Control method and device of electronic stability control system, electronic equipment and vehicle

Abstract

The invention is suitable for the technical field of automobiles, and provides a control method and device for an electronic stability control system, electronic equipment and a vehicle, and the method comprises the steps: obtaining the position information of a target control when the electronic stability control system of the vehicle is detected to meet an enabling condition; the target control is used for controlling the presentation degree of the function of the electronic stability control system; determining a working mode of the electronic stability control system based on the position information; and controlling the electronic stability control system to enter the working mode, and executing setting operation corresponding to the working mode. Compared with the prior art that only whether the function of the ESC system is used or not can be determined, the method has the advantages that after the ESC system meets the enabling condition, the presentation degree of the function of the ESC system can be controlled through the target control so as to meet different control requirements of the ESC system; afterwards, the ESC system can be controlled to execute set operations in different working modes, flexible control over the ESC system is achieved, and the control accuracy is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a control method, device, electronic equipment and vehicle of an electronic stability control system. Background Art

[0002] In practical applications, the Electronic Stability Control System (ESC) is an active safety technology that assists the driver in controlling the vehicle. It can automatically correct the instability of the vehicle body and help prevent accidents. Since the ESC system is sensitive to oversteering or understeering, when the ESC system determines that the vehicle steering is slipping, it will generate an opposite torque to keep the car on track. However, in some scenarios, such as sand, mud or snow, emergency acceleration, etc., the opposite torque generated by the ESC system continuing the above work will affect the user's driving experience.

[0003] The prior art usually determines whether to use the relevant functions of the ESC system by the length of time a switch used to control whether the ESC function is enabled is pressed, which is not comprehensive enough and reduces the control accuracy and flexibility of the ESC system. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, electronic device and vehicle for an electronic stability control system to solve the problem that the prior art is not comprehensive enough and reduces the control accuracy and flexibility of the ESC system.

[0005] In a first aspect, an embodiment of the present application provides a control method of an electronic stability control system, including:

[0006] When it is detected that the electronic stability control system of the vehicle meets the enabling condition, obtaining the position information of the target control; the target control is used to control the presentation degree of the function of the electronic stability control system;

[0007] determining an operating mode of the electronic stability control system based on the position information;

[0008] The electronic stability control system is controlled to enter the working mode and execute a setting operation corresponding to the working mode.

[0009] Optionally, determining the operating mode of the electronic stability control system based on the position information includes:

[0010] If the target control is in the first position, the working mode is determined to be a full-function mode; the full-function mode is used to represent a mode in which the function of the electronic stability control system is used normally;

[0011] If the target control is in the second position, the working mode is determined to be a function degradation mode; the function degradation mode is used to represent a mode for reducing the use effect of the function of the electronic stability control system;

[0012] If the target control is in the third position, it is determined that the working mode is a setting function off mode.

[0013] Optionally, controlling the electronic stability control system to enter the working mode and performing a setting operation corresponding to the working mode includes:

[0014] When the working mode is a full-function mode, controlling the electronic stability control system to output a first pressure and a first torque based on a reference mode; the reference mode is used to represent a normal working mode of the electronic stability control system;

[0015] When the working mode is a function degradation mode, controlling the electronic stability control system to output the first pressure and the first torque based on a degradation manner;

[0016] When the working mode is a setting function off mode, the electronic stability control system is controlled to turn off a target device corresponding to the lateral stability of the vehicle.

[0017] Optionally, the controlling the electronic stability control system to output the first pressure and the first torque in a degraded manner includes:

[0018] Controlling the electronic stability control system to obtain the actual wheel cylinder pressure, the master cylinder pressure, the wheel cylinder standard pressure and the wheel cylinder target pressure corresponding to the actual wheel cylinder pressure of the hydraulic system of the vehicle, and to obtain the actual torque of the engine;

[0019] controlling the electronic stability control system to calculate an error value based on the actual wheel cylinder pressure and the target wheel cylinder pressure;

[0020] Controlling the electronic stability control system to input the error value into a proportional integral differential algorithm for calculation to obtain an offset parameter;

[0021] Controlling the electronic stability control system to calculate a wheel cylinder reference pressure according to the offset parameter and the wheel cylinder standard pressure;

[0022] controlling the electronic stability control system to calculate the first pressure based on the wheel cylinder reference pressure, the wheel cylinder target pressure and the master cylinder pressure, and output the first pressure;

[0023] The electronic stability control system is controlled to calculate the first torque based on the actual torque and the offset parameter, and output the first torque.

[0024] Optionally, after controlling the electronic stability control system to enter the working mode and performing a setting operation corresponding to the working mode, the method further includes:

[0025] Acquire a first pressure output by the electronic stability control system and a second pressure output by another system of the vehicle;

[0026] Calculating a target pressure based on the first pressure and the second pressure;

[0027] If the target pressure is greater than the current actual pressure of the vehicle, performing a pressurization operation on the vehicle;

[0028] If the target pressure is less than the current actual pressure, performing a decompression operation on the vehicle;

[0029] If the target pressure is equal to the current actual pressure, a pressure maintaining operation is performed on the vehicle.

