Brake pedal control method, device, computer equipment and storage medium

Abstract

The present application relates to a brake pedal control method, device, computer equipment and storage medium. Since the braking demand curves of different drivers of different vehicle models under different working conditions can be integrated, the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that a better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, the braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can have a braking effect, so that the basic braking effect can also be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle manufacturing technology, and in particular to a brake pedal control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] At present, the characteristics of the brake pedal of a commercial vehicle are already solidified when it leaves the factory. In recent years, with the improvement in the quality and quantity of domestic truck users, many users have also put forward their own requirements for the feel of the brake pedal, and have complained about the existing brake pedal feeling of "the brakes are too hard" or "the brakes are too soft", so the brake pedal needs to be controlled. In the related art, different target decelerations are set in advance for different pedal strokes. When a certain pedal stroke is reached, if the actual deceleration of the vehicle does not reach the corresponding target deceleration, the actual deceleration will be compensated based on the target deceleration. Because different drivers use the pedals differently, and because different drivers use the same pre-set target deceleration for braking, the braking effect will be poor. Summary of the invention

[0003] Based on this, it is necessary to provide a brake pedal control method, device, computer equipment, storage medium and computer program product that can improve the braking effect in response to the above technical problems.

[0004] In one aspect, the present application provides a brake pedal control method, the method comprising:

[0005] Obtain the braking demand curves of different drivers of different vehicle models under different working conditions. The braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal;

[0006] Obtaining a braking upper limit boundary curve and a braking lower limit boundary curve for each vehicle model under different vehicle loads and driving road conditions, integrating each braking upper limit boundary curve to obtain a final braking upper limit boundary curve, and integrating each braking lower limit boundary curve to obtain a final braking lower limit boundary curve;

[0007] The braking demand curve, the final braking upper limit boundary curve and the final braking lower limit boundary curve are integrated to obtain the braking characteristic curves corresponding to various types of braking force levels;

[0008] A target braking characteristic curve is selected from all braking characteristic curves, and braking control is performed according to the target braking characteristic curve.

[0009] In one embodiment, the braking demand curve, the final braking upper limit boundary curve and the final braking lower limit boundary curve are all drawn according to the setting gradient of the same brake pedal opening; the braking demand curve, the final braking upper limit boundary curve and the final braking lower limit boundary curve are integrated to obtain the braking characteristic curves corresponding to the various types of braking force, including:

[0010] For any set gradient value of the brake pedal opening, determine the braking deceleration mapped by any set gradient value on the braking demand curve, the final braking upper limit boundary curve and the final braking lower limit boundary curve respectively;

[0011] Determining the braking decelerations of the plurality of braking force levels at any set gradient value according to the braking decelerations of the respective maps;

[0012] According to the braking decelerations of the various types of braking force under each set gradient value, the corresponding braking characteristic curves of the various types of braking force are drawn.

[0013] In one embodiment, data corresponding to a plurality of braking characteristic curves are pre-entered into a diagnostic program of a vehicle diagnostic instrument; selecting a target braking characteristic curve from all braking characteristic curves includes:

[0014] The vehicle status diagnosis interface is connected to the vehicle electronic control unit, and in response to a selection operation of a pedal characteristic selection interface provided by the vehicle diagnostic instrument, a target braking force type is determined to determine a target braking characteristic curve.

[0015] In one embodiment, data corresponding to a plurality of braking characteristic curves are pre-entered into an application program of a vehicle electronic control unit; selecting a target braking characteristic curve from all braking characteristic curves comprises:

[0016] In response to a selection operation on an application program interface provided by a vehicle central control, a target braking force type is determined to determine a target braking characteristic curve.

[0017] In one embodiment, performing braking control according to a target braking characteristic curve includes:

[0018] When a brake pedal opening signal is detected, the brake pedal opening is acquired in real time, and based on a target braking characteristic curve, the brake pedal opening is mapped to a target braking deceleration;

[0019] The target vehicle is braked based on the target braking deceleration.

[0020] In one embodiment, the multiple types of braking force levels are 5, and the braking force levels of the 5 types of braking force levels increase gradually.

