Method, device and vehicle for controlling a brake pedal in a vehicle

Abstract

The application discloses a control method and device of a brake pedal in a vehicle and the vehicle. The method comprises the following steps: monitoring the working state of the brake pedal in the vehicle; acquiring the driving parameter of the vehicle based on the brake pedal in response to the working state starting; and constructing at least one assist curve of the brake pedal based on the driving parameter, wherein the at least one assist curve is used to represent the relationship between the pedal strength and the longitudinal acceleration or the relationship between the pedal strength and the pedal stroke, and is used to control the brake pedal. The application solves the technical problem of low flexibility of pedal feeling selection in the vehicle.

Description

Brake pedal control methods, devices, and vehicles in vehicles Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a method, apparatus, and vehicle for controlling a brake pedal in a vehicle. Background Technology

[0002] Currently, the pedal feel of the brake pedal is typically provided by a decoupled brake booster device. However, the pedal feel of a non-decoupled brake booster device is generated by a traditional pedal, vacuum booster, and vacuum pump. The pedal feel is mainly determined by the mechanical characteristics of the vacuum booster, which cannot be changed after mass production. This results in drivers being unable to choose different pedal feels according to their own driving habits, thus creating a technical problem of low pedal feel selection flexibility in vehicles.

[0003] There is currently no effective solution to the technical problem of low pedal feel selection flexibility in the aforementioned vehicles. Summary of the Invention

[0004] This invention provides a method, device, and vehicle for controlling the brake pedal in a vehicle, to at least solve the technical problem of low flexibility in selecting pedal feel in a vehicle.

[0005] According to one aspect of the present invention, a method for controlling a brake pedal in a vehicle is provided. The method may include: monitoring the operating state of the brake pedal in the vehicle; in response to the operating state being an activated state, acquiring driving parameters of the vehicle based on the brake pedal; and constructing at least one assist curve for the brake pedal based on the driving parameters, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the movement of the brake pedal.

[0006] Optionally, in response to the operating state being activated, the vehicle's driving parameters based on the brake pedal are acquired, including: in response to the operating state being activated, acquiring a mode selection command, wherein the selection command is used to indicate the vehicle's control state on the brake pedal; and acquiring the driving parameters in the control state.

[0007] Optionally, based on driving parameters, at least one assist curve of the brake pedal is constructed, including: constructing a first sub-assist curve based on pedal force and pedal travel in the driving parameters; constructing a second sub-assist curve based on pedal force and longitudinal acceleration of the vehicle; and determining the assist curves corresponding to the first sub-assist curve and the second sub-assist curve respectively.

[0008] Optionally, determining the assist curves corresponding to the first sub-assist curve and the second sub-assist curve respectively includes: performing curve fitting on the first sub-assist curve and the second sub-assist curve respectively to determine the first fitted curve and the second fitted curve; and performing mean processing on the first fitted curve and the second fitted curve respectively to obtain the first assist curve and the second assist curve, wherein the assist curve includes the first assist curve and the second assist curve.

[0009] Optionally, in response to a data storage instruction, at least one boost curve is stored, wherein the data storage instruction is used to indicate the storage of the boost curve.

[0010] Optionally, in response to a selection command, a target assist curve is determined from at least one assist curve, and the brake pedal is controlled based on the target assist curve.

[0011] Optionally, in response to a braking demand command from the vehicle, the acceleration value of the longitudinal acceleration in the target assist curve is adjusted.

[0012] Optionally, in response to a data switching command, the target assist curve is switched to the assist curve corresponding to the data switching command.

[0013] According to another aspect of the present invention, a control device for a brake pedal in a vehicle is also provided. The device may include: a monitoring unit for monitoring the operating state of the brake pedal in the vehicle; an acquisition unit for acquiring driving parameters of the vehicle based on the brake pedal in response to the operating state being activated; and a construction unit for constructing at least one assist curve of the brake pedal based on the driving parameters, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the brake pedal.

[0014] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to execute the vehicle brake pedal control method of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the control method for the brake pedal in a vehicle according to the embodiments of the present invention.

