Brake performance compensation method, storage medium and vehicle

Abstract

The present invention discloses a braking efficiency compensation method, a storage medium, and a vehicle. The method includes: obtaining a first braking curve of the vehicle by performing a braking operation on the vehicle during driving, where the first braking curve is used to represent the curve of the master cylinder pressure of the vehicle varying with the pedal stroke; in response to the first braking curve satisfying a first preset deviation range, performing efficiency compensation on the hydraulic braking system of the vehicle and obtaining a second braking curve of the vehicle, where the second braking curve is used to represent the curve of the current deceleration of the vehicle varying with the braking pressure; in response to the first braking curve not satisfying the first preset deviation range or the second braking curve not satisfying the second preset deviation range, stopping performing efficiency compensation on the hydraulic braking system and performing efficiency compensation on the drive system of the vehicle. The present invention solves the technical problem of low safety of vehicle braking.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking, and in particular, to a braking efficiency compensation method, a storage medium, and a vehicle. Background Art

[0002] During the use of a vehicle, there are many situations that cause the driver to step on the brake pedal, but the braking efficiency does not meet the requirements, resulting in abnormal braking feeling, causing panic to the driver, and in severe cases, even leading to vehicle accidents, resulting in low braking safety of the vehicle.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present invention provide a braking efficiency compensation method, a storage medium, and a vehicle to at least solve the technical problem of low braking safety of the vehicle.

[0005] According to one aspect of the embodiments of the present invention, a braking efficiency compensation method is provided, including: performing a braking operation on the vehicle during the vehicle driving process to obtain a first braking curve of the vehicle, where the first braking curve is used to characterize the curve of the master cylinder pressure of the vehicle changing with the pedal stroke; in response to the first braking curve satisfying a first preset deviation range, performing efficiency compensation on the hydraulic braking system of the vehicle, and obtaining a second braking curve of the vehicle, where the second braking curve is used to characterize the curve of the current deceleration of the vehicle changing with the braking pressure; in response to the first braking curve not satisfying the first preset deviation range, or the second braking curve not satisfying the second preset deviation range, stopping performing efficiency compensation on the hydraulic braking system, and performing efficiency compensation on the drive system of the vehicle.

[0006] Further, performing efficiency compensation on the hydraulic braking system of the vehicle includes: dynamically monitoring the operating state of the vehicle to obtain operating state parameters, where the operating state parameters at least include the pedal stroke and the master cylinder pressure of the vehicle; based on the operating state parameters, determining the deceleration curve of the vehicle, where the deceleration curve includes a first deceleration curve and a second deceleration curve, and the first deceleration curve is used to characterize the curve of the deceleration of the vehicle changing with the pedal stroke, and the second deceleration curve is used to characterize the curve of the deceleration of the vehicle changing with the master cylinder pressure; based on the first deceleration curve and the second deceleration curve, determining the target required deceleration of the vehicle; based on the target required deceleration, performing efficiency compensation on the hydraulic braking system of the vehicle.

[0007] Further, based on the target required deceleration, performing efficiency compensation on the hydraulic braking system of the vehicle includes: based on the operating state parameters and the target required deceleration, determining the target required braking force of the vehicle; based on the target required braking force, performing efficiency compensation on the hydraulic braking system of the vehicle.

[0008] Further, based on the first deceleration curve and the second deceleration curve, determining a target required deceleration of the vehicle includes: in response to the first deceleration curve not satisfying a third preset deviation range, determining a first deceleration based on the first deceleration curve; in response to the second deceleration curve not satisfying a fourth preset deviation range, determining a second deceleration based on the second deceleration curve; and determining the larger deceleration value between the first deceleration and the second deceleration as the target required deceleration.

[0009] Further, the operating state parameter includes the brake disc temperature information of the vehicle. Based on the operating state parameter and the target required deceleration, determining a target required braking force of the vehicle includes: determining a braking coefficient of the vehicle based on the brake disc temperature information; and determining a target required braking force for the vehicle to reach the target required deceleration based on the braking coefficient.

[0010] Further, performing effectiveness compensation on the drive system of the vehicle includes: performing a reverse operation on the motor of the vehicle, and compensating the current deceleration through the reverse braking force of the motor.

[0011] Further, compensating the current deceleration through the reverse braking force of the motor includes: determining a required braking force of the vehicle based on the pedal travel; performing a reverse operation on the motor of the vehicle based on the required braking force, and responding to the required braking force through the reverse braking force of the motor.

