A braking assistance method, device and vehicle

Abstract

An embodiment of the present invention discloses a braking assistance method, device, and vehicle. The method includes: an integrated braking control system acquires braking data of a vehicle to be controlled; a braking assistance system determines a target braking demand of a driver based on the braking data; the integrated braking control system reads a current braking request of the vehicle to be controlled; the braking assistance system determines a vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled; the braking assistance system determines a braking assistance pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request. In this application, the integrated braking control system collects the braking data of the vehicle to be controlled, and the braking assistance system judges the braking intention of the driver based on the braking data, and generates a braking assistance pressure according to the braking intention of the driver and the vehicle braking request, achieving the technical effect of improving the stability of braking assistance.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of brake assist, and in particular, to a brake assist method, device and vehicle. Background Art

[0002] Current passenger cars on the market are equipped with a brake booster device. The driver can apply a relatively small force, which is amplified by the booster to generate a relatively large braking force to smoothly stop the vehicle.

[0003] Currently, the brake booster devices of fuel vehicles on the market mainly complete the auxiliary brake assist work by the controller detecting the change of the master cylinder brake fluid pressure. This method of auxiliary boost only works when the brake fluid pressure changes rapidly or significantly, that is, it will work when braking to a stop at high speed. In daily working conditions, this auxiliary boost is very unstable, and the brake booster devices of fuel vehicle models cannot meet the needs of more users in the market. For the brake booster devices of new energy vehicles, they usually use the reverse rotation of the motor to recover braking energy to complete the auxiliary boost, and their stability is also relatively low, affecting the auxiliary brake boost. Summary of the Invention

[0004] Embodiments of the present invention provide a brake assist method, device and vehicle, which solve the technical problem of relatively low brake assist stability existing in the prior art when performing auxiliary braking by detecting the change of the master cylinder brake fluid pressure or using the method of recovering braking energy by reversing the motor.

[0005] Embodiments of the present invention provide a brake assist method. When the driver of the vehicle to be controlled steps on the brake pedal, the brake assist method includes:

[0006] The integrated brake control system obtains the braking data of the vehicle to be controlled, where the braking data includes push rod displacement, master cylinder pressure, and brake pedal signal;

[0007] The brake assist system determines the target braking demand of the driver based on the braking data;

[0008] The integrated brake control system reads the current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: pedal braking request, active emergency braking system request, anti-lock braking system request, vehicle dynamic braking request, external braking request, and electronic parking system request;

[0009] The brake assist system determines the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled;

[0010] The brake assist system determines the brake assist pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request.

[0011] Further, before the brake assist system determines the brake assist pressure of the vehicle to be controlled, the brake assist method further includes:

[0012] The brake assist system obtains the current working state of the integrated brake control system;

[0013] The brake assist system determines the fault level of the integrated brake control system based on the current working state of the integrated brake control system;

[0014] The brake assist system determines the corresponding brake assist pressure generation mode based on the fault level of the integrated brake control system.

[0015] Further, the brake assist system determining the fault level of the integrated brake control system based on the current working state of the integrated brake control system includes:

[0016] If the integrated brake control system has no fault, the fault level of the integrated brake control system is level one;

[0017] If the pedal travel sensor of the integrated brake control system fails, the fault level of the integrated brake control system is level two;

[0018] If the master cylinder pressure sensor or the oil pot liquid level sensor of the integrated brake control system fails, the fault level of the integrated brake control system is level three;

[0019] If the integrated brake control system fails completely, the fault level of the integrated brake control system is level four.

[0020] Further, the brake assist pressure generation modes include a full function mode, a pedal feel degradation mode, an alternating pressure build-up mode, a single-line pressure build-up mode, and a mechanical backup mode. The brake assist system determining the corresponding brake assist pressure generation mode based on the fault level of the integrated brake control system includes:

[0021] When the fault level of the integrated brake control system is level one, the brake assist pressure generation mode of the brake assist system adopts the full function mode;

[0022] When the fault level of the integrated brake control system is level two, the brake assist pressure generation mode of the brake assist system adopts the pedal feel degradation mode;

[0023] When the fault level of the integrated brake control system is level three, the brake assist pressure generation mode of the brake assist system adopts the alternating pressure build-up mode or the single-line pressure build-up mode;

[0024] When the fault level of the integrated braking control system is level four, the braking assist pressure generation mode of the braking assist system adopts a mechanical backup mode.

