Vehicle braking control method and system, vehicle, and computer-readable storage medium

Abstract

The present invention relates to a vehicle braking control method, a vehicle braking control system, a vehicle and a computer-readable storage medium. The vehicle braking control method comprises the steps of: starting an electronic parking brake system on a vehicle to perform a braking operation; detecting whether a rear wheel anti-lock braking start condition is met during the braking operation, and if so, obtaining the current vehicle stability characteristics; judging whether the obtained vehicle stability characteristics are within a preset range: if so, using the power provided by the motor on the vehicle to perform a braking operation together with the rear wheel anti-lock braking system, otherwise, performing a braking operation through the rear wheel anti-lock braking system. The present invention has strong practicability and low application cost, and can significantly improve the safety and reliability of driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle braking control method, a vehicle braking control system, a vehicle and a computer-readable storage medium. Background Art

[0002] At present, many vehicles are equipped with an electronic parking brake system EPB (Electrical Parking Brake) so that parking brakes can be achieved by electronic control when needed during driving. However, in some cases, such as when the ESP (Electronic Stability Program) on the vehicle fails and the parking brake actuator (such as the hydraulic brake system) cannot work properly, the driver can actively activate the EPB button to brake, that is, to complete the vehicle braking through the rear wheel anti-lock RWU (Rear Wheel Unlock) function. However, the rear wheel brakes of existing vehicles can usually only provide a deceleration kinetic energy of 0.15g-0.25g (g is the acceleration of gravity), and the entire service life of this RWU function is generally only 5 times at most, and the braking stability is poor, and the braking effect is poor, which leads to the existence of the above-mentioned shortcomings in actual applications. Summary of the invention

[0003] In view of this, the present invention provides a vehicle braking control method, a vehicle braking control system, a vehicle and a computer-readable storage medium, so as to solve or at least alleviate one or more of the above-mentioned problems and other problems existing in the prior art.

[0004] First, according to a first aspect of the present invention, a vehicle braking control method is provided, comprising the steps of:

[0005] Turn on the electronic parking brake system on the vehicle to perform braking operation;

[0006] detecting whether a rear wheel anti-lock brake activation condition is met during a braking operation, and if so, obtaining a current vehicle stability characteristic; and

[0007] It is determined whether the acquired vehicle stability characteristic is within a preset range: if so, a braking operation is performed together with a rear wheel anti-lock braking system using power provided by a motor on the vehicle; otherwise, a braking operation is performed through the rear wheel anti-lock braking system.

[0008] In the vehicle braking control method according to the present invention, optionally, it also includes the step of performing numerical rating processing on the acquired vehicle stability characteristics, and determining the power provided by the motor according to the result of the numerical rating processing.

[0009] In the vehicle braking control method according to the present invention, optionally, the vehicle stability characteristic is obtained according to current operating parameters of the vehicle, and the operating parameters include wheel speed, vehicle longitudinal acceleration, vehicle lateral acceleration and body yaw rate.

[0010] In the vehicle braking control method according to the present invention, optionally, the operating parameter also includes a brake light switch signal.

[0011] In the vehicle braking control method according to the present invention, optionally, whether the vehicle stability characteristic is within the preset range is determined by at least one control unit on the vehicle, and the control unit includes ESP, VCU, HCU and DCU.

[0012] In the vehicle braking control method according to the present invention, optionally, the power is a regenerative braking force generated by the motor charging a power storage device on the vehicle.

[0013] In the vehicle braking control method according to the present invention, optionally, the vehicle includes a pure electric vehicle or a hybrid vehicle.

[0014] Secondly, according to a second aspect of the present invention, it provides a vehicle braking control system, comprising:

[0015] a memory configured to store instructions; and

[0016] A processor is configured to implement the vehicle braking control method as described in any one of the above when the instruction is executed.

[0017] Furthermore, according to a third aspect of the present invention, a vehicle is provided, which includes an electronic parking brake system, and the vehicle further includes the vehicle brake control system as described above.