[0030] Optionally, whether the electronic stability control system meets the enabling condition is determined according to the following method:

[0031] Obtaining the speed of the vehicle;

[0032] If the vehicle speed is less than a set threshold, activating the electronic stability control system;

[0033] If the anti-lock braking system, the traction control system and the vehicle dynamics controller of the vehicle are not in an intervention state, it is determined that the electronic stability control system meets the enabling condition.

[0034] Optionally, after obtaining the speed of the vehicle, the method further includes:

[0035] If the vehicle is greater than or equal to the set threshold, controlling the electronic stability control system to be in a closed state;

[0036] After activating the electronic stability control system, the method further includes:

[0037] If the anti-lock braking system, the traction control system, or the vehicle dynamics controller is in the intervention state, the electronic stability control system is turned off.

[0038] In a second aspect, an embodiment of the present application provides a control device for an electronic stability control system, comprising:

[0039] A first acquisition unit is used to acquire position information of a target control when it is detected that the electronic stability control system of the vehicle meets an enabling condition; the target control is used to control the presentation degree of the function of the electronic stability control system;

[0040] a first mode determination unit, configured to determine an operating mode of the electronic stability control system based on the position information;

[0041] The first control unit is used to control the electronic stability control system to enter the working mode and perform a setting operation corresponding to the working mode.

[0042] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements a control method for an electronic stability control system as described in any one of the first aspects above.

[0043] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the electronic stability control system as described in any one of the above-mentioned first aspects is implemented.

[0044] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device can execute the control method of the electronic stability control system described in any one of the first aspects above.

[0045] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an electronic device, wherein the electronic device is used to execute a control method of an electronic stability control system as described in any one of the first aspects.

[0046] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0047] The embodiment of the present application provides a control method for an electronic stability control system, which obtains the position information of a target control when it is detected that the electronic stability control system of the vehicle meets the enabling conditions; the target control is used to control the degree of presentation of the functions of the electronic stability control system; based on the position information, the working mode of the electronic stability control system is determined; the electronic stability control system is controlled to enter the working mode, and the setting operation corresponding to the working mode is performed. Compared with the prior art that can only determine whether to use the functions of the ESC system, the present application can control the degree of presentation of the functions of the ESC system through the target control after the ESC system meets the enabling conditions to meet different control requirements of the ESC system; then the working mode of the ESC system at this time can be flexibly determined according to the position of the target control to control the ESC system to perform the setting operation under the working mode, which can realize flexible control of the ESC system and improve the control accuracy of the ESC system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 is a flow chart of an implementation method of a control method of an electronic stability control system provided by an embodiment of the present application;

[0050] Figure 2 is a flow chart of an implementation method of an electronic stability control system provided by another embodiment of the present application;

[0051] Figure 3 is a flow chart of an implementation method of an electronic stability control system provided by yet another embodiment of the present application;

[0052] Figure 4 is a flow chart of an implementation method of an electronic stability control system provided by another embodiment of the present application;

[0053] Figure 5 is a flow chart of an implementation method of an electronic stability control system provided by another embodiment of the present application;

[0054] Figure 6 is a schematic diagram of performing a boost operation provided by an embodiment of the present application;

[0055] Figure 7 is a schematic diagram of performing a decompression operation provided by an embodiment of the present application;

[0056] Figure 8 is a schematic diagram of performing a pressure-maintaining operation provided by an embodiment of the present application;

[0057] Fig. 9 is a schematic diagram of the structure of a control device of an electronic stability control system provided by an embodiment of the present application;

[0058] Fig.10 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0059] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0060] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0061] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0062] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0063] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0064] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0065] In practical applications, the Electronic Stability Control System (ESC) is an active safety technology that assists the driver in controlling the vehicle. It can automatically correct the instability of the vehicle body and help prevent accidents. Since the ESC system is sensitive to oversteering or understeering, when the ESC system determines that the vehicle steering is slipping, it will generate an opposite torque to keep the car on track. However, in some scenarios, such as sand, mud or snow, emergency acceleration, etc., the opposite torque generated by the ESC system continuing the above work will affect the user's driving experience.

[0066] Therefore, the present application proposes a control method for an electronic stability control system, which can determine the performance of the ESC system under different requirements through a control unit, thereby realizing flexible control of the ESC system. The method will be described in detail with specific embodiments below.

[0067] It should be noted that in all embodiments of the present application, the vehicle is provided with a target control, which is used to control the presentation degree of the function of the electronic stability control system. The target control may be a button.

[0068] See also Figure 1 , Figure 1 This is a flowchart of a control method for an electronic stability control system provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the control method for the electronic stability control system is an electronic device. The electronic device may be an electronic control unit (ECU) or other device in the vehicle that can control the ESC system.

[0069] In practical applications, ECU is also called "driving computer" or "on-board computer". In terms of usage, it is a microcomputer controller for automobiles, also called a single-chip microcomputer for automobiles. Like ordinary single-chip microcomputers, it consists of a microprocessor (CPU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits such as shaping and driving.

[0070] like Figure 1 As shown, the control method of the electronic stability control system provided by an embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0071] In S101, when it is detected that the electronic stability control system of the vehicle meets the enabling condition, the position information of the target control is acquired; the target control is used to control the presentation degree of the function of the electronic stability control system.

[0072] In practical applications, enabling means allowing a pin, chip or module of an electronic device to start a preset function or enter a preset state. It is an "allowed" state or signal, that is, a signal that allows a device or system to perform a certain function.