[0025] Further, the braking assist system determining the driver's target braking demand based on the braking data includes:

[0026] The braking assist system simulates a pedal feel signal using the braking pedal signal;

[0027] The braking assist system determines the driver's target braking demand through simulation using the pedal feel signal, the push rod displacement, and the master cylinder pressure.

[0028] Further, before determining the vehicle braking request of the vehicle to be controlled, the braking assist method further includes:

[0029] Performing priority sorting on the read current braking request using a preset priority order, where the preset priority order includes: the pedal braking request is the first priority, the active emergency braking system request, the anti-lock braking system request, and the vehicle dynamic braking request are all the second priority, the external braking request is the third priority, and the electronic parking brake system request is the fourth priority.

[0030] Further, the braking assist system determining the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled includes:

[0031] The braking assist system determines the vehicle braking request of the vehicle to be controlled based on the priority sorting of the current braking request and the current actual working condition of the vehicle to be controlled.

[0032] Further, after determining the braking assist pressure of the vehicle to be controlled, the braking assist method further includes:

[0033] The braking assist system adjusts the brake fluid inflow and outflow of the integrated braking control system based on the braking assist pressure;

[0034] The integrated braking control system controls the vehicle to be controlled to brake using the adjusted brake fluid inflow and outflow.

[0035] An embodiment of the present invention further provides a braking assist device, and the braking assist device includes:

[0036] An integrated braking control system, configured to obtain braking data of the vehicle to be controlled when the driver of the vehicle to be controlled steps on the braking pedal, where the braking data includes push rod displacement, master cylinder pressure, and braking pedal signal;

[0037] A braking assistance system for determining a target braking demand of the driver based on the braking data;

[0038] The integrated braking control system is further configured to read a current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: a pedal braking request, an active emergency braking system request, an anti-lock braking system request, a vehicle dynamic braking request, an external braking request, and an electronic parking system request;

[0039] The braking assistance system is further configured to determine a vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled;

[0040] The braking assistance system is further configured to determine a braking assistance pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request.

[0041] An embodiment of the present invention further provides a vehicle, which includes the braking assistance device described in any of the above embodiments.

[0042] An embodiment of the present invention discloses a braking assistance method, device, and vehicle. The method includes that an integrated braking control system acquires braking data of a vehicle to be controlled; a braking assistance system determines a target braking demand of the driver based on the braking data; the integrated braking control system reads a current braking request of the vehicle to be controlled; the braking assistance system determines a vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled; the braking assistance system determines a braking assistance pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request. This application collects braking data of the vehicle to be controlled through the integrated braking control system, and the braking assistance system judges the braking intention of the driver based on the braking data, and generates a braking assistance pressure according to the braking intention of the driver and the vehicle braking request, solving the technical problem of low braking assistance stability existing in the prior art when performing auxiliary braking by detecting changes in the master cylinder brake fluid pressure or using the method of motor reverse to recover braking ability, and achieving the technical effect of improving braking assistance stability. Description of the Drawings

[0043] Figure 1 is a flowchart of a braking assistance method provided by an embodiment of the present invention;

[0044] Figure 2 is a structural diagram of an integrated braking control system and a braking assistance system provided by an embodiment of the present invention;

[0045] Figure 3 is a flowchart of another braking assistance method provided by an embodiment of the present invention;

[0046] Figure 4It is the hydraulic schematic diagram of the full - function mode provided by the embodiments of the present invention;

[0047] Figure 5 It is the structural diagram of a brake assist device provided by the embodiments of the present invention. Specific embodiments

[0048] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0049] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish different objects, rather than to limit a specific order. Each of the following embodiments of the present invention can be executed independently, and the embodiments can also be combined with each other for execution. The embodiments of the present invention do not make specific limitations on this.

[0050] Figure 1 It is the flowchart of a brake assist method provided by the embodiments of the present invention.

[0051] As Figure 1 shown, when the driver of the vehicle to be controlled steps on the brake pedal, the brake assist method specifically includes the following steps:

[0052] S101, the integrated brake control system obtains the braking data of the vehicle to be controlled, where the braking data includes push - rod displacement, master - cylinder pressure, and brake - pedal signal.

