present invention, there is provided a method of operating an electric power assisted brake system, comprising:
judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system;
If not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed;
according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining the target assistance ratio corresponding to the target vehicle speed, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio;
And determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the pedal state and the target power assisting saturation inflection point.
According to another aspect of the present invention, there is provided an operating device of an electric power-assisted brake system, the device comprising:
The power-assisted saturation state determining module is used for judging whether the electronic power-assisted braking system is in a power-assisted saturation state according to the push rod displacement of the electronic power-assisted braking system;
The target vehicle speed determining module is used for determining a target corner of the electronic power-assisted braking system according to the push rod displacement if not, determining a target vehicle speed of a vehicle according to the target corner, and comparing the target vehicle speed with a reference speed;
The power-assisted saturation inflection point determining module is used for determining a target power-assisted saturation inflection point corresponding to the target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed and an association relation between the vehicle speed and a system power-assisted ratio of the electronic power-assisted braking system, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio;
And the maximum power assisting moment determining module is used for determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the pedal state and the target power assisting saturation inflection point.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of operating the electric brake system according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method of operating an electric power assisted brake system according to any one of the embodiments of the present invention.
According to the technical scheme, whether the electronic power-assisted braking system is in a power-assisted saturated state is judged according to the displacement of the push rod of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed; according to the pedal state, a comparison result of the target vehicle speed and the reference speed and an association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining a target assistance ratio corresponding to the target vehicle speed, and determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio; and determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the target power assisting saturation inflection point. The problem that the electronic power-assisted braking system takes a motor as power and obviously causes working noise when the power is provided for braking the vehicle under the condition of not considering the actual conditions of the pedal state and the target vehicle speed is solved. According to the scheme, the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system is set, after the target vehicle speed of the vehicle is determined, the target assistance ratio corresponding to the target vehicle speed is determined according to the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, and the target power-assisted saturation inflection point of the electronic power-assisted braking system is determined according to the target assistance ratio, so that the working state of the electronic power-assisted braking system is determined according to the target power-assisted saturation inflection point. The method and the device realize differential control on the working state of the electronic power-assisted braking system according to the pedal state and the target vehicle speed, optimize the working mode of the electronic power-assisted braking system, reduce the working noise of the electronic power-assisted braking system and improve the riding experience of passengers.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for operating an electric brake system according to an embodiment of the present invention;
Fig. 2 is a flowchart of a working method of an electronic power-assisted brake system according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a method for operating an electric brake system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a working device of an electric power-assisted braking system according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for operating an electric power-assisted brake system according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling an operating state of the electric power-assisted brake system. The method may be performed by an operating device of an electronic power-assisted brake system, which may be implemented in hardware and/or software, which may be configured in an electronic device. As shown in fig. 1, the method includes:
S110, judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system.
The electronic power-assisted braking system is a braking system for realizing vehicle braking by taking a motor as a power source. The working mode of the electronic power-assisted braking system is as follows: when a driver of the vehicle presses a brake pedal of the vehicle by foot, a brake pedal travel sensor senses the depth of the pedal, and a controller comprehensively calculates required braking force by combining the vehicle speed and commands a servo motor to drive a brake master cylinder to complete braking action. The push rod displacement refers to the displacement generated in the moving process of the power-assisted push rod in the electronic power-assisted brake system. The power-assisted saturation state is a point at which the electronic power-assisted brake system reaches a maximum power-assisted point, and the maximum power-assisted point is a point at which a pressure difference acting on the servo diaphragm reaches a maximum when the input force increases.
Specifically, after a driver of the vehicle presses a brake pedal of the vehicle, the electronic power-assisted brake system pushes the power-assisted push rod to generate displacement through an input force transmitted by the brake pedal. And obtaining the push rod displacement of the power-assisted push rod, and determining whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement and an input-output characteristic curve of the electronic power-assisted braking system. If the point on the input-output characteristic curve of the electronic power-assisted braking system corresponding to the displacement of the push rod is an inflection point, the electronic power-assisted braking system is in a power-assisted saturated state; otherwise, the electronic power-assisted braking system is not in a power-assisted saturated state.
For example, the method for judging whether the electronic power-assisted brake system is in the power-assisted saturated state may be: determining whether the electronic power-assisted braking system reaches a maximum power-assisted point according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system; if not, the electronic power-assisted braking system is not in a power-assisted saturated state.
