Derusting method for brake disc of vehicle and vehicle

Abstract

The invention discloses a rust removal method and device for a brake disc of a vehicle, the vehicle and a storage medium, and belongs to the technical field of vehicles. According to the technical scheme provided by the embodiment of the invention, the real-time vehicle speed of the vehicle and the target vehicle speed associated with the opening degree of the accelerator pedal are determined under the condition that the brake disc rust removal function of the vehicle is started. And under the condition that the real-time vehicle speed is larger than or equal to the vehicle speed threshold value, first target rust removal braking force is determined based on the target vehicle speed. And the brake disc is derusted based on the first target derusting braking force, so that intelligent derusting of the brake disc through the target vehicle speed is achieved, and the derusting effect of the brake disc is good.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and more particularly to a method for removing rust from a brake disc of a vehicle and a vehicle in the technical field of vehicles. Background Art

[0002] The brake disc of a vehicle is usually made of iron-based materials. When the vehicle is parked for a long time or in rainy or snowy weather, the surface of the brake disc is prone to rust. When the surface of the brake disc is rusted, the braking performance of the vehicle will decrease and the braking noise will increase.

[0003] In the related art, the brake disc usually needs to be disassembled and then polished to remove rust from the brake disc.

[0004] However, the disassembly of the brake disc is rather complicated, and grinding the brake disc also requires caution to avoid damaging the brake disc. The efficiency and difficulty of rust removal of the brake disc are low. Summary of the invention

[0005] The embodiment of the present application provides a method for removing rust from a brake disc of a vehicle and a vehicle, which can improve the efficiency of removing rust from the brake disc and reduce the difficulty of removing rust from the brake disc. The technical solution is as follows:

[0006] In one aspect, a method for removing rust from a brake disc of a vehicle is provided, the method comprising:

[0007] When the brake disc rust removal function is turned on for the vehicle, determining the real-time vehicle speed and the target vehicle speed, wherein the target vehicle speed is associated with the accelerator pedal opening of the vehicle;

[0008] When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining a first target rust removal braking force based on the target vehicle speed;

[0009] Rust removal is performed on a brake disc of the vehicle based on the first target rust removal braking force.

[0010] In a possible implementation manner, when the brake disc rust removal function is turned on for the vehicle, determining the real-time speed and the target speed of the vehicle includes:

[0011] When the brake disc rust removal function is turned on for the vehicle, the control mode of the vehicle is adjusted to a target control mode and the wheel speed, wheel radius and accelerator pedal opening of the vehicle are obtained, wherein the target control mode is a control mode that directly associates the accelerator pedal opening with the vehicle speed;

[0012] Determining the real-time speed of the vehicle based on the wheel speed and wheel radius of the vehicle;

[0013] Based on the accelerator pedal opening, a target vehicle speed of the vehicle is determined.

[0014] In a possible implementation manner, determining the target vehicle speed of the vehicle based on the accelerator pedal opening includes:

[0015] Substituting the accelerator pedal opening into target relationship data to obtain the target vehicle speed, wherein the target relationship data is used to represent the corresponding relationship between the accelerator pedal opening and the target vehicle speed;

[0016] Alternatively, the target vehicle speed is obtained by querying a first data table using the accelerator pedal opening, wherein the first data table includes a plurality of candidate accelerator pedal openings and candidate vehicle speeds corresponding to each of the candidate accelerator pedal openings;

[0017] Alternatively, an opening change rate corresponding to the accelerator pedal opening is determined, wherein the opening change rate is used to indicate how fast the accelerator pedal opening changes; and the target vehicle speed is determined based on the opening change rate and the accelerator pedal opening.

[0018] In a possible implementation manner, determining the target vehicle speed based on the opening change rate and the accelerator pedal opening includes:

[0019] Determining a reference speed of the vehicle based on the accelerator pedal opening;

[0020] Determining a speed correction coefficient of the vehicle based on the opening change rate;

[0021] The reference vehicle speed is multiplied by the vehicle speed correction coefficient to obtain the target vehicle speed.

[0022] In a possible implementation manner, when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining the first target rust removal braking force based on the target vehicle speed includes:

[0023] When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining a first driving force and a second driving force corresponding to the target vehicle speed, wherein the first driving force is the driving force before the brake disc rust removal function is turned on, and the second driving force is the driving force after the brake disc rust removal function is turned on, and the second driving force is greater than or equal to the first driving force;

[0024] The first target rust-removing braking force is determined based on a difference between the first driving force and the second driving force and the target vehicle speed.

[0025] In a possible implementation manner, when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining the first driving force and the second driving force corresponding to the target vehicle speed includes:

[0026] When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the target vehicle speed is used to query in a second data table to obtain the first driving force, the second data table includes a plurality of candidate vehicle speeds and candidate first driving forces and accelerations corresponding to the candidate vehicle speeds, and the second data table is generated based on the collected vehicle speed, driving force and acceleration when the brake disc rust removal function is not turned on for the vehicle;

[0027] The target vehicle speed is used to query in a third data table to obtain the second driving force, the third data table includes multiple candidate vehicle speeds and candidate second driving forces corresponding to each of the candidate vehicle speeds, and the third data table is obtained based on the second data table.

[0028] In a possible implementation, the method for generating the third data table includes:

[0029] determining a driving force change corresponding to each candidate vehicle speed based on the acceleration corresponding to each candidate vehicle speed in the second data table;

[0030] The candidate first driving forces corresponding to the candidate vehicle speeds in the second data table are updated by using the driving force changes corresponding to the candidate vehicle speeds to obtain the candidate second driving forces corresponding to the candidate vehicle speeds, so as to obtain the third data table.

[0031] In a possible implementation manner, determining the first target rust-removing braking force based on the difference between the first driving force and the second driving force and the target vehicle speed includes:

[0032] determining a reference rust-removing braking force based on a difference between the first driving force and the second driving force;

[0033] Based on the target vehicle speed, determining a rust removal braking force correction coefficient;

[0034] The reference rust-removing braking force is multiplied by the rust-removing braking force correction coefficient to obtain the first target rust-removing braking force.

[0035] In a possible implementation manner, after removing rust from the brake disc of the vehicle based on the first target rust-removing braking force, the method further includes:

[0036] Determining a cumulative duration of rust removal on a brake disc of the vehicle; and controlling the vehicle to stop rust removal on the brake disc when the cumulative duration is greater than or equal to a duration threshold;

[0037] Alternatively, a brake disc temperature of a brake disc of the vehicle is determined; and when the brake disc temperature is greater than or equal to a temperature threshold, the vehicle is controlled to stop rust removal on the brake disc.

[0038] In a possible implementation manner, after removing rust from the brake disc of the vehicle based on the first target rust-removing braking force, the method further includes:

[0039] In response to a change in the target vehicle speed of the vehicle, determining a second target rust-removing braking force based on the changed target vehicle speed;

[0040] determining a braking force difference between the second target rust-removing braking force and the first target rust-removing braking force;

[0041] When the absolute value of the braking force difference is greater than or equal to the absolute value threshold, the rust removal braking force of the brake disc of the vehicle during rust removal is gradually adjusted to the second target rust removal braking force using a preset gradient;

[0042] When the absolute value of the braking force difference is smaller than the absolute value threshold, the rust-removing braking force when rust-removing the brake disc of the vehicle is directly adjusted to the second target rust-removing braking force.

[0043] In one aspect, a brake disc rust removal device for a vehicle is provided, the device comprising:

[0044] A vehicle speed determination module, used to determine the real-time vehicle speed and target vehicle speed of the vehicle when the brake disc rust removal function of the vehicle is turned on, wherein the target vehicle speed is associated with the accelerator pedal opening of the vehicle;

[0045] a rust removal braking force determination module, configured to determine a first target rust removal braking force based on the target vehicle speed when the real-time vehicle speed is greater than or equal to a vehicle speed threshold;

[0046] The rust removal control module is used to remove rust from the brake disc of the vehicle based on the first target rust removal braking force.