[0012] Further, stopping performing effectiveness compensation on the hydraulic braking system and performing effectiveness compensation on the drive system of the vehicle includes: obtaining a first curve slope corresponding to the hydraulic braking system and a second curve slope corresponding to the drive system; controlling to stop performing effectiveness compensation on the hydraulic braking system based on the first curve slope; and controlling to perform effectiveness compensation on the drive system of the vehicle based on the second curve slope.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a braking effectiveness compensation device, including: a braking module, configured to obtain a first braking curve of the vehicle by performing a braking operation on the vehicle during driving, where the first braking curve is used to characterize a curve of the master cylinder pressure of the vehicle changing with the pedal travel; a first compensation module, configured to perform effectiveness compensation on the hydraulic braking system of the vehicle and obtain a second braking curve of the vehicle in response to the first braking curve satisfying a first preset deviation range, where the second braking curve is used to characterize a curve of the current deceleration of the vehicle changing with the braking pressure; a second compensation module, configured to stop performing effectiveness compensation on the hydraulic braking system and perform effectiveness compensation on the drive system of the vehicle in response to the first braking curve not satisfying the first preset deviation range or the second braking curve not satisfying a second preset deviation range.

[0014] According to a third aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the processor of the device where it is located to execute the above-mentioned braking performance compensation method.

[0015] According to a fourth aspect of the embodiments of the present invention, there is also provided a vehicle, which is characterized by including: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned braking performance compensation method.

[0016] In the embodiments of the present invention, by performing a braking operation on the vehicle during the vehicle driving process, a first braking curve of the vehicle is obtained, wherein the first braking curve is used to characterize the curve of the master cylinder pressure of the vehicle changing with the pedal stroke; in response to the first braking curve satisfying a first preset deviation range, perform effectiveness compensation on the hydraulic braking system of the vehicle, and obtain a second braking curve of the vehicle, wherein the second braking curve is used to characterize the curve of the current deceleration of the vehicle changing with the braking pressure; in response to the first braking curve not satisfying the first preset deviation range, or the second braking curve not satisfying the second preset deviation range, stop performing effectiveness compensation on the hydraulic braking system, and perform effectiveness compensation on the drive system of the vehicle. It is easy to notice that by judging that the curve of the master cylinder pressure of the vehicle changing with the pedal stroke satisfies the first preset deviation range, perform effectiveness compensation on the hydraulic braking system of the vehicle, and then judge that when the curve of the current deceleration of the vehicle changing with the braking pressure does not satisfy the second preset deviation range, stop performing effectiveness compensation on the hydraulic braking system, and perform effectiveness compensation on the drive system of the vehicle, so as to realize logical judgment of the vehicle's braking state parameters to confirm whether braking effectiveness compensation is required currently, and control the hydraulic braking system and the drive system to achieve corresponding braking force compensation. Without adding hardware, it is ensured that the driver's braking demand is executed as expected by the driver, avoiding abnormal braking pedal feeling caused by insufficient braking system effectiveness, resulting in driver panic or vehicle collision accidents caused by the failure of braking as expected, achieving the technical effect of improving vehicle braking safety, and thus solving the technical problem of relatively low vehicle braking safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flowchart of a braking performance compensation method according to an embodiment of the present invention;

[0019] Figure 2It is a schematic diagram of a control architecture for brake performance compensation according to an embodiment of the present invention;

[0020] Figure 3 It is a flowchart of a control logic for brake performance compensation according to an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of a brake performance compensation device according to an embodiment of the present invention. Detailed implementation manners

[0022] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] Embodiment 1

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

[0026] Figure 1 It is a flowchart of a brake performance compensation method according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0027] Step S102: By performing a braking operation on the vehicle during driving, a first braking curve of the vehicle is obtained, where the first braking curve is used to characterize the curve of the master cylinder pressure of the vehicle varying with the pedal stroke;

[0028] Specifically, the above-mentioned first braking curve can be used to represent the curve of the master cylinder pressure of the vehicle varying with the pedal stroke during the braking operation on the vehicle. Generally, the larger the pedal stroke, the greater the braking force required by the driver, and the corresponding master cylinder pressure of the vehicle is also greater, which is used to respond to the braking force required by the driver.

[0029] In an alternative embodiment, when performing a braking operation on the vehicle, after the driver presses the brake pedal, the braking system of the vehicle responds to the braking. Generally, when all components of the braking system are working properly, the curve of the master cylinder pressure of the vehicle varying with the pedal stroke satisfies a pre-set deviation range. On the contrary, if there are design tolerances or wear state effects of design components in the braking system, it will cause the curve of the master cylinder pressure of the vehicle varying with the pedal stroke to deviate from the pre-set deviation range to a certain extent.