Specifically, a displacement sensing signal corresponding to the electronic power-assisted braking system reaching the maximum power-assisted point is determined in advance through experiments, and the displacement sensing signal corresponding to the electronic power-assisted braking system reaching the maximum power-assisted point is used as a reference signal. And acquiring a displacement sensing signal generated by the displacement of a push rod of the electronic brake system, comparing the displacement sensing signal with a reference signal, and if the displacement sensing signal is inconsistent with the reference signal, determining that the electronic power-assisted brake system does not reach a maximum power-assisted point, wherein the electronic power-assisted brake system is not in a power-assisted saturated state. If the displacement sensing signal is consistent with the reference signal, the electronic power-assisted braking system reaches the maximum power-assisted point, and the electronic power-assisted braking system is in a power-assisted saturated state.
It can be understood that according to the push rod displacement of the electronic power-assisted braking system, whether the electronic power-assisted braking system reaches the maximum power point is determined, whether the electronic power-assisted braking system is in a saturated state is determined according to the judging result, and judging efficiency and judging precision of whether the electronic power-assisted braking system is in the saturated state can be improved.
And S120, if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed.
The target rotation angle refers to the rotation angle of the electronic power-assisted automatic system corresponding to the displacement of the push rod. The reference speed is a value obtained through experiments, and can be set according to actual conditions.
Specifically, if the electronic power-assisted braking system is not in a power-assisted saturated state, a displacement sensor is used for acquiring a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system, the target valve body displacement of a servo valve body in the electronic power-assisted braking system is determined according to the displacement sensing signal, and the target rotation angle of the electronic power-assisted braking system is determined according to the calculation relation between the target valve body displacement and the target rotation angle of the electronic power-assisted braking system. And taking the difference between the target rotation angle and the actual rotation angle of the electronic power-assisted braking system as a rotation angle difference value, taking the rotation angle difference value as an input parameter of a PID (Proportion Integration Differentiation, proportional integral derivative) controller, and calculating the target torque of the electronic power-assisted braking system through the PID controller so as to determine the target speed of the vehicle according to the target torque.
S130, according to the pedal state, a comparison result of the target vehicle speed and the reference speed and an association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining a target assistance ratio corresponding to the target vehicle speed, and determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio.
The system assistance ratio when the electronic power-assisted brake system is at the minimum operation noise is different between different pedal states and different vehicle speed conditions.
The boost ratio is a ratio of an increase in output force to an increase in input force in a performance region below a maximum boost point, which is above a jump region in an input/output characteristic curve of the electric power-assisted brake system. The pedal state includes a depressed state and a relaxed state. The depressed state refers to a pedal state when the driver depresses the pedal of the vehicle; the released state refers to a pedal state when the driver does not depress the vehicle pedal. The association relationship between the vehicle speed and the system assistance ratio of the electric power-assisted brake system refers to the correspondence relationship between the vehicle speed and the system assistance ratio of the electric power-assisted brake system corresponding to the vehicle speed when the electric power-assisted brake system is at the minimum operation noise. The correlation between the vehicle speed and the system assistance ratio of the electric assist brake system can be obtained through experiments. The power-assisted saturation inflection point refers to the maximum power-assisted point of the electronic power-assisted braking system. The jump region is a region of the input/output characteristic curve of the electric brake system that is equal to or greater than a jump value.
Specifically, a comparison result of a target vehicle speed and a reference speed is used for determining a target assistance ratio corresponding to the target vehicle speed in a current pedal state of the vehicle according to an association relation between the vehicle speed and a system assistance ratio of an electronic assistance braking system, and determining a target assistance saturation inflection point of the electronic assistance braking system according to a calculation relation between the system assistance ratio of the electronic assistance braking system and the system assistance saturation inflection point.
And S140, determining the target rotating speed and the target maximum power-assisted moment of the electronic power-assisted braking system according to the pedal state and the target power-assisted saturation inflection point.
Specifically, when the pedal state is in the depressed state, the larger the target vehicle speed is, the larger the target assistance ratio corresponding to the target assistance saturation inflection point is, the larger the target rotation speed corresponding to the target assistance saturation inflection point is, and the larger the target rotation speed corresponding to the minimum working noise is, and then the larger the target maximum assistance torque corresponding to the minimum working noise is.
When the pedal state is in a released state, the larger the target vehicle speed is, the larger the target assistance ratio is, when the electronic power-assisted braking system is in the minimum working noise, the larger the target assistance ratio is, the larger the corresponding target power-assisted saturation inflection point is, and the larger the target rotating speed is, when the electronic power-assisted braking system is in the minimum working noise. When the pedal state is in a released state, the target maximum power assisting moment of the electronic power assisting braking system can be set according to actual conditions.