[0047] In a possible implementation, the vehicle speed determination module is used to adjust the control mode of the vehicle to a target control mode and obtain the wheel speed, wheel radius and accelerator pedal opening of the vehicle when the vehicle turns on the brake disc rust removal function. The target control mode is a control mode that directly associates the accelerator pedal opening with the vehicle speed; determine the real-time vehicle speed of the vehicle based on the wheel speed and wheel radius of the vehicle; and determine the target vehicle speed of the vehicle based on the accelerator pedal opening.

[0048] In one possible implementation, the vehicle speed determination module is used to substitute the accelerator pedal opening into target relationship data to obtain the target vehicle speed, wherein the target relationship data is used to represent the correspondence between the accelerator pedal opening and the target vehicle speed; or, use the accelerator pedal opening to query in a first data table to obtain the target vehicle speed, wherein the first data table includes multiple candidate accelerator pedal openings and candidate vehicle speeds corresponding to each of the candidate accelerator pedal openings; or, determine the opening change rate corresponding to the accelerator pedal opening, wherein the opening change rate is used to represent the speed of change of the accelerator pedal opening; determine the target vehicle speed based on the opening change rate and the accelerator pedal opening.

[0049] In a possible implementation, the vehicle speed determination module is used to determine a reference vehicle speed of the vehicle based on the accelerator pedal opening; determine a vehicle speed correction coefficient of the vehicle based on the opening change rate; and multiply the reference vehicle speed by the vehicle speed correction coefficient to obtain the target vehicle speed.

[0050] In a possible implementation, the rust removal braking force determination module is used to determine the first driving force and the second driving force corresponding to the target vehicle speed when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first driving force being the driving force before the brake disc rust removal function is turned on, the second driving force being the driving force after the brake disc rust removal function is turned on, and the second driving force being greater than or equal to the first driving force; the first target rust removal braking force is determined based on the difference between the first driving force and the second driving force and the target vehicle speed.

[0051] In a possible implementation, the rust removal braking force determination module is used to, when the real-time vehicle speed is greater than or equal to a vehicle speed threshold, use the target vehicle speed to query in a second data table to obtain the first driving force, the second data table including multiple candidate vehicle speeds and candidate first driving forces and accelerations corresponding to each of the candidate vehicle speeds, the second data table being generated based on the collected vehicle speed, driving force and acceleration when the brake disc rust removal function is not turned on for the vehicle; use the target vehicle speed to query in a third data table to obtain the second driving force, the third data table including multiple candidate vehicle speeds and candidate second driving forces corresponding to each of the candidate vehicle speeds, the third data table being obtained based on the second data table.

[0052] In a possible implementation, the device also includes a data table generation module, which is used to determine the driving force change corresponding to each candidate vehicle speed based on the acceleration corresponding to each candidate vehicle speed in the second data table; use the driving force change corresponding to each candidate vehicle speed to update the candidate first driving force corresponding to each candidate vehicle speed in the second data table, and obtain the candidate second driving force corresponding to each candidate vehicle speed, so as to obtain the third data table.

[0053] In a possible implementation, the rust removal braking force determination module is used to determine a reference rust removal braking force based on the difference between the first driving force and the second driving force; determine a rust removal braking force correction coefficient based on the target vehicle speed; and multiply the reference rust removal braking force by the rust removal braking force correction coefficient to obtain the first target rust removal braking force.

[0054] In a possible implementation, the rust removal control module is also used to determine the cumulative time for rust removal on the brake disc of the vehicle; when the cumulative time is greater than or equal to a time threshold, control the vehicle to stop rust removal on the brake disc; or determine the brake disc temperature of the brake disc of the vehicle; when the brake disc temperature is greater than or equal to a temperature threshold, control the vehicle to stop rust removal on the brake disc.

[0055] In a possible implementation, the rust removal control module is also used to determine a second target rust removal braking force based on the changed target vehicle speed in response to a change in the target vehicle speed; determine a braking force difference between the second target rust removal braking force and the first target rust removal braking force; when the absolute value of the braking force difference is greater than or equal to an absolute value threshold, gradually adjust the rust removal braking force when rust removal is performed on the brake disc of the vehicle to the second target rust removal braking force using a preset gradient; when the absolute value of the braking force difference is less than the absolute value threshold, directly adjust the rust removal braking force when rust removal is performed on the brake disc of the vehicle to the second target rust removal braking force.

[0056] On the one hand, a vehicle is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the program code is loaded and executed by the one or more processors to implement the operations performed by the brake disc rust removal method of the vehicle.

[0057] On the one hand, a computer-readable storage medium is provided, wherein at least one program code is stored in the computer-readable storage medium, and the program code is loaded and executed by a processor to implement the operations performed by the vehicle brake disc rust removal method.

[0058] Through the technical solution provided by the embodiment of the present application, when the vehicle turns on the brake disc rust removal function, the real-time vehicle speed and the target vehicle speed associated with the accelerator pedal opening are determined. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first target rust removal braking force is determined based on the target vehicle speed. The brake disc is rust-removed based on the first target rust removal braking force, thereby realizing intelligent rust removal of the brake disc using the target vehicle speed, and the effect of rust removal of the brake disc is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic diagram of an implementation environment of a vehicle brake disc rust removal method provided in an embodiment of the present application;

[0060] Figure 2 It is a flow chart of a method for removing rust from a brake disc of a vehicle provided in an embodiment of the present application;

[0061] Figure 3 is a flow chart of another method for removing rust from a brake disc of a vehicle provided in an embodiment of the present application;

[0062] Figure 4 It is a structural schematic diagram of a vehicle brake disc rust removal device provided in an embodiment of the present application;

[0063] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0065] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0066] Brake disc: Also known as the brake disc, the brake disc is an important component of the vehicle's braking system, responsible for converting the vehicle's kinetic energy into heat energy to achieve deceleration or stopping.

[0067] Caliper: The brake caliper is an important part of the automobile braking system. Its main function is to push the piston in the brake caliper through the action of the hydraulic system when the driver steps on the brake pedal, so that the brake pad squeezes the brake disc to generate friction, thereby achieving vehicle deceleration or stopping. In the embodiment of the present application, the rust on the surface of the brake disc can be removed through the contact between the caliper and the brake disc.

[0068] In the related art, when the vehicle is braking normally, the caliper will contact the brake disc, thereby achieving rust removal of the brake disc to a certain extent. However, since the braking timing and braking force of the vehicle are uncertain, the rust removal effect of the brake disc is not good. After adopting the technical solution provided in the embodiment of the present application, the vehicle can be controlled to automatically remove rust according to the vehicle speed, and the rust removal effect is better.

[0069] The implementation environment of the embodiment of the present application is introduced below. Figure 1 The implementation environment of the vehicle brake disc rust removal method provided in the embodiment of the present application includes a vehicle terminal 101 and a brake controller 102.

[0070] The vehicle-mounted terminal 101 is a terminal installed on the vehicle, and has the ability to collect and process data. The vehicle-mounted terminal 101 is connected to multiple component controllers and multiple sensors of the vehicle by wire. The vehicle-mounted terminal 101 can control multiple component controllers of the vehicle, and different component controllers can control different vehicle components. In an embodiment of the present application, the multiple component controllers include a brake controller 102, and the brake controller 102 is used to control the braking system of the vehicle, so as to brake the vehicle or remove rust from the brake disc. The brake system includes a brake disc, a caliper, and a hydraulic system. In some embodiments, the brake system is a wire control brake system.