[0021] On the other hand, the present application also provides a brake pedal control device, the device comprising:

[0022] The first acquisition module is used to obtain the braking demand curves of different drivers of different vehicle models under different working conditions. The braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal;

[0023] The second acquisition module is used to acquire the braking upper limit boundary curve and the braking lower limit boundary curve of each vehicle model under different vehicle loads and driving road conditions, integrate the braking upper limit boundary curves to obtain the final braking upper limit boundary curve, and integrate the braking lower limit boundary curves to obtain the final braking lower limit boundary curve;

[0024] An integration module is used to integrate the braking demand curve, the final braking upper limit boundary curve and the final braking lower limit boundary curve to obtain the braking characteristic curves corresponding to various types of braking force levels;

[0025] A selection module, used for selecting a target braking characteristic curve from all braking characteristic curves;

[0026] The control module is used for performing braking control according to a target braking characteristic curve.

[0027] On the other hand, the present application also provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps in the above-mentioned brake pedal control method when executing the computer program.

[0028] On the other hand, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned brake pedal control method are implemented.

[0029] On the other hand, the present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned brake pedal control method when executed by a processor.

[0030] The above-mentioned brake pedal control method, device, computer equipment, storage medium and computer program product can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that in the process of braking based on the braking characteristic curves corresponding to the various types of braking force, a better braking effect can be obtained. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that a basic braking effect can also be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is an application environment diagram of a brake pedal control method in an embodiment;

[0032] Figure 2 is a flow chart of a brake pedal control method in one embodiment;

[0033] Figure 3 is a schematic diagram of a driver's braking demand curve in one embodiment;

[0034] Figure 4 is a schematic diagram of a driver's braking demand curve in another embodiment;

[0035] Figure 5 is a schematic diagram of a driver's braking demand curve in yet another embodiment;

[0036] Figure 6 is a schematic diagram of a driver's braking demand curve in yet another embodiment;

[0037] Figure 7 A schematic diagram of brake characteristic curves corresponding to various types of brake force levels in one embodiment;

[0038] Figure 8 A schematic diagram of a final braking upper limit boundary curve and a final braking lower limit boundary curve in one embodiment;

[0039] Fig. 9 A schematic diagram of a braking strategy process in an embodiment;

[0040] Fig.10 A schematic diagram of a process of selecting brake pedal characteristics through a diagnostic instrument in one embodiment;

[0041] Fig.11 A schematic diagram of a process of selecting brake pedal characteristics through a vehicle central control in one embodiment;

[0042] Fig.12 is a structural block diagram of a brake pedal control device in one embodiment;

[0043] Fig.13 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In some embodiments, the brake pedal control method provided in the embodiments of the present application can be applied to Figure 1 In the application environment shown. Among them, the vehicle terminal 102 can communicate with the server 104 directly or indirectly through a wired or wireless network, and this embodiment of the application does not specifically limit this. The vehicle terminal 102 and the server 104 can cooperate to execute the brake pedal control method in the embodiment of the application. Now take one of the implementation processes when the vehicle terminal 102 and the server 104 cooperate to execute the brake pedal control method as an example.

[0046] Specifically, the server 104 can obtain the braking demand curves of different drivers under each vehicle model. The braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal. The braking upper boundary curve and the braking lower boundary curve of each vehicle model under different vehicle loads and driving conditions are obtained, and each braking upper boundary curve is integrated to obtain the final braking upper boundary curve, and each braking lower boundary curve is integrated to obtain the final braking lower boundary curve. The braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are integrated to obtain the corresponding braking characteristic curves of various braking strength types. The target braking characteristic curve can be selected from all braking characteristic curves through the vehicle-mounted terminal 102, and braking control is performed according to the target braking characteristic curve. It can be understood that the server 104 can be integrated in the cloud.

[0047] Among them, the vehicle terminal 102 can be installed on the vehicle. The server 104 can be a background server corresponding to the software or web page, applet, etc., or a server specifically used to participate in the brake pedal control, which is not specifically limited in the embodiment of the present application. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0048] In some embodiments, in combination with the above implementation environment description, such as Figure 2 As shown, a brake pedal control method is provided. The method is applied to a computer device (the computer device can be specifically Figure 1 The vehicle-mounted terminal or server in the example is used to illustrate, including the following steps:

[0049] Step 202: Obtain the braking demand curves of different drivers under different vehicle models. The braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal.