After the target power-assisted saturation inflection point is determined, the target rotating speed and the target maximum power-assisted moment of the electronic power-assisted braking system corresponding to the target power-assisted saturation inflection point can be determined according to the pedal state.
According to the technical scheme provided by the embodiment, whether the electronic power-assisted braking system is in a power-assisted saturated state is judged according to the push rod displacement of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed; according to the pedal state, a comparison result of the target vehicle speed and the reference speed and an association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining a target assistance ratio corresponding to the target vehicle speed, and determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio; and determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the target power assisting saturation inflection point. The problem that the electronic power-assisted braking system takes a motor as power and obviously causes working noise when the power is provided for braking the vehicle under the condition of not considering the actual conditions of the pedal state and the target vehicle speed is solved. According to the scheme, the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system is set, after the target vehicle speed of the vehicle is determined, the target assistance ratio corresponding to the target vehicle speed is determined according to the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, and the target power-assisted saturation inflection point of the electronic power-assisted braking system is determined according to the target assistance ratio, so that the working state of the electronic power-assisted braking system is determined according to the target power-assisted saturation inflection point. The method and the device realize differential control on the working state of the electronic power-assisted braking system according to the pedal state and the target vehicle speed, optimize the working mode of the electronic power-assisted braking system, reduce the working noise of the electronic power-assisted braking system and improve the riding experience of passengers.
Example two
Fig. 2 is a flowchart of a working method of an electric power-assisted braking system according to a second embodiment of the present invention, where the working method is optimized based on the foregoing embodiment, and a preferred embodiment of determining a target power-assisted ratio corresponding to a target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed, and an association relationship between the vehicle speed and a system power-assisted ratio of the electric power-assisted braking system, and determining a target power-assisted saturation inflection point of the electric power-assisted braking system according to the target power-assisted ratio is provided. Specifically, as shown in fig. 2, the method includes:
and S210, judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system.
And S220, if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed.
And S230, if the pedal state is in a depressed state and the target vehicle speed is greater than the reference speed, taking a first assistance ratio corresponding to the target vehicle speed in the system assistance ratios as the target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system.
The first assistance ratio is a system assistance ratio obtained according to experiments when the electronic power-assisted braking system is in a minimum working noise under the condition that the pedal state is a pressing state and the vehicle speed is greater than the reference speed. The reference speed may be 3 meters/second.
Specifically, if the pedal state is in a depressed state and the target vehicle speed is greater than the reference speed, determining that the target vehicle speed corresponds to the system assistance ratio of the electronic power-assisted brake system according to the association relationship between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, and enabling the first assistance ratio to be used as the target assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the target vehicle speed.
And S240, if the pedal state is in a depressed state and the target vehicle speed is less than or equal to the reference speed, taking a second assistance ratio corresponding to the target vehicle speed in the system assistance ratios as the target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system.
Wherein the second assistance ratio is less than the first assistance ratio. The second assistance ratio is a system assistance ratio obtained by experiments when the electronic power-assisted brake system is in a minimum operation noise under the condition that the pedal state is a depressed state and the vehicle speed is less than or equal to a reference speed.
Specifically, if the pedal state is in a depressed state and the target vehicle speed is less than or equal to the reference speed, determining a second assistance ratio corresponding to the target vehicle speed according to the association relationship between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, wherein the second assistance ratio can be used as the target assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the target vehicle speed.
S250, determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
The corresponding relation between the system assistance ratio and the system assistance saturation inflection point of the electronic assistance braking system can be calibrated according to actual conditions. The larger the system boost ratio, the greater the boost saturation inflection point.
Specifically, the corresponding relation between the system assistance ratio and the system assistance saturation inflection point of the electronic assistance braking system is determined, and the target assistance saturation inflection point of the electronic assistance braking system corresponding to the target assistance ratio is determined.
And S260, determining the target rotating speed and the target maximum power-assisted moment of the electronic power-assisted braking system according to the pedal state and the target power-assisted saturation inflection point.
For example, on the basis of the present embodiment, the target rotational speed and the target maximum assist torque of the electric assist brake system may be determined by the following substeps:
S2601, if the pedal state is a pressing state, determining that the motor speed corresponding to the target power-assisted saturation inflection point is the target speed of the electronic power-assisted braking system according to the association relation between the system power-assisted saturation inflection point and the motor speed of the electronic power-assisted braking system.
The association relation between the system power-assisted saturation inflection point and the motor rotating speed of the electronic power-assisted braking system can be calibrated according to experiments. The larger the system power-assisted saturation inflection point is, the larger the motor rotating speed of the electronic power-assisted braking system corresponding to the system power-assisted saturation inflection point is.