[0030] In another alternative embodiment, after the driver presses the brake pedal, according to the pedal stroke of the brake pedal pressed by the driver at this time and the hydraulic pressure of the braking system at this time, it is confirmed whether the relationship curve of the master cylinder pressure corresponding to the pedal stroke of the braking system is within the designed deviation range; the relationship between the pedal stroke and the master cylinder pressure is affected by the parameters of the braking system. According to the design scheme of each component of the braking system, the relationship curve is fixed and is mainly affected by the design tolerances and wear states of the design components, and the allowable deviation range of the pedal stroke and the master cylinder pressure curve is confirmed by actual vehicle.

[0031] Step S104: In response to the first braking curve satisfying the first preset deviation range, perform effectiveness compensation on the hydraulic braking system of the vehicle, and obtain a second braking curve of the vehicle, where the second braking curve is used to characterize the curve of the current deceleration of the vehicle varying with the braking pressure;

[0032] Specifically, the above-mentioned first preset deviation range can be used to represent the deviation range of the actual braking curve of the vehicle deviating from the designed braking curve set in advance. Among them, after setting the deviation range in advance, it is also necessary to correct the deviation range through actual vehicle confirmation to obtain the above-mentioned first preset deviation range.

[0033] The above-mentioned second braking curve can be used to represent the curve of the current deceleration of the vehicle varying with the braking pressure when the vehicle is performing a braking operation and the effectiveness compensation is performed on the hydraulic braking system of the vehicle. Generally, when the braking pressure of the vehicle continuously increases, the corresponding current deceleration of the vehicle will also continuously increase.

[0034] In an alternative embodiment, in response to the first braking curve satisfying the first preset deviation range, that is, the curve of the master cylinder pressure of the vehicle changing with the pedal stroke satisfies the preset deviation range, that is, all components of the vehicle's braking system are working properly, the effectiveness compensation can be performed on the vehicle's hydraulic braking system. After the effectiveness compensation is performed, the current deceleration and braking pressure during the vehicle braking process can be obtained, and then the curve of the current deceleration of the vehicle changing with the braking pressure can be generated, that is, the above-mentioned second braking curve.

[0035] Step S106, in response to the first braking curve not satisfying the first preset deviation range, or the second braking curve not satisfying the second preset deviation range, stop performing effectiveness compensation on the hydraulic braking system and perform effectiveness compensation on the vehicle's drive system.

[0036] Specifically, the above-mentioned second preset deviation range can be used to represent the deviation range of the actual deceleration curve of the preset vehicle deviating from the designed deceleration curve. Among them, after the deviation range is preset, the deviation range needs to be corrected through vehicle verification to obtain the above-mentioned second preset deviation range.

[0037] In an alternative embodiment, in response to the first braking curve not satisfying the first preset deviation range, that is, if the curve of the pedal stroke and the braking pressure exceeds the deviation range, it is determined that the current braking system has a fault and cannot normally achieve the braking function; at this time, the braking required by the driver is confirmed according to the stroke of the driver stepping on the brake pedal; the hydraulic braking force of the braking system is completely withdrawn at this time, and the reverse braking force of the motor is used to respond to the deceleration requirement of the driver.

[0038] In another alternative embodiment, in response to the second braking curve not satisfying the second preset deviation range, that is, if the curve of the current deceleration of the vehicle changing with the braking pressure exceeds the deviation range, it is determined at this time that the compensation of the braking effectiveness of the whole vehicle cannot be achieved through the compensation of the hydraulic braking force, and the reverse braking force of the motor is used to compensate for the deceleration deviation at this time.

[0039] In summary, by performing a braking operation on the vehicle during driving, a first braking curve of the vehicle is obtained, where the first braking curve is used to characterize the curve of the master cylinder pressure of the vehicle changing with the pedal stroke; in response to the first braking curve satisfying a first preset deviation range, perform effectiveness compensation on the hydraulic braking system of the vehicle, and obtain a second braking curve of the vehicle, where the second braking curve is used to characterize the curve of the current deceleration of the vehicle changing with the braking pressure; in response to the first braking curve not satisfying the first preset deviation range, or the second braking curve not satisfying the second preset deviation range, stop performing effectiveness compensation on the hydraulic braking system, and perform effectiveness compensation on the drive system of the vehicle. It is easy to notice that by judging that the curve of the master cylinder pressure of the vehicle changing with the pedal stroke satisfies the first preset deviation range, perform effectiveness compensation on the hydraulic braking system of the vehicle, and then judge that when the curve of the current deceleration of the vehicle changing with the braking pressure does not satisfy the second preset deviation range, stop performing effectiveness compensation on the hydraulic braking system, and perform effectiveness compensation on the drive system of the vehicle, so as to realize the logical judgment of the vehicle's braking state parameters to confirm whether braking effectiveness compensation is required currently, and control the hydraulic braking system and the drive system to achieve corresponding braking force compensation. Without adding hardware, it is ensured that the driver's braking demand is executed as expected by the driver, avoiding abnormal braking pedal feeling caused by insufficient braking system effectiveness, causing driver panic or vehicle collision accidents due to the failure of braking as expected, achieving the technical effect of improving vehicle braking safety, and thus solving the technical problem of low braking safety of the vehicle.