[0073] Therefore, in the embodiment of the present application, the electronic stability control system meeting the enabling condition may be that the electronic stability control system is in a functionally usable state.

[0074] In one embodiment of the present application, in order to accurately detect whether the electronic stability control system meets the enabling conditions, the electronic device may specifically perform the following steps: Figure 2 The steps S201 to S203 are described in detail as follows:

[0075] In S201, the vehicle speed of the vehicle is obtained.

[0076] In this embodiment, after obtaining the vehicle speed, the electronic device may compare the vehicle speed with a set threshold value, wherein the set threshold value may be determined according to actual needs and is not limited here.

[0077] For example, the threshold value may be set according to the vehicle speed when the electronic stability system is activated in actual application.

[0078] In one embodiment of the present application, when the electronic device detects that the vehicle speed is less than a set threshold, it can execute steps S202 to S203.

[0079] In another embodiment of the present application, when the electronic device detects that the vehicle speed is greater than or equal to a set threshold, it indicates that the electronic stability system does not need to intervene in the control of the vehicle at this time. Therefore, the electronic device can control the electronic stability system to be in an off state.

[0080] In S202 , if the vehicle speed is less than a set threshold, the electronic stability control system is activated.

[0081] In this embodiment, when the electronic device detects that the vehicle speed is less than a set threshold, it indicates that the electronic stability system needs to intervene in the control of the vehicle, and therefore, the electronic device may activate the electronic stability system.

[0082] After activating the electronic stability control system, the electronic device can monitor in real time whether the vehicle's anti-lock braking system, traction control system or vehicle dynamics controller is in an intervention state, that is, whether the anti-lock braking system, traction control system or vehicle dynamics controller has intervened in the control of the vehicle.

[0083] In practical applications, the Anti-lock Brake System (ABS) tries to convert the sliding friction between the wheels and the ground into static friction as much as possible when the vehicle brakes (at this time, the contact part of the wheels and the ground remains relatively still, the vehicle does not stop, the wheels are not locked but rolling, and the braking system can apply a braking force on the wheels that is within the maximum static friction force. At this time, the static friction between the rotating wheels and the ground is rolling friction) to increase the braking force.

[0084] Traction Control System (TCS), also known as ASR or TRC, is used to ensure that the vehicle can obtain the best traction under various driving conditions.

[0085] The Vehicle Dynamics Controller (VDC) is a system that can actively intervene and regulate the dynamic behavior of the vehicle when the vehicle is on the verge of losing control.

[0086] In one embodiment of the present application, when the electronic device detects that the anti-lock braking system, the traction control system and the vehicle dynamics controller are not in an intervention state, step S203 may be executed.

[0087] In another embodiment of the present application, when the electronic device detects that the anti-lock braking system, the traction control system or the vehicle dynamics controller is in an intervention state, it indicates that the anti-lock braking system, the traction control system or the vehicle dynamics controller has intervened in the control of the vehicle, that is, there is no need to use the function of the electronic stability control system. Therefore, at this time, the electronic device can turn off the electronic stability control system.

[0088] In S203 , if the anti-lock braking system, the traction control system and the vehicle dynamics controller of the vehicle are not in an intervention state, it is determined that the electronic stability control system meets the enabling condition.

[0089] In this embodiment, when the electronic device detects that the anti-lock braking system, the traction control system and the vehicle dynamics controller are not in an intervention state, it means that at this time the anti-lock braking system, the traction control system and the vehicle dynamics controller are not involved in the control of the vehicle, that is, the function of the electronic stability control system is used at this time. Therefore, the electronic device can determine that the electronic stability control system meets the enabling conditions.

[0090] In the embodiment of the present application, the electronic device may obtain the position information of the target control after detecting that the electronic stability control system meets the enabling conditions.

[0091] The above-mentioned location information includes but is not limited to: a first location, a second location and a third location.

[0092] It should be noted that the above-mentioned different positions are used to characterize different performances of the electronic stability control system, that is, the degree of presentation of the functions of the electronic stability control system.

[0093] Exemplarily, the first position is used to characterize that all functions of the electronic stability control system are presented normally; the second position is used to characterize that the functions of the electronic stability control system are presented in a degraded manner, that is, the functional effect of the electronic stability control system is lower than the effect when all functions are presented normally; the third position is used to characterize that some functions of the electronic stability control system (such as the function for achieving lateral stability of the vehicle) are turned off.

[0094] In one implementation of the embodiment of the present application, after detecting that the electronic stability control system meets the enabling conditions, the electronic device can output prompt information for prompting the user to control the target control. After receiving the prompt information, the user can press the target control. When the electronic device detects that the target control is pressed, it can detect the number of times it is pressed and determine the position information of the target control according to the number of times.

[0095] Exemplarily, when the electronic device detects that the above number is equal to 1, it can determine that the target control is in the first position; when the electronic device detects that the above number is equal to 2, it can determine that the target control is in the second position; when the electronic device detects that the above number is equal to 3, it can determine that the target control is in the third position.