[0050] Among them, the corresponding horizontal axis of the braking demand curve can represent the brake pedal opening, and the vertical axis can represent the braking deceleration. When obtaining the braking demand curve, multiple discrete points can be obtained, so that multiple discrete points can be drawn into a braking demand curve. It should be noted that since the braking characteristics of different vehicle models are different, and the braking demand preferences of different drivers are also different, the braking demand curves of different drivers under different vehicle models can be obtained. In this way, multiple braking demand curves can be obtained. For example, driver A who drives a transport truck may need strong braking under heavy load and high-speed conditions, and the corresponding braking demand curve can be as follows Figure 3 As shown. Figure 3 It can be seen that when the brake pedal opening is 15%, the braking deceleration required by driver A is 1.37 m / s2. When the brake pedal opening is 30%, the braking deceleration required by driver A is 2.45 m / s2, and the following changes are made in sequence.

[0051] For another example, driver B driving a transport vehicle under heavy load and national highway conditions, driver B's braking demand curve can be as follows: Figure 4 As shown. Figure 4It can be seen that when the brake pedal opening is 15%, the braking deceleration required by driver A is 1.27 m / s2. When the brake pedal opening is 30%, the braking deceleration required by driver A is 2.25 m / s2, and the following changes are made in sequence.

[0052] Driver C is driving a passenger vehicle under standard load and provincial road conditions. The braking demand curve of driver C can be as follows: Figure 5 As shown. Figure 5 It can be seen that when the brake pedal opening is 15%, the braking deceleration required by driver C is 0.98 m / s2. When the brake pedal opening is 30%, the braking deceleration required by driver C is 1.96 m / s2, and the following changes are made in sequence.

[0053] Driver D driving a passenger vehicle, under standard load and urban and rural road conditions, driver D's braking demand curve can be as follows: Figure 6 As shown. Figure 6 It can be seen that when the brake pedal opening is 15%, the braking deceleration required by driver D is 0.78 m / s2. When the brake pedal opening is 30%, the braking deceleration required by driver D is 1.52 m / s2, and the following changes are made in sequence.

[0054] Step 204: Obtain the braking upper limit boundary curve and the braking lower limit boundary curve of each vehicle model under different vehicle loads and driving conditions, integrate the braking upper limit boundary curves to obtain the final braking upper limit boundary curve, and integrate the braking lower limit boundary curves to obtain the final braking lower limit boundary curve.

[0055] Among them, the upper limit of the braking limit of the vehicle model refers to the maximum braking force that the vehicle can use under the premise of safety under different vehicle loads and driving conditions. The lower limit of the braking limit of the vehicle model refers to the minimum braking force that can achieve the braking effect. Based on the above different definitions, for different models, and different models under different vehicle loads and driving conditions, based on the corresponding points determined by the brake pedal opening and the braking deceleration, the upper limit of the braking limit curve and the lower limit of the braking limit curve are drawn.

[0056] Since different vehicle models have braking upper boundary curves and braking lower boundary curves under different vehicle loads and driving conditions, the final braking upper boundary curve can be obtained by integrating the braking upper boundary curves. It should be noted that the above is to integrate all available braking upper boundary curves regardless of the vehicle model and external conditions such as vehicle load and driving conditions to obtain the final braking upper boundary curve for any situation. In the actual implementation process, for a certain vehicle model, only all braking upper boundary curves of the vehicle model under different vehicle loads and driving conditions can be integrated to obtain the final braking upper boundary curve for the vehicle model. Through the above process, the final braking upper boundary curve of each vehicle model can be obtained. Similarly, when obtaining the final braking lower boundary curve, the above method flow can also be referred to, and the embodiment of the present application does not make specific limitations on this.

[0057] Step 206: Integrate the braking demand curve, the final braking upper boundary curve, and the final braking lower boundary curve to obtain braking characteristic curves corresponding to various types of braking force levels.

[0058] Among them, the braking characteristic curves corresponding to the various types of braking force may be curves with different slopes. It is understandable that the braking characteristic curve with a higher braking force has a larger natural slope, while the braking characteristic curve with a lower braking force has a smaller natural slope. For the braking characteristic curves corresponding to the various types of braking force, the final braking upper limit boundary curve and the final braking lower limit boundary curve correspond to the upper limit slope and the lower limit slope, respectively.