Specifically, if the pedal state is a depressed state, determining that the target power-assisted saturation inflection point corresponds to the target power-assisted saturation inflection point according to the association relationship between the system power-assisted saturation inflection point and the motor speed of the electronic power-assisted braking system, so that the motor speed when the electronic power-assisted braking system is in the minimum working noise can be the target speed of the electronic power-assisted braking system.
S2602, determining a target maximum power assisting moment corresponding to the target rotating speed according to the association relation between the rotating speed of the motor of the electronic power assisting braking system and the maximum power assisting moment of the system.
The association relation between the motor rotating speed of the electronic power-assisted braking system and the maximum power-assisted moment of the system can be calibrated according to experiments. The larger the motor speed of the system is, the larger the maximum power assisting moment of the system corresponding to the motor speed of the system is.
After determining the target rotational speed and the target maximum assistance torque of the electronic assistance braking system, if the target vehicle speed is smaller than or equal to the reference speed and the system assistance torque of the electronic assistance braking system is larger than the target maximum assistance torque, the electronic assistance braking system is controlled to stop working until the target vehicle speed is larger than the reference speed, and the electronic assistance braking system is controlled to resume working.
It can be understood that the target rotating speed of the electronic power-assisted braking system is determined according to the target power-assisted saturation inflection point by setting the association relationship between the system power-assisted saturation inflection point and the rotating speed of the motor of the electronic power-assisted braking system, and the target maximum power-assisted moment is determined according to the target rotating speed by setting the association relationship between the rotating speed of the motor of the electronic power-assisted braking system and the maximum power-assisted moment of the system, and meanwhile, the smaller the system power-assisted inflection point is, the smaller the rotating speed of the motor of the electronic power-assisted braking system is. The motor speed of the electric power assist brake system may be limited to reduce the operation noise of the electric power assist brake system in the case of the target vehicle speed or equal to the reference vehicle speed.
According to the technical scheme, when the sub-booster braking system is not in a booster saturated state, if the pedal state is in a downward pressure state and the target vehicle speed is greater than the reference speed, determining a first booster ratio corresponding to the target vehicle speed as a target booster ratio according to the association relation between the vehicle speed and the system booster ratio of the electronic booster braking system; if the pedal state is in a depressed state and the target vehicle speed is less than or equal to the reference speed, determining a second assistance ratio corresponding to the target vehicle speed as a target assistance ratio according to the association relationship between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system; and then determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system, so as to determine the target rotating speed and the target maximum power-assisted moment when the electronic power-assisted braking system works according to the target power-assisted saturation inflection point. According to the scheme, when the pedal is in the pressing state, the working state of the electronic power-assisted braking system is determined according to the target speed of the vehicle, so that working noise of the electronic power-assisted braking system at the target speed is reduced, and accurate control of the electronic power-assisted braking system is realized.
Example III
Fig. 3 is a flowchart of a working method of an electric power-assisted braking system according to a third embodiment of the present invention, where the working method is optimized based on the above embodiment, and a preferred implementation manner of determining a target power-assisted ratio corresponding to a target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed, and an association relationship between the vehicle speed and a system power-assisted ratio of the electric power-assisted braking system, and determining a target power-assisted saturation inflection point of the electric power-assisted braking system according to the target power-assisted ratio is provided. Specifically, as shown in fig. 3, the method includes:
And S310, judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system.
And S320, if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed.
S330, if the pedal state is in a released state and the target vehicle speed is greater than the reference speed, taking a third assistance ratio corresponding to the target vehicle speed in the system assistance ratios as the target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system.
The third assistance ratio is a system assistance ratio obtained according to experiments when the electronic power-assisted braking system is in the minimum working noise under the condition that the pedal state is in a released state and the vehicle speed is greater than the reference speed.
Specifically, if the pedal state is in a released state and the target vehicle speed is greater than the reference speed, determining that the target vehicle speed corresponds to the system assistance ratio of the electronic power-assisted brake system according to the association relationship between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, and enabling the electronic power-assisted brake system to be in a third assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the target vehicle speed, and taking the third assistance ratio as the target assistance ratio.
And S340, if the pedal state is in a released state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as the target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system.
Wherein the fourth assistance ratio is less than the third assistance ratio. The fourth assistance ratio is a system assistance ratio obtained by experiments when the electronic power-assisted brake system is in the minimum operation noise under the condition that the pedal state is in a released state and the vehicle speed is less than or equal to the reference speed.