[0096] In another implementation of the embodiment of the present application, after detecting that the electronic stability control system meets the enabling conditions, the electronic device can obtain the environmental information of the vehicle and determine the scene mode of the vehicle according to the environmental information. The scene modes include but are not limited to: normal mode, sand mode, snow mode, muddy mode, emergency acceleration mode and other modes. The normal mode is used to represent the mode of normal driving of the vehicle on the road.

[0097] Afterwards, the electronic device can control the target control to move to a position corresponding to the scene mode according to the scene mode that the vehicle is in at the moment, thereby obtaining the position information of the target control.

[0098] In this embodiment, when the vehicle is in normal mode, the electronic device can control the target control to move to a first position; when the vehicle is in sand mode, snow mode, muddy mode or emergency acceleration mode, the electronic device can control the target control to move to a second position; when the vehicle is in other modes, the electronic device can control the target control to move to a third position.

[0099] In S102 , based on the position information, an operating mode of the electronic stability control system is determined.

[0100] In the embodiment of the present application, different position information corresponds to different working modes of the electronic stability control system, wherein the working modes include but are not limited to: full function mode, function degradation mode and setting function off mode.

[0101] It should be noted that the full-function mode is used to represent a mode in which the use effect of the functions of the electronic stability control system is normal (i.e., all functions are normally presented). The function-degraded mode is used to represent a mode in which the use effect of the functions of the electronic stability control system is reduced (i.e., the function effect at this time is lower than the effect when all functions are normally presented).

[0102] In one embodiment of the present application, combined with S101, since the position information includes the first position, the second position and the third position, and the first position is used to represent that all functions of the electronic stability control system are normally presented, the second position is used to represent that the functions of the electronic stability control system are degraded, that is, the functional effect of the electronic stability control system at this time is lower than the effect when all functions are normally presented, and the third position is used to represent that some functions of the electronic stability control system (such as the function for achieving the lateral stability of the vehicle) are turned off. Therefore, when the electronic device detects that the target control is in the first position, it can determine that the working mode of the electronic stability control system at this time is the full-function mode; when the electronic device detects that the target control is in the second position, it can determine that the working mode of the electronic stability control system at this time is the function-degraded mode; when the electronic device detects that the target control is in the third position, it can determine that the working mode of the electronic stability control system at this time is the set function-off mode.

[0103] In S103, the electronic stability control system is controlled to enter the working mode, and a setting operation corresponding to the working mode is performed.

[0104] In the embodiment of the present application, after determining the working mode of the electronic stability control system, the electronic device can control the electronic stability control system to enter the working mode, and control the electronic stability control system to perform setting operations corresponding to the working mode.

[0105] It should be noted that the setting operation includes but is not limited to: outputting the first pressure and the first torque based on the reference mode, outputting the first pressure and the first torque based on the degraded mode, and shutting down the target device corresponding to the lateral stability of the vehicle. The reference mode is used to represent the normal working mode of the electronic stability control system, that is, the working mode of the electronic stability control system when the function is not restricted. The degraded mode represents the working mode of the electronic stability control system when the function is restricted.

[0106] In one embodiment of the present application, the electronic device can specifically be Figure 3 The steps S301 to S303 shown execute step S103, which is described in detail as follows:

[0107] In S301, when the working mode is the full-function mode, the electronic stability control system is controlled to output a first pressure and a first torque based on a reference mode; the reference mode is used to represent a normal working mode of the electronic stability control system.

[0108] In this embodiment, when the electronic device detects that the working mode of the electronic stability control system is the full-function mode, it indicates that the functions of the electronic stability control system need to be fully presented at this time. Therefore, the electronic device can control the electronic stability control system to output the first pressure and the first torque based on a reference method.

[0109] In this embodiment, the electronic stability control system can specifically obtain the actual wheel cylinder pressure, master cylinder pressure, wheel cylinder standard pressure and wheel cylinder target pressure corresponding to the actual wheel cylinder pressure of the vehicle's hydraulic system, and obtain the actual torque of the engine; thereafter, the electronic stability control system can import the above-mentioned wheel cylinder actual pressure, master cylinder pressure, wheel cylinder standard pressure, wheel cylinder target pressure, and actual torque into the initial ESC control algorithm for calculation, obtain the above-mentioned first pressure and first torque, and output the first pressure and first torque.

[0110] It should be noted that the above-mentioned wheel cylinder standard pressure specifically refers to the wheel cylinder stage pressure corresponding to the vehicle stage at which the actual wheel cylinder pressure is located in the standard calibration table.

[0111] The wheel cylinder target pressure specifically refers to the wheel cylinder expected pressure that the hydraulic system of the vehicle is expected to achieve at the current moment. The current moment specifically refers to the moment when the actual wheel cylinder pressure is obtained.

[0112] In S302 , when the working mode is a function degradation mode, the electronic stability control system is controlled to output the first pressure and the first torque based on a degradation manner.

[0113] In this embodiment, when the electronic device detects that the working mode of the electronic stability control system is the function degradation mode, it indicates that the function of the electronic stability control system needs to be degraded at this time, that is, it is necessary to reduce the impact of the ESC system on the vehicle driving process. Therefore, the electronic device can control the electronic stability control system to output the first pressure and the first torque based on the degraded mode.