[0059] Step 208: Select a target braking characteristic curve from all braking characteristic curves, and perform braking control according to the target braking characteristic curve.

[0060] Since there is a relationship between the brake pedal opening and the braking deceleration in the braking characteristic curve, when the vehicle is actually driving and braking is needed, the corresponding braking deceleration can be mapped on the target braking characteristic curve according to the driver's real-time brake pedal opening, so that braking control can be performed according to the obtained braking deceleration.

[0061] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0062] In some embodiments, the braking demand curve, the final braking upper limit boundary curve, and the final braking lower limit boundary curve are all drawn according to the setting gradient of the same brake pedal opening; the braking demand curve, the final braking upper limit boundary curve, and the final braking lower limit boundary curve are integrated to obtain the braking characteristic curves corresponding to the various types of braking force levels, including:

[0063] For any set gradient value of the brake pedal opening, determine the braking deceleration mapped by any set gradient value on the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve respectively; based on each mapped braking deceleration, determine the braking deceleration of each of the multiple braking force level types at any set gradient value; based on the braking deceleration of each of the multiple braking force level types at each set gradient value, draw the corresponding braking characteristic curves of the multiple braking force level types.

[0064] It is understandable that Figure 3 For example, when any setting gradient value of the brake pedal opening is 15%, Figure 3 The braking deceleration mapped by the braking demand curve is 1.37. Figure 4 , when the brake pedal opening gradient is set to 15%, Figure 4 The braking deceleration mapped by the braking demand curve is 1.27. The above mainly uses the braking demand curve as an example, indicating that under the same set gradient value of the brake pedal opening, different braking demand curves will map different braking decelerations. In addition, when the set gradient value of the brake pedal opening is 15%, braking deceleration can also be mapped to the final braking upper limit boundary curve and the final braking lower limit boundary curve.

[0065] Thus, for the setting gradient value of the brake pedal opening of 15%, the braking deceleration of each mapping can be obtained. By integrating the braking deceleration of each mapping, the braking deceleration of each of the various types of braking force can be obtained when the setting gradient value of the brake pedal opening is 30%. Similarly, for the setting gradient value of the brake pedal opening of 30%, the braking deceleration of each of the various types of braking force can also be obtained. Thus, when the corresponding coordinate points of the various types of braking force are known, the corresponding braking characteristic curves of the various types of braking force can be drawn.

[0066] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0067] In some embodiments, data corresponding to a plurality of braking characteristic curves are pre-entered into a diagnostic program of a vehicle diagnostic instrument; selecting a target braking characteristic curve from all braking characteristic curves includes:

[0068] The vehicle status diagnosis interface is connected to the vehicle electronic control unit, and in response to a selection operation of a pedal characteristic selection interface provided by the vehicle diagnostic instrument, a target braking force type is determined to determine a target braking characteristic curve.

[0069] Specifically, the vehicle diagnostic instrument is an external diagnostic device for the vehicle system, and is connected to the ECU (Electronic Control Unit) of the EBS (Electronic Brake Systems) through the vehicle OBD (On Board Diagnostics) interface. The vehicle diagnostic instrument is divided into two parts: hardware and program. Through in-depth development of the program part, multiple brake pedal characteristics (that is, data corresponding to multiple brake characteristic curves) after design are entered into the diagnostic program. The pedal characteristic selection interface of the vehicle diagnostic instrument can provide a brake pedal characteristic selection window, and the after-sales service personnel of the service station can set the vehicle brake pedal characteristics through this interface. The driver can also choose the brake pedal characteristics that suit him according to his driving habits.

[0070] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0071] In some embodiments, data corresponding to multiple braking characteristic curves are pre-recorded in an application program of a vehicle electronic control unit; a target braking characteristic curve is selected from all braking characteristic curves, including: in response to a selection operation of an application program interface provided for the vehicle central control, determining a target braking force type to determine the target braking characteristic curve.

[0072] Specifically, when developing the software program of the EBS ECU controller, a variety of brake pedal feel characteristics (that is, data corresponding to a variety of brake characteristic curves) can be embedded in the brake pedal feel data module, and the driver can also select different brake pedal characteristics through the vehicle's human-machine application program interface.