[0018] In addition, according to a fourth aspect of the present invention, a computer-readable storage medium is provided, which is used to store instructions, and when the instructions are executed, the vehicle braking control method as described in any one of the above items is implemented.

[0019] By adopting the technical solution of the present invention, the motor power on the vehicle can be fully utilized to assist the rear wheel anti-lock braking system to complete the vehicle braking control operation, thereby successfully solving the problems commonly existing in the existing rear wheel anti-lock braking system, such as insufficient deceleration ability, short service life, poor stability, etc., and can significantly enhance the safety and reliability of the vehicle. The present invention has strong practicality, low application cost, and outstanding promotion and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a flow chart of an embodiment of a vehicle braking control method.

[0021] Figure 2 yes Figure 1 The schematic diagram of the working principle of the vehicle braking control method embodiment is shown. DETAILED DESCRIPTION

[0022] exist Figure 1 and Figure 2 The general process and working principle of an embodiment of the vehicle braking control method according to the present invention are respectively explained in the figure. The technical solution of the present invention is exemplarily explained below through these two figures.

[0023] Please refer to Figure 1 and Figure 2 In the given embodiment of the vehicle braking control method, it may include the following steps:

[0024] First, in step S11, when a vehicle (such as a pure electric vehicle, a hybrid vehicle, etc.) needs to perform parking brakes during driving, the operator of the vehicle (such as a driver, an automatic driving system, etc.) can use the electronic parking brake system EPB installed on the vehicle to perform corresponding braking operations on the vehicle. For example, when the driver steps on the brake pedal of the vehicle, if it is found that the vehicle does not decelerate accordingly - this may be due to a malfunction of the ESP or hydraulic brake system on the vehicle, etc., the driver can manually activate the EPB button set in the cab to request the electronic parking brake system to complete the vehicle braking operation. Of course, in some cases, the electronic parking brake system may also be automatically turned on by the vehicle operator such as the automatic driving system based on the current vehicle condition, surrounding road conditions, etc.

[0025] Next, in step S12, after the electronic parking brake system is turned on for braking, it can be detected whether the vehicle meets the rear anti-lock brake activation conditions. If it is found that the activation conditions are met after detection, the current vehicle stability characteristics (such as various parameters used to characterize the vehicle's running posture, etc.) are obtained. This can be obtained, for example, by detecting the current operating parameters of the vehicle and performing calculation processing. Such operating parameters may include but are not limited to wheel speed, vehicle longitudinal acceleration, vehicle lateral acceleration, and vehicle body yaw angular velocity. As an example, in Figure 2Only the wheel speed V, the vehicle longitudinal acceleration Ax, the vehicle lateral acceleration Ay, the vehicle body yaw angular velocity YRS and the brake light switch signal BLS are shown in the form of a block diagram, and the vehicle stability characteristics can be obtained by calculating and processing them. It should be noted that the above-mentioned brake light switch signal BLS is an optional parameter that can be used to speed up the calculation process, so it is allowed to be omitted in some embodiments. For the other operating parameters mentioned above, these can be collected and obtained by corresponding sensors, processors, control modules or units set on the vehicle, for example, the wheel speed V can be detected by a wheel speed sensor.

[0026] In addition, in the method of the present invention, it is also possible to use a vehicle stability feature processing device in which various types of sensors and / or processors are integrated, so that the required vehicle stability feature can be directly obtained therefrom. After the vehicle stability feature is obtained, it can be used to determine whether a braking operation can be implemented in combination with motor power, which will be described in more detail later.

[0027] Regarding the above-mentioned rear wheel anti-lock braking activation conditions, different vehicle manufacturers and different vehicle types may have the same or different settings. Since this part of the technical content belongs to the prior art, it has not only been understood and mastered by technical personnel in this field, but is also not the focus of the present invention, it will not be elaborated in this article.