[0053] Specifically, when the driver steps on the brake pedal, the system automatically closes two pressure - building simulation valves PSV1 and PSV2 (Plunger Simulation Valve), and at the same time isolates the hydraulic oil circuits of the master cylinder and the wheel cylinders. The integrated brake control system measures the push - rod displacement of the master cylinder through a displacement sensor, measures the master - cylinder pressure through a master - cylinder pressure sensor, and obtains the brake - pedal signal through a pedal - travel sensor.

[0054] Figure 2 It is the structural diagram of the integrated brake control system and the brake assist system provided by the embodiments of the present invention. See Figure 2, multiple sensors are provided on the vehicle to be controlled, including wheel speed sensors, displacement sensors, master cylinder / electric cylinder pressure sensors, PTS (Pedal Travel Sensor) sensors, oil pot level sensors, and motor position sensors. Among the above-mentioned multiple sensors, except that the wheel speed sensors are connected to the steering knuckles of the vehicle to be controlled, the other sensors are all internally mechanically connected to the Integrated Brake Control System (IBC). At the same time, the Integrated Brake Control System is electrically connected to the brake assist system. After the controller in the Integrated Brake Control System obtains the corresponding braking data through each sensor, it transmits the braking data to the brake assist system.

[0055] See Figure 2 , the vehicle to be controlled provides power for the Integrated Brake Control System and sends a braking demand signal to the Integrated Brake Control System when the vehicle to be controlled needs to brake.

[0056] S102, the brake assist system determines the driver's target braking demand based on the braking data.

[0057] Optionally, S102 specifically includes: the brake assist system simulates a pedal feel signal using the brake pedal signal; the brake assist system determines the driver's target braking demand through simulation using the pedal feel signal, push rod displacement, and master cylinder pressure.

[0058] Specifically, the brake assist system has a Brake Boost Function (BBF). As Figure 2 shown, the brake assist system is set in the ECU (Electronic Control Unit) of the vehicle to be controlled and is connected to the combination meter through a gateway. Among them, both between the brake assist system and the gateway and between the gateway and the combination meter are connected through CAN lines for communication. The combination meter refers to the instrument panel set in the cab of the vehicle to be controlled, and various data information of the brake assist system can be displayed to the driver through the combination meter.

[0059] After the brake assist system receives the braking data, the Padel Feeling Simulator (PFS) set in the brake assist system will simulate a pedal feel signal using the brake pedal signal to simulate the pedal feel during the driver's braking process. Then, using the pedal feel signal, push rod displacement, and master cylinder pressure, the driver's target braking demand, that is, the driver's braking intention, is obtained through simulation using a preset brake pressure simulation model. Among them, the preset brake pressure simulation model is pre-built through the simulink module in Matlab software.

[0060] S103, the integrated braking control system reads the current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: pedal braking request, autonomous emergency braking system request, antilock brake system request, vehicle dynamic braking request, external braking request, and electronic parking brake system request.

[0061] Specifically, in order to make the determined braking assist pressure more accurate, it is also necessary to obtain the current braking request of the vehicle to be controlled. Specifically, the pedal braking request refers to the pedal braking signal sent when the driver steps on the brake pedal; the autonomous emergency braking system request means that when the autonomous emergency braking (AEB) vehicle is driving normally in a non-adaptive cruise situation, if the vehicle encounters a sudden dangerous situation or the distance from the vehicle in front or pedestrians is less than the safe distance, it will actively brake and send out a braking signal; the antilock brake system request refers to the braking signal sent by the antilock brake system (ABS); the vehicle dynamic braking request refers to the braking signal sent by the vehicle dynamics control (VDC) system, including the anti-roll signal; the external braking request refers to the braking signal sent by the cruise control system or the parking assist system to the integrated braking control system, where the cruise control system includes the driver auxiliary deceleration control-stop control (CDD-S); the electronic parking brake system request refers to the braking signal sent by the electronic parking brake (EPB) system.

[0062] S104, the braking assist system determines the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled.