[0114] In one embodiment of the present application, since the ESC system needs to be corrected to a less sensitive state at this time to achieve a smaller impact of the ESC function on the vehicle driving process, in order to improve the user experience, the electronic stability control system can be specifically implemented as follows: Figure 4 Steps S401 to S406 shown output the first pressure and the first torque, as described in detail below:

[0115] In S401, the actual wheel cylinder pressure, the master cylinder pressure, the wheel cylinder standard pressure and the wheel cylinder target pressure corresponding to the actual wheel cylinder pressure of the hydraulic system of the vehicle are acquired, and the actual torque of the engine is acquired.

[0116] In S402, an error value is calculated based on the wheel cylinder actual pressure and the wheel cylinder target pressure.

[0117] In S403, the error value is input into a proportional-integral-differential algorithm for calculation to obtain an offset parameter.

[0118] In S404, a wheel cylinder reference pressure is calculated based on the offset parameter and the wheel cylinder standard pressure.

[0119] In S405 , the first pressure is calculated based on the wheel cylinder reference pressure, the wheel cylinder target pressure, and the master cylinder pressure, and the first pressure is output.

[0120] In S406 , the first torque is calculated based on the actual torque and the offset parameter, and the first torque is output.

[0121] It should be noted that the standard wheel cylinder pressure specifically refers to the wheel cylinder stage pressure corresponding to the vehicle stage at which the actual wheel cylinder pressure is located in the standard calibration table.

[0122] The wheel cylinder target pressure specifically refers to the wheel cylinder expected pressure that the hydraulic system of the vehicle is expected to achieve at the current moment. The current moment specifically refers to the moment when the actual wheel cylinder pressure is obtained.

[0123] In this embodiment, the electronic stability control system may determine the difference between the actual wheel cylinder pressure and the target wheel cylinder pressure as the error value.

[0124] Afterwards, the electronic stability control system can input the above error value into the proportional integral differential algorithm for calculation to obtain the offset parameter.

[0125] Specifically, the proportional integral differential algorithm is as follows:

[0126]

[0127] Among them, K p Represents the proportionality coefficient, K i Indicates the integral coefficient, T i Indicates the integration time, K d represents the differential coefficient, T d represents the differential time, P(t) represents the offset parameter, and e(τ) represents the error value.

[0128] In this embodiment, after obtaining the offset parameter, the electronic stability control system may calculate the first torque based on the offset parameter and the actual torque of the engine, and output the first torque.

[0129] In some possible embodiments, the electronic stability control system may determine the first torque as the product of the offset parameter and the actual torque.

[0130] In this embodiment, the electronic stability control system may further multiply the offset parameter and the standard pressure of the wheel cylinder, and determine the product obtained by the multiplication as the reference pressure of the wheel cylinder.

[0131] Thereafter, the electronic stability control system may calculate a first pressure based on the wheel cylinder reference pressure, the wheel cylinder target pressure, and the master cylinder pressure, and output the first pressure.

[0132] In some possible embodiments, the electronic stability control system may perform a weighted summation on the wheel cylinder reference pressure, the wheel cylinder target pressure, and the master cylinder pressure, determine the sum value obtained by the summation as the first pressure, and output the first pressure.

[0133] In this embodiment, since the wheel cylinder reference pressure is calculated based on the offset parameter and the wheel cylinder standard pressure, the curve of the wheel cylinder reference pressure is flatter than the curve of the wheel cylinder actual pressure, that is, the ESC system is adjusted to a more insensitive state with respect to pressure changes, thereby achieving the purpose of reducing the influence of the ESC function on the vehicle driving process.

[0134] In S303, when the working mode is the setting function off mode, the electronic stability control system is controlled to turn off a target device corresponding to the lateral stability of the vehicle.

[0135] In this embodiment, when the electronic device detects that the working mode of the electronic stability control system is the set function off mode, it means that the vehicle lateral stability function in the electronic stability control system needs to be turned off at this time. Therefore, the electronic device can control the electronic stability control system to turn off the target device corresponding to the vehicle lateral stability.

[0136] It should be noted that the target device may be one or more.

[0137] The target device may be various devices corresponding to the lateral stability of the vehicle in the electronic stability control system according to actual applications.

[0138] From the above, it can be seen that the control method of an electronic stability control system provided by the embodiment of the present application obtains the position information of the target control when it is detected that the electronic stability control system of the vehicle meets the enabling conditions; the target control is used to control the degree of presentation of the functions of the electronic stability control system; based on the position information, the working mode of the electronic stability control system is determined; the electronic stability control system is controlled to enter the working mode, and the setting operation corresponding to the working mode is performed. Compared with the prior art that can only determine whether to use the functions of the ESC system, the present application can control the degree of presentation of the functions of the ESC system through the target control after the ESC system meets the enabling conditions to meet different control requirements of the ESC system; then the working mode of the ESC system at this time can be flexibly determined according to the position of the target control to control the ESC system to perform the setting operation under the working mode, which can realize flexible control of the ESC system and improve the control accuracy of the ESC system.

[0139] In one embodiment of the present application, since the pressure ultimately required by the vehicle is not only related to the electronic stability control system, but also to other systems in the vehicle (other systems with pressure requirements other than the electronic stability control system, such as the braking system, etc.), in order to improve the control accuracy of the vehicle, the electronic device can specifically perform the following steps: Figure 5 Steps S501 to S505 are shown.