Specifically, if the pedal state is in a released state and the target vehicle speed is less than or equal to the reference speed, determining a fourth assistance ratio corresponding to the target vehicle speed according to the association relationship between the vehicle speed and the system assistance ratio of the electronic power-assisted brake system, wherein the fourth assistance ratio can be used as the target assistance ratio when the electronic power-assisted brake system is in the minimum working noise under the target vehicle speed.
S350, determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
S360, determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the target power assisting saturation inflection point.
According to the technical scheme, when the sub power-assisted braking system is not in a power-assisted saturated state, if the pedal state is in a released state and the target vehicle speed is greater than the reference speed, determining a third power-assisted ratio corresponding to the target vehicle speed as a target power-assisted ratio according to the association relation between the vehicle speed and the system power-assisted ratio of the electronic power-assisted braking system; if the pedal state is in a release state and the target vehicle speed is smaller than or equal to the reference speed, determining a fourth assistance ratio corresponding to the target vehicle speed as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system; and then determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system, so as to determine the target rotating speed and the target maximum power-assisted moment when the electronic power-assisted braking system works according to the target power-assisted saturation inflection point. According to the scheme, when the pedal is in the released state, the working state of the electronic power-assisted braking system is determined according to the target speed of the vehicle so as to reduce working noise of the electronic power-assisted braking system at the target speed, and accurate control of the electronic power-assisted braking system is achieved.
Example IV
Fig. 4 is a schematic structural diagram of a working device of an electronic power-assisted braking system according to a fourth embodiment of the present invention. The embodiment can be applied to the situation of controlling the working state of the electronic power-assisted braking system. As shown in fig. 4, the working device of the electric power-assisted brake system includes: a boost saturation state determination module 410, a target vehicle speed determination module 420, a boost saturation inflection point determination module 430, and a maximum boost torque determination module 440.
The power-assisted saturation state determining module 410 is configured to determine whether the electronic power-assisted brake system is in a power-assisted saturation state according to a push rod displacement of the electronic power-assisted brake system;
The target vehicle speed determining module 420 is configured to determine a target rotation angle of the electric power-assisted braking system according to the displacement of the push rod, determine a target vehicle speed of the vehicle according to the target rotation angle, and compare the target vehicle speed with a reference speed;
the boost saturation inflection point determining module 430 is configured to determine a target boost ratio corresponding to the target vehicle speed according to the pedal state, a comparison result between the target vehicle speed and the reference speed, and an association relationship between the vehicle speed and a system boost ratio of the electronic boost braking system, and determine a target boost saturation inflection point of the electronic boost braking system according to the target boost ratio;
the maximum assist torque determination module 440 is configured to determine a target rotational speed and a target maximum assist torque of the electronic power-assisted brake system according to the pedal state and the target power-assisted saturation inflection point.
According to the technical scheme provided by the embodiment, whether the electronic power-assisted braking system is in a power-assisted saturated state is judged according to the push rod displacement of the electronic power-assisted braking system; if not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed; according to the pedal state, a comparison result of the target vehicle speed and the reference speed and an association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining a target assistance ratio corresponding to the target vehicle speed, and determining a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio; and determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the target power assisting saturation inflection point. The problem that the electronic power-assisted braking system takes a motor as power and obviously causes working noise when the power is provided for braking the vehicle under the condition of not considering the actual conditions of the pedal state and the target vehicle speed is solved. According to the scheme, the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system is set, after the target vehicle speed of the vehicle is determined, the target assistance ratio corresponding to the target vehicle speed is determined according to the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, and the target power-assisted saturation inflection point of the electronic power-assisted braking system is determined according to the target assistance ratio, so that the working state of the electronic power-assisted braking system is determined according to the target power-assisted saturation inflection point. The method and the device realize differential control on the working state of the electronic power-assisted braking system according to the pedal state and the target vehicle speed, optimize the working mode of the electronic power-assisted braking system, reduce the working noise of the electronic power-assisted braking system and improve the riding experience of passengers.