[0071] After introducing the implementation environment of the embodiment of the present application, the application scenario of the technical solution provided by the embodiment of the present application is introduced below. The technical solution provided by the embodiment of the present application can be applied to any vehicle equipped with an iron-based brake disc and having a brake disc rust removal function.

[0072] By adopting the technical solution provided in the embodiment of the present application, the rust removal braking force of the vehicle brake disc can be dynamically controlled when the brake disc is rust removed, thereby improving the rust removal effect of the brake disc.

[0073] After introducing the implementation environment and application scenarios of the embodiments of the present application, the technical solutions provided by the embodiments of the present application are introduced below. Figure 2 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0074] 201. When the brake disc rust removal function is turned on for a vehicle, the vehicle-mounted terminal determines the real-time speed and target speed of the vehicle, and the target speed is associated with the accelerator pedal opening of the vehicle.

[0075] The real-time speed of the vehicle is the actual speed of the vehicle when it is traveling, and the target speed is the speed that the vehicle needs to reach at the current brake pedal opening. The target speed is associated with the accelerator pedal opening, which means that the speed that the vehicle needs to reach is determined by the accelerator pedal opening. Generally speaking, the larger the accelerator pedal opening, the larger the target speed; the smaller the accelerator pedal opening, the smaller the target speed. This is different from the way the accelerator pedal opening controls the driving force in related technologies.

[0076] 202. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle-mounted terminal determines a first target rust removal braking force based on the target vehicle speed.

[0077] Among them, during the process of brake disc rust removal, since the caliper is in contact with the brake disc, the process of wiping the brake disc will inevitably affect the driving of the vehicle, that is, it will generate a certain braking force on the vehicle. On this basis, if the brake disc rust removal is performed when the real-time vehicle speed is relatively low, it will seriously affect the user's driving experience, and the effect of brake disc rust removal is not good when the real-time vehicle speed is relatively low. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, it means that the real-time vehicle speed of the vehicle is relatively high. At this time, the effect of brake disc rust removal is better, and the impact on the user's driving experience is relatively small. The vehicle speed threshold is set by the technician according to the actual situation, and the embodiment of the present application does not limit this. The first target rust removal braking force is the braking force applied by the vehicle's caliper to the brake disc during the process of brake disc rust removal.

[0078] 203. The vehicle-mounted terminal removes rust from the brake disc of the vehicle based on the first target rust removal braking force.

[0079] Among them, brake disc rust removal refers to controlling the contact between the caliper and the brake disc, and removing the rust on the surface of the brake disc through the friction between the caliper and the brake disc.

[0080] Through the technical solution provided by the embodiment of the present application, when the vehicle turns on the brake disc rust removal function, the real-time vehicle speed and the target vehicle speed associated with the accelerator pedal opening are determined. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first target rust removal braking force is determined based on the target vehicle speed. The brake disc is rust-removed based on the first target rust removal braking force, thereby realizing intelligent rust removal of the brake disc using the target vehicle speed, and the effect of rust removal of the brake disc is better.

[0081] It should be noted that the above steps 201-203 are a simple description of the method for removing rust from the brake disc of a vehicle provided in the embodiment of the present application. The method for removing rust from the brake disc of a vehicle provided in the embodiment of the present application will be described in more detail below with reference to some examples. Figure 3 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0082] 301. In response to a brake disc rust removal instruction, the vehicle-mounted terminal activates a brake disc rust removal function.

[0083] Among them, the brake disc rust removal instruction is used to indicate the start of the brake disc rust removal function. The brake disc rust removal instruction is automatically triggered by the vehicle terminal or manually triggered by the driver, and this embodiment of the application is not limited to this. Brake disc rust removal refers to controlling the contact between the caliper and the brake disc to remove the rust on the surface of the brake disc through the friction between the caliper and the brake disc. In the embodiment of the present application, the brake disc of the vehicle will not be rusted immediately after the brake disc rust removal function is turned on, and other judgments will be made later.

[0084] In a possible implementation, in response to the brake disc wiping instruction, the vehicle terminal sends a rust removal activation instruction to the brake controller, the rust removal activation instruction is used to instruct the brake controller to perform initialization before the brake disc is rusted. After receiving the initialization completion information returned by the brake controller, the vehicle terminal turns on the brake disc rust removal function.

[0085] The initialization includes a self-check of the brake controller and a self-check of the brake system of the vehicle to detect whether the brake controller and the brake system can perform subsequent brake disc rust removal.

[0086] In this embodiment, in response to the brake disc wiping instruction, the brake controller is controlled to perform initialization work to determine whether the brake controller and the brake system can perform subsequent brake disc rust removal. When the brake controller completes the initialization, the brake disc rust removal function is turned on to improve the success rate of brake disc rust removal.

[0087] In order to explain the above step 301 more clearly, the triggering method of the brake disc rust removal instruction is explained below.

[0088] In a possible implementation, in response to a click operation on a target button or in response to a target voice command, the vehicle-mounted terminal triggers the brake disc rust removal command.

[0089] The target button is a physical button or a virtual button, which is not limited in the present embodiment. The target voice command is a voice command for instructing to remove rust from the brake disc.

[0090] In this implementation manner, the brake disc rust removal instruction is triggered by a click operation on a target button or a target voice instruction, and the triggering efficiency of the brake disc rust removal instruction is relatively high.

[0091] The above implementation is described below through two examples.

[0092] Example 1: In response to a click operation on a target button, the vehicle-mounted terminal triggers the brake disc rust removal instruction.

[0093] Example 2: In response to a voice command, the vehicle terminal performs command recognition on the voice command to determine the command type of the voice command. When the command type of the voice command indicates that the voice command is a target voice command, the vehicle terminal triggers the brake disc rust removal command.

[0094] For example, in response to a voice command, the vehicle-mounted terminal converts the voice command into a command text. The vehicle-mounted terminal performs keyword extraction on the command text to obtain multiple keywords in the command text. Based on the multiple keywords, the vehicle-mounted terminal determines the command type of the voice command. In the case where the command type of the voice command indicates that the voice command is a target voice command, the vehicle-mounted terminal triggers the brake disc rust removal command. Alternatively, in response to a voice command, the vehicle-mounted terminal converts the voice command into a command text. The vehicle-mounted terminal performs semantic feature extraction on the command text to obtain the command semantic features of the command text. Based on the command semantic features, the vehicle-mounted terminal determines the command type of the voice command. In the case where the command type of the voice command indicates that the voice command is a target voice command, the vehicle-mounted terminal triggers the brake disc rust removal command.

[0095] Another method of triggering a brake disc rust removal instruction provided in an embodiment of the present application is described below.

[0096] In a possible implementation, the vehicle-mounted terminal obtains environmental information of the environment in which the vehicle is located. When the environmental type indicated by the environmental information is a preset environmental type, the vehicle-mounted terminal triggers the brake disc rust removal instruction.

[0097] The environmental information can reflect the environmental conditions of the vehicle's environment, and the vehicle's environment can be classified using the environmental information to obtain the environment type. In some embodiments, the environmental information is obtained by an environmental sensor installed on the vehicle. The preset environment type is set by a technician according to actual conditions, such as a rainy environment, a snowy environment, and a waterlogged environment, etc., and the embodiments of the present application do not limit this.

[0098] In this implementation mode, the environmental information can be used to automatically trigger the brake disc rust removal instruction, thereby realizing intelligent triggering of the brake disc rust removal instruction.

[0099] For example, the vehicle terminal obtains environmental information of the environment in which the vehicle is located through an environmental sensor. The vehicle terminal inputs the environmental information into an environmental classification model, extracts features of the environmental information through the environmental classification model, and obtains environmental features of the environmental information. The vehicle terminal maps the environmental features to obtain the environment type indicated by the environmental information. When the environment type indicated by the environmental information is a preset environment type, the vehicle terminal triggers the brake disc rust removal instruction.