[0140] Based on this, see Figure 5 , Figure 5 FIG. 1 is a flow chart of a control method for an electronic stability control system provided by another embodiment of the present application. Figure 1 Corresponding embodiment, this embodiment may further include S501 to S505 after S103, which are described in detail as follows:

[0141] In S501 , a first pressure output by the electronic stability control system and a second pressure output by another system of the vehicle are acquired.

[0142] In S502 , a target pressure is calculated based on the first pressure and the second pressure.

[0143] In an implementation of this embodiment, the electronic device may directly determine the sum of the first pressure and the second pressure as the final target pressure of the vehicle.

[0144] In another implementation of this embodiment, the electronic device may perform a weighted summation on the first pressure and the second pressure, and determine the sum value obtained by the summation as the final target pressure of the vehicle.

[0145] In this embodiment, after obtaining the target pressure, the electronic device may compare the target pressure with the current actual pressure of the vehicle.

[0146] In S303, if the target pressure is greater than the current actual pressure of the vehicle, a boost operation is performed on the vehicle.

[0147] In this embodiment, when the electronic device detects that the target pressure is greater than the current actual pressure of the vehicle, it means that the current actual pressure of the vehicle is relatively small and has not yet reached the target pressure required by the vehicle. Therefore, the electronic device can control the actuator module in the vehicle based on the target pressure to achieve the boost operation of the vehicle.

[0148] The actuator module includes but is not limited to: a pressure reducing valve dump, a pressure boosting valve ISO, a reversing valve TC, a pressure limiting valve ESV, a drive motor, a hydraulic pump, a damper, a voltage stabilizer, an accumulator, and brake hydraulic pipelines and other devices.

[0149] Specifically, the boost operation includes: the pump motor is energized, the ESV valve is energized to open, so that the brake fluid is pumped out from the master cylinder; the TC valve is energized to close, preventing the brake fluid from flowing back into the master cylinder; the boost valve is normally open and the pressure reducing valve is normally closed, so that the brake fluid gathers at the wheel end, the wheel cylinder pressure increases, and braking force is generated.

[0150] For example, see Figure 6 , Figure 6 FIG. 1 is a schematic diagram of performing a boost operation provided by an embodiment of the present application. Figure 6 As shown in the figure, the bold lines (including black and gray) are the flow direction of the brake fluid performing the boost operation, FL refers to the front left wheel of the vehicle, FR refers to the front right wheel of the vehicle, RL refers to the rear left wheel of the vehicle, and RR refers to the rear right wheel of the vehicle.

[0151] In S504, if the target pressure is less than the current actual pressure, a decompression operation is performed on the vehicle.

[0152] In this embodiment, when the electronic device detects that the target pressure is lower than the current actual pressure of the vehicle, it indicates that the current actual pressure of the vehicle is relatively large and exceeds the target pressure required by the vehicle. Therefore, the electronic device can control the actuator module in the vehicle based on the target pressure to achieve a decompression operation on the vehicle.

[0153] Specifically, the decompression operation includes: the pump motor is not powered, the ESV valve is normally closed, so that the brake fluid cannot be output from the master cylinder; the TC valve is normally open, so that the brake fluid can flow back to the master cylinder; the boost valve is normally open and the pressure reducing valve is normally closed, so that the wheel-end brake fluid flows back to the master cylinder, the wheel cylinder pressure is reduced, and the braking force is weakened.

[0154] For example, see Figure 7 , Figure 7 FIG. 1 is a schematic diagram of performing a decompression operation provided by an embodiment of the present application. Figure 7 As shown in the figure, the bold lines (black bold lines) are the flow direction of the brake fluid performing the decompression operation, FL refers to the front left wheel of the vehicle, FR refers to the front right wheel of the vehicle, RL refers to the rear left wheel of the vehicle, and RR refers to the rear right wheel of the vehicle.

[0155] In S505 , if the target pressure is equal to the current actual pressure, a pressure maintaining operation is performed on the vehicle.

[0156] In this embodiment, when the electronic device detects that the target pressure is equal to the current actual pressure of the vehicle, it means that the current actual pressure of the vehicle is equal to the target pressure required by the vehicle. In other words, the electronic device does not need to perform a pressurization operation or a depressurization operation on the vehicle at this time. Therefore, in order to ensure that the current actual pressure of the vehicle is continuously equal to the target pressure required by the vehicle, the electronic device can control the actuator module in the vehicle based on the target pressure to achieve a pressure-maintaining operation on the vehicle.

[0157] Specifically, the pressure maintaining operation includes: the pump motor is de-energized, the ESV valve is energized and opened, so that the brake fluid is pumped out of the master cylinder; the TC valve is energized and closed to prevent the brake fluid from flowing back into the master cylinder; the boost valve is energized and closed, and the pressure reducing valve is normally closed, so that the wheel-end brake fluid cannot flow into the hydraulic pipeline, the wheel-end pressure is stable, and the braking force remains unchanged.

[0158] For example, see Figure 8 , Figure 8 FIG. 1 is a schematic diagram of performing a pressure holding operation provided by an embodiment of the present application. Figure 8 As shown in the figure, the bold lines (including gray and black) are the flow direction of the brake fluid performing the pressure maintaining operation, FL refers to the front left wheel of the vehicle, FR refers to the front right wheel of the vehicle, RL refers to the rear left wheel of the vehicle, and RR refers to the rear right wheel of the vehicle.