[0073] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0074] In some embodiments, performing braking control according to the target braking characteristic curve includes:

[0075] When a brake pedal opening signal is detected, the brake pedal opening is acquired in real time, and based on a target braking characteristic curve, the brake pedal opening is mapped to a target braking deceleration;

[0076] The target vehicle is braked based on the target braking deceleration.

[0077] Specifically, when braking is detected, the driver's brake pedal opening can be obtained in real time. On the target braking characteristic curve, the target braking deceleration mapped by the real-time brake pedal opening is obtained, and the target vehicle can brake accordingly according to the target braking deceleration.

[0078] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0079] In some embodiments, the multiple types of braking force levels are 5, and the braking force levels of the 5 types of braking force levels increase gradually.

[0080] Specifically, the five types of braking force may be "weak", "gentle", "standard", "strong" and "super strong". The braking force of the five types of braking force increases gradually. Of course, there may be more types in the actual implementation process, which is not specifically limited in the present embodiment.

[0081] The above brake pedal control method can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0082] For ease of understanding, the brake pedal control method mentioned in this application is now described in conjunction with the contents of the above embodiments. Specifically, the torque balance equation of the braking force of the vehicle during braking is: Fu=Mr / r. Among them, Mr represents the braking torque of the brake on the wheel, that is, the friction torque of the brake, and its direction is opposite to the direction of rotation of the wheel, and the unit is N·m (Newton·meter). Fu represents the braking force of the ground acting on the wheel, that is, the friction between the ground and the tire, also known as the ground braking force, and its direction is opposite to the direction of travel of the car, and the unit is N (Newton). R represents the effective radius of the wheel, and the unit is m (meter). Fu can be called the brake braking force. The brake braking force depends on the braking torque and the wheel radius. When the vehicle model is fixed, the braking torque is proportional to the brake pedal force, and the pedal force is proportional to the pedal displacement.

[0083] The braking characteristic curve in the embodiment of the present application is mainly used to describe the relationship between the brake pedal opening and the braking force when the road adhesion is large enough and the wheels are not locked during braking, that is, the brake pedal feel. According to the formula F=ma of Newton's second law of motion, the brake pedal opening and the braking deceleration can be converted inside the electronic control unit. Among them, F represents the resultant force acting on this object, the unit of mass m is kg, and the unit of acceleration a is m / s^2.

[0084] There are 5 types of brake strength, and the 5 types of brake strength are "weak", "soft", "standard", "strong" and "super strong". For details, please refer to Figure 7 The final braking upper limit boundary curve and the final braking lower limit boundary curve can be separately plotted as shown in Figure 8 .

[0085] The overall strategy design can be referenced Fig. 9 ,exist Fig. 9 In the process of braking, the driver can actuate the brake pedal. Thus, the EBS controller can obtain the pedal opening signal and thus obtain the brake pedal opening. Fig. 9 The braking characteristic curve between the pedal opening and the target deceleration in the example maps the brake pedal opening to the required target braking deceleration. Fig. 9 Four braking characteristic curves A, B, C and D are shown in the example. For different braking characteristic curves, the brake chamber pressure can be determined according to the real-time brake pedal opening, and then the wheel braking force can be determined according to the brake chamber pressure, and finally the actual deceleration can be calculated according to the wheel speed. Under different braking characteristic curves, calculations can be performed according to the above process.

[0086] Before implementing braking through the above process, the corresponding data of various braking characteristic curves can be written through the vehicle diagnostic instrument. The specific process can be as follows: Fig.10 As shown. Fig.10 In the diagnostic instrument, the hardware and software parts can be divided into two parts. By developing the software part, the brake algorithm can be developed according to the EBS system through the UDS (Unified Diagnostic Services) protocol, so that the brake pedal feeling characteristics can be "entered" into the software part. For example, the corresponding data of various brake characteristic curves such as "super strong", "strong", "standard" and "soft" can be written into the diagnostic program. At the same time, by developing the flashing interface of the diagnostic instrument (corresponding to the pedal characteristic selection interface), the driver can select the pedal characteristics, so that the selected target brake characteristics can be transmitted to the ECU control unit of the EBS.