[0100] For example, the vehicle terminal obtains environmental information of the vehicle's environment through environmental sensors. The vehicle terminal inputs the environmental information into the environmental classification model, extracts features of the environmental information through the environmental classification model, and obtains environmental features of the environmental information. The vehicle terminal fully connects and normalizes the environmental features to obtain multiple environmental classification probabilities, and one environmental classification probability corresponds to a candidate environmental type. The vehicle terminal determines the candidate environmental type corresponding to the highest environmental classification probability among the multiple environmental classification probabilities as the environmental type indicated by the environmental information. When the environmental type indicated by the environmental information is a preset environmental type, the vehicle terminal triggers the brake disc rust removal instruction.

[0101] The environment classification model is a multi-classification model that can determine the corresponding environment type according to the input environment information. The environment classification model is trained based on multiple sample environment information and the labeled environment type corresponding to each sample environment information.

[0102] Based on the above implementation, optionally, when the environment type indicated by the environmental information is not a preset environment type, the vehicle-mounted terminal does not trigger the brake disc rust removal instruction.

[0103] Another method of triggering a brake disc rust removal instruction provided in an embodiment of the present application is described below.

[0104] In a possible implementation, the vehicle terminal determines the current accumulated parking time of the vehicle. When the current accumulated parking time is greater than or equal to the parking time threshold, in response to the vehicle starting, the vehicle terminal triggers the brake disc rust removal instruction.

[0105] Among them, if the accumulated parking time is greater than or equal to the parking time threshold, it means that the vehicle has been parked for a long time and the brake disc surface may be rusted. The parking time threshold is set by the technician according to the actual situation, and the embodiment of the application does not limit this.

[0106] In this implementation, by comparing the single cumulative parking time of the vehicle with the parking time threshold, the intelligent triggering of the brake disc rust removal instruction can be achieved.

[0107] 302. When the brake disc rust removal function is turned on for the vehicle, the vehicle-mounted terminal determines the real-time speed and target speed of the vehicle, and the target speed is associated with the accelerator pedal opening of the vehicle.

[0108] Among them, the real-time speed of the vehicle is the actual speed of the vehicle when it is traveling, and the target speed is the speed that the vehicle needs to reach under the current brake pedal opening. The association between the target speed and the accelerator pedal opening means that the speed that the vehicle needs to reach is determined by the accelerator pedal opening. Generally speaking, the larger the accelerator pedal opening, the larger the target speed; the smaller the accelerator pedal opening, the smaller the target speed, which is different from the way the accelerator pedal opening controls the driving force in the related art. In other words, before the brake disc rust removal function is turned on, the accelerator pedal opening is associated with the driving force, that is, the driver directly controls the driving force of the vehicle by controlling the accelerator pedal opening. The larger the accelerator pedal opening, the greater the driving force output by the vehicle; the smaller the accelerator pedal opening, the smaller the driving force output by the vehicle. When the vehicle turns on the brake disc rust removal function, the function of the accelerator pedal changes from controlling the driving force output by the vehicle to controlling the speed of the vehicle.

[0109] In a possible implementation, when the vehicle turns on the brake disc rust removal function, the vehicle terminal adjusts the control mode of the vehicle to the target control mode and obtains the wheel speed, wheel radius and accelerator pedal opening of the vehicle. The target control mode is a control mode that directly associates the accelerator pedal opening with the vehicle speed. The vehicle terminal determines the real-time speed of the vehicle based on the wheel speed and wheel radius of the vehicle. The vehicle terminal determines the target speed of the vehicle based on the accelerator pedal opening.

[0110] Among them, the target control mode is a control mode that directly controls the vehicle speed through the accelerator pedal. In the target control mode, different accelerator pedal openings correspond to different target vehicle speeds. For example, when the accelerator pedal opening is 30%, the target vehicle speed is 40km / h. Then, if the accelerator pedal opening is maintained at 30%, the vehicle speed will eventually stabilize at 40km / h. In some embodiments, in order to ensure driving safety, the maximum speed of the vehicle in the target control mode will be limited to a preset speed, which is set by the technician according to the actual situation, and the embodiments of this application do not limit this.

[0111] In this embodiment, when the vehicle starts the brake disc rust removal function, the control mode of the vehicle is adjusted to the target control mode, so that the function of the accelerator pedal of the vehicle is adjusted to directly control the vehicle speed. The real-time vehicle speed of the vehicle can be determined by the wheel speed and wheel radius of the vehicle, and the accuracy of the real-time vehicle speed is high. The target vehicle speed of the vehicle can be directly determined by the accelerator pedal opening, and the determination efficiency of the target vehicle speed is high.

[0112] In order to explain the above implementation more clearly, the above implementation will be explained in several parts below.

[0113] Part 1: When the brake disc rust removal function is turned on in the vehicle, the vehicle-mounted terminal adjusts the control mode of the vehicle to the target control mode and obtains the wheel speed, wheel radius and accelerator pedal opening of the vehicle.

[0114] In a possible implementation, when the vehicle turns on the brake disc rust removal function, the vehicle terminal adjusts the vehicle control mode to the target control mode. The vehicle terminal obtains the wheel speed of the vehicle through the wheel speedometer of the vehicle. The vehicle terminal obtains the accelerator pedal opening through the accelerator pedal sensor and obtains the wheel radius from the storage space.

[0115] The second part, the vehicle-mounted terminal determines the real-time speed of the vehicle based on the wheel speed and wheel radius of the vehicle.

[0116] In a possible implementation manner, the vehicle-mounted terminal substitutes the wheel speed and wheel radius of the vehicle into the vehicle speed determination relationship data to obtain the real-time vehicle speed of the vehicle.

[0117] The vehicle speed determination relationship data is used to represent the corresponding relationship between the wheel speed, the wheel radius and the vehicle speed.

[0118] For example, the vehicle terminal substitutes the wheel speed and wheel radius of the vehicle into the following formula (1) to obtain the real-time speed of the vehicle. Formula (1) is the relationship data for determining the speed.

[0119] V r =2πrω (1)

[0120] Among them, V r is the real-time vehicle speed, r is the wheel radius, ω is the wheel speed, and π is the pi.

[0121] Part 3: The vehicle-mounted terminal determines the target speed of the vehicle based on the accelerator pedal opening.

[0122] In a possible implementation manner, the vehicle-mounted terminal substitutes the accelerator pedal opening into target relationship data to obtain the target vehicle speed, and the target relationship data is used to represent the corresponding relationship between the accelerator pedal opening and the target vehicle speed.

[0123] Among them, the target relationship data is obtained by fitting multiple candidate accelerator pedal openings and the candidate vehicle speeds corresponding to each candidate accelerator pedal opening. The correspondence between the candidate accelerator pedal openings and the candidate vehicle speeds is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0124] In this implementation manner, the target vehicle speed can be obtained by substituting the accelerator pedal opening into the target relationship data, and the target vehicle speed can be determined with high efficiency.

[0125] Another implementation of the third part is described below.

[0126] In a possible implementation, the vehicle terminal uses the accelerator pedal opening to query in a first data table to obtain the target vehicle speed. The first data table includes multiple candidate accelerator pedal openings and candidate vehicle speeds corresponding to each candidate accelerator pedal opening.

[0127] The first data table is a data table for storing the corresponding relationship between the accelerator pedal opening and the vehicle speed.

[0128] In this implementation, the target vehicle speed can be obtained by querying the first data table using the accelerator pedal opening, and the target vehicle speed is determined with high efficiency.

[0129] Based on the above implementation, the vehicle terminal can also perform the following steps.