[0040] Optionally, performing effectiveness compensation on the hydraulic braking system of the vehicle includes: dynamically monitoring the operating state of the vehicle to obtain operating state parameters, where the operating state parameters at least include the pedal stroke and master cylinder pressure of the vehicle; based on the operating state parameters, determining the deceleration curve of the vehicle, where the deceleration curve includes a first deceleration curve and a second deceleration curve, and the first deceleration curve is used to characterize the curve of the deceleration of the vehicle changing with the pedal stroke, and the second deceleration curve is used to characterize the curve of the deceleration of the vehicle changing with the master cylinder pressure; based on the first deceleration curve and the second deceleration curve, determining the target required deceleration of the vehicle; based on the target required deceleration, performing effectiveness compensation on the hydraulic braking system of the vehicle.

[0041] Specifically, the above-mentioned operating state parameters can be used to represent the parameters obtained by dynamically monitoring the operating state of the vehicle, and at least include parameters such as the vehicle speed, longitudinal acceleration, master cylinder pressure, ambient temperature, driving mileage, pedal stroke, drive system fault state, and braking system fault state of the vehicle.

[0042] The above-mentioned first deceleration curve can be used to represent the curve of the deceleration of the vehicle changing with the pedal stroke when performing a braking operation on the vehicle.

[0043] The above-mentioned second deceleration curve can be used to represent the curve of the deceleration of the vehicle changing with the master cylinder pressure when performing a braking operation on the vehicle.

[0044] The above-mentioned target required deceleration can be used to represent the deceleration information required by the driver when performing a braking operation on the vehicle.

[0045] In an alternative embodiment, when performing effectiveness compensation on the hydraulic braking system of the vehicle, it is necessary to generate a curve of the deceleration of the vehicle changing with the pedal stroke and a curve of the deceleration of the vehicle changing with the master cylinder pressure during the braking process of the vehicle based on the monitored vehicle operating state parameters. Furthermore, by determining whether the curve of the deceleration of the vehicle changing with the pedal stroke deviates from the deviation range of the pre-set deceleration-pedal stroke curve, and determining whether the curve of the deceleration of the vehicle changing with the master cylinder pressure deviates from the deviation range of the pre-set deceleration-master cylinder pressure curve, the target required deceleration of the vehicle is determined based on the determination result, and effectiveness compensation of the hydraulic braking system of the vehicle is performed based on this.

[0046] In another alternative embodiment, if the curve of the master cylinder pressure of the vehicle changing with the pedal stroke is within the deviation range, it is considered that the current braking system as a whole is working normally; at this time, according to the deceleration of the entire vehicle received currently, it is judged whether the deceleration curve corresponding to the current driver's pedal stroke and master cylinder pressure is within the allowable deviation range from the design curve; it should be noted here that the deceleration curve of the entire vehicle corresponding to the pedal stroke of the vehicle and the deceleration curve of the entire vehicle corresponding to the master cylinder pressure of the braking system are related to the design parameters of the vehicle, and these two curves are calibrated and confirmed based on the actual vehicle according to the driver's requirements, and there will be an allowable deviation range. In the case where the curve of the deceleration of the vehicle changing with the pedal stroke deviates from the deviation range of the pre-set deceleration-pedal stroke curve and the curve of the deceleration of the vehicle changing with the master cylinder pressure deviates from the deviation range of the pre-set deceleration-master cylinder pressure curve, the target required deceleration of the vehicle is determined.

[0047] Figure 2 It is a schematic diagram of a control architecture for an alternative braking effectiveness compensation according to an embodiment of the present invention. As Figure 2As shown, the braking efficiency compensation function estimates the temperature of the brake disc by receiving the vehicle speed, longitudinal acceleration, master cylinder pressure, ambient temperature, and the driving mileage of the vehicle, so as to identify the friction coefficient of the brake under the current state; the system receives the pedal travel and master cylinder pressure of the brake pedal to confirm whether the relationship between the brake pedal and the master cylinder pressure under the current state is within the reasonable deviation range of the designed state; the system receives the deceleration of the vehicle to determine whether the deceleration under the current braking condition is within the reasonable deviation range of the designed state; the system receives the fault states of the vehicle drive system and the braking system to determine whether the current system can execute hydraulic braking force and the reverse braking force of the drive system motor. The braking efficiency compensation control strategy confirms whether braking efficiency compensation is required currently through logical judgment of the vehicle's braking state parameters, and controls the hydraulic braking system and the drive system to achieve corresponding braking force compensation.