[0087] In addition, you can also use Fig.11 In the process shown, select the target braking characteristic curve. Fig.11 In the ECU, the driver can select different braking characteristics through the central control application interface. The EBS ECU can process the driver's selection instructions, and select the target braking characteristic curve from multiple braking characteristic curves such as A, B, C and D for braking, thereby feeding back the braking characteristic feeling required by the driver.

[0088] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a brake pedal control device for implementing the brake pedal control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more brake pedal control device embodiments provided below can refer to the limitations of the brake pedal control method above, and will not be repeated here.

[0090] In some embodiments, Fig.12 As shown, a brake pedal control device is provided, which can be a part of a computer device using a software module or a hardware module, or a combination of the two. The device specifically includes:

[0091] The first acquisition module 1202 is used to obtain the braking demand curves of different drivers of different vehicle models under different working conditions, where the braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal;

[0092] The second acquisition module 1204 is used to acquire the braking upper limit boundary curve and the braking lower limit boundary curve of each vehicle type under different vehicle loads and driving road conditions, integrate the braking upper limit boundary curves to obtain the final braking upper limit boundary curve, and integrate the braking lower limit boundary curves to obtain the final braking lower limit boundary curve;

[0093] An integration module 1206 is used to integrate the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve to obtain braking characteristic curves corresponding to various types of braking force levels;

[0094] A selection module 1208, configured to select a target braking characteristic curve from all braking characteristic curves;

[0095] The control module 1210 is used to perform braking control according to a target braking characteristic curve.

[0096] In some embodiments, the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are all drawn according to the set gradient of the same brake pedal opening; the integration module 1206 is used to determine the braking deceleration mapped by any set gradient value on the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve respectively for any set gradient value of the brake pedal opening; according to each mapped braking deceleration, determine the braking deceleration of each of the multiple braking force types at any set gradient value; according to the braking deceleration of each of the multiple braking force types at each set gradient value, draw the corresponding braking characteristic curves of the multiple braking force types.

[0097] In some embodiments, data corresponding to a variety of braking characteristic curves are pre-recorded in the diagnostic program of the vehicle diagnostic instrument; the selection module 1208 is used to connect the vehicle status diagnostic interface with the vehicle electronic control unit, and in response to the selection operation of the pedal characteristic selection interface provided by the vehicle diagnostic instrument, determine the target braking force type to determine the target braking characteristic curve.

[0098] In some embodiments, data corresponding to a variety of braking characteristic curves are pre-entered into an application program of the vehicle's electronic control unit; a selection module 1208 is used to determine the target braking force type in response to a selection operation of an application program interface provided for the vehicle's central control to determine the target braking characteristic curve.

[0099] In some embodiments, the control module 1210 is used to obtain the brake pedal opening in real time when a brake pedal opening signal is detected, map the brake pedal opening to a target braking deceleration based on a target braking characteristic curve, and brake the target vehicle based on the target braking deceleration.

[0100] In some embodiments, the multiple types of braking force levels are 5, and the braking force levels of the 5 types of braking force levels increase gradually.

[0101] The above brake pedal control device can integrate the braking demand curves of different drivers of different vehicle models under different working conditions, so that the braking characteristic curves corresponding to the various types of braking force can meet the braking needs of different drivers, so that better braking effect can be obtained in the process of braking based on the braking characteristic curves corresponding to the various types of braking force. In addition, since the final braking upper limit boundary curve can correspond to the maximum braking force that the vehicle can adopt under the premise of safety, braking safety can be guaranteed. The final braking lower limit boundary curve can correspond to the minimum braking force that can achieve a braking effect, so that the basic braking effect can also be guaranteed.