Illustratively, the boost saturation inflection point determination module 430 includes:
A first assistance ratio determining unit configured to, if the pedal state is a depressed state and the target vehicle speed is greater than the reference speed, determine, as a target assistance ratio, a first assistance ratio corresponding to the target vehicle speed among the system assistance ratios according to an association relationship between the vehicle speed and the system assistance ratio of the electric power-assisted brake system;
A second assistance ratio determining unit configured to, if the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, determine, as a target assistance ratio, a second assistance ratio corresponding to the target vehicle speed from among the system assistance ratios, based on an association relationship between the vehicle speed and the system assistance ratio of the electric power-assisted brake system; wherein the second assistance ratio is less than the first assistance ratio;
The target power-assisted saturation inflection point acquisition unit is used for determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
Illustratively, the boost saturation inflection point determination module 430 is specifically configured to:
If the pedal state is in a released state and the target vehicle speed is greater than the reference speed, taking a third assistance ratio corresponding to the target vehicle speed in the system assistance ratio as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic assistance brake system;
If the pedal state is in a released state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system; wherein the fourth assistance ratio is less than the third assistance ratio;
And determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
Illustratively, the maximum assist torque determination module 440 is specifically configured to:
If the pedal state is a downward pressing state, determining that the motor speed corresponding to the target power-assisted saturation inflection point is the target speed of the electronic power-assisted braking system according to the association relation between the system power-assisted saturation inflection point and the motor speed of the electronic power-assisted braking system; the smaller the system power-assisted saturation inflection point is, the smaller the motor rotating speed of the electronic power-assisted braking system corresponding to the system power-assisted saturation inflection point is;
And determining a target maximum power-assisted moment corresponding to the target rotating speed according to the association relation between the rotating speed of the motor of the electronic power-assisted braking system and the maximum power-assisted moment of the system.
Illustratively, the boost saturation determination module 410 is specifically configured to:
determining whether the electronic power-assisted braking system reaches a maximum power-assisted point according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system;
If not, the electronic power-assisted braking system is not in a power-assisted saturated state.
Illustratively, the operating device of the electric assist brake system further includes:
And the working state control module is used for controlling the electronic power-assisted braking system to stop working if the target vehicle speed is smaller than or equal to the reference speed and the system power-assisted moment of the electronic power-assisted braking system is larger than the target maximum power-assisted moment until the target vehicle speed is larger than the reference speed, and controlling the electronic power-assisted braking system to resume working.
The working device of the electronic power-assisted braking system provided by the embodiment is applicable to the working method of the electronic power-assisted braking system provided by any embodiment, and has corresponding functions and beneficial effects.
Example five
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the method of operation of an electric brake system.
In some embodiments, the method of operating an electric brake system may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method of operating an electric brake system described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the method of operation of the electric assist brake system in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. A method of operating an electric brake system, comprising:
judging whether the electronic power-assisted braking system is in a power-assisted saturated state according to the push rod displacement of the electronic power-assisted braking system;
If not, determining a target rotation angle of the electronic power-assisted braking system according to the push rod displacement, determining a target speed of the vehicle according to the target rotation angle, and comparing the target speed with a reference speed;
according to the pedal state, the comparison result of the target vehicle speed and the reference speed and the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system, determining the target assistance ratio corresponding to the target vehicle speed, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target assistance ratio;
determining a target rotating speed and a target maximum power-assisted moment of the electronic power-assisted braking system according to the pedal state and the target power-assisted saturation inflection point;
The step of determining a target assistance ratio corresponding to the target vehicle speed according to a comparison result of the target vehicle speed and a reference speed and an association relation between a vehicle speed and a system assistance ratio of the electronic assistance brake system, and determining a target assistance saturation inflection point of the electronic assistance brake system according to the target assistance ratio comprises the steps of:
If the pedal state is in a depressed state and the target vehicle speed is greater than a reference speed, taking a first assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to an association relation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system;
If the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, taking a second assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system; wherein the second assistance ratio is less than the first assistance ratio;
Determining a target boost saturation inflection point of the electronic boost braking system according to the target boost ratio and a corresponding relation between the system boost ratio and the system boost saturation inflection point of the electronic boost braking system;
The step of determining a target assistance ratio corresponding to the target vehicle speed according to a comparison result of the target vehicle speed and a reference speed and an association relation between a vehicle speed and a system assistance ratio of the electronic assistance brake system, and determining a target assistance saturation inflection point of the electronic assistance brake system according to the target assistance ratio comprises the steps of:
If the pedal state is in a released state and the target vehicle speed is greater than a reference speed, taking a third assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system;
If the pedal state is in a released state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratios of the electronic power-assisted brake system; wherein the fourth assistance ratio is less than the third assistance ratio;
and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
2. The method of claim 1, wherein determining a target rotational speed and a target maximum assist torque of the electric assist brake system based on the pedal state and the target assist saturation inflection point comprises:
if the pedal state is a downward pressing state, determining that the motor speed corresponding to the target power-assisted saturation inflection point is the target speed of the electronic power-assisted braking system according to the association relation between the system power-assisted saturation inflection point and the motor speed of the electronic power-assisted braking system; the smaller the system power-assisted saturation inflection point is, the smaller the motor rotating speed of the electronic power-assisted braking system corresponding to the system power-assisted saturation inflection point is;
And determining a target maximum power assisting moment corresponding to the target rotating speed according to the association relation between the rotating speed of the motor of the electronic power assisting braking system and the maximum power assisting moment of the system.