[0063] Specifically, after obtaining the current braking request of the vehicle to be controlled, the braking assist system will also obtain the current actual working condition of the vehicle to be controlled. Specifically, the current actual working condition includes at least the current driving speed of the vehicle to be controlled, the driving road surface condition of the vehicle to be controlled, and the current driving environment of the vehicle to be controlled. Among them, the current driving environment can be the current temperature state, humidity state, weather state, etc. After obtaining the current actual working condition, the vehicle braking request of the vehicle to be controlled is determined by combining the current braking request with the current actual working condition.

[0064] It should be noted that if the current braking request includes more than one type, the braking assist system will sort the current braking requests according to the preset priority order, and then combine the current braking request with the highest priority and the current actual working conditions to arbitrate the braking request issued by the vehicle, and finally determine the vehicle braking request of the vehicle to be controlled.

[0065] S105. The braking assist system determines the braking assist pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request.

[0066] Specifically, after determining the vehicle braking request of the vehicle to be controlled, the braking assist system determines the braking assist pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request, and then the braking assist system controls the motor and the solenoid valve actuator to act through the pressure building cylinder pressure control system of the vehicle to be controlled, and generates the required target pressure (i.e., the above-mentioned braking assist pressure) in the wheel cylinder.

[0067] Specifically, the braking assist system pressurizes the four-wheel calipers according to the target braking demand and the vehicle braking request, and generates braking force according to the maximum target pressure calibrated by the two curves of "deceleration - pedal displacement" and "deceleration - pedal force", so as to achieve the purpose of braking and decelerating the whole vehicle, ensure the stability of the auxiliary boost, and protect the safety of the driver and passengers when the braking assist fails at high speed. Among them, the pedal displacement is the push rod displacement in the braking data, and the pedal force is the master cylinder pressure in the braking data.

[0068] It should be noted that the braking assist system can work normally only under the following conditions, that is, it can meet the performance design standard within the following boundary range, and the performance of the braking assist system cannot be guaranteed beyond this boundary range. The specific boundary conditions are as follows: (1) The braking assist system is available within the full vehicle speed range; (2) The installation of the integrated braking control system on the vehicle firewall should meet the installation requirements of the X-axis, Y-axis, push rod swing, and installation bolts; (3) The working durability of the braking assist system is within the specified design life, or 8000 hours of Ignition On (ignition), or 300000 kilometers of driving mileage, or 2200000 braking times (whichever comes first); (4) The supply voltage (connector end) range of the integrated braking control system required for the normal operation of the braking assist system should be between 10V and 16V; (5) There are no leakage, aging, and installation-related problems with the hydraulic pipelines and brakes related to the integrated braking control system when the braking assist system is working.

[0069] This application collects the braking data of the vehicle to be controlled through an integrated braking control system. The braking assist system determines the driver's braking intention based on the braking data, and generates a braking assist pressure according to the driver's braking intention and the vehicle braking request, solving the technical problem of low braking assist stability existing in the prior art when performing auxiliary braking by detecting the change of the master cylinder brake fluid pressure or using the method of motor reverse to recover braking ability, and achieving the technical effect of improving the braking assist stability.

[0070] Based on the above technical solutions, Figure 3 is a flowchart of another braking assist method provided by an embodiment of the present invention. As Figure 3 shown, before the braking assist system determines the braking assist pressure of the vehicle to be controlled in S105, the braking assist method further includes:

[0071] S301, the braking assist system obtains the current working state of the integrated braking control system.

[0072] Specifically, since the integrated braking control system is a highly integrated by-wire decoupled system, in order to better complete the braking within a safe distance through compensated braking assist and ensure the safety of the driver and passengers, when the braking assist system generates the braking assist pressure, it is also necessary to determine whether the integrated braking control system has a failure, that is, whether there is a failure condition, to judge whether the required braking assist can be generated subsequently. Therefore, it is also necessary to obtain the current working state of the integrated braking control system.

[0073] S302, the braking assist system judges the failure level of the integrated braking control system based on the current working state of the integrated braking control system.

[0074] S303, the braking assist system determines the corresponding braking assist pressure generation mode based on the failure level of the integrated braking control system.

[0075] Specifically, since there are many sensors or other parts involved in the integrated braking control system, the failure situations are also different. In some cases, some sensors or parts fail, and the remaining parts can still complete the braking assist. Therefore, the current working state of the integrated braking control system is divided into different failure levels according to different failure degrees, so that the braking assist system provides the corresponding braking assist mode (that is, the above-mentioned braking assist pressure generation mode) and alarm strategy based on the failure level of the integrated braking control system.