[0159] It can be seen from the above that the control method of the electronic stability control system provided in this embodiment can improve the control accuracy of the vehicle.

[0160] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0161] Corresponding to the control method of an electronic stability control system described in the above embodiment, Fig. 9 The structure diagram of a control device of an electronic stability control system provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Fig. 9 The control device 600 of the electronic stability control system includes: a first acquisition unit 61, a first mode determination unit 62 and a first control unit 63. Among them:

[0162] The first acquisition unit 61 is used to acquire the position information of the target control when it is detected that the electronic stability control system of the vehicle meets the enabling condition; the target control is used to control the presentation degree of the function of the electronic stability control system.

[0163] The first mode determination unit 62 is configured to determine an operation mode of the electronic stability control system based on the position information.

[0164] The first control unit 63 is used to control the electronic stability control system to enter the working mode and perform setting operations corresponding to the working mode.

[0165] In one embodiment of the present application, the first mode determination unit 62 specifically includes: a second mode determination unit, a third mode determination unit and a fourth mode determination unit. Among them:

[0166] The second mode determination unit is used for determining that the working mode is a full-function mode if the target control is in a first position; the full-function mode is used for representing a mode in which the use effect of the function of the electronic stability control system is normal.

[0167] The third mode determination unit is used for determining that the working mode is a function degradation mode if the target control is in the second position; the function degradation mode is used for representing a mode for reducing the use effect of the function of the electronic stability control system.

[0168] The fourth mode determination unit is used to determine that the working mode is a setting function off mode if the target control is in a third position.

[0169] In one embodiment of the present application, the first control unit 63 specifically includes: a second control unit, a third control unit and a fourth control unit. Among them:

[0170] The second control unit is used for controlling the electronic stability control system to output a first pressure and a first torque based on a reference mode when the working mode is a full-function mode; the reference mode is used for representing a normal working mode of the electronic stability control system.

[0171] The third control unit is used for controlling the electronic stability control system to output the first pressure and the first torque based on a degraded manner when the working mode is a function degraded mode.

[0172] The fourth control unit is used for controlling the electronic stability control system to turn off a target device corresponding to the lateral stability of the vehicle when the working mode is a setting function off mode.

[0173] In one embodiment of the present application, the third control unit specifically includes: a fifth control unit, a sixth control unit, a seventh control unit, an eighth control unit, a ninth control unit and a tenth control unit.

[0174] in:

[0175] The fifth control unit is used to control the electronic stability control system to obtain the actual wheel cylinder pressure, master cylinder pressure, wheel cylinder standard pressure and wheel cylinder target pressure corresponding to the actual wheel cylinder pressure of the vehicle's hydraulic system, and obtain the actual torque of the engine.

[0176] The sixth control unit is used for controlling the electronic stability control system to calculate an error value based on the wheel cylinder actual pressure and the wheel cylinder target pressure.

[0177] The seventh control unit is used to control the electronic stability control system to input the error value into a proportional integral differential algorithm for calculation to obtain an offset parameter.

[0178] The eighth control unit is used to control the electronic stability control system to calculate the wheel cylinder reference pressure according to the offset parameter and the wheel cylinder standard pressure.

[0179] A ninth control unit is used to control the electronic stability control system to calculate the first pressure based on the wheel cylinder reference pressure, the wheel cylinder target pressure and the master cylinder pressure, and output the first pressure.

[0180] The tenth control unit is used to control the electronic stability control system to calculate the first torque based on the actual torque and the offset parameter, and output the first torque.

[0181] In one embodiment of the present application, the control device 600 of the electronic stability control system further includes: a second acquisition unit, a calculation unit, a first execution unit, a second execution unit and a third execution unit.

[0182] The second acquisition unit is used to acquire a first pressure output by the electronic stability control system and a second pressure output by other systems of the vehicle.

[0183] The calculation unit is used to calculate a target pressure based on the first pressure and the second pressure.

[0184] The first execution unit is configured to execute a pressurization operation on the vehicle if the target pressure is greater than a current actual pressure of the vehicle.

[0185] The second execution unit is configured to execute a decompression operation on the vehicle if the target pressure is less than the current actual pressure.

[0186] The third execution unit is configured to execute a pressure-maintaining operation on the vehicle if the target pressure is equal to the current actual pressure.

[0187] In one embodiment of the present application, the control device 600 of the electronic stability control system further includes: a third acquisition unit, an activation unit and a determination unit.

[0188] The third acquisition unit is used to acquire the vehicle speed of the vehicle.

[0189] The activation unit is used for activating the electronic stability control system if the vehicle speed is less than a set threshold.

[0190] The determination unit is configured to determine that the electronic stability control system meets the enabling condition if the anti-lock braking system, the traction control system, and the vehicle dynamics controller of the vehicle are not in an intervention state.

[0191] In one embodiment of the present application, the control device 600 of the electronic stability control system further includes: an eleventh control unit and a shutdown unit.

[0192] The eleventh control unit is used for controlling the electronic stability control system to be in an off state if the vehicle is greater than or equal to the set threshold.