[0130] In some embodiments, when the target vehicle speed corresponding to the accelerator pedal opening is not found in the first data table, the vehicle terminal obtains the first reference vehicle speed and the second reference vehicle speed from the first data table, the candidate accelerator pedal opening corresponding to the first reference vehicle speed is smaller than the accelerator pedal opening, and the candidate accelerator pedal opening corresponding to the second reference vehicle speed is larger than the accelerator pedal opening. The vehicle terminal determines the average of the first reference vehicle speed and the second reference vehicle speed as the target vehicle speed corresponding to the accelerator pedal opening.

[0131] Another implementation method of the third part is described below.

[0132] In a possible implementation, the vehicle terminal determines the opening change rate corresponding to the accelerator pedal opening, the opening change rate being used to indicate how fast the accelerator pedal opening changes, and determines the target vehicle speed based on the opening change rate and the accelerator pedal opening.

[0133] Among them, the opening change rate corresponding to the accelerator pedal opening refers to the speed of change of the opening when the vehicle's accelerator pedal changes to the accelerator pedal opening. The larger the opening change rate, the faster the accelerator pedal moves, and the driver wants the vehicle to reach a higher speed; the smaller the opening change rate, the slower the accelerator pedal moves.

[0134] In this implementation mode, the target vehicle speed is comprehensively determined using the opening change rate and the accelerator pedal opening, and the target vehicle speed is more closely matched with the driver's driving intention.

[0135] For example, the vehicle terminal determines the first accelerator pedal opening and the second accelerator pedal opening before the accelerator pedal opening changes. The time length of the change from the first accelerator pedal opening to the accelerator pedal opening is the first time length, and the time length of the change from the second accelerator pedal opening to the accelerator pedal opening is the second time length. The vehicle terminal divides the opening difference between the first accelerator pedal opening and the accelerator pedal opening by the first time length to obtain a first reference opening change rate. The vehicle terminal divides the opening difference between the second accelerator pedal opening and the accelerator pedal opening by the second time length to obtain a second reference opening change rate. The vehicle terminal determines the average of the first reference opening change rate and the second reference opening change rate as the opening change rate corresponding to the accelerator pedal opening. The vehicle terminal determines the reference speed of the vehicle based on the accelerator pedal opening. The vehicle terminal determines the speed correction coefficient of the vehicle based on the opening change rate. The vehicle-mounted terminal multiplies the reference vehicle speed by the vehicle speed correction coefficient to obtain the target vehicle speed.

[0136] Among them, the speed correction coefficient is used to correct the reference speed so that the target speed is more consistent with the driver's driving intention.

[0137] In order to more clearly illustrate the technical solution provided in the above example, the manner in which the vehicle-mounted terminal in the above example determines the reference vehicle speed based on the accelerator pedal opening is explained below.

[0138] In a possible implementation, the vehicle terminal uses the accelerator pedal opening to query in a third data table to obtain the reference vehicle speed. The third data table includes multiple candidate accelerator pedal openings and candidate reference vehicle speeds corresponding to each candidate accelerator pedal opening.

[0139] The third data table is a data table for storing the corresponding relationship between the accelerator pedal opening and the vehicle speed.

[0140] In this implementation, the reference vehicle speed can be obtained by querying the third data table using the accelerator pedal opening, and the reference vehicle speed can be determined more efficiently.

[0141] After explaining the method for the vehicle-mounted terminal to determine the reference vehicle speed, the following explains the method for the vehicle-mounted terminal to determine the vehicle speed correction coefficient of the vehicle based on the opening change rate in the above example.

[0142] In a possible implementation manner, the vehicle-mounted terminal substitutes the opening change rate into the correction coefficient relationship data to obtain the vehicle speed correction coefficient of the vehicle.

[0143] Among them, the correction coefficient relationship data is obtained by fitting multiple candidate opening change rates and candidate vehicle speed correction coefficients corresponding to each candidate opening change rate. The corresponding relationship between the candidate opening change rate and the candidate vehicle speed correction coefficient is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0144] In this implementation mode, by substituting the opening change rate into the correction coefficient relationship data, the vehicle speed correction coefficient of the vehicle can be obtained, and the speed correction coefficient can be determined more efficiently.

[0145] Another implementation of the above step 302 is described below.

[0146] In a possible implementation, when the vehicle turns on the brake disc rust removal function, the vehicle terminal adjusts the control mode of the vehicle to the target control mode and obtains the real-time speed of the vehicle through the vehicle's navigation system. The vehicle terminal obtains the accelerator pedal opening of the vehicle. The vehicle terminal determines the target speed of the vehicle based on the accelerator pedal opening.

[0147] 303. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle-mounted terminal determines a first target rust removal braking force based on the target vehicle speed.

[0148] Among them, during the process of brake disc rust removal, since the caliper is in contact with the brake disc, the process of wiping the brake disc will inevitably affect the driving of the vehicle, that is, it will generate a certain braking force on the vehicle. On this basis, if the brake disc rust removal is performed when the real-time vehicle speed is relatively low, it will seriously affect the user's driving experience, and the effect of brake disc rust removal is not good when the real-time vehicle speed is relatively low. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, it means that the real-time vehicle speed of the vehicle is relatively high. At this time, the effect of brake disc rust removal is better, and the impact on the user's driving experience is relatively small. The vehicle speed threshold is set by the technician according to the actual situation, and the embodiment of the present application does not limit this. The first target rust removal braking force is the braking force applied by the vehicle's caliper to the brake disc during the process of brake disc rust removal.

[0149] In a possible implementation, when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle terminal determines the first driving force and the second driving force corresponding to the target vehicle speed, the first driving force being the driving force before the brake disc rust removal function is turned on, the second driving force being the driving force after the brake disc rust removal function is turned on, and the second driving force being greater than or equal to the first driving force. The vehicle terminal determines the first target rust removal braking force based on the difference between the first driving force and the second driving force and the target vehicle speed.

[0150] Among them, the real-time vehicle speed is greater than or equal to the vehicle speed threshold, which means that the real-time vehicle speed is high and the brake disc can be derusted. This is because when the real-time vehicle speed is low, derusting the brake disc will significantly affect the driving experience of the vehicle. At the same time, the low real-time vehicle speed also means that the wheel speed is low, and the relative movement speed between the brake disc and the caliper is low, resulting in poor derusting effect of the brake disc. The vehicle speed threshold is set by the technician according to the actual situation, and the embodiment of the present application does not limit this. In the target control mode, the driving force corresponding to the same vehicle speed before and after the brake disc derusting function is turned on is different. This is because the vehicle will be applied with braking force during the derusting of the brake disc. Therefore, after the derusting function of the brake disc is turned on, the driving force corresponding to the vehicle speed will be adjusted to eliminate the impact of the derusting of the brake disc on the driver's driving experience as much as possible. The first target derusting braking force is related to the difference between the first driving force and the second driving force and the target vehicle speed. When the difference between the first driving force and the second driving force is large, the range of the derusting braking force that can be set is also large. In addition, when the target vehicle speed is relatively high, the range in which the rust removing braking force can be set is also relatively large. By using the above relationship, the first target rust removing braking force can be determined.

[0151] In order to explain the above implementation more clearly, the above implementation will be explained in several parts below.

[0152] Part 1: When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle-mounted terminal determines the first driving force and the second driving force corresponding to the target vehicle speed.

[0153] In a possible implementation, when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle-mounted terminal uses the target vehicle speed to query in the second data table to obtain the first driving force, the second data table includes multiple candidate vehicle speeds and candidate first driving forces and accelerations corresponding to each candidate vehicle speed, and the second data table is generated based on the collected vehicle speed, driving force and acceleration when the brake disc rust removal function is not turned on for the vehicle. The vehicle-mounted terminal uses the target vehicle speed to query in the third data table to obtain the second driving force, the third data table includes multiple candidate vehicle speeds and candidate second driving forces corresponding to each candidate vehicle speed, and the third data table is obtained based on the second data table.

[0154] Among them, the second data table and the third data table are generated during the driving process of the vehicle, and the generation method of the second data table and the third data table will be described later. The second data table and the third data table are generated during the driving process of the vehicle in consideration of the fact that the vehicle may be driven under different road conditions. Even if the brake disc rust removal function is not activated, the driving force corresponding to the same vehicle speed under different road conditions may also be different, because the target control mode is based on the vehicle speed as the control target, and the external resultant force of the vehicle under different road conditions (such as slope) is also different, so the driving force corresponding to the same vehicle speed under different road conditions may be different. Based on the above principle, the candidate vehicle speed, candidate first driving force and acceleration in the second data table can reflect the road conditions of the road on which the vehicle is traveling. Accordingly, the third data table is generated based on the second data table, so the third data table can also reflect the road conditions of the road on which the vehicle is traveling.

[0155] In this implementation, by querying the second data table and the third data table using the target vehicle speed, the first driving force and the second driving force corresponding to the target vehicle speed can be obtained, and the determination efficiency of the first driving force and the second driving force is high.

[0156] In order to explain the above embodiment more clearly, the method for generating the second data table in the above embodiment is explained below.

[0157] In a possible implementation, when the brake disc rust removal function is not turned on for the vehicle, the vehicle terminal collects the vehicle speed, driving force and acceleration during the vehicle's driving process. The vehicle terminal stores the collected vehicle speed, driving force and acceleration in a data table to obtain the second data table.

[0158] In order to explain the above embodiment more clearly, the method for generating the third data table in the above embodiment is explained below.

[0159] In a possible implementation, the vehicle terminal determines the driving force change corresponding to each candidate vehicle speed based on the acceleration corresponding to each candidate vehicle speed in the second data table. The vehicle terminal uses the driving force change corresponding to each candidate vehicle speed to update the candidate first driving force corresponding to each candidate vehicle speed in the second data table, and obtains the candidate second driving force corresponding to each candidate vehicle speed, so as to obtain the third data table.

[0160] Among them, the change in driving force is negatively correlated with acceleration, that is, the greater the acceleration, the smaller the change in driving force; the smaller the acceleration, the greater the change in driving force. This design takes into account the stability of driving force and vehicle speed.

[0161] Another implementation of the first part is described below.

[0162] In a possible implementation manner, the vehicle terminal substitutes the target vehicle speed into the first driving force determination relationship data and the second driving force determination relationship data to obtain the first driving force and the second driving force.

[0163] The first driving force determination relationship data is obtained by fitting based on a plurality of collected vehicle speeds and the collected driving forces corresponding to each vehicle speed, and the second driving force determination relationship data is determined based on the first driving force determination relationship data.

[0164] In this embodiment, the first driving force and the second driving force can be obtained by substituting the target vehicle speed into the first driving force determination relationship data and the second driving force determination relationship data. The first driving force and the second driving force are determined more efficiently.

[0165] In the second part, the vehicle-mounted terminal determines the first target rust-removing braking force based on the difference between the first driving force and the second driving force and the target vehicle speed.

[0166] In a possible implementation, the vehicle terminal determines a reference rust removal braking force based on the difference between the first driving force and the second driving force. The vehicle terminal determines a rust removal braking force correction coefficient based on the target vehicle speed. The vehicle terminal multiplies the reference rust removal braking force by the rust removal braking force correction coefficient to obtain the first target rust removal braking force.

[0167] The rust removal braking force correction coefficient is used to correct the reference rust removal braking force, so as to obtain the first target rust removal braking force.

[0168] In this embodiment, the reference rust-removing braking force is determined by the difference between the first driving force and the second driving force. The rust-removing braking force correction coefficient is determined by the target vehicle speed. The rust-removing braking force correction coefficient is multiplied by the reference rust-removing braking force to obtain the first target rust-removing braking force, which is more compatible with the driving condition of the vehicle.

[0169] In order to explain the above embodiment more clearly, the manner in which the vehicle-mounted terminal determines the reference rust-removing braking force based on the difference between the first driving force and the second driving force in the above embodiment is explained below.

[0170] In some embodiments, the vehicle terminal determines a difference range to which the difference between the first driving force and the second driving force belongs, and determines the rust removal braking force corresponding to the difference range as the reference rust removal braking force.

[0171] Among them, the corresponding relationship between the difference range and the rust removal braking force is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0172] In some embodiments, the vehicle-mounted terminal uses the difference between the first driving force and the second driving force to query among multiple candidate rust removal braking forces to obtain the reference rust removal braking force, which is the candidate rust removal braking force whose corresponding difference among the multiple candidate rust removal braking forces is the same as or closest to the difference between the first driving force and the second driving force.

[0173] The following describes the manner in which the vehicle-mounted terminal determines the rust removal braking force correction coefficient based on the target vehicle speed in the above-mentioned embodiment.

[0174] In some embodiments, the vehicle-mounted terminal substitutes the target vehicle speed into the braking force correction coefficient relationship data to obtain the rust removal braking force correction coefficient.

[0175] The braking force correction coefficient relationship data is obtained by fitting based on a plurality of candidate rust removal braking force correction coefficients and the vehicle speed corresponding to each candidate rust removal braking force correction coefficient.

[0176] In some embodiments, the vehicle-mounted terminal uses the target vehicle speed to query multiple candidate rust removal braking force correction coefficients to obtain the rust removal braking force correction coefficient, which is the candidate rust removal braking force correction coefficient among the multiple candidate rust removal braking force correction coefficients whose corresponding vehicle speed is the same as or closest to the target vehicle speed.

[0177] Among them, the corresponding relationship between the candidate rust removal braking force correction coefficient and the vehicle speed is set by the technical personnel according to the actual situation, and the embodiment of the present application does not limit this.

[0178] In addition, after step 302, when the real-time vehicle speed is less than the vehicle speed threshold, the vehicle-mounted terminal does not perform the subsequent step of determining the first target rust removal braking force.

[0179] It should be noted that after step 303, when the real-time speed of the vehicle becomes less than the speed threshold, the vehicle-mounted terminal will not turn off the brake disc rust removal function, thereby maintaining the consistency of the vehicle driving experience.

[0180] 304. The vehicle-mounted terminal removes rust from the brake disc of the vehicle based on the first target rust removal braking force.

[0181] In a possible implementation, the vehicle-mounted terminal sends a first control instruction to the brake controller, and the first control instruction carries the first target rust removal braking force. The brake controller obtains the first control instruction, and obtains the first target rust removal braking force from the first control instruction. The brake controller controls the brake system of the vehicle to output the first target rust removal braking force, thereby removing rust from the brake disc.

[0182] Optionally, after step 304 , the vehicle-mounted terminal can also execute the following steps 305 and 306 or 307 .

[0183] 305. The vehicle-mounted terminal obtains the rust removal control parameters of the vehicle.

[0184] Among them, the rust removal control parameter is a parameter used to control the rust removal process of the brake disc. In the embodiment of the present application, the rust removal control parameter includes any one of the cumulative time for rust removal of the brake disc and the brake disc temperature.

[0185] In a possible implementation, the vehicle-mounted terminal determines the cumulative duration of rust removal for the brake disc of the vehicle.

[0186] For example, in response to derusting the brake disc, the vehicle-mounted terminal starts timing the derusting process of the brake disc to obtain the accumulated duration.

[0187] In a possible implementation, the on-board terminal determines a brake disc temperature of a brake disc of the vehicle.

[0188] For example, the vehicle-mounted terminal determines the brake disc temperature through a thermocouple in contact with the brake disc, or the vehicle-mounted terminal determines the brake temperature through an infrared temperature measurement component.

[0189] 306. When the rust removal control parameter meets the preset conditions, the vehicle-mounted terminal controls the vehicle to stop rust removal on the brake disc.

[0190] In a possible implementation manner, when the accumulated time is greater than or equal to the time threshold, the vehicle-mounted terminal controls the vehicle to stop derusting the brake disc.

[0191] If the accumulated time is greater than or equal to the time threshold, it means that the time for derusting the brake disc is long, and the brake disc may overheat, thereby reducing the braking ability of the vehicle. Therefore, it is necessary to stop derusting the brake disc so that the temperature of the brake disc can be reduced. The time threshold is set by the technician according to the actual situation, and the embodiment of the present application does not limit this.

[0192] In a possible implementation manner, when the temperature of the brake disc is greater than or equal to a temperature threshold, the on-board terminal controls the vehicle to stop derusting the brake disc.

[0193] When the brake disc temperature is greater than or equal to the temperature threshold, the brake disc is overheated, which leads to a decrease in the braking ability of the vehicle. Therefore, it is necessary to stop rust removal of the brake disc so that the brake disc temperature can be reduced. The temperature threshold is set by the technician according to the actual situation and is not limited in the embodiments of the present application.

[0194] 307. In response to a change in the target vehicle speed of the vehicle, the vehicle-mounted terminal adjusts the rust removal braking force when rust removal is performed on the brake disc of the vehicle based on the changed target vehicle speed.

[0195] In a possible implementation, in response to a change in the target speed of the vehicle, the on-board terminal determines a second target rust-removing braking force based on the changed target speed. The on-board terminal determines the braking force difference between the second target rust-removing braking force and the first target rust-removing braking force. When the absolute value of the braking force difference is greater than or equal to an absolute value threshold, the on-board terminal uses a preset gradient to gradually adjust the rust-removing braking force when the brake disc of the vehicle is rust-removed to the second target rust-removing braking force. When the absolute value of the braking force difference is less than the absolute value threshold, the on-board terminal directly adjusts the rust-removing braking force when the brake disc of the vehicle is rust-removed to the second target rust-removing braking force.

[0196] Among them, in the target control mode, the accelerator pedal opening changes, and the target vehicle speed will also change. In the embodiment of the present application, the rust removal braking force when the brake disc is rusted is determined based on the target vehicle speed, so the change of the target vehicle speed will also cause the rust removal braking force to change. It should be noted that the method of determining the second target rust removal braking force based on the changed target vehicle speed and the method of determining the first target rust removal braking force based on the target vehicle speed in the above step 303 belong to the same inventive concept, and the implementation process will not be repeated. The absolute value of the braking force difference is greater than or equal to the absolute value threshold, indicating that the difference between the rust removal braking force before and after the change is large. In order to avoid excessive influence on the driving experience caused by the sudden change of the rust removal braking force, the rust removal braking force is adjusted with a certain gradient. The absolute value of the braking force difference is less than the absolute value threshold, indicating that the difference between the rust removal braking force before and after the change is small, and the change of the rust removal braking force has little influence on the driving experience, so the rust removal braking force can be directly transformed. The absolute value threshold and the preset gradient are set by the technician according to the actual situation, and the embodiment of the present application does not limit this.

[0197] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0198] Through the technical solution provided by the embodiment of the present application, when the vehicle turns on the brake disc rust removal function, the real-time vehicle speed and the target vehicle speed associated with the accelerator pedal opening are determined. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first target rust removal braking force is determined based on the target vehicle speed. The brake disc is rust-removed based on the first target rust removal braking force, thereby realizing intelligent rust removal of the brake disc using the target vehicle speed, and the effect of rust removal of the brake disc is better.

[0199] Figure 4is a schematic diagram of the structure of a vehicle brake disc rust removal device provided in an embodiment of the present application, see Figure 4 The device includes: a vehicle speed determination module 401, a rust removal braking force determination module 402 and a rust removal control module 403.

[0200] The vehicle speed determination module 401 is used to determine the real-time vehicle speed and target vehicle speed of the vehicle when the brake disc rust removal function is turned on in the vehicle. The target vehicle speed is associated with the accelerator pedal opening of the vehicle.

[0201] The rust removal braking force determination module 402 is configured to determine a first target rust removal braking force based on the target vehicle speed when the real-time vehicle speed is greater than or equal to the vehicle speed threshold.

[0202] The rust removal control module 403 is used to remove rust from the brake disc of the vehicle based on the first target rust removal braking force.

[0203] In a possible implementation, the vehicle speed determination module 401 is used to adjust the control mode of the vehicle to a target control mode and obtain the wheel speed, wheel radius and accelerator pedal opening of the vehicle when the brake disc rust removal function of the vehicle is turned on. The target control mode is a control mode that directly associates the accelerator pedal opening with the vehicle speed. The real-time vehicle speed of the vehicle is determined based on the wheel speed and wheel radius of the vehicle. The target vehicle speed of the vehicle is determined based on the accelerator pedal opening.

[0204] In a possible implementation, the vehicle speed determination module 401 is used to substitute the accelerator pedal opening into the target relationship data to obtain the target vehicle speed, and the target relationship data is used to represent the corresponding relationship between the accelerator pedal opening and the target vehicle speed. Alternatively, the accelerator pedal opening is used to query in a first data table to obtain the target vehicle speed, and the first data table includes multiple candidate accelerator pedal openings and candidate vehicle speeds corresponding to each candidate accelerator pedal opening. Alternatively, the opening change rate corresponding to the accelerator pedal opening is determined, and the opening change rate is used to represent the speed of change of the accelerator pedal opening. Based on the opening change rate and the accelerator pedal opening, the target vehicle speed is determined.

[0205] In a possible implementation, the vehicle speed determination module 401 is used to determine a reference vehicle speed of the vehicle based on the accelerator pedal opening, determine a vehicle speed correction coefficient of the vehicle based on the opening change rate, and multiply the reference vehicle speed by the vehicle speed correction coefficient to obtain the target vehicle speed.

[0206] In a possible implementation, the rust removal braking force determination module 402 is used to determine the first driving force and the second driving force corresponding to the target vehicle speed when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first driving force being the driving force before the brake disc rust removal function is turned on, the second driving force being the driving force after the brake disc rust removal function is turned on, and the second driving force being greater than or equal to the first driving force. The first target rust removal braking force is determined based on the difference between the first driving force and the second driving force and the target vehicle speed.

[0207] In a possible implementation, the rust removal braking force determination module 402 is used to query the second data table using the target vehicle speed to obtain the first driving force when the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the second data table includes multiple candidate vehicle speeds and candidate first driving forces and accelerations corresponding to each candidate vehicle speed, the second data table is generated based on the vehicle speed, driving force and acceleration collected when the brake disc rust removal function is not turned on for the vehicle. The target vehicle speed is used to query the third data table to obtain the second driving force, the third data table includes multiple candidate vehicle speeds and candidate second driving forces corresponding to each candidate vehicle speed, the third data table is obtained based on the second data table.

[0208] In a possible implementation, the device further includes a data table generating module, which is used to determine the driving force change corresponding to each candidate vehicle speed based on the acceleration corresponding to each candidate vehicle speed in the second data table. The candidate first driving force corresponding to each candidate vehicle speed in the second data table is updated using the driving force change corresponding to each candidate vehicle speed to obtain the candidate second driving force corresponding to each candidate vehicle speed, so as to obtain the third data table.

[0209] In a possible implementation, the rust removal braking force determination module 402 is used to determine a reference rust removal braking force based on the difference between the first driving force and the second driving force, determine a rust removal braking force correction coefficient based on the target vehicle speed, and multiply the reference rust removal braking force by the rust removal braking force correction coefficient to obtain the first target rust removal braking force.

[0210] In a possible implementation, the rust removal control module 403 is further used to determine the cumulative duration of rust removal on the brake disc of the vehicle. When the cumulative duration is greater than or equal to a duration threshold, the vehicle is controlled to stop rust removal on the brake disc. Alternatively, the brake disc temperature of the brake disc of the vehicle is determined. When the brake disc temperature is greater than or equal to a temperature threshold, the vehicle is controlled to stop rust removal on the brake disc.

[0211] In a possible implementation, the rust removal control module 403 is also used to determine a second target rust removal braking force based on the changed target speed in response to a change in the target speed of the vehicle. Determine the braking force difference between the second target rust removal braking force and the first target rust removal braking force. When the absolute value of the braking force difference is greater than or equal to an absolute value threshold, the rust removal braking force when the brake disc of the vehicle is rusted is gradually adjusted to the second target rust removal braking force using a preset gradient. When the absolute value of the braking force difference is less than the absolute value threshold, the rust removal braking force when the brake disc of the vehicle is rusted is directly adjusted to the second target rust removal braking force.

[0212] It should be noted that: the vehicle brake disc rust removal device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when removing rust from the brake disc. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle brake disc rust removal device provided in the above embodiment and the vehicle brake disc rust removal method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0213] Through the technical solution provided by the embodiment of the present application, when the vehicle turns on the brake disc rust removal function, the real-time vehicle speed and the target vehicle speed associated with the accelerator pedal opening are determined. When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the first target rust removal braking force is determined based on the target vehicle speed. The brake disc is rust-removed based on the first target rust removal braking force, thereby realizing intelligent rust removal of the brake disc using the target vehicle speed, and the effect of rust removal of the brake disc is better.

[0214] The embodiment of the present application also provides a vehicle, Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0215] Typically, the vehicle 500 includes: one or more processors 501 and one or more memories 502 .

[0216] The processor 501 may include one or more processing cores, such as a 4-core processor, a 5-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0217] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one computer program, which is used to be executed by the processor 501 to implement the vehicle brake disc rust removal method provided in the method embodiment of the present application.

[0218] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the vehicle 500, and the vehicle 500 may include more or less components than those shown in the figure, or combine certain components, or adopt a different arrangement of components.

[0219] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for removing rust from a vehicle brake disc provided in the above embodiment.

[0220] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for removing rust from a brake disc of a vehicle provided in the above embodiment.

[0221] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the method for removing rust from a brake disc of a vehicle provided in the above embodiment.

[0222] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0223] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0224] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0225] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for removing rust from a brake disc of a vehicle, characterized in that: The method comprises: When the brake disc rust removal function is turned on for the vehicle, determining the real-time vehicle speed and the target vehicle speed, wherein the target vehicle speed is associated with the accelerator pedal opening of the vehicle; When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining a first target rust removal braking force based on the target vehicle speed; Rust removal is performed on a brake disc of the vehicle based on the first target rust removal braking force.

2. The method according to claim 1, characterized in that When the vehicle starts the brake disc rust removal function, determining the real-time speed and the target speed of the vehicle includes: When the brake disc rust removal function is turned on for the vehicle, the control mode of the vehicle is adjusted to a target control mode and the wheel speed, wheel radius and accelerator pedal opening of the vehicle are obtained, wherein the target control mode is a control mode that directly associates the accelerator pedal opening with the vehicle speed; Determining the real-time speed of the vehicle based on the wheel speed and wheel radius of the vehicle; Based on the accelerator pedal opening, a target vehicle speed of the vehicle is determined.

3. The method according to claim 2, characterized in that The determining the target vehicle speed of the vehicle based on the accelerator pedal opening degree includes: Substituting the accelerator pedal opening into target relationship data to obtain the target vehicle speed, wherein the target relationship data is used to represent the corresponding relationship between the accelerator pedal opening and the target vehicle speed; Alternatively, the target vehicle speed is obtained by querying a first data table using the accelerator pedal opening, wherein the first data table includes a plurality of candidate accelerator pedal openings and candidate vehicle speeds corresponding to each of the candidate accelerator pedal openings; Alternatively, an opening change rate corresponding to the accelerator pedal opening is determined, wherein the opening change rate is used to indicate how fast the accelerator pedal opening changes; and the target vehicle speed is determined based on the opening change rate and the accelerator pedal opening.

4. The method according to claim 3, characterized in that: The determining the target vehicle speed based on the opening change rate and the accelerator pedal opening includes: Determining a reference speed of the vehicle based on the accelerator pedal opening; Determining a speed correction coefficient of the vehicle based on the opening change rate; The reference vehicle speed is multiplied by the vehicle speed correction coefficient to obtain the target vehicle speed.

5. The method according to claim 1, characterized in that: When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining the first target rust removal braking force based on the target vehicle speed includes: When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining a first driving force and a second driving force corresponding to the target vehicle speed, wherein the first driving force is the driving force before the brake disc rust removal function is turned on, and the second driving force is the driving force after the brake disc rust removal function is turned on, and the second driving force is greater than or equal to the first driving force; The first target rust-removing braking force is determined based on a difference between the first driving force and the second driving force and the target vehicle speed.

6. The method according to claim 5, characterized in that When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, determining the first driving force and the second driving force corresponding to the target vehicle speed includes: When the real-time vehicle speed is greater than or equal to the vehicle speed threshold, the target vehicle speed is used to query in a second data table to obtain the first driving force, the second data table includes a plurality of candidate vehicle speeds and candidate first driving forces and accelerations corresponding to the candidate vehicle speeds, and the second data table is generated based on the collected vehicle speed, driving force and acceleration when the brake disc rust removal function is not turned on for the vehicle; The target vehicle speed is used to query in a third data table to obtain the second driving force, the third data table includes multiple candidate vehicle speeds and candidate second driving forces corresponding to each of the candidate vehicle speeds, and the third data table is obtained based on the second data table.

7. The method according to claim 6, characterized in that The method for generating the third data table includes: determining a driving force change corresponding to each candidate vehicle speed based on the acceleration corresponding to each candidate vehicle speed in the second data table; The candidate first driving forces corresponding to the candidate vehicle speeds in the second data table are updated by using the driving force changes corresponding to the candidate vehicle speeds to obtain the candidate second driving forces corresponding to the candidate vehicle speeds, so as to obtain the third data table.

8. The method according to claim 5, characterized in that The determining the first target rust-removing braking force based on the difference between the first driving force and the second driving force and the target vehicle speed includes: determining a reference rust-removing braking force based on a difference between the first driving force and the second driving force; Based on the target vehicle speed, determining a rust removal braking force correction coefficient; The reference rust-removing braking force is multiplied by the rust-removing braking force correction coefficient to obtain the first target rust-removing braking force.

9. The method according to claim 1, characterized in that: After the rust removal of the brake disc of the vehicle is performed based on the first target rust removal braking force, the method further includes: Determining a cumulative duration of rust removal on a brake disc of the vehicle; and controlling the vehicle to stop rust removal on the brake disc when the cumulative duration is greater than or equal to a duration threshold; Alternatively, a brake disc temperature of a brake disc of the vehicle is determined; and when the brake disc temperature is greater than or equal to a temperature threshold, the vehicle is controlled to stop rust removal on the brake disc.

10. The method according to claim 1, characterized in that After the rust removal of the brake disc of the vehicle is performed based on the first target rust removal braking force, the method further includes: In response to a change in the target vehicle speed of the vehicle, determining a second target rust-removing braking force based on the changed target vehicle speed; determining a braking force difference between the second target rust-removing braking force and the first target rust-removing braking force; When the absolute value of the braking force difference is greater than or equal to the absolute value threshold, the rust removal braking force of the brake disc of the vehicle during rust removal is gradually adjusted to the second target rust removal braking force using a preset gradient; When the absolute value of the braking force difference is smaller than the absolute value threshold, the rust-removing braking force when rust-removing the brake disc of the vehicle is directly adjusted to the second target rust-removing braking force.

11. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the brake disc rust removal method for the vehicle as described in any one of claims 1 to 10.

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