[0076] Based on the above technical solutions, S302 specifically includes: if the integrated braking control system has no fault, the fault level of the integrated braking control system is level one; if the pedal travel sensor of the integrated braking control system fails, the fault level of the integrated braking control system is level two; if the master cylinder pressure sensor or the oil pot liquid level sensor of the integrated braking control system fails, the fault level of the integrated braking control system is level three; if all functions of the integrated braking control system fail, the fault level of the integrated braking control system is level four.

[0077] Based on the above technical solutions, the brake boost pressure generation modes include the full function mode, the pedal feel degradation mode, the alternate pressure build-up mode, the single-line pressure build-up mode, and the mechanical backup mode. S303 specifically includes: when the fault level of the integrated braking control system is level one, the brake boost pressure generation mode of the brake boost system adopts the full function mode; when the fault level of the integrated braking control system is level two, the brake boost pressure generation mode of the brake boost system adopts the pedal feel degradation mode; when the fault level of the integrated braking control system is level three, the brake boost pressure generation mode of the brake boost system adopts the alternate pressure build-up mode or the single-line pressure build-up mode; when the fault level of the integrated braking control system is level four, the brake boost pressure generation mode of the brake boost system adopts the mechanical backup mode.

[0078] Specifically, the full function mode (FullSys) means that the brake boost request of the brake boost system comes from the driver's action of stepping on the brake pedal. When the driver steps on the brake pedal, the brake boost system calculates the brake pressure and provides brake boost according to the driver's braking demand at the same time; the pedal feel degradation mode (Degraded Pedal Feel) is the mode adopted when the pedal travel sensor of the integrated braking control system fails. At this time, the brake boost system will give an alarm prompt to the driver; the alternate pressure build-up mode (Circuit Separation) refers to the mode adopted when both pressure build-up paths in the brake boost system are not completely failed and can generate boost alternately. The single-line pressure build-up mode (C1 / 2BoostOnly) refers to the mode adopted when only one of the two pressure build-up paths in the brake boost system can generate brake boost and the other path has failed. In short, both the alternate pressure build-up mode and the single-line pressure build-up mode are based on the idea of loop isolation, disconnecting the faulty loop and using the loop that can work normally for subsequent control; the mechanical backup mode (HydBack) is the mode adopted by the brake boost system when all functions of the integrated braking control system fail. In this mode, the brake boost system will not generate boost, that is, this mode is a no-boost mode.

[0079] Figure 4 It is the hydraulic schematic diagram of the full function mode provided by the embodiment of the present invention.

[0080] Exemplarily, as Figure 4 shown, in the full - function mode, when the brake pedal is depressed, the master cylinder simulation valves CSV1 (Cylinder Simulation Valve) and CSV2 are closed to isolate the master cylinder and the pressure - building cylinder connected to the oil pot in the vehicle to be controlled; the sense simulation valve SSV (Sense Simulation Valve) is opened; the pressure - building simulation valves PSV1 and PSV2 are opened, and the 4 IV valves (Isolation Valve) are opened (i.e., Figure 4 the four valves IVLF, IVRR, IVLR, and IVRF shown in , where LF represents left front, RR represents right rear, LR represents left rear, and RF represents right front) to activate the active pressure - building circuit; the first and second chambers of the master cylinder are pressure - built, and the master cylinder pressure sensor and the pedal travel sensor detect signal values; the pedal feeling simulator PFS (PadelFeeling Simulator) generates a pedal feeling signal, the motor operates, and the pressure - building cylinder builds pressure to achieve pressure - building in the 4 wheel cylinders.

[0081] It should be noted that Figure 4 the four circles marked with LF, RR, LR, and RF in respectively represent the left front wheel, right rear wheel, left rear wheel, and right front wheel of the vehicle to be controlled; P / U represents a pressure sensor, T / U represents a temperature sensor, and φ / U represents an angle sensor.

[0082] Based on the above - mentioned technical solutions, before the brake assist system determines the brake assist pressure of the vehicle to be controlled in S105, the brake assist method further includes:

[0083] Performing priority sorting on the currently read brake request using a preset priority order, where the preset priority order includes: the pedal brake request is the first priority, the active emergency brake system request, the anti - lock braking system request, and the vehicle dynamic brake request are all the second priority, the external brake request is the third priority, and the electronic parking system request is the fourth priority.