[0028] like Figure 1 As shown, in step S13, it can be further determined whether the current stability characteristics of the vehicle obtained by the above step S12 are within a preset range, and the preset range can be flexibly set, selected and adjusted according to various actual application requirements. For example, the posture characteristics of the vehicle in a normal static state when it is on a horizontal ground can be used as the reference posture characteristics, and then the range of +2% to -2%, +5% to -5%, +8% to -8%, +10% to -10% or any other suitable numerical value that deviates from the reference posture characteristics is used as the above preset range to evaluate whether the deviation between the current state of the vehicle stability characteristics and the above reference state is within the allowable range, and it can be determined whether it is appropriate to use the motor power to implement the braking operation. That is, if the current vehicle stability characteristics have exceeded the preset range, it means that the stability of the vehicle at this time is poor and it is not easy to apply the motor power. Otherwise, once the motor power is added for the braking operation, it is likely to cause the vehicle to become further unstable, thereby affecting or even seriously endangering the driving safety at this time.

[0029] Continue to refer Figure 1 and Figure 2After the above judgment, if it is determined that the current vehicle stability characteristics are still within the preset range, then the power provided by the motor 4 installed on the vehicle can be used in step S14, for example, the power is directly applied to the front axle of the vehicle to generate braking force, and it is used together with the rear anti-lock braking system 3 to perform the braking operation, so that the braking kinetic energy can be effectively supplemented for the vehicle, and the rear anti-lock braking system can be effectively assisted to better complete the vehicle braking operation, which alleviates the higher performance requirements for the rear anti-lock braking system, thereby successfully solving the problems commonly existing in the existing rear anti-lock braking system, such as insufficient deceleration kinetic energy, short service life, poor stability and reliability. As an example, according to the measured data in some application scenarios, the motor on the vehicle can provide, for example, 0.1g-0.3g of deceleration kinetic energy, and when it is used in combination with the rear anti-lock braking system, it can provide, for example, 0.25g-0.55g of deceleration kinetic energy, which will significantly improve the overall braking ability of the vehicle, effectively reduce the time consumption of braking operation, and reduce the braking distance.

[0030] Of course, contrary to the above situation, after the above judgment, if it is determined that the current vehicle stability characteristics have exceeded the preset range, then the braking operation can be performed by the rear anti-lock braking system 3 in step S15, that is, there is no need to use the power provided by the motor 4 in combination, so as to avoid the occurrence of unexpected situations such as vehicle instability and accidents due to the unreasonable use of motor power in braking operations.

[0031] It should be noted that, although the above-mentioned motor power can be directly provided by the running motor, in an optional situation, the motor power can also use the kinetic energy recovery braking force recovered and stored in the storage device (such as a capacitor, etc.) on the vehicle, that is, the motor on the vehicle can be used to charge such storage device during the vehicle driving to generate the regenerative braking force. That is, when the rear wheel anti-lock braking system 3 performs a braking operation, the above-mentioned regenerative braking force is synchronously provided by the running motor 4, which also helps to achieve more effective energy recovery and utilization. Of course, if the battery cannot be charged due to the storage device being too high in state of charge (State of Charge), malfunctioning, etc., then the above-mentioned kinetic energy recovery operation cannot be started, and at this time, the power directly output by the motor can be used as the braking force.

[0032] The above only passes Figure 1 and Figure 2 The vehicle braking control method of the present invention is exemplarily illustrated by the example of FIG. 1 , but it should be understood that in order to better meet various application scenarios, the method of the present invention fully allows any appropriate improvements and modifications.

[0033] For example, in some embodiments, the current stability characteristics of the vehicle obtained in step S12 may be numerically rated, and then the power that can be provided by the motor may be determined according to the result of the numerical rating process. Figure 2 This is schematically illustrated by the optional processing module 2. As an example, the amount of motor power that can be supplied can be determined based on the numerical value of the numerical rating result. For example, when the numerical rating result is 0.2, 20% (or other appropriate values) of the maximum recovery torque can be allocated to the current braking operation of the vehicle, rather than all of the current available power of the motor being invested in the current vehicle braking operation. As for the corresponding numerical processing method of the numerical rating, since the prior art has provided many feasible methods, those skilled in the art can fully select and apply them according to the actual application requirements, so no further discussion is made in this article.