3. The method of claim 1, wherein determining whether the electric power brake system is in a power-assisted saturated state based on a pushrod displacement of the electric power brake system comprises:
Determining whether the electronic power-assisted braking system reaches a maximum power point according to a displacement sensing signal generated by the displacement of a push rod of the electronic power-assisted braking system;
if not, the electronic power-assisted braking system is not in a power-assisted saturated state.
4. The method as recited in claim 1, further comprising:
And if the target vehicle speed is smaller than or equal to the reference speed and the system assistance torque of the electronic assistance braking system is larger than the target maximum assistance torque, controlling the electronic assistance braking system to stop working until the target vehicle speed is larger than the reference speed, and controlling the electronic assistance braking system to resume working.
5. An operating device of an electric power-assisted brake system, comprising:
The power-assisted saturation state determining module is used for judging whether the electronic power-assisted braking system is in a power-assisted saturation state according to the push rod displacement of the electronic power-assisted braking system;
The target vehicle speed determining module is used for determining a target corner of the electronic power-assisted braking system according to the push rod displacement if not, determining a target vehicle speed of a vehicle according to the target corner, and comparing the target vehicle speed with a reference speed;
The power-assisted saturation inflection point determining module is used for determining a target power-assisted saturation inflection point corresponding to the target vehicle speed according to a pedal state, a comparison result of the target vehicle speed and a reference speed and an association relation between the vehicle speed and a system power-assisted ratio of the electronic power-assisted braking system, and determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio;
the maximum power assisting moment determining module is used for determining the target rotating speed and the target maximum power assisting moment of the electronic power assisting braking system according to the pedal state and the target power assisting saturation inflection point;
the boost saturation inflection point determination module includes:
A first assistance ratio determining unit, configured to, if the pedal state is a depressed state and the target vehicle speed is greater than a reference speed, determine, as a target assistance ratio, a first assistance ratio corresponding to the target vehicle speed from among the system assistance ratios according to a correlation between a vehicle speed and a system assistance ratio of the electric power-assisted brake system;
A second assistance ratio determining unit configured to, if the pedal state is a depressed state and the target vehicle speed is less than or equal to the reference speed, determine, as a target assistance ratio, a second assistance ratio corresponding to the target vehicle speed from among the system assistance ratios according to an association relationship between a vehicle speed and a system assistance ratio of the electric power-assisted brake system; wherein the second assistance ratio is less than the first assistance ratio;
A target power-assisted saturation inflection point acquisition unit, configured to determine a target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and a correspondence between the system power-assisted ratio and a system power-assisted saturation inflection point of the electronic power-assisted braking system;
the power-assisted saturation inflection point determination module further includes:
If the pedal state is in a released state and the target vehicle speed is greater than the reference speed, taking a third assistance ratio corresponding to the target vehicle speed in the system assistance ratio as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic assistance brake system;
If the pedal state is in a released state and the target vehicle speed is less than or equal to the reference speed, taking a fourth assistance ratio corresponding to the target vehicle speed in the system assistance ratios as a target assistance ratio according to the association relation between the vehicle speed and the system assistance ratio of the electronic power-assisted braking system; wherein the fourth assistance ratio is less than the third assistance ratio;
And determining the target power-assisted saturation inflection point of the electronic power-assisted braking system according to the target power-assisted ratio and the corresponding relation between the system power-assisted ratio and the system power-assisted saturation inflection point of the electronic power-assisted braking system.
6. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of operating the electric brake system of any one of claims 1-4.