[0084] Specifically, since the pedal brake request is the brake request issued by the driver by depressing the brake pedal for the first time, the pedal brake request is the brake request with the highest priority among all current brake requests. After that, according to the degree of urgency of the brake requests, the active emergency brake system request, the anti - lock braking system request, and the vehicle dynamic brake request are sequentially set as the second priority, the external brake request is set as the third priority, and the electronic parking system request is set as the fourth priority.

[0085] Based on the above technical solutions, S104 specifically includes: The brake assist system determines the vehicle braking request of the vehicle to be controlled based on the priority ranking of the current braking request and the current actual working condition of the vehicle to be controlled.

[0086] Specifically, after obtaining the priority ranking of the current braking request, the brake assist system determines the vehicle braking request of the vehicle to be controlled according to the priority ranking of the current braking request and the current actual working condition of the vehicle to be controlled.

[0087] Based on the above technical solutions, after S105 determines the brake assist pressure of the vehicle to be controlled, the brake assist method further includes: The brake assist system adjusts the brake fluid inflow and outflow of the integrated brake control system based on the brake assist pressure; The integrated brake control system controls the vehicle to be braked by using the adjusted brake fluid inflow and outflow.

[0088] Specifically, referring to Figure 2 , after obtaining the brake assist pressure of the vehicle to be controlled, the brake assist system adjusts the brake fluid inflow and outflow of the integrated brake control system based on the brake assist pressure, so that the integrated brake control system can perform brake assist control on the vehicle to be controlled.

[0089] In the embodiments of the present invention, by using the brake assist method provided in the present application, the following advantages are achieved: (1) The integrated brake control system and the brake assist system judge the driver's braking intention by monitoring the push rod displacement and the master cylinder pressure input by the driver, and provide stable brake assist to the vehicle in combination with the vehicle braking request; (2) According to different failure conditions of the integrated brake control system, the brake assist system can provide corresponding assist modes and alarm strategies, and complete the braking to a safe distance through the compensated brake assist to ensure the safety of the driver and passengers. (3) The braking process is stable and comfortable, especially there is no obvious vehicle pitching during low-speed parking, solving the problem that the existing brake assist is only applicable to the high-speed braking state. (4) In different driving modes (sports, comfort, snow, etc.), an adaptive adjustment function of the braking pedal feeling less than 0.4g (calibrated value) is realized, that is, different parameters are calibrated through driver braking intention recognition. (5) When the vehicle speed exceeds 100 km / h, the deceleration is below 0.3g, and the time exceeds 2 s, the integrated brake control system can perform brake hydraulic compensation to ensure a constant deceleration and enter and exit at a certain slope (the entering and exiting slopes are to be calibrated)

[0090] Figure 5 is a structural diagram of a brake assist device provided by an embodiment of the present invention, as Figure 5 shown, the brake assist device includes:

[0091] An integrated braking control system 51 is used to obtain braking data of a vehicle to be controlled when the driver of the vehicle to be controlled depresses the brake pedal. The braking data includes push rod displacement, master cylinder pressure, and brake pedal signal.

[0092] A brake assist system 52 is used to determine the driver's target braking demand based on the braking data.

[0093] The integrated braking control system 51 is further used to read the current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: pedal braking request, active emergency braking system request, anti-lock braking system request, vehicle dynamic braking request, external braking request, and electronic parking system request.

[0094] The brake assist system 52 is further used to determine the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled.

[0095] The brake assist system 52 is further used to determine the brake assist pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request.

[0096] Optionally, before the brake assist system 52 determines the brake assist pressure of the vehicle to be controlled, the brake assist system 52 is further used to obtain the current working state of the integrated braking control system; judge the fault level of the integrated braking control system based on the current working state of the integrated braking control system; determine the corresponding brake assist pressure generation mode based on the fault level of the integrated braking control system.

[0097] Optionally, the brake assist system 52 is specifically used for:

[0098] If the integrated braking control system 51 has no fault, judge that the fault level of the integrated braking control system 51 is level one.

[0099] If the pedal travel sensor of the integrated braking control system 51 fails, judge that the fault level of the integrated braking control system 51 is level two.