[0034] For another example, in some embodiments, the acquisition, calculation and processing of the current operating parameters of the vehicle, the calculation, processing and analysis and judgment of the vehicle stability characteristics, etc. can be realized by one or more control units 1 arranged on the vehicle alone or in any combination. Such control units 1 may include, but are not limited to, ESP (Electronic Stability Program), VCU (Vehicle Control Unit), HCU (Hybrid Control Unit), DCU (Drive Control Unit). In addition, the aforementioned processing module 2 can not only be realized by using separate chips, processors and other components, but also allows it to be directly integrated into the above-mentioned control unit 1.

[0035] According to the design concept of the present invention, it also provides a vehicle braking control system, which may include a processor and a memory for storing instructions. When the instructions are executed, the processor in the vehicle braking control system can implement the vehicle braking control method according to the present invention, so as to give play to the obvious technical advantages of the present invention as mentioned above.

[0036] In addition, according to a technical solution of the present invention, a vehicle is also provided, on which the above-mentioned vehicle brake control system can be configured so that the above-mentioned vehicle brake control solution according to the present invention can be implemented based on the electronic parking brake system installed on the vehicle. It should be understood that the vehicle according to the present invention can include, but is not limited to, many types of vehicles such as pure electric vehicles and hybrid vehicles.

[0037] In addition, the present invention also provides a computer-readable storage medium for storing instructions, and the instructions can implement the vehicle braking control method according to the present invention when executed. The above-mentioned computer-readable storage medium can be any type of component, module or device that can store instructions, and can include but is not limited to, for example, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), etc.

Claims

1. A vehicle braking control method, characterized in that: Includes steps: Turn on the electronic parking brake system on the vehicle to perform braking operation; During the braking operation, detecting whether the rear wheel anti-lock braking activation conditions are met, and if so, obtaining the current vehicle stability characteristics; as well as determining whether the acquired vehicle stability characteristic is within a preset range: if so, performing a braking operation together with a rear wheel anti-lock braking system using power provided by a motor on the vehicle, otherwise performing a braking operation through the rear wheel anti-lock braking system, Wherein, whether the vehicle stability characteristic is within the preset range is determined by at least one control unit on the vehicle, and the control unit includes ESP, VCU, HCU and DCU.

2. The vehicle braking control method according to claim 1, wherein: The method also includes the steps of: performing numerical rating processing on the acquired vehicle stability characteristics, and determining the power provided by the motor according to the result of the numerical rating processing.

3. The vehicle braking control method according to claim 1, wherein: The vehicle stability characteristic is obtained according to current operating parameters of the vehicle, wherein the operating parameters include wheel speed, vehicle longitudinal acceleration, vehicle lateral acceleration and vehicle body yaw rate.

4. The vehicle braking control method according to claim 3, wherein: The operating parameters also include a brake light switch signal.

5. The vehicle braking control method according to any one of claims 1 to 4, wherein: The power is a regenerative braking force generated by the motor charging an electric storage device on the vehicle.

6. The vehicle braking control method according to any one of claims 1 to 4, wherein: The vehicles include pure electric vehicles and hybrid vehicles.

7. A vehicle braking control system, characterized in that: include: a memory configured to store instructions; as well as A processor, configured to implement the vehicle braking control method according to any one of claims 1 to 6 when the instruction is executed.

8. A vehicle comprising an electronic parking brake system, characterized in that: The vehicle further includes a vehicle brake control system as claimed in claim 7.

9. A computer-readable storage medium for storing instructions, characterized in that: When the instructions are executed, the vehicle braking control method according to any one of claims 1 to 6 is implemented.

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