7. A computer readable storage medium storing computer instructions for causing a processor to perform the method of operating the electric brake system of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211265408.2A CN115447550B (en) | 2022-10-17 | 2022-10-17 | Method, device, apparatus and storage medium for operating an electronic power-assisted brake system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211265408.2A CN115447550B (en) | 2022-10-17 | 2022-10-17 | Method, device, apparatus and storage medium for operating an electronic power-assisted brake system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115447550A CN115447550A (en) | 2022-12-09 |
| CN115447550B true CN115447550B (en) | 2024-07-26 |
Family
ID=84310086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211265408.2A Active CN115447550B (en) | 2022-10-17 | 2022-10-17 | Method, device, apparatus and storage medium for operating an electronic power-assisted brake system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115447550B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116968704B (en) * | 2023-09-21 | 2024-01-02 | 小米汽车科技有限公司 | Vehicle brake control method, device, storage medium and vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501924A (en) * | 2018-03-27 | 2018-09-07 | 北京市进联国玉制动泵有限责任公司 | Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle |
| CN108860116A (en) * | 2018-06-14 | 2018-11-23 | 清华大学 | Control method, device and the vehicle booster braking system of vehicle booster braking |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0740757A (en) * | 1993-07-29 | 1995-02-10 | Mitsubishi Motors Corp | Awakening degree judging device and electronic control type power steering device |
| US6439674B1 (en) * | 1999-09-01 | 2002-08-27 | Denso Corporation | Vehicle braking apparatus and vehicle braking method |
| KR102352414B1 (en) * | 2017-06-27 | 2022-01-18 | 현대모비스 주식회사 | Braking apparatus and braking control method of vehicle |
| CN109774783B (en) * | 2017-11-10 | 2022-05-13 | 现代自动车株式会社 | Control method and control system for electric power steering |
| CN109080617B (en) * | 2018-08-16 | 2020-06-23 | 北京新能源汽车股份有限公司 | Power-assisted control method and device |
| CN110155008B (en) * | 2019-06-20 | 2021-02-09 | 爱驰汽车有限公司 | Brake control method, system, device and storage medium based on electric power assistance |
| CN112298341B (en) * | 2019-07-30 | 2022-03-15 | 比亚迪股份有限公司 | Vehicle and control method and control device of electric power steering system of vehicle |
| CN113492682B (en) * | 2020-04-02 | 2023-03-14 | 长城汽车股份有限公司 | Energy recovery control method and system and vehicle |
| CN114056301B (en) * | 2020-07-30 | 2022-08-12 | 上汽通用汽车有限公司 | Soft stop control method and system of electronic control brake booster and vehicle |
| CN112706727B (en) * | 2021-01-11 | 2021-11-05 | 南京航空航天大学 | Brake system with variable pedal displacement-brake force characteristics and control method thereof |
| CN114987222B (en) * | 2022-06-22 | 2024-09-13 | 中国第一汽车股份有限公司 | Jitter control method and device, electronic equipment and storage medium |
-
2022
- 2022-10-17 CN CN202211265408.2A patent/CN115447550B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501924A (en) * | 2018-03-27 | 2018-09-07 | 北京市进联国玉制动泵有限责任公司 | Force aid system, electric vehicle and the power-assisted implementation method of electric vehicle |
| CN108860116A (en) * | 2018-06-14 | 2018-11-23 | 清华大学 | Control method, device and the vehicle booster braking system of vehicle booster braking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115447550A (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110816508A (en) | Vehicle fault detection method and device, vehicle and storage medium | |
| CN115447550B (en) | Method, device, apparatus and storage medium for operating an electronic power-assisted brake system | |
| CN114987222B (en) | Jitter control method and device, electronic equipment and storage medium | |
| CN115742756A (en) | Vehicle control method, device, equipment and medium based on traction control system | |
| CN115388165B (en) | Clutch pressing force hysteresis compensation method and device and storage medium | |
| CN117445878A (en) | Brake control method and device, electronic equipment and storage medium | |
| CN117002274A (en) | Torsion clearing slope control method and device, vehicle and storage medium | |
| CN116513130A (en) | EMB vehicle type wheel braking force control method, device, equipment and medium | |
| CN118205403A (en) | Driving control method, device and equipment for electric drive vehicle and storage medium | |
| CN116476851B (en) | Vehicle data processing method and device, electronic equipment and storage medium | |
| CN118810709A (en) | Brake control method, device, equipment and vehicle | |
| CN118144802A (en) | Whole vehicle weight determining method and device, vehicle and storage medium | |
| CN114872668B (en) | Vehicle control method, device, electronic device and storage medium | |
| CN116605226A (en) | Emergency braking method and device for vehicle, electronic equipment and storage medium | |
| CN116146701B (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN118560296A (en) | Electric vehicle control method, device, electronic equipment and storage medium | |
| CN116552480A (en) | Parking control method and device, electronic equipment and storage medium | |
| CN116442966A (en) | Auxiliary brake adjusting method and device, electronic equipment and storage medium | |
| CN116588049A (en) | EPB parking caliper control method, device, equipment and storage medium | |
| CN115743089A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN117962896A (en) | Method, device, equipment and storage medium for identifying braking intention of vehicle | |
| CN116161016A (en) | Automatic parking method, device, equipment and medium for electric vehicle | |
| CN118144803A (en) | Whole vehicle weight determining method and device, vehicle and storage medium | |
| CN118753035A (en) | Hydrostatic drive vehicle overspeed prevention control method, device, equipment and medium | |
| CN115257669A (en) | Vehicle control method, device, electronic device and 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |