Brake-by-wire control method and device

Abstract

The application discloses a kind of brake-by-wire control method and device, wherein control method includes: obtaining vehicle starting information, and calibrating brake-by-wire caliper according to the vehicle starting information, so that the friction plate of the brake-by-wire caliper is in specified station;Obtain the state information of brake pedal, and control the brake-by-wire caliper to brake vehicle according to the state information of brake pedal;It can accurately control brake-by-wire process to achieve the effect of four-wheel synchronous clamping, improve brake-by-wire effect.

Description

Technical Field

[0001] This application relates to the field of motor vehicle braking control technology, and in particular to a brake-by-wire control method and device. Background Technology

[0002] In recent years, the automotive industry has developed rapidly. With the development of vehicle electrification and intelligence, passenger car braking systems are transforming from traditional vacuum-assisted braking to electronic braking, and brake-by-wire has become the future direction of braking technology development.

[0003] Existing brake-by-wire calipers eliminate the traditional hydraulic system, replacing controller control with electrical signals transmitted through a wiring harness to drive the calipers. This allows the controller to individually control the braking force of a single wheel. However, due to the cumulative tolerances of the manufacturing tolerance chain, the four calipers on four wheels exhibit differences. This results in the brake-by-wire calipers failing to achieve synchronized clamping of all four wheels during braking, leading to low braking control precision. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this invention is to propose a brake-by-wire control method capable of precisely controlling the brake-by-wire process to achieve synchronous clamping of all four wheels, thereby improving the brake-by-wire performance.

[0005] In a first aspect, embodiments of the present invention propose a brake-by-wire control method, comprising: acquiring vehicle start information, and calibrating the brake-by-wire caliper according to the vehicle start information so that the friction pad of the brake-by-wire caliper is in a designated position; acquiring brake pedal state information, and controlling the brake-by-wire caliper to brake the vehicle according to the brake pedal state information.

[0006] According to the brake-by-wire control method of the present invention, firstly, vehicle start information is acquired, and the brake-by-wire caliper is calibrated according to the vehicle start information so that the friction pad of the brake-by-wire caliper is in a designated position; then, brake pedal status information is acquired, and the brake-by-wire caliper is controlled to brake the vehicle according to the brake pedal status information; thereby achieving precise control of the brake-by-wire process to achieve the effect of synchronous clamping of four wheels and improve the brake-by-wire effect.

[0007] In some embodiments, calibrating the brake-by-wire caliper according to the vehicle start information includes: controlling the brake-by-wire caliper to clamp with a preset deceleration current according to the vehicle start information; stopping the clamping action when the distance between the friction pad of the brake-by-wire caliper and the brake disc is zero, and controlling the motor of the brake-by-wire caliper to rotate so that the friction pad retracts to the designated position.

[0008] In some embodiments, the brake pedal state information includes a brake pedal displacement signal. Controlling the brake-by-wire caliper to brake the vehicle based on the brake pedal state information includes: calculating a corresponding motor target position based on the brake pedal displacement signal, and controlling the motor to rotate based on the motor target position; obtaining the current motor position and determining whether the current motor position matches the motor target position; when the current motor position does not match the motor target position, moving the motor based on the distance difference between the current motor position and the motor target position until the current motor position matches the motor target position.

[0009] In some embodiments, the brake pedal state information includes a brake pedal displacement signal. Controlling the brake-by-wire caliper to brake the vehicle based on the brake pedal state information includes: controlling the output torque of the brake-by-wire caliper motor based on the brake pedal displacement signal; acquiring wheel speed sensing signals and determining whether all four wheels of the vehicle are currently locked based on the wheel speed sensing signals; if so, controlling the slip ratio based on the wheel speed sensing signals and activating the anti-lock braking system; if not, acquiring yaw sensing signals and four-wheel wheel speed signals, and adjusting the brake-by-wire caliper based on the yaw sensing signals and the four-wheel wheel speed signals.

[0010] In some embodiments, the control method further includes: acquiring a wheel speed sensing signal, and determining whether the drive wheel is slipping or spinning freely based on the wheel speed sensing signal; if the drive wheel is slipping or spinning freely, controlling the drive wheel to reduce speed based on the wheel speed sensing signal, and activating the traction control system.

[0011] In some embodiments, the control method further includes: acquiring vehicle steering information and acquiring yaw sensing signals based on the vehicle steering information; determining whether the vehicle currently faces a rollover risk based on the yaw sensing signals; when the vehicle currently faces a rollover risk, acquiring four-wheel wheel speed signals and controlling wheel speeds based on the yaw sensing signals and the four-wheel wheel speed signals, and activating the vehicle electronic stability system until the vehicle is out of rollover risk.

[0012] In some embodiments, the control method further includes: presetting a first control logic lookup table, the first control logic lookup table including a plurality of voltage signal intervals and a first control logic corresponding to each voltage signal interval; obtaining a current voltage signal and determining the voltage signal interval to which the current voltage signal belongs; querying the first control logic lookup table according to the voltage signal interval to obtain the corresponding first control logic; and controlling the linear control clamp according to the first control logic.

[0013] In some embodiments, the control method further includes: presetting a second control logic lookup table, the second control logic lookup table including multiple brake caliper motor temperature ranges and a second control logic corresponding to each brake caliper motor temperature range; obtaining the current brake caliper motor temperature and determining the brake caliper motor temperature range to which the current brake caliper motor temperature belongs; querying the second control logic lookup table according to the brake caliper motor temperature range to obtain the corresponding second control logic, and controlling the brake caliper by line according to the second control logic.

[0014] In some embodiments, the control method further includes: acquiring an obstacle detection signal; determining whether there is a collision risk to the vehicle based on the obstacle detection signal; when there is a collision risk to the vehicle, controlling the brake-by-wire caliper to perform emergency braking on the vehicle; acquiring wheel speed sensing signals and determining whether the vehicle is currently in a four-wheel lock-up state based on the wheel speed sensing signals; if so, controlling the slip ratio based on the wheel speed sensing signals and activating the anti-lock braking system; if not, acquiring yaw sensing signals and four-wheel speed signals, and adjusting the brake-by-wire caliper based on the yaw sensing signals and the four-wheel speed signals.

[0015] Secondly, embodiments of the present invention provide a brake-by-wire control device, comprising: a calibration module, wherein the calibration module is used to acquire vehicle start information and calibrate the brake-by-wire caliper according to the vehicle start information so that the friction pad of the brake-by-wire caliper is in a designated position; and a control module, wherein the control module is used to acquire brake pedal status information and control the brake-by-wire caliper to brake the vehicle according to the brake pedal status information.

[0016] According to an embodiment of the present invention, the brake-by-wire control device includes a calibration module for acquiring vehicle start-up information and calibrating the brake-by-wire caliper based on the vehicle start-up information, so that the friction pads of the brake-by-wire caliper are in a designated position; and a control module for acquiring brake pedal status information and controlling the brake-by-wire caliper to brake the vehicle based on the brake pedal status information; thereby achieving precise control of the brake-by-wire process to achieve the effect of synchronous clamping of all four wheels and improve the brake-by-wire effect.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is a schematic flowchart of a brake-by-line control method according to an embodiment of the present invention;

[0019] Figure 2This is a schematic diagram of the calibration process for the brake clamp according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of a wire-controlled brake clamp structure according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the process of controlling the caliper according to the brake pedal state information according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of a process for controlling the caliper according to the brake pedal state information control line according to another embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the anti-slip control process according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the anti-rollover control process according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the hierarchical control process corresponding to the voltage signal according to an embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the graded control process corresponding to the temperature of the brake caliper motor according to an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the collision detection control process according to an embodiment of the present invention;

[0028] Figure 11 This is a block diagram of a brake-by-wire control device according to an embodiment of the present invention. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] The brake-by-wire control method of the present invention is described below with reference to the accompanying drawings.

[0031] Please see Figure 1 , Figure 1 This is a flowchart illustrating the brake-by-line control method according to an embodiment of the present invention; as shown... Figure 1 As shown, the brake-by-wire control method includes the following steps:

[0032] S101, acquire vehicle start information, and calibrate the brake-by-wire caliper according to the vehicle start information so that the friction plate of the brake-by-wire caliper is in the designated position.

[0033] In other words, after the vehicle starts, the brake-by-wire calibrators are calibrated according to the vehicle start information so that the friction plates of the brake-by-wire calipers are in the designated positions; thus, each friction plate corresponding to the four wheels is in the corresponding designated position, that is, the four brake-by-wire calipers are synchronized in the initial state.

[0034] In some embodiments, calibrating the drive-by-wire caliper according to vehicle start information includes: controlling the drive-by-wire caliper to clamp with a preset deceleration current according to the vehicle start information; stopping the clamping action when the distance between the friction pad of the drive-by-wire caliper and the brake disc is zero, and controlling the motor of the drive-by-wire caliper to rotate so that the friction pad retracts to a designated position.

[0035] As an example, such as Figure 2 As shown, the calibration process for the brake-by-wire clamp includes the following steps:

[0036] S201, Obtain vehicle startup information.

[0037] S202, based on the vehicle start information, controls the moving clamp to clamp with a 1g deceleration current.

[0038] S203, when the distance between the friction pads of the online control caliper and the brake disc is zero, the clamping action stops.

[0039] S204 controls the rotation of the motor of the linear control clamp to cause the piston of the linear control clamp to retract a specified distance, thereby causing the friction plate to retract to the specified working position.

[0040] In other words, such as Figure 3 As shown, assuming the distance between the friction pad and the brake disc is X; after the vehicle starts, firstly, the control line controls the caliper to clamp, and the piston pushes the friction pad closer to the brake disc; then, when X is 0, the control motor reverses a preset distance, and the piston retracts a specified distance, causing the friction pad to retract to the specified position; in this way, the distance between the friction pads corresponding to the four wheels and the brake disc is equal, achieving the purpose of synchronized braking of all four wheels.

[0041] S205, Obtain the brake pedal signal.

[0042] S206 controls the motor of the brake caliper to reach the corresponding current according to the brake pedal signal control line, so as to generate the corresponding braking force to brake the corresponding vehicle.

[0043] S207, determine whether the current four-wheel synchronization status is within the allowable range; if yes, proceed to step S208; if no, return to step S202.

[0044] S208, End.

[0045] In other words, after the first braking, the vehicle's sensors determine whether the braking force synchronization of the four wheels is within an acceptable range; if not, the brake-by-wire caliper is recalibrated; if so, the brake-by-wire caliper calibration is complete.

[0046] S102, obtain the status information of the brake pedal, and control the caliper to brake the vehicle according to the status information of the brake pedal.

[0047] In some embodiments, the brake pedal state information includes a brake pedal displacement signal. Controlling the caliper to brake the vehicle based on the brake pedal state information includes: calculating the corresponding motor target position based on the brake pedal displacement signal, and controlling the motor rotation based on the motor target position; obtaining the current motor position and determining whether the current motor position matches the motor target position; when the current motor position does not match the motor target position, moving the motor based on the distance difference between the current motor position and the motor target position until the current motor position matches the motor target position.

[0048] As an example, such as Figure 4 As shown, the process of controlling the caliper to brake the vehicle based on the brake pedal status information includes the following steps:

[0049] S401, acquire the brake pedal displacement signal.

[0050] S402 controls the motor of the caliper to reach the corresponding target angle position based on the brake pedal displacement signal control line, so as to generate the corresponding braking force.

[0051] S403, obtain the current angular position of the motor of the wire-controlled brake clamp.

[0052] S404, determine whether the current angular position of the motor is consistent with the target angular position; if not, proceed to step S405; if yes, proceed to step S406.

[0053] In other words, it determines whether the current angular position of the motor matches the brake pedal displacement signal; if they do not match, it adjusts the position based on the difference until the current angular position of the motor matches the target angular position, that is, the current angular position of the motor matches the brake pedal displacement signal.

[0054] S405, adjust the current angle position of the motor according to the difference between the current angle position of the motor and the target angle position, and return to step S403.

[0055] S406, keep the current angular position of the motor unchanged.

[0056] S407, acquire the brake pedal displacement signal.

[0057] S408, determine whether the brake pedal has returned to its initial position based on the brake pedal displacement signal; if yes, proceed to step S409; if no, return to step S403.

[0058] S409, End.

[0059] In some embodiments, the brake pedal state information includes a brake pedal displacement signal. The control line for braking the vehicle based on the brake pedal state information includes: controlling the output torque of the caliper motor based on the brake pedal displacement signal control line; acquiring wheel speed sensing signals and determining whether all four wheels of the vehicle are currently locked; if so, controlling the slip ratio based on the wheel speed sensing signals and activating the anti-lock braking system; if not, acquiring yaw sensing signals and four-wheel wheel speed signals, and adjusting the caliper control line based on the yaw sensing signals and four-wheel wheel speed signals.

[0060] As an example, such as Figure 5 As shown, the process of controlling the caliper to brake the vehicle based on the brake pedal status information includes the following steps:

[0061] S501, acquire the brake pedal displacement signal.

[0062] S502 controls the output torque of the caliper motor according to the brake pedal displacement signal control line, so as to output the braking force corresponding to the brake pedal displacement signal.

[0063] S503 acquires wheel speed sensing signals.

[0064] S504, determine whether the vehicle is currently locked in all four wheels based on the wheel speed sensor signal; if yes, proceed to step S505; if no, proceed to step S506.

[0065] S505 controls the slip ratio based on wheel speed sensor signals and activates the anti-lock braking system.

[0066] S506 acquires yaw sensor signals and four-wheel speed signals, and adjusts the linear control brake based on the yaw sensor signals and four-wheel speed signals to adjust the clamping force of the four wheels.

[0067] S507, acquire the brake pedal displacement signal.

[0068] S508, determine whether the brake pedal has returned to its original position based on the brake pedal displacement signal; if yes, proceed to step S509; if no, return to step S503.

[0069] S509, End.

[0070] In some embodiments, the brake-by-wire control method further includes: acquiring wheel speed sensing signals and determining whether the drive wheel is slipping or spinning freely based on the wheel speed sensing signals; if the drive wheel is slipping or spinning freely, controlling the drive wheel to reduce speed based on the wheel speed sensing signals and activating the traction control system.

[0071] As an example, such as Figure 6 As shown, the above control logic specifically includes the following steps:

[0072] S601, obtain the accelerator pedal signal.

[0073] S602 acquires wheel speed sensing signals when the driver depresses the accelerator pedal based on the accelerator pedal signal.

[0074] S603, determine whether the drive wheel is slipping or spinning freely based on the wheel speed sensor signal; if yes, proceed to step S604; if no, proceed to step S607.

[0075] S604 controls the drive wheels to slow down based on wheel speed sensor signals and activates the traction control system.

[0076] S605 acquires wheel speed sensing signals.

[0077] S606, determine whether the drive wheel is slipping or spinning freely based on the wheel speed sensor signal; if yes, return to step S604; if no, proceed to step S607.

[0078] S607, End.

[0079] In some embodiments, the brake-by-wire control method further includes: acquiring vehicle steering information and acquiring yaw sensing signals based on the vehicle steering information; determining whether the vehicle currently faces a rollover risk based on the yaw sensing signals; when the vehicle currently faces a rollover risk, acquiring four-wheel wheel speed signals and controlling wheel speeds based on the yaw sensing signals and the four-wheel wheel speed signals, and activating the vehicle electronic stability system until the vehicle is out of rollover risk.

[0080] As an example, such as Figure 7 As shown, the above control logic specifically includes the following steps:

[0081] S701, obtain vehicle steering information.

[0082] S702 acquires a yaw sensing signal when it is determined that the driver is currently controlling the vehicle's steering based on the vehicle steering information.

[0083] S703, determine whether there is a risk of rollover based on the yaw sensor signal; if yes, proceed to step S704; if no, proceed to step S708.

[0084] S704, acquires four-wheel speed signals.

[0085] The S705 controls wheel speed based on yaw sensor signals and four-wheel wheel speed signals, and activates the vehicle's electronic stability system.

[0086] S706 acquires yaw sensing signals.

[0087] S707, determine whether there is a risk of rollover based on the yaw sensor signal; if yes, return to step S704; if no, proceed to step S708.

[0088] S708, End.

[0089] In some embodiments, the line brake control method further includes: presetting a first control logic lookup table, the first control logic lookup table including multiple voltage signal intervals and a first control logic corresponding to each voltage signal interval; obtaining the current voltage signal and determining the voltage signal interval to which the current voltage signal belongs; querying the first control logic lookup table according to the voltage signal interval to obtain the corresponding first control logic; and controlling the line brake clamp according to the first control logic.

[0090] In other words, the magnitude of the voltage signal is determined, and the current control logic is determined based on the magnitude of the voltage signal.

[0091] As an example, such as Figure 8 As shown, the hierarchical control method corresponding to the above voltage signal includes the following steps:

[0092] S801, obtain the current voltage signal.

[0093] S802, determine whether the current voltage signal is greater than 9.8V and less than 16V; if yes, proceed to step S803; if no, proceed to step S804.

[0094] S803 uses a full-function logic control line to control the moving clamp (first-level control logic).

[0095] S804, determine whether the current voltage signal is greater than 8V and less than 20V; if yes, proceed to step S805; if no, proceed to step S806.

[0096] S805 uses a two-level control logic to control the caliper, setting the maximum braking deceleration to 1g.

[0097] S806, determine whether the current voltage signal is greater than 6.5V and less than 27V; if yes, proceed to step S807; if no, proceed to step S808.

[0098] The S807 uses a three-level control logic control line to control the caliper, resulting in a maximum braking deceleration of 0.65g.

[0099] S808, End.

[0100] In some embodiments, the brake-by-wire control method further includes: presetting a second control logic lookup table, the second control logic lookup table including multiple brake caliper motor temperature ranges and a second control logic corresponding to each brake caliper motor temperature range; obtaining the current brake caliper motor temperature and determining the brake caliper motor temperature range to which the current brake caliper motor temperature belongs; querying the second control logic lookup table according to the brake caliper motor temperature range to obtain the corresponding second control logic, and controlling the brake-by-wire caliper according to the second control logic.

[0101] In other words, the temperature of the brake caliper motor is determined, and the current control logic is determined based on the temperature of the brake caliper motor.

[0102] As an example, such as Figure 9 As shown, the graded control method for the temperature of the brake caliper motor mentioned above specifically includes the following steps:

[0103] S901, obtain the current brake caliper motor temperature.

[0104] S902, determine whether the current brake caliper motor temperature is greater than -10℃ and less than 85℃; if yes, proceed to step S903; if no, proceed to step S904.

[0105] S903 uses a full-function logic control line to control the moving clamp (first-level control logic).

[0106] S904, determine whether the current brake caliper motor temperature is greater than 105℃ and less than 120℃; if yes, proceed to step S905; if no, proceed to step S906.

[0107] S905 uses a two-level control logic control line to control the caliper, setting the maximum braking deceleration to 1g.

[0108] S906, determine whether the current brake caliper motor temperature is less than -10℃; if yes, proceed to step S907; if no, proceed to step S908.

[0109] The S907 uses a cryogenic logic control line to control the moving clamps, ensuring response time and tire clamping force.

[0110] S908, determine whether the current brake caliper motor temperature is greater than 120℃; if yes, proceed to step S909; if no, proceed to step S910.

[0111] The S909 uses a three-level control logic control line to control the caliper, resulting in a maximum braking deceleration of 0.65g.

[0112] S910, End.

[0113] In some embodiments, the brake-by-wire control method further includes: acquiring an obstacle detection signal; determining whether there is a collision risk to the vehicle based on the obstacle detection signal; controlling the brake-by-wire caliper to apply emergency braking to the vehicle when there is a collision risk; acquiring wheel speed sensing signals and determining whether the vehicle is currently in a four-wheel lock-up state based on the wheel speed sensing signals; if so, controlling the slip ratio based on the wheel speed sensing signals and activating the anti-lock braking system; if not, acquiring yaw sensing signals and four-wheel speed signals, and adjusting the brake-by-wire caliper based on the yaw sensing signals and four-wheel speed signals.

[0114] As an example, such as Figure 10 As shown, the above control logic specifically includes the following steps:

[0115] S1001, acquire obstacle detection signal.

[0116] The obstacle detection signal can include various types, such as image signals, radar signals, and ultrasonic signals.

[0117] S1002, determine whether there is a collision risk to the vehicle based on the obstacle signal; if so, proceed to step S1003.

[0118] S1003 controls the line-controlled caliper to perform emergency braking on the vehicle.

[0119] S1004, acquire wheel speed sensing signal.

[0120] S1005, determine whether the vehicle is currently in a four-wheel lock-up state based on the wheel speed sensor signal; if yes, proceed to step S1006; if no, proceed to step S1007.

[0121] S1006 controls the slip ratio based on wheel speed sensor signals and activates the anti-lock braking system.

[0122] S1007 acquires the yaw sensor signal and the four-wheel speed signal, and adjusts the linear control brake based on the yaw sensor signal and the four-wheel speed signal.

[0123] S1008, determine whether the vehicle is currently stopped; if not, return to step S1004; if yes, proceed to step S1009.

[0124] S1009, End.

[0125] In summary, the brake-by-wire control method according to an embodiment of the present invention first acquires vehicle start information and calibrates the brake-by-wire caliper according to the vehicle start information so that the friction pads of the brake-by-wire caliper are in a designated position; then, it acquires brake pedal status information and controls the brake-by-wire caliper to brake the vehicle according to the brake pedal status information; thereby achieving precise control of the brake-by-wire process to achieve the effect of synchronous clamping of all four wheels and improve the brake-by-wire effect.

[0126] To achieve the above embodiments, such as Figure 11 As shown in the figure, an embodiment of the present invention proposes a brake-by-wire control device, which includes a calibration module 10 and a control module 20.

[0127] The calibration module 10 is used to acquire vehicle start information and calibrate the brake-by-wire calibrator according to the vehicle start information so that the friction plate of the brake-by-wire calibrator is in the designated position.

[0128] The control module 20 is used to acquire the status information of the brake pedal and control the brake caliper to brake the vehicle based on the status information of the brake pedal.

[0129] In some embodiments, the calibration module 10 is further configured to control the linear control caliper to clamp with a preset deceleration current according to the vehicle start information; when the distance between the friction pad of the linear control caliper and the brake disc is zero, stop the clamping action and control the motor of the linear control caliper to rotate so that the friction pad retracts to the designated position.

[0130] In some embodiments, the control module 20 is further configured to calculate the corresponding target position of the motor based on the brake pedal displacement signal, and control the motor to rotate based on the target position of the motor; obtain the current position of the motor, and determine whether the current position of the motor is consistent with the target position of the motor; when the current position of the motor is inconsistent with the target position of the motor, move the motor based on the distance difference between the current position of the motor and the target position of the motor until the current position of the motor is consistent with the target position of the motor.

[0131] In some embodiments, the control module 20 is further configured to control the output torque of the caliper motor according to the brake pedal displacement signal; acquire wheel speed sensing signals and determine whether the vehicle is currently locked in four wheels according to the wheel speed sensing signals; if so, control the slip ratio according to the wheel speed sensing signals and activate the anti-lock braking system; if not, acquire yaw sensing signals and four wheel speed signals, and adjust the caliper control according to the yaw sensing signals and four wheel speed signals.

[0132] In some embodiments, the control module 20 is further configured to acquire wheel speed sensing signals and determine whether the drive wheel is slipping or spinning freely based on the wheel speed sensing signals; if the drive wheel is slipping or spinning freely, the control module 20 controls the drive wheel to reduce speed based on the wheel speed sensing signals and activates the traction control system.

[0133] In some embodiments, the control module 20 is further configured to acquire vehicle steering information and acquire yaw sensing signals based on the vehicle steering information; determine whether the vehicle is currently at risk of rollover based on the yaw sensing signals; when the vehicle is at risk of rollover, acquire four-wheel speed signals and control wheel speeds based on the yaw sensing signals and the four-wheel speed signals, and activate the vehicle electronic stability system until the vehicle is out of the risk of rollover.

[0134] In some embodiments, the control module 20 is further configured to preset a first control logic lookup table, the first control logic lookup table including multiple voltage signal intervals and a first control logic corresponding to each voltage signal interval; obtain the current voltage signal and determine the voltage signal interval to which the current voltage signal belongs; query the first control logic lookup table according to the voltage signal interval to obtain the corresponding first control logic; and control the linear control clamp according to the first control logic.

[0135] In some embodiments, the control module 20 is further configured to preset a second control logic lookup table, the second control logic lookup table including multiple brake caliper motor temperature ranges and the second control logic corresponding to each brake caliper motor temperature range; obtain the current brake caliper motor temperature and determine the brake caliper motor temperature range to which the current brake caliper motor temperature belongs; query the second control logic lookup table according to the brake caliper motor temperature range to obtain the corresponding second control logic, and control the linear control caliper according to the second control logic.

[0136] In some embodiments, the control module 20 is further configured to acquire obstacle detection signals; determine whether there is a collision risk to the vehicle based on the obstacle detection signals; control the brake caliper to apply emergency braking to the vehicle when there is a collision risk; acquire wheel speed sensing signals and determine whether the vehicle is currently in a four-wheel lock-up state based on the wheel speed sensing signals; if so, control the slip ratio based on the wheel speed sensing signals and activate the anti-lock braking system; if not, acquire yaw sensing signals and four-wheel speed signals, and adjust the brake caliper based on the yaw sensing signals and four-wheel speed signals.

[0137] In summary, the brake-by-wire control device according to an embodiment of the present invention, by setting a calibration module for acquiring vehicle start information and calibrating the brake-by-wire caliper according to the vehicle start information, so that the friction pad of the brake-by-wire caliper is in a designated position; the control module is used to acquire brake pedal status information and control the brake-by-wire caliper to brake the vehicle according to the brake pedal status information; thereby achieving precise control of the brake-by-wire process to achieve the effect of simultaneous clamping of four wheels and improve the brake-by-wire effect.

[0138] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0139] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0140] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0141] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0142] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0143] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0144] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0145] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A brake-by-wire control method characterized by, include: Obtain vehicle start information and calibrate the brake-by-wire caliper according to the vehicle start information so that the friction plate of the brake-by-wire caliper is in a designated position; The brake pedal status information is obtained, and the brake-by-wire caliper is controlled to brake the vehicle based on the brake pedal status information. The calibration of the brake-by-wire calibrator based on the vehicle start information includes: Based on the vehicle start information, the brake-by-wire clamp is controlled to clamp with a preset deceleration current; When the distance between the friction plate and the brake disc of the line-controlled brake clamp is zero, the clamping action is stopped, and the motor of the line-controlled brake clamp is controlled to rotate so that the friction plate retracts to the designated work position. After the first braking action, the vehicle's sensors determine whether the braking force synchronization of the four wheels is within an acceptable range. If not, the brake-by-wire calibrator is recalibrated; if so, the brake-by-wire calibration is complete. The brake pedal status information includes a brake pedal displacement signal, wherein controlling the brake-by-wire caliper to brake the vehicle based on the brake pedal status information includes: The corresponding target position of the motor is calculated based on the brake pedal displacement signal, and the motor rotation is controlled based on the target position of the motor. Obtain the current position of the motor and determine whether the current position of the motor is consistent with the target position of the motor; When the current position of the motor is inconsistent with the target position of the motor, the motor is moved according to the distance difference between the current position of the motor and the target position of the motor until the current position of the motor is consistent with the target position of the motor.

2. The brake-by-wire control method according to claim 1, characterized by, The brake pedal status information includes a brake pedal displacement signal, wherein controlling the brake-by-wire caliper to brake the vehicle based on the brake pedal status information includes: The output torque of the caliper motor is controlled according to the brake pedal displacement signal control line; Acquire wheel speed sensor signals and determine whether the vehicle is currently locked in all four wheels based on the wheel speed sensor signals; If so, the slip ratio is controlled according to the wheel speed sensor signal, and the anti-lock braking system is activated; If not, acquire the yaw sensing signal and the four-wheel speed signal, and adjust the brake-by-wire caliper according to the yaw sensing signal and the four-wheel speed signal.

3. The brake-by-wire control method as described in claim 1, characterized in that, Also includes: Acquire wheel speed sensing signals and determine whether the drive wheel is slipping or spinning freely based on the wheel speed sensing signals; If the drive wheel slips and spins freely, the drive wheel is controlled to slow down according to the wheel speed sensor signal, and the traction control system is activated.

4. The brake-by-wire control method as described in claim 1, characterized in that, Also includes: Obtain vehicle steering information, and obtain yaw sensing signals based on the vehicle steering information; The yaw sensor signal is used to determine whether the vehicle is at risk of rollover. When the vehicle is at risk of rollover, the wheel speed signals of the four wheels are acquired, and the wheel speed is controlled according to the yaw sensor signal and the wheel speed signals of the four wheels, and the vehicle electronic stability system is activated until the vehicle is out of the risk of rollover.

5. The brake-by-wire control method as described in claim 1, characterized in that, Also includes: A first control logic lookup table is preset, which includes multiple voltage signal ranges and the first control logic corresponding to each voltage signal range. Acquire the current voltage signal and determine the voltage signal range to which the current voltage signal belongs; The first control logic lookup table is consulted according to the voltage signal range to obtain the corresponding first control logic, and the line control clamp is controlled according to the first control logic.

6. The brake-by-wire control method as described in claim 1, characterized in that, Also includes: A preset second control logic lookup table is provided, which includes multiple brake caliper motor temperature ranges and the second control logic corresponding to each brake caliper motor temperature range. Obtain the current brake caliper motor temperature and determine the brake caliper motor temperature range to which the current brake caliper motor temperature belongs; The second control logic lookup table is consulted according to the temperature range of the brake caliper motor to obtain the corresponding second control logic, and the line-controlled brake caliper is controlled according to the second control logic.

7. The brake-by-wire control method as described in claim 1, characterized in that, Also includes: Acquire obstacle detection signals; The obstacle detection signal is used to determine whether there is a collision risk to the vehicle. When the vehicle is at risk of collision, the brake-by-wire caliper is controlled to apply emergency braking to the vehicle; Acquire wheel speed sensing signals and determine whether the vehicle is currently in a four-wheel lock-up state based on the wheel speed sensing signals; If so, the slip ratio is controlled according to the wheel speed sensor signal, and the anti-lock braking system is activated; If not, acquire the yaw sensing signal and the four-wheel speed signal, and adjust the brake-by-wire caliper according to the yaw sensing signal and the four-wheel speed signal.

8. A brake-by-wire control device, characterized in that, For implementing the brake-by-wire control method as described in any one of claims 1-7, the apparatus comprises: A calibration module is used to acquire vehicle start information and calibrate the brake-by-wire calibrator according to the vehicle start information so that the friction plate of the brake-by-wire calibrator is in a specified position. The control module is used to acquire the status information of the brake pedal and control the brake-by-wire caliper to brake the vehicle based on the status information of the brake pedal.

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