[0016] In this embodiment of the invention, the working state of the brake pedal in the vehicle is monitored; in response to the working state being activated, driving parameters of the vehicle based on the brake pedal are acquired; based on the driving parameters, at least one assist curve of the brake pedal is constructed, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the movement of the brake pedal. That is, in this embodiment of the invention, when the brake pedal is activated, the driving parameters of the brake pedal during driving can be acquired, and based on the driving parameters, an assist curve of the brake pedal can be constructed. The driver can select the desired assist curve to control the brake pedal, thereby achieving the technical effect of improving the flexibility of pedal feel selection in the vehicle and solving the technical problem of low pedal feel selection flexibility in the vehicle. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 is a flowchart of a method for controlling a brake pedal in a vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a pedal-sensing self-learning device according to an embodiment of the present invention;

[0020] Figure 3 is a flowchart of a pedal-sensing self-learning method according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a brake pedal control device in a vehicle according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terminology in the specification and accompanying drawings of this invention is used to distinguish similar objects and is not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] Example 1

[0025] According to an embodiment of the present invention, an embodiment of a method for controlling a brake pedal in a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 is a flowchart of a method for controlling a brake pedal in a vehicle according to an embodiment of the present invention. As shown in Figure 1, the method may include the following steps.

[0027] Step S102: Monitor the working status of the brake pedal in the vehicle.

[0028] In the technical solution provided by step S102 of the present invention, the working state of the brake pedal in the vehicle can be monitored. The working state of the brake pedal can include an activated state or a deactivated state.

[0029] Step S104: In response to the working state being the start state, obtain the driving parameters of the vehicle based on the brake pedal.

[0030] In the technical solution provided in step S104 of the present invention, the working state of the brake pedal can be monitored. When the working state of the brake pedal in the vehicle is detected to be in the activated state, in response to the activated working state of the brake pedal, the driving parameters of the vehicle based on the brake pedal can be collected. These driving parameters can be referred to as collected parameters, and may include basic data required for the self-learning of the pedal feel assist curve, and parameters from each time the driver depresses the brake pedal. For example, they may include driving mode, longitudinal acceleration sensor value, pedal travel sensor value, master cylinder pressure sensor value, pressure build-up cylinder pressure sensor value, pedal force sensor value, etc. It should be noted that this is only an example and does not specifically limit the types of driving parameters.

[0031] Optionally, when the brake pedal is pressed by the driver, it can be determined that the brake pedal is activated at this time. In response to the working state of the brake pedal being activated, the driving parameters of the vehicle based on the brake pedal can be collected through the integrated brake control assembly.

[0032] For example, 100 braking actions by the driver in assisted braking mode can be used as the minimum statistical measure. When the pedal travel parameter is not less than 0.45mm, it can be determined that the driver has pressed the brake pedal, and the brake pedal's working state can be confirmed as the activated state. In response to the brake pedal's activated state, the integrated brake control assembly can collect values ​​from various sensors, including the pedal travel sensor, master cylinder pressure sensor, pressure build-up cylinder pressure sensor, pedal force sensor, and yaw angle sensor, to obtain the vehicle's driving parameters based on the brake pedal.

[0033] Step S106: Based on driving parameters, construct at least one assist curve for the brake pedal, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the movement of the brake pedal.

[0034] In the technical solution provided by step S106 of the present invention, at least one assist curve of the brake pedal can be constructed based on driving parameters. This at least one assist curve can be used to represent the relationship between pedal force and longitudinal acceleration, or to represent the relationship between pedal force and pedal travel; it can also be called a pedal feel curve, and can be used to control the pedal force output by the brake pedal. Pedal force can also be called hydraulic braking force.

[0035] Optionally, the vehicle's driving parameters under different driving conditions can be acquired to obtain at least one assist curve corresponding to each driving condition. When the user is driving, they can select the assist curve corresponding to their desired pedal feel from at least one assist curve based on their actual driving habits. Based on the assist curve, the driver's driving intention is identified to reasonably control the pedal feel of the brake pedal. Based on the selected assist curve and the current pedal travel or longitudinal acceleration of the vehicle, the corresponding pedal force is determined. The brake pedal is controlled based on the pedal force to provide braking force to the four wheels of the vehicle, thereby controlling the vehicle's movement.

[0036] For example, this embodiment can collect the vehicle's driving parameters based on the brake pedal during driving. The collected data can be fitted according to two curves: "pedal travel-pedal force" and "longitudinal acceleration-pedal force" to obtain two assist curves under the current conditions. The brake pedal in the vehicle can be controlled based on the two assist curves to provide braking force to the four wheels of the vehicle.

[0037] In steps S102 to S106 of the present invention, the working state of the brake pedal in the vehicle is monitored; in response to the working state being the brake pedal activation state, driving parameters of the vehicle during driving based on the brake pedal are acquired; based on the driving parameters, at least one assist curve of the brake pedal is constructed, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the movement of the brake pedal. In other words, in this embodiment of the present invention, when the brake pedal is activated, the driving parameters of the brake pedal during driving can be acquired, and based on the driving parameters, an assist curve of the brake pedal can be constructed. The driver can select the desired assist curve to control the brake pedal, thereby achieving the technical effect of improving the flexibility of pedal feel selection in the vehicle and solving the technical problem of low pedal feel selection flexibility in the vehicle.

[0038] The method described in this embodiment will be further described below.

[0039] As an optional embodiment, step S104, in response to the working state being the start state, obtains the driving parameters of the vehicle based on the brake pedal, including: in response to the working state being the start state, obtaining a mode selection command, wherein the mode selection command is used to indicate the control state of the vehicle on the brake pedal; and obtaining the driving parameters in the control state.

[0040] In this embodiment, when the brake pedal is in the activated state, a mode selection command can be obtained in response to this activation state, and the driving parameters under the corresponding control state can be determined. The mode selection command can be triggered by the driver to select the desired driving mode. Driving modes may include gentle mode, standard mode, and powerful mode, etc.

[0041] Optionally, when the vehicle is started (IG ON or IG ON), the operating state of the brake pedal in the vehicle can be determined to be the activated state. In response to the brake pedal being activated, the mode selected by the driver can be obtained, resulting in a mode selection command. The vehicle's driving parameters can then be determined under the control state corresponding to the mode selection command.

[0042] For example, a large-screen display for a "brake pedal feel self-learning" combination switch could be provided, which could include a pedal feel self-learning combination button. This button could be a soft switch that guides and receives driver requests, and could be integrated into the large-screen interface (the display screen's interface). The soft switch could include pedal feel selection buttons, such as a gentle button, a standard button, and a strong button. The driver could select the corresponding control according to their needs, issuing a mode selection command by clicking the button. The vehicle could receive the mode selection command and determine the vehicle's driving parameters under the control state corresponding to the mode selection command.

[0043] As an optional embodiment, constructing at least one assist curve for the brake pedal based on driving parameters includes: constructing a first sub-assist curve based on pedal force and pedal travel in the driving parameters; constructing a second sub-assist curve based on pedal force and longitudinal acceleration of the vehicle; and determining the assist curves corresponding to the first sub-assist curve and the second sub-assist curve respectively.

[0044] In this embodiment, a first sub-assistance curve can be constructed based on the pedal force and pedal travel in the driving parameters, and a second sub-assistance curve can be constructed based on the pedal force and the longitudinal acceleration of the vehicle. The assist curves corresponding to the first sub-assistance curve and the second sub-assistance curve can be determined respectively.

[0045] Optionally, when the driver selects a control mode, the driving parameters in that control mode can be determined. A first sub-assistance curve can be constructed based on the pedal force and pedal travel in the driving parameters, and a second sub-assistance curve can be constructed based on the pedal force and longitudinal acceleration of the vehicle in the driving parameters. The assist curves corresponding to the first and second sub-assistance curves can be determined respectively.

[0046] For example, the driver selects the brake assist mode and issues a mode selection command. In response to the mode selection command, the vehicle can be controlled to enter the dynamic self-learning process of the assist curve. In response to entering the dynamic self-learning process of the assist curve, driving parameter data can be collected, and the collected driving parameters can be analyzed. The pedal force and pedal travel in the driving parameters can be processed to construct the first sub-assistance curve; the pedal force and the longitudinal acceleration of the vehicle can be processed to construct the second sub-assistance curve. The assist curves corresponding to the first and second sub-assistance curves in the self-learning mode can be determined respectively.

[0047] As an optional embodiment, determining the assist curves corresponding to the first sub-assist curve and the second sub-assist curve respectively includes: performing curve fitting on the first sub-assist curve and the second sub-assist curve respectively to determine the first fitted curve and the second fitted curve; and performing mean processing on the first fitted curve and the second fitted curve respectively to obtain the first assist curve and the second assist curve, wherein the assist curve includes the first assist curve and the second assist curve.

[0048] In this embodiment, curve fitting can be performed on the first sub-assistance curve to obtain a first fitted curve, and averaging can be performed on the first fitted curve to obtain a first assist curve. Curve fitting can be performed on the second sub-assistance curve to obtain a second fitted curve, and averaging can be performed on the second fitted curve to obtain a second assist curve. The assist curve includes the first assist curve and the second assist curve.

[0049] For example, driving parameters under gentle control can be collected. These parameters can be curve-fitted using two curves: "pedal travel - pedal force" and "longitudinal acceleration - pedal force," resulting in two fitted curves. The region containing 50% of each fitted curve can be selected, retaining 50% of the curve and deeming the remaining 50% invalid. Using an averaging method, the selected 50% of curves are averaged against the ordinate on the x-axis, yielding two averaged curves. This constructs the self-learned curve for this power-assisted mode, namely DBR_Power-Assist Mode_n+1 (n = 0, 1, 2, ...).

[0050] For example, a first sub-assistance curve can be obtained by comparing pedal travel with pedal force. After obtaining 50 such curves, curve fitting can be performed on multiple curves to obtain a first fitted curve. Using the pedal travel in the fitted curve as a benchmark, the average pedal force corresponding to a pedal travel of 5mm and the average pedal force corresponding to a pedal travel of 10mm can be determined, resulting in numerous offline points. These points are then used to construct the first assist curve. Similarly, a second sub-assistance curve can be obtained by comparing longitudinal acceleration with pedal force. After obtaining 50 such curves, curve fitting can be performed on multiple curves to obtain a second fitted curve. Using the longitudinal acceleration in the fitted curve as a benchmark, the average pedal force corresponding to a longitudinal acceleration of 5 mm / s² can be determined, as well as the average pedal force corresponding to a pedal travel of 10 mm / s², resulting in numerous offline points. These points are then used to construct the second assist curve.

[0051] As an optional embodiment, in response to a data storage instruction, at least one assist curve is stored, wherein the data storage instruction is used to indicate the storage of the assist curve.

[0052] In this embodiment, once at least one power assist curve is constructed, it can be displayed on the display interface. If the driver wants to store the constructed power assist curve, they can issue a data storage command. The vehicle can respond to the data storage command and store the currently constructed at least one power assist curve.

[0053] Optionally, the system can dynamically learn the assist curve for each driving mode (control state) based on the driver's braking driving habits and remind the driver whether to save it. If the driver chooses to save it, the assist curve can be saved, allowing the driver to switch or select the saved braking assist curve at any time to meet the driver's driving needs.

[0054] For example, the combination switch interface can be configured with a save button to save the currently selected assist curve (also known as the pedal feel curve). After the assist curve is constructed based on the collected driving data, it can be displayed in the combination switch interface. The save button in the driver's motor combination switch interface issues a data storage command. The vehicle responds to the data storage command by storing the constructed assist curve, allowing the driver to select the desired braking feel assist curve during driving.

[0055] As an alternative embodiment, in response to a selection command, a target assist curve is determined from at least one assist curve, and the brake pedal is controlled based on the target assist curve.

[0056] In this embodiment, the driver can select a target assist curve from at least one assist curve from the display interface according to their current needs, and can control the brake pedal based on the target assist curve.

[0057] Optionally, the driver's mode selection command is obtained, and the control state corresponding to the mode selection command is determined. Each assist mode has a preset initial assist curve for braking to control the brake pedal in the vehicle. When the driver wants to change the current braking feel, they can issue a selection command to choose the desired assist curve. In response to the selection command, the vehicle can select a target assist curve corresponding to the selection command from at least the existing assist curves, and can control the brake pedal based on the target assist curve.

[0058] For example, when the vehicle is powered on for the first time, the unsaved power assist mode curve is defined as DBR_Power Assist Mode_0. The driver can select a stored power assist curve DBR_Power Assist Mode_2 (n = 0, 1, 2, ...). In response to the driver's selection command, the power assist curve of DBR_Power Assist Mode_2 can be determined as the target power assist curve from at least one power assist curve, and the brake pedal can be controlled based on the target power assist curve.

[0059] As an alternative implementation, in response to a braking demand command from the vehicle, the acceleration value of the longitudinal acceleration in the target assist curve is adjusted.

[0060] In this embodiment, a braking demand command issued by the driver in the vehicle is acquired. In response to the braking demand command from the vehicle, the acceleration value in the target assist curve can be adjusted. The acceleration value can be a longitudinal acceleration value. The braking demand command can include a forced braking demand command and a weak braking demand command, and can be a forced braking demand signal or a weak braking demand signal.

[0061] For example, it can be determined whether the driver has a mandatory braking demand. If so, the driver can send a mandatory braking demand signal via the in-vehicle infotainment system (IVI). The integrated brake control assembly (IBC) in the vehicle responds to this signal by increasing the longitudinal acceleration (Ax acceleration) value in the assist curve accordingly, for example, by 0.5%. It should be noted that this increase is merely an example and not a specific limitation. The current brake assist curve is saved as DBR_assist mode_n+2 (n = 0, 1, 2…). The vehicle's brake pedal can be controlled based on this saved assist curve (DBR_assist mode_n+2).