[0100] If the master cylinder pressure sensor or the oil pot liquid level sensor of the integrated braking control system 51 fails, judge that the fault level of the integrated braking control system 51 is level three.

[0101] If the integrated braking control system 51 fails completely, judge that the fault level of the integrated braking control system 51 is level four.

[0102] Optionally, the brake assist pressure generation modes include full function mode, pedal feel degradation mode, alternate pressure build-up mode, single-line pressure build-up mode, and mechanical backup mode. The brake assist system 52 is specifically used for:

[0103] When the fault level of the integrated braking control system 51 is at the first level, the braking assist pressure generation mode of the braking assist system 52 adopts the full function mode;

[0104] When the fault level of the integrated braking control system 51 is at the second level, the braking assist pressure generation mode of the braking assist system 52 adopts the pedal feel degradation mode;

[0105] When the fault level of the integrated braking control system 51 is at the third level, the braking assist pressure generation mode of the braking assist system 52 adopts the alternative pressure building mode or the single pipeline pressure building mode;

[0106] When the fault level of the integrated braking control system 51 is at the fourth level, the braking assist pressure generation mode of the braking assist system 52 adopts the mechanical backup mode.

[0107] Optionally, the braking assist system 52 is further configured to: simulate a pedal feel signal by using a brake pedal signal; determine the driver's target braking demand through simulation based on the pedal feel signal, the push rod displacement, and the master cylinder pressure.

[0108] Optionally, before the braking assist system 52 determines the vehicle braking request of the vehicle to be controlled, the braking assist system 52 is further configured to:

[0109] Perform priority sorting on the currently read braking request by using a preset priority order, where the preset priority order includes: the pedal braking request is the first priority, the active emergency braking system request, the anti-lock braking system request, and the vehicle dynamic braking request are all the second priority, the external braking request is the third priority, and the electronic parking brake system request is the fourth priority.

[0110] Optionally, the braking assist system 52 is further configured to: determine the vehicle braking request of the vehicle to be controlled based on the priority sorting of the current braking request and the current actual working condition of the vehicle to be controlled.

[0111] Optionally, after the braking assist system 52 determines the braking assist pressure of the vehicle to be controlled, the braking assist system 52 is further configured to adjust the brake fluid inflow and outflow of the integrated braking control system 51 based on the braking assist pressure; the integrated braking control system 51 is further configured to control the vehicle to be braked by using the adjusted brake fluid inflow and outflow.

[0112] For the device provided by the embodiment of the present invention, the implementation principle and the technical effects generated are the same as those of the foregoing method embodiment. For the sake of brief description, for the parts not mentioned in the device embodiment, reference may be made to the corresponding content in the foregoing method embodiment.

[0113] The braking assist device provided by the embodiment of the present invention has the same technical features as the braking assist method provided by the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0114] An embodiment of the present invention further provides a vehicle, which includes the braking assist device in any of the embodiments.

[0115] The vehicle provided by the embodiment of the present invention includes the braking assist device in the above embodiment. Therefore, the vehicle provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be elaborated here.

[0116] In the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0117] Finally, it should be noted that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A braking assistance method, characterized in that, When the driver of the vehicle to be controlled steps on the brake pedal, the brake boosting method includes: The integrated brake control system obtains the braking data of the vehicle to be controlled, where the braking data includes push rod displacement, master cylinder pressure, and brake pedal signal; The brake boosting system determines the driver's target braking demand based on the braking data; The integrated brake control system reads the current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: pedal braking request, active emergency braking system request, anti-lock braking system request, vehicle dynamic braking request, external braking request, and electronic parking system request; The brake boosting system determines the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled; The brake boosting system determines the brake boosting pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request; Before the brake boosting system determines the brake boosting pressure of the vehicle to be controlled, the brake boosting method further includes: The brake boosting system obtains the current working state of the integrated brake control system; The brake boosting system determines the fault level of the integrated brake control system based on the current working state of the integrated brake control system; The brake boosting system determines the corresponding brake boosting pressure generation mode based on the fault level of the integrated brake control system; The brake boosting system determines the fault level of the integrated brake control system based on the current working state of the integrated brake control system, including: If the integrated brake control system has no fault, the fault level of the integrated brake control system is level one; If the pedal travel sensor of the integrated brake control system fails, the fault level of the integrated brake control system is level two; If the master cylinder pressure sensor or the oil pot level sensor of the integrated brake control system fails, the fault level of the integrated brake control system is level three; If the integrated brake control system fails completely, the fault level of the integrated brake control system is level four.

2. The braking assistance method according to claim 1, wherein, The brake boosting pressure generation modes include full function mode, pedal feel degradation mode, alternating pressure build-up mode, single-line pressure build-up mode, and mechanical backup mode. The brake boosting system determines the corresponding brake boosting pressure generation mode based on the fault level of the integrated brake control system, including: When the fault level of the integrated brake control system is level one, the brake boosting pressure generation mode of the brake boosting system adopts the full function mode; When the fault level of the integrated brake control system is level two, the brake boosting pressure generation mode of the brake boosting system adopts the pedal feel degradation mode; When the fault level of the integrated brake control system is level three, the brake boosting pressure generation mode of the brake boosting system adopts the alternating pressure build-up mode or the single-line pressure build-up mode; When the fault level of the integrated brake control system is level four, the brake boosting pressure generation mode of the brake boosting system adopts the mechanical backup mode.

3. The braking assistance method according to claim 1, wherein The brake assist system determines the driver's target braking demand based on the braking data, including: The brake assist system uses the brake pedal signal to simulate a pedal feel signal; The brake assist system determines the driver's target braking demand through simulation using the pedal feel signal, the push rod displacement, and the master cylinder pressure.

4. The braking assistance method according to claim 1, wherein Before determining the vehicle braking request of the vehicle to be controlled, the brake assist method further includes: Prioritizing the read current braking requests using a preset priority order, where the preset priority order includes: the pedal braking request is the first priority, the active emergency braking system request, the anti-lock braking system request, and the vehicle dynamic braking request are all the second priority, the external braking request is the third priority, and the electronic parking system request is the fourth priority.

5. The braking assistance method according to claim 4, wherein The brake assist system determines the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled, including: The brake assist system determines the vehicle braking request of the vehicle to be controlled based on the priority ranking of the current braking request and the current actual working condition of the vehicle to be controlled.

6. The braking assistance method according to claim 1, characterized in that After determining the brake assist pressure of the vehicle to be controlled, the brake assist method further includes: The brake assist system adjusts the brake fluid inflow and outflow of the integrated brake control system based on the brake assist pressure; The integrated brake control system controls the vehicle to be controlled to brake using the adjusted brake fluid inflow and outflow.

7. A brake booster device, characterized in that, The brake assist device includes: An integrated brake control system for obtaining the braking data of the vehicle to be controlled when the driver of the vehicle to be controlled steps on the brake pedal, where the braking data includes push rod displacement, master cylinder pressure, and brake pedal signal; A brake assist system for determining the driver's target braking demand based on the braking data; The integrated brake control system is further configured to read the current braking request of the vehicle to be controlled, where the current braking request includes at least one of the following: pedal braking request, active emergency braking system request, anti-lock braking system request, vehicle dynamic braking request, external braking request, and electronic parking system request; The brake assist system is further configured to determine the vehicle braking request of the vehicle to be controlled based on the current braking request and the current actual working condition of the vehicle to be controlled; The brake assist system is further configured to determine the brake assist pressure of the vehicle to be controlled based on the target braking demand and the vehicle braking request; Before the brake assist system determines the brake assist pressure of the vehicle to be controlled, the brake assist system is further configured to: Obtain the current working state of the integrated brake control system; Judge the fault level of the integrated brake control system based on the current working state of the integrated brake control system; Determine the corresponding brake assist pressure generation mode based on the fault level of the integrated brake control system; The brake assist system is specifically configured to: If the integrated brake control system has no fault, judge that the fault level of the integrated brake control system is level one; If the pedal travel sensor of the integrated brake control system fails, it is determined that the fault level of the integrated brake control system is level two; If the master cylinder pressure sensor or the oil pot liquid level sensor of the integrated brake control system fails, it is determined that the fault level of the integrated brake control system is level three; If all the integrated brake control systems fail, it is determined that the fault level of the integrated brake control system is level four.

8. A vehicle, characterized in that, The vehicle includes the brake booster device according to claim 7 above.

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