[0193] The shut-down unit is configured to shut down the electronic stability control system if the anti-lock braking system, the traction control system or the vehicle dynamics controller is in the intervention state.

[0194] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0195] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0196] Fig.10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.10 As shown, the electronic device 7 of this embodiment includes: at least one processor 70 ( Fig.10 Only one is shown in the figure) a processor, a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, and when the processor 70 executes the computer program 72, the steps in any of the above-mentioned control method embodiments of the electronic stability control system are implemented.

[0197] The electronic device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Fig.10It is only an example of the electronic device 7 and does not constitute a limitation on the electronic device 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0198] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0199] In some embodiments, the memory 71 may be an internal storage unit of the electronic device 7, such as the memory of the electronic device 7. In other embodiments, the memory 71 may also be an external storage device of the electronic device 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the electronic device 7. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0200] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0201] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0202] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to an electronic device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0203] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0204] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for an electronic stability control system, characterized in that: include: When it is detected that the electronic stability control system of the vehicle meets the enabling condition, obtaining the position information of the target control; The target control is used to control the presentation degree of the function of the electronic stability control system; determining an operating mode of the electronic stability control system based on the position information; The electronic stability control system is controlled to enter the working mode and execute a setting operation corresponding to the working mode.

2. The control method of the electronic stability control system according to claim 1, characterized in that: The determining the working mode of the electronic stability control system based on the position information includes: If the target control is in the first position, the working mode is determined to be a full-function mode; the full-function mode is used to represent a mode in which the function of the electronic stability control system is used normally; If the target control is in the second position, the working mode is determined to be a function degradation mode; the function degradation mode is used to represent a mode for reducing the use effect of the function of the electronic stability control system; If the target control is in the third position, it is determined that the working mode is a setting function off mode.

3. The control method of the electronic stability control system according to claim 1, characterized in that: The controlling the electronic stability control system to enter the working mode and executing a setting operation corresponding to the working mode includes: When the working mode is a full-function mode, controlling the electronic stability control system to output a first pressure and a first torque based on a reference mode; the reference mode is used to represent a normal working mode of the electronic stability control system; When the working mode is a function degradation mode, controlling the electronic stability control system to output the first pressure and the first torque based on a degradation manner; When the working mode is a setting function off mode, the electronic stability control system is controlled to turn off a target device corresponding to the lateral stability of the vehicle.

4. The control method of the electronic stability control system according to claim 3, characterized in that: The controlling the electronic stability control system to output the first pressure and the first torque based on a degraded manner includes: Controlling the electronic stability control system to obtain the actual wheel cylinder pressure, the master cylinder pressure, the wheel cylinder standard pressure and the wheel cylinder target pressure corresponding to the actual wheel cylinder pressure of the hydraulic system of the vehicle, and to obtain the actual torque of the engine; Controlling the electronic stability control system to calculate an error value based on the actual wheel cylinder pressure and the target wheel cylinder pressure; Controlling the electronic stability control system to input the error value into a proportional integral differential algorithm for calculation to obtain an offset parameter; Controlling the electronic stability control system to calculate a wheel cylinder reference pressure according to the offset parameter and the wheel cylinder standard pressure; controlling the electronic stability control system to calculate the first pressure based on the wheel cylinder reference pressure, the wheel cylinder target pressure and the master cylinder pressure, and output the first pressure; The electronic stability control system is controlled to calculate the first torque based on the actual torque and the offset parameter, and output the first torque.

5. The control method of the electronic stability control system according to claim 1, characterized in that: After controlling the electronic stability control system to enter the working mode and performing a setting operation corresponding to the working mode, the method further includes: Acquire a first pressure output by the electronic stability control system and a second pressure output by another system of the vehicle; Calculating a target pressure based on the first pressure and the second pressure; If the target pressure is greater than the current actual pressure of the vehicle, performing a pressurization operation on the vehicle; If the target pressure is less than the current actual pressure, performing a decompression operation on the vehicle; If the target pressure is equal to the current actual pressure, a pressure maintaining operation is performed on the vehicle.

6. The control method of the electronic stability control system according to any one of claims 1 to 5, characterized in that: Whether the electronic stability control system meets the enabling condition is determined in the following manner: Obtaining the speed of the vehicle; If the vehicle speed is less than a set threshold, activating the electronic stability control system; If the anti-lock braking system, the traction control system and the vehicle dynamics controller of the vehicle are not in an intervention state, it is determined that the electronic stability control system meets the enabling condition.

7. The control method of the electronic stability control system according to claim 6, characterized in that: After obtaining the speed of the vehicle, the method further includes: If the vehicle is greater than or equal to the set threshold, controlling the electronic stability control system to be in a closed state; After activating the electronic stability control system, the method further includes: If the anti-lock braking system, the traction control system, or the vehicle dynamics controller is in the intervention state, the electronic stability control system is turned off.

8. A control device for an electronic stability control system, characterized in that: include: A first acquisition unit, configured to acquire position information of a target control when it is detected that the electronic stability control system of the vehicle meets an enabling condition; The target control is used to control the presentation degree of the function of the electronic stability control system; a first mode determination unit, configured to determine an operating mode of the electronic stability control system based on the position information; The first control unit is used to control the electronic stability control system to enter the working mode and perform a setting operation corresponding to the working mode.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method of the electronic stability control system according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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