[0062] For another example, it can determine whether the driver has a need for light braking. If so, the IBC receives a light braking demand signal from the IVI. Upon receiving a valid light braking demand signal, it can correspondingly reduce the Ax acceleration value in the assist curve, for example, by 0.5%. It should be noted that the reduction magnitude is only an example and is not specifically limited. At the same time, the current brake assist curve is saved as DBR_assist mode_n+2 (n = 0, 1, 2, ...). Furthermore, the vehicle's brake pedal can be controlled based on the currently saved assist curve (DBR_assist mode_n+2).

[0063] As an optional example, the combination switch interface can be set to save, force, and light braking. The "save" button saves the currently selected pedal feel curve by the driver; the "force" button increases the hydraulic braking force based on the self-learned pedal feel curve; and the "light braking" button reduces the hydraulic braking force based on the self-learned pedal feel curve. The second row can include pedal feel selection buttons. The integrated brake control assembly can save a total of three pedal feel curves: light, standard, and strong. It can determine if the driver needs light braking. If so, the IBC receives a light braking request signal from the IVI. Upon receiving a valid light braking request signal, it can correspondingly reduce the Ax acceleration value in the assist curve, for example, by 0.5%. The integrated brake control assembly automatically saves the reduced target assist curve and controls the brake pedal based on the reduced target assist. Alternatively, it can determine if the driver needs force braking. If so, the driver can issue a force braking request signal through the in-vehicle infotainment system. The integrated brake control assembly (IBC) in the vehicle responds to a forced braking demand signal from the in-vehicle infotainment system and can correspondingly increase the value of longitudinal acceleration in the assist curve, for example, by an increase of 0.5%. The integrated brake control assembly automatically saves the increased target assist curve and controls the brake pedal based on the reduced target assist.

[0064] As an optional implementation, in response to a data switching command, the target assist curve is switched to the assist curve corresponding to the data switching command.

[0065] In this embodiment, when the driver wants to change the pedal feel, they can issue a data switching command. In response to the data switching command, the target assist curve can be switched to the assist curve corresponding to the data switching command.

[0066] Optionally, the integrated brake control assembly and the display communicate via a Controller Area Network (CAN) signal. The driver can express their selection needs by clicking buttons on the display. After collecting the needs, the display converts them into signals (e.g., save signal, forced braking request signal, weak braking request signal, brake pedal feel mode request signal) and transmits the acquired signals to the integrated brake control assembly. The integrated brake control assembly processes the acquired signals to determine the current brake pedal feel mode information (i.e., control state) and transmits the target assist curve selected by the driver under the current brake pedal feel state to the display for display. The driver can adjust and modify the signals displayed on the screen. When a data switching command is received from the driver, the target assist curve can be switched to the assist curve corresponding to the data switching command. When the driver wants to modify the target assist curve or the constructed assist curve, they can issue a data modification command. The target assist curve or the constructed assist curve can be modified in response to the data modification command to obtain an assist curve that meets the driver's needs.

[0067] In this embodiment of the invention, the driver can visualize the assist curve through information interaction between the integrated brake control assembly and the display. This allows the driver to select or modify the assist curve according to actual needs, thereby obtaining an assist curve that meets the driver's requirements. This achieves the technical effect of improving the flexibility of pedal feel selection in the vehicle and solves the technical problem of low pedal feel selection flexibility in the vehicle.

[0068] This embodiment monitors the operating state of the brake pedal in the vehicle; in response to the brake pedal being activated, it acquires the driving parameters of the vehicle during the braking process; based on the driving parameters, it constructs at least one assist curve for the brake pedal, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the movement of the brake pedal. In other words, this embodiment of the invention, when the brake pedal is activated, can acquire the driving parameters of the brake pedal during driving, and based on the driving parameters, construct an assist curve for the brake pedal. The driver can select the desired assist curve to control the brake pedal, thereby allowing the driver to choose different pedal feel according to their own driving habits, thus achieving the technical effect of improving the flexibility of pedal feel selection in the vehicle and solving the technical problem of low pedal feel selection flexibility in the vehicle.

[0069] Example 2

[0070] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0071] Currently, in the automotive models currently on the market, users can experience two types of pedal feel: one with a non-decoupled brake booster and its corresponding pedal feel, and the other with a decoupled brake booster and its corresponding pedal feel. The non-decoupled pedal feel is generated by a traditional pedal, vacuum booster, and vacuum pump system. The pedal feel is primarily determined by the mechanical characteristics of the vacuum booster and cannot be changed after mass production. The decoupled pedal feel is generated by a pedal feel simulator within the integrated brake control assembly of the brake booster-by-wire system. The choice can be made within the simulator's hardware characteristics, typically from one to three pre-set booster curves, and this too cannot be changed after mass production. However, in both of these solutions, the pedal feel experienced by the driver is based on the respective evaluation system of each OEM, grounded in pre-set booster curves. After mass production, these booster curves cannot be reconfigured or adjusted, making it difficult to meet the brake pedal feel needs of all drivers. This results in a technical problem of low flexibility in selecting the appropriate pedal feel in vehicles.

[0072] To address the aforementioned issues, this invention discloses a self-learning pedal feel solution. This solution dynamically learns the pedal feel assist curve based on the driver's individual driving habits and allows for personalized settings via a "assist curve setting" switch. It also saves the driver's selected assist curve at any time, providing a customized pedal feel design function for the driver. This enriches the user's driving experience, improves the vehicle's intelligence level, and ultimately enhances the flexibility of pedal feel selection in the vehicle, solving the technical problem of low pedal feel selection flexibility in vehicles.

[0073] Figure 2 is a schematic diagram of a pedal feel self-learning device according to an embodiment of the present invention. As shown in Figure 2, the device may include: an integrated brake control assembly 201, a display 202 of a large-screen "Brake Pedal Feel Self-Learning" combination switch, a pedal force sensor 203, a yaw angle sensor 204, a left front wheel speed sensor 205, a right front wheel speed sensor 206, a left rear wheel speed sensor 207, a right rear wheel speed sensor 208, a left front caliper 209, a right front caliper 210, a left rear caliper 211, and a right rear caliper 212. The integrated brake control assembly may be a hydraulic device for providing anti-lock braking system (ABS) and vehicle driving dynamic control system (VDC) functions.

[0074] Optionally, the integrated brake control assembly and the display communicate via CAN signals. The driver can express their selection needs by clicking buttons on the display. After collecting the needs, the display converts them into signals (e.g., save signal, forced braking request signal, weak braking request signal, brake pedal feel mode request signal) and transmits the acquired signals to the integrated brake control assembly. The integrated brake control assembly can process the acquired signals to determine the current brake pedal feel mode information and transmit the current brake pedal feel mode signal to the display for display. The driver can adjust and modify the signals displayed on the screen.

[0075] Optionally, the integrated brake control assembly 201 can be an integrated conventional Electronic Stability Controller (ESC) assembly, which may include a pedal travel sensor, master cylinder pressure sensor, pressure build-up cylinder pressure sensor, pressure build-up cylinder, master cylinder, motor, and rotating device. The driver's braking intention can be identified through the values ​​from the pedal travel sensor to provide hydraulic braking force to all four wheels of the vehicle.

[0076] Optionally, the pedal-sensing self-learning combination button in the display 202 can be a soft switch that guides and receives driver requests, and this soft switch can be integrated into the large screen interface. The display screen can also be referred to as the combination switch interface.

[0077] For example, the combination switch interface can have six buttons. The first row includes a save button, a forced braking button, and a weak braking button. The "save" button saves the pedal feel curve currently selected by the driver. The "forced braking" button increases the hydraulic braking force based on the self-learned pedal feel curve. The "weak braking" button reduces the hydraulic braking force based on the self-learned pedal feel curve. The second row can include pedal feel selection buttons. The integrated brake control assembly can save pedal feel curves for three states: gentle, standard, and strong. The pedal feel curves corresponding to these three buttons are automatically adjusted by the integrated brake control assembly based on the boost pressure after the driver saves the settings.

[0078] Figure 3 is a flowchart of a pedal-sensing self-learning method according to an embodiment of the present invention. As shown in Figure 3, the method may include the following steps.

[0079] Step S301: Determine the current brake assist mode.

[0080] In this embodiment, the driver can select the brake assist mode.

[0081] Optionally, the driver can select the desired braking assist mode from gentle, standard, and strong.

[0082] Step S302: Extract the preset initial assist curve of pedal feel.

[0083] In this embodiment, the current braking assist mode can be determined, and an initial braking assist curve is preset for each assist mode.

[0084] Optionally, preset assist mode curves DBR_assist mode_n (n = 0, 1, 2, ...) can be extracted. Upon first power-on, assist mode curves that have not been saved are defined as DBR_assist mode_0.

[0085] Step S303: Enter the dynamic self-learning of the pedal feel assist curve.

[0086] In this embodiment, in response to the driver selecting a brake assist mode, the system can automatically enter a dynamic self-learning mode for the assist curve.

[0087] In this embodiment, in response to entering the dynamic self-learning process of the assist curve, driving parameter data can be collected, and the collected data can be parsed to construct at least one assist curve.

[0088] Optionally, the collected data may include: basic data required for the self-learning of the pedal feel assist curve, and parameters collected during each time the driver depresses the brake pedal. For example, this may include driving mode, longitudinal acceleration sensor values, pedal travel sensor values, master cylinder pressure sensor values, pressure build-up cylinder pressure sensor values, and pedal force sensor values. The minimum statistical measure can be 100 braking actions performed by the driver in this assist mode, where a pedal travel parameter ≥ 0.45 mm can be identified as the driver depressing the brake pedal.

[0089] Optionally, the collected data can be fitted using two curves: "pedal travel - pedal force" and "longitudinal acceleration - pedal force," resulting in two fitted curves. The region containing 50% of the curves in each fitted curve can be selected, retaining 50% of the curves and deeming the remaining 50% invalid. Using a mean-averaging method, the selected 50% of curves are averaged against the ordinate on the x-axis, yielding two mean-averaged curves. This constructs the self-learned curve for this assist mode, namely DBR_Assist Mode_n+1 (n = 0, 1, 2, ...).

[0090] Step S304: Determine whether to save the current self-learning assist curve.

[0091] In this embodiment, the braking assist curve for each driving mode can be dynamically learned based on the driver's braking habits, and the driver will be prompted to save the information. If the driver chooses to save, the assist curve will be saved, allowing the driver to switch between saved braking assist curves at any time to meet their driving needs.

[0092] Step S305: Determine if there is a mandatory requirement.

[0093] In this embodiment, if the assist curve is saved, it can be further determined whether the driver has a "forced braking" demand. If there is a forced braking demand, the IBC can accept the forced braking demand signal sent by the IVI. When a valid forced braking demand signal is received, the Ax acceleration value output by the assist curve can be increased accordingly by 0.5%, and the current braking assist curve is saved as DBR_assist mode_n+2 (n=0.1.2…).

[0094] Optionally, if there is no mandatory requirement, then proceed to step S306.

[0095] Step S306: Determine if there is a need for weak braking.

[0096] In this embodiment, if the assist curve is saved, it can be further determined whether the driver has a "weak braking" requirement. If there is a "weak braking" requirement, the IBC receives the weak braking requirement signal sent by the IVI. When a valid weak braking requirement signal is received, the acceleration value of the curve Ax is reduced accordingly by 0.5%, and the current braking assist curve is saved as DBR_assist mode_n+2 (n=0.1.2…).

[0097] In this embodiment of the invention, a pedal feel self-learning device is invented. Based on the driver's driving parameters, a brake pedal assist curve is constructed. The driver can select the desired target assist curve and control the brake pedal based on the target assist curve, thereby supporting the realization of dynamic pedal feel that can be customized by the user at any time, enhancing the user's intelligent and wonderful driving experience, and thus achieving the technical effect of improving the flexibility of pedal feel selection in the vehicle, solving the technical problem of low pedal feel selection flexibility in the vehicle.

[0098] Example 3

[0099] According to an embodiment of the present invention, a control device for a brake pedal in a vehicle is also provided. It should be noted that this control device for a brake pedal in a vehicle can be used to execute the control method for a brake pedal in a vehicle described in Embodiment 1.

[0100] Figure 4 is a schematic diagram of a brake pedal control device in a vehicle according to an embodiment of the present invention. As shown in Figure 4, the brake pedal control device 400 in the vehicle may include: a monitoring unit 402, an acquisition unit 403, and a construction unit 406.

[0101] Monitoring unit 402 is used to monitor the working status of the brake pedal in the vehicle.

[0102] The acquisition unit 404 is used to acquire the driving parameters of the vehicle based on the brake pedal in response to the start state of the working state.

[0103] The construction unit 406 is used to construct at least one assist curve of the brake pedal based on driving parameters, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the brake pedal.

[0104] Optionally, the acquisition unit 404 includes: an acquisition module, configured to acquire a mode selection instruction in response to the working state being the start state, wherein the mode selection instruction is used to indicate the vehicle's control state of the brake pedal; and acquire driving parameters in the control state.

[0105] Optionally, the construction unit 406 further includes: a construction module, used to construct a first sub-assist curve based on the pedal force and pedal travel in the driving parameters; construct a second sub-assist curve based on the pedal force and the longitudinal acceleration of the vehicle; and determine the assist curves corresponding to the first sub-assist curve and the second sub-assist curve respectively.

[0106] Optionally, the construction module includes: a processing submodule, used to perform curve fitting on the first sub-assistance curve and the second sub-assistance curve respectively, to determine the first fitting curve and the second fitting curve; and to perform mean processing on the first fitting curve and the second fitting curve respectively, to obtain the first assist curve and the second assist curve, wherein the assist curve includes the first assist curve and the second assist curve.

[0107] Optionally, the device further includes a storage unit for storing at least one assist curve in response to a data storage instruction, wherein the data storage instruction is used to indicate the storage of the assist curve.

[0108] Optionally, the device further includes: a determining unit, configured to determine a target assist curve from at least one assist curve in response to a selection command, and to control the brake pedal based on the target assist curve.

[0109] Optionally, the determining unit further includes an adjustment module for adjusting the acceleration value in the target assist curve in response to a braking demand command from the vehicle.

[0110] Optionally, the determining unit further includes: a switching module, used to switch the target assist curve to the assist curve corresponding to the data switching command in response to the data switching command.

[0111] In this embodiment of the invention, when the brake pedal is activated, the driving parameters of the brake pedal during driving can be obtained. Based on the driving parameters, the assist curve of the brake pedal is constructed. The driver can select the required assist curve to control the brake pedal, thereby achieving the technical effect of improving the selectivity of pedal feel in the vehicle and solving the technical problem of low selectivity of pedal feel in the vehicle.

[0112] Example 4

[0113] According to an embodiment of the present invention, a vehicle is also provided for performing the brake pedal control method in any of the vehicles described in Embodiment 1.

[0114] Example 5

[0115] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the control method for the brake pedal in a vehicle as described in Embodiment 1.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0118] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0119] The units defined as separate components may or may not be physically separate. Similarly, the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0120] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0122] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the brake pedal in a vehicle, characterized in that, include: Monitor the working status of the brake pedal in the vehicle; In response to the operating state being activated, driving parameters based on the braking pedal are acquired; Based on the driving parameters, at least one assist curve for the brake pedal is constructed, wherein the at least one assist curve is used to represent the relationship between pedal force and longitudinal acceleration or to represent the relationship between pedal force and pedal travel, and is used to control the brake pedal; wherein, in response to the working state being an activated state, obtaining driving parameters based on the brake pedal includes: in response to the working state being an activated state, obtaining a mode selection command, wherein the mode selection command is used to indicate the control state of the vehicle on the brake pedal; obtaining the driving parameters in the control state; and constructing at least one assist curve for the brake pedal based on the driving parameters includes: constructing a first sub-assist curve based on the pedal force and pedal travel in the driving parameters; constructing a second sub-assist curve based on the pedal force and the longitudinal acceleration of the vehicle; performing curve fitting on the first sub-assist curve and the second sub-assist curve respectively to determine a first fitted curve and a second fitted curve; and performing mean processing on the first fitted curve and the second fitted curve respectively to obtain a first assist curve and a second assist curve, wherein the assist curve includes the first assist curve and the second assist curve.

2. The method according to claim 1, characterized in that, The method further includes: in response to a data storage instruction, storing the at least one assist curve, wherein the data storage instruction is used to instruct the storage of the assist curve.

3. The method according to claim 1, characterized in that, The method further includes: in response to a selection command, determining a target assist curve from the at least one assist curve, and controlling the brake pedal based on the target assist curve.

4. The method according to claim 3, characterized in that, The method further includes: adjusting the acceleration value of the longitudinal acceleration in the target assist curve in response to a braking demand command from the vehicle.

5. The method according to claim 3, characterized in that, The method further includes: in response to a data switching command, switching the target assist curve to an assist curve corresponding to the data switching command.

6. A control device for a brake pedal in a vehicle, characterized in that, include: The monitoring unit is used to monitor the working status of the brake pedal in the vehicle; The acquisition unit is used to acquire driving parameters based on the brake pedal in response to the working state being the start state. A construction unit is configured to construct at least one assist curve for the brake pedal based on the driving parameters, wherein the at least one assist curve represents the relationship between pedal force and longitudinal acceleration or between pedal force and pedal travel, and is used to control the brake pedal; wherein the acquisition unit is configured to acquire driving parameters based on the brake pedal in response to the operating state being in the start state through the following steps: in response to the operating state being in the start state, acquire a mode selection instruction, wherein the mode selection instruction is used to indicate the control state of the vehicle on the brake pedal; acquire the driving parameters in the control state; the construction unit is configured to construct at least one assist curve for the brake pedal based on the driving parameters through the following steps: constructing a first sub-assist curve based on the pedal force and pedal travel in the driving parameters; constructing a second sub-assist curve based on the pedal force and the longitudinal acceleration of the vehicle; performing curve fitting on the first sub-assist curve and the second sub-assist curve respectively to determine a first fitted curve and a second fitted curve; performing mean processing on the first fitted curve and the second fitted curve respectively to obtain a first assist curve and a second assist curve, wherein the assist curve includes the first assist curve and the second assist curve.

7. A vehicle, characterized in that, Used to perform the method according to any one of claims 1 to 5.

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