[0102] For the specific definition of the brake pedal control device, please refer to the definition of the brake pedal control method above, which will not be repeated here. Each module in the above-mentioned brake pedal control device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0103] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.13As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a brake pedal control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0104] Those skilled in the art will understand that Fig.13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0106] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0107] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0108] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0109] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A brake pedal control method, characterized in that: The method comprises: Obtaining a braking demand curve of different drivers of different vehicle models under different working conditions, wherein the braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal; Obtaining a braking upper limit boundary curve and a braking lower limit boundary curve for each vehicle model under different vehicle loads and driving road conditions, integrating each braking upper limit boundary curve to obtain a final braking upper limit boundary curve, and integrating each braking lower limit boundary curve to obtain a final braking lower limit boundary curve; The braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are integrated to obtain the braking characteristic curves corresponding to the various types of braking force; wherein the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are all drawn according to the setting gradient of the same brake pedal opening; the braking characteristic curves corresponding to the various types of braking force are curves with different slopes, and the final braking upper boundary curve and the final braking lower boundary curve correspond to the upper limit slope and the lower limit slope respectively; The braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are integrated to obtain the braking characteristic curves corresponding to the various types of braking force, including: For any set gradient value of the brake pedal opening, determine the braking decelerations mapped by the set gradient value on the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve respectively; determine the braking decelerations of the various braking force types under the set gradient value according to the respective mapped braking decelerations; draw the corresponding braking characteristic curves of the various braking force types according to the respective braking decelerations of the various braking force types under the respective set gradient values; A target braking characteristic curve is selected from all braking characteristic curves, and braking control is performed according to the target braking characteristic curve.

2. The method according to claim 1, characterized in that The data corresponding to the various braking characteristic curves are pre-entered into the diagnostic program of the vehicle diagnostic instrument; the step of selecting the target braking characteristic curve from all the braking characteristic curves includes: The vehicle status diagnosis interface is connected to the vehicle electronic control unit, and in response to a selection operation of a pedal characteristic selection interface provided by the vehicle diagnostic instrument, a target braking force type is determined to determine a target braking characteristic curve.

3. The method according to claim 1, characterized in that: The corresponding data of various braking characteristic curves are pre-entered in the application program of the vehicle's electronic control unit; The step of selecting a target braking characteristic curve from all braking characteristic curves comprises: In response to a selection operation on an application program interface provided by a vehicle central control, a target braking force type is determined to determine a target braking characteristic curve.

4. The method according to claim 1, characterized in that: The performing braking control according to the target braking characteristic curve includes: When a brake pedal opening signal is detected, the brake pedal opening is acquired in real time, and based on the target braking characteristic curve, the brake pedal opening is mapped to a target braking deceleration; The target vehicle is braked based on the target braking deceleration.

5. The method according to claim 1, characterized in that There are five types of the plurality of braking force levels, and the braking force levels of the five types of braking force levels gradually increase.

6. A brake pedal control device, characterized in that: The device comprises: A first acquisition module is used to acquire a braking demand curve of different drivers of different vehicle models under different working conditions, wherein the braking demand curve is used to reflect the relationship between the brake pedal opening and the braking deceleration when the driver steps on the brake pedal; The second acquisition module is used to acquire the braking upper limit boundary curve and the braking lower limit boundary curve of each vehicle model under different vehicle loads and driving road conditions, integrate the braking upper limit boundary curves to obtain the final braking upper limit boundary curve, and integrate the braking lower limit boundary curves to obtain the final braking lower limit boundary curve; An integration module is used to integrate the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve to obtain the braking characteristic curves corresponding to the various types of braking force; wherein the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve are all drawn according to the setting gradient of the same brake pedal opening; the braking characteristic curves corresponding to the various types of braking force are curves with different slopes, and the final braking upper boundary curve and the final braking lower boundary curve correspond to the upper limit slope and the lower limit slope respectively; The integration module is specifically used to: determine the braking decelerations mapped by any set gradient value on the braking demand curve, the final braking upper boundary curve and the final braking lower boundary curve respectively for any set gradient value of the brake pedal opening; determine the braking decelerations of each of the multiple braking force types under any set gradient value according to each mapped braking deceleration; and draw the corresponding braking characteristic curves of each of the multiple braking force types according to the braking decelerations of each of the multiple braking force types under each set gradient value; A selection module, used for selecting a target braking characteristic curve from all braking characteristic curves; The control module is used for performing braking control according to a target braking characteristic curve.

7. The device according to claim 6, characterized in that The corresponding data of various brake characteristic curves are pre-entered in the diagnostic program of the vehicle diagnostic instrument; The selection module is used to connect the vehicle status diagnosis interface with the vehicle electronic control unit, and in response to the selection operation of the pedal characteristic selection interface provided by the vehicle diagnostic instrument, determine the target braking force type to determine the target braking characteristic curve.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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