[0048] Optionally, based on the target required deceleration, perform braking efficiency compensation on the vehicle's hydraulic braking system, including: determining the target required braking force of the vehicle based on the operating state parameters and the target required deceleration; performing braking efficiency compensation on the vehicle's hydraulic braking system based on the target required braking force.

[0049] Specifically, the above-mentioned target required braking force can be used to represent the braking force required by the driver during the braking operation of the vehicle.

[0050] In an alternative embodiment, during the process of performing braking efficiency compensation on the vehicle's hydraulic braking system, it is necessary to determine the current braking coefficient of the vehicle through the brake disc temperature information in the operating state parameters, and then based on the braking coefficient, determine the braking force required for the vehicle to reach the target required deceleration, that is, determine the above-mentioned target required braking force, and perform braking efficiency compensation on the vehicle's hydraulic braking system based on the target required braking force.

[0051] Optionally, based on the first deceleration curve and the second deceleration curve, determine the target required deceleration of the vehicle, including: in response to the first deceleration curve not meeting the third preset deviation range, determining the first deceleration based on the first deceleration curve; in response to the second deceleration curve not meeting the fourth preset deviation range, determining the second deceleration based on the second deceleration curve; determining the larger deceleration value between the first deceleration and the second deceleration as the target required deceleration.

[0052] Specifically, the above-mentioned third preset deviation range can be used to represent the deviation range of the curve of the preset deceleration varying with the pedal travel from the designed deceleration-pedal travel curve.

[0053] The above-mentioned fourth preset deviation range can be used to represent the deviation range of the curve of the preset deceleration varying with the master cylinder pressure from the designed deceleration-master cylinder pressure curve.

[0054] The above-mentioned first deceleration can be used to represent the deceleration in the curve of deceleration varying with the pedal stroke. It can be the maximum deceleration or the average deceleration, etc. No specific setting is made for the first deceleration here.

[0055] The above-mentioned second deceleration can be used to represent the deceleration in the curve of deceleration varying with the master cylinder pressure. It can be the maximum deceleration or the average deceleration, etc. No specific setting is made for the second deceleration here.

[0056] The above-mentioned target required deceleration can be used to represent the larger deceleration value among the first deceleration and the second deceleration.

[0057] In an alternative embodiment, during the process of determining the target required deceleration of the vehicle, it is necessary to determine whether the curve of the vehicle's deceleration varying with the pedal stroke deviates from the deviation range of the pre-set deceleration-pedal stroke curve, and determine whether the curve of the vehicle's deceleration varying with the master cylinder pressure deviates from the deviation range of the pre-set deceleration-master cylinder pressure curve. In response to the first deceleration curve not meeting the third preset deviation range, that is, the curve of the vehicle's deceleration varying with the pedal stroke deviates from the deviation range of the pre-set deceleration-pedal stroke curve, it is necessary to determine the first deceleration through the first deceleration curve; at the same time, in response to the second deceleration curve not meeting the fourth preset deviation range, that is, the curve of the vehicle's deceleration varying with the master cylinder pressure deviates from the deviation range of the pre-set deceleration-master cylinder pressure curve, it is necessary to determine the second deceleration through the second deceleration curve, and determine the larger deceleration value between the first deceleration and the second deceleration as the target required deceleration.

[0058] In another alternative embodiment, if the deceleration curves corresponding to the pedal stroke and the master cylinder pressure respectively exceed the designed normal deviation range, then a reasonable deceleration A required by the driver currently is confirmed according to the current master cylinder pressure, and at the same time, a deceleration B required by the driver currently is confirmed according to the pedal stroke. The larger value of A and B is taken and recognized as the deceleration requirement of the current driver.

[0059] Optionally, the operating state parameter includes the brake disc temperature information of the vehicle. Based on the operating state parameter and the target required deceleration, determining the target required braking force of the vehicle includes: determining the braking coefficient of the vehicle based on the brake disc temperature information; determining the target required braking force for the vehicle to reach the target required deceleration based on the braking coefficient.

[0060] Specifically, the above-mentioned brake disc temperature information can be used to represent the brake disc temperature information of the vehicle when performing a braking operation on the vehicle.

[0061] The above-mentioned braking coefficient can be used to represent the friction coefficient between the brake disc and the friction pad of the vehicle at the current brake disc temperature.

[0062] In an alternative embodiment, based on the current brake disc temperature information, the friction coefficient between the brake disc and the friction pad at this temperature is confirmed. According to this friction coefficient, it is calculated how much braking force needs to be increased to achieve the deceleration required by the current driver, so as to determine the above-mentioned target required braking force. The braking system increases the current master cylinder pressure according to the target of the increased braking force. After the braking pressure is increased, based on the actual deceleration of the current vehicle received, it is judged whether the relationship between the braking pressure and pedal stroke requested by the current driver and the actual deceleration of the current vehicle is within the ideal curve deviation range. If both exist, the effectiveness compensation of the hydraulic braking system is performed on the vehicle; otherwise, if it is not within the ideal curve range, it is determined at this time that the compensation of the braking effectiveness of the whole vehicle cannot be achieved through the compensation of the hydraulic braking force. At this time, the deceleration deviation is compensated by the reverse braking force of the motor.

[0063] Optionally, performing effectiveness compensation on the vehicle's drive system includes: performing a reverse operation on the vehicle's motor, and compensating the current deceleration with the reverse braking force of the motor.

[0064] Specifically, the above-mentioned reverse braking force can be used to represent the reverse braking force required for the vehicle's motor to respond to the current deceleration.

[0065] In an alternative embodiment, when the relationship between the braking pressure and pedal stroke requested by the current driver and the actual deceleration of the current vehicle is not within the ideal curve deviation range, it is necessary to stop performing effectiveness compensation on the hydraulic braking system and perform effectiveness compensation on the vehicle's drive system. Among them, during the process of performing effectiveness compensation on the vehicle's drive system, it is necessary to determine the reverse braking force of the motor required for the vehicle to reach the current deceleration, and then reverse the motor through this reverse braking force to compensate for the current deceleration.

[0066] Optionally, compensating the current deceleration with the reverse braking force of the motor includes: determining the required braking force of the vehicle based on the pedal stroke; performing a reverse operation on the vehicle's motor based on the required braking force, and responding to the required braking force with the reverse braking force of the motor.

[0067] Specifically, the above-mentioned required braking force can be used to represent the braking force required for the vehicle to reach the current deceleration determined by the pedal stroke of the vehicle.

[0068] In an alternative embodiment, during the process of compensating the current deceleration with the reverse braking force of the motor, the required braking force for the vehicle to reach the current deceleration can be determined through the current pedal stroke of the vehicle, and then based on this required braking force, a reverse operation is performed on the vehicle's motor, and the reverse braking force of the motor responds to the required braking force of the vehicle.

[0069] Figure 3 It is an optional control logic flowchart for braking efficiency compensation according to an embodiment of the present invention. As Figure 3 shown, the control logic for braking efficiency compensation includes the following steps:

[0070] S301, the driver steps on the brake pedal;

[0071] S302, confirm whether the relationship curve between the pedal stroke and the master cylinder pressure is consistent with the designed curve;

[0072] S303, if so, execute S304, otherwise, confirm the braking force required by the driver through the pedal stroke, and exit the hydraulic braking force, and the motor reversely rotates the braking force to respond to the driver's deceleration request;

[0073] S304, collect the current vehicle deceleration;

[0074] S305, proofread the deceleration curve corresponding to the driver's pedal stroke and the master cylinder pressure with the designed curve;

[0075] S306, whether the driver's pedal curve is normal;

[0076] S307, if not normal, execute S308, otherwise, jump to S301;

[0077] S308, confirm the deceleration A required by the driver according to the master cylinder pressure, confirm the deceleration B required by the driver according to the pedal stroke, and take the larger value of AB as the deceleration required by the driver;

[0078] S309, estimate the brake disc temperature;

[0079] S310, confirm the friction coefficient between the brake disc and the friction pad at this temperature according to the estimated temperature of the brake disc;

[0080] S311, according to the trend of the deceleration curve corresponding to the current braking pressure, increase the braking pressure to the required braking force corresponding to the target deceleration;

[0081] S312, judge whether the relationship between the current driver's requested braking pressure, pedal stroke and deceleration is within the deviation of the ideal curve;

[0082] S313, if not corresponding, compensate through the motor reverse braking force, otherwise, jump to S301.

[0083] Optionally, stop performing efficiency compensation on the hydraulic braking system and perform efficiency compensation on the vehicle's drive system, including: obtaining the first curve slope corresponding to the hydraulic braking system and the second curve slope corresponding to the drive system; based on the first curve slope, controlling to stop performing efficiency compensation on the hydraulic braking system; based on the second curve slope, controlling to perform efficiency compensation on the vehicle's drive system.

[0084] Specifically, the slope of the first curve described above can be used to represent the slope of the first braking curve, reflecting the rate of change of the master cylinder pressure with respect to the pedal stroke.

[0085] The slope of the second curve described above is opposite to the rate of change of the slope of the first curve described above, and it is necessary to respond to the reverse braking force of the motor during the process of stopping the performance compensation of the hydraulic braking system, that is, during the process of exiting the hydraulic braking force.

[0086] In an alternative embodiment, during the process of stopping the performance compensation of the hydraulic braking system and performing performance compensation on the drive system of the vehicle, it is necessary to control the exit of the hydraulic braking force based on the slope of the first curve, that is, to control the stop of the performance compensation of the hydraulic braking system, and to control the performance compensation of the drive system of the vehicle based on the slope of the second curve.

[0087] Embodiment 2

[0088] According to an embodiment of the present invention, there is also provided a braking performance compensation device, which can execute a braking performance compensation method provided in the above Embodiment 1. The specific implementation manner and preferred application scenario are the same as those in the above Embodiment 1, and will not be elaborated here.

[0089] Figure 4 is a schematic diagram of a braking performance compensation device according to an embodiment of the present invention, as Figure 4 shown, the device includes:

[0090] A braking module 402, configured to obtain a first braking curve of the vehicle by performing a braking operation on the vehicle during driving, where the first braking curve is used to characterize a curve of the master cylinder pressure of the vehicle changing with the pedal stroke;

[0091] A first compensation module 404, configured to perform performance compensation on the hydraulic braking system of the vehicle in response to the first braking curve satisfying a first preset deviation range, and obtain a second braking curve of the vehicle, where the second braking curve is used to characterize a curve of the current deceleration of the vehicle changing with the braking pressure;

[0092] A second compensation module 406, configured to stop performing performance compensation on the hydraulic braking system and perform performance compensation on the drive system of the vehicle in response to the first braking curve not satisfying the first preset deviation range or the second braking curve not satisfying a second preset deviation range.

[0093] Optionally, the first compensation module 404 includes: a monitoring module for dynamically monitoring the operating state of the vehicle to obtain operating state parameters, where the operating state parameters at least include the pedal travel and the master cylinder pressure of the vehicle; a deceleration curve determination module for determining the deceleration curve of the vehicle based on the operating state parameters, where the deceleration curve includes a first deceleration curve and a second deceleration curve, and the first deceleration curve is used to characterize the curve of the vehicle's deceleration varying with the pedal travel, and the second deceleration curve is used to characterize the curve of the vehicle's deceleration varying with the master cylinder pressure; a target required deceleration determination module for determining the target required deceleration of the vehicle based on the first deceleration curve and the second deceleration curve; and a hydraulic braking compensation module for performing effectiveness compensation on the hydraulic braking system of the vehicle based on the target required deceleration.

[0094] Optionally, the hydraulic braking compensation module includes: a target required braking force determination module for determining the target required braking force of the vehicle based on the operating state parameters and the target required deceleration; and a hydraulic braking compensation execution module for performing effectiveness compensation on the hydraulic braking system of the vehicle based on the target required braking force.

[0095] Optionally, the target required deceleration determination module includes: a first deceleration determination module for determining a first deceleration based on the first deceleration curve in response to the first deceleration curve not meeting the third preset deviation range; a second deceleration determination module for determining a second deceleration based on the second deceleration curve in response to the second deceleration curve not meeting the fourth preset deviation range; and a target required deceleration determination module for determining the larger deceleration value between the first deceleration and the second deceleration as the target required deceleration.

[0096] Optionally, the target required braking force determination module includes: a braking coefficient determination module for determining the braking coefficient of the vehicle based on the brake disc temperature information; and a target required braking force determination module for determining the target required braking force for the vehicle to reach the target required deceleration based on the braking coefficient.

[0097] Optionally, the second compensation module 406 includes: a motor reverse module for performing a reverse operation on the motor of the vehicle to compensate the current deceleration with the reverse braking force of the motor.

[0098] Optionally, the motor reverse module includes: a required braking force determination module for determining the required braking force of the vehicle based on the pedal travel; and a required braking force response module for performing a reverse operation on the motor of the vehicle based on the required braking force to respond to the required braking force with the reverse braking force of the motor.

[0099] Optionally, the second compensation module 406 further includes: a curve slope acquisition module, configured to acquire a first curve slope corresponding to the hydraulic braking system and a second curve slope corresponding to the drive system; a first control module, configured to control the stop of performing effectiveness compensation on the hydraulic braking system based on the first curve slope; and a second control module, configured to control the performance of effectiveness compensation on the drive system of the vehicle based on the second curve slope.

[0100] Embodiment 3

[0101] According to an embodiment of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, it controls a processor of the device where it is located to execute the above-mentioned braking effectiveness compensation method.

[0102] Embodiment 4

[0103] According to an embodiment of the present invention, there is also provided a vehicle, characterized by including: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned braking effectiveness compensation method.

[0104] The above serial numbers of the embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0105] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0106] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division, and in actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0107] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0108] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0109] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an 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 for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0110] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A braking efficiency compensation method, characterized in that Including: By performing a braking operation on the vehicle during vehicle travel, a first braking curve of the vehicle is obtained, where the first braking curve is used to characterize a curve of the master cylinder pressure of the vehicle varying with the pedal stroke; In response to the first braking curve satisfying a first preset deviation range, based on a target demand deceleration of the vehicle, an effectiveness compensation is performed on a hydraulic braking system of the vehicle, and a second braking curve of the vehicle is obtained, where the second braking curve is used to characterize a curve of the current deceleration of the vehicle varying with the braking pressure, the target demand deceleration is the maximum deceleration of a first deceleration and a second deceleration, the first deceleration is used to represent the deceleration in a curve of the deceleration varying with the pedal stroke, and the second deceleration is used to represent the deceleration in a curve of the deceleration varying with the master cylinder pressure; In response to the first braking curve not satisfying the first preset deviation range, confirm a required braking force of the driver through the pedal stroke, and exit the hydraulic braking force, and respond to the deceleration demand of the driver through the reverse braking force of the motor; In response to the second braking curve not satisfying a second preset deviation range, determine that the compensation of the overall vehicle braking effectiveness cannot be achieved through the compensation of the hydraulic braking force, stop performing the effectiveness compensation on the hydraulic braking system, and perform an effectiveness compensation on a drive system of the vehicle; Stopping performing the effectiveness compensation on the hydraulic braking system and performing an effectiveness compensation on the drive system of the vehicle includes: Obtain a first curve slope corresponding to the hydraulic braking system and a second curve slope corresponding to the drive system, where the first curve slope is used to represent the slope of the first braking curve, and the second curve slope has a change rate opposite to that of the first curve slope; Based on the first curve slope, control to stop performing the effectiveness compensation on the hydraulic braking system; Based on the second curve slope, control to perform an effectiveness compensation on the drive system of the vehicle.

2. The braking efficiency compensation method according to claim 1, characterized in that The method further includes: Dynamically monitor an operating state of the vehicle to obtain operating state parameters, where the operating state parameters at least include the pedal stroke and the master cylinder pressure of the vehicle; Based on the operating state parameters, determine a deceleration curve of the vehicle, where the deceleration curve includes a first deceleration curve and a second deceleration curve, and the first deceleration curve is used to characterize a curve of the deceleration of the vehicle varying with the pedal stroke, and the second deceleration curve is used to characterize a curve of the deceleration of the vehicle varying with the master cylinder pressure; Based on the first deceleration curve and the second deceleration curve, determine the target demand deceleration of the vehicle.

3. The braking efficiency compensation method according to claim 2, characterized in that, Based on the target demand deceleration, performing an effectiveness compensation on the hydraulic braking system of the vehicle includes: Based on the operating state parameters and the target demand deceleration, determine a target demand braking force of the vehicle; Based on the target demand braking force, perform an effectiveness compensation on the hydraulic braking system of the vehicle.

4. The braking efficiency compensation method according to claim 2, characterized in that, Based on the first deceleration curve and the second deceleration curve, determining the target demand deceleration of the vehicle includes: In response to the first deceleration curve not meeting the third preset deviation range, determine a first deceleration based on the first deceleration curve; In response to the second deceleration curve not meeting the fourth preset deviation range, determine a second deceleration based on the second deceleration curve; Determine the larger deceleration value between the first deceleration and the second deceleration as the target required deceleration.

5. The braking efficiency compensation method according to claim 3, wherein The operating state parameter includes the brake disc temperature information of the vehicle. Based on the operating state parameter and the target required deceleration, determining the target required braking force of the vehicle includes: Based on the brake disc temperature information, determine the braking coefficient of the vehicle; Based on the braking coefficient, determine the target required braking force for the vehicle to reach the target required deceleration.

6. The braking efficiency compensation method according to claim 1, wherein Perform efficiency compensation on the drive system of the vehicle, including: Perform a reverse operation on the motor of the vehicle, and compensate the current deceleration through the reverse braking force of the motor.

7. The braking efficiency compensation method according to claim 6, characterized in that, Compensating the current deceleration through the reverse braking force of the motor includes: Based on the pedal travel, determine the required braking force of the vehicle; Based on the required braking force, perform a reverse operation on the motor of the vehicle, and respond to the required braking force through the reverse braking force of the motor.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the processor of the device where it is located to execute the braking efficiency compensation method according to any one of claims 1 to 7.

9. A vehicle, characterized in that, Including: One or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the braking efficiency compensation method according to any one of claims 1 to 7.

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