Brake control method, system, vehicle, and electronic device

Abstract

The application provides a brake control method, system, vehicle and electronic equipment, and belongs to the technical field of vehicle control, wherein the method comprises the following steps: acquiring brake parameters of a vehicle, including pedal voltage and pedal switch signals of two brake pedals; determining brake states of the two brake pedals based on the brake parameters; and performing brake control on the vehicle by using corresponding brake strategies based on the brake states; the brake strategies comprise the following steps: when the brake states are normal for both brake pedals, performing brake control on the vehicle based on the pedal opening degree of a pre-designated brake pedal; when the brake states are faulty for both brake pedals and the pedal switch signals are abnormal, performing brake control on the vehicle based on a virtual brake pedal opening degree determined according to the road conditions and the vehicle speed at which the vehicle is currently running; and when the pedal voltage is abnormal, determining that the brake pedal is faulty. The application aims to solve the defect that the existing brake-by-wire method cannot meet safety requirements.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a braking control method, system, vehicle, and electronic equipment. Background Technology

[0002] In typical electric vehicle control strategies, when the highest level of vehicle failure occurs, an emergency high-voltage strategy is adopted to disable the motor and prevent further damage to the vehicle and driver. At the same time, the driver will immediately press the brake pedal to stop the vehicle or drive the vehicle to the side of the road to park by inertia.

[0003] However, when a malfunction occurs at the brake pedal, the driver cannot control the vehicle's coasting or stopping according to their driving intentions, which can easily lead to danger.

[0004] Therefore, current methods for vehicle braking control include using motor feedback, using default values ​​as the brake pedal opening, and defaulting to the one with the larger opening of the two brake pedal paths. However, because the high voltage of the motor is cut off when the highest fault level occurs under normal circumstances, causing the motor to reverse and generate electricity, the motor's heat generation will increase. Therefore, the motor feedback method will further increase the risk of other vehicle faults. Using default values ​​as the brake pedal opening does not take into account the vehicle's operating conditions and subsequent driving trends. Defaulting to the one with the larger opening of the two paths does not consider the reasons for the imbalance between the two paths, so the reliability of the output opening still cannot meet the increasing safety requirements. Summary of the Invention

[0005] This invention provides a braking control method, system, vehicle, and electronic device to address the shortcomings of existing brake-by-wire methods in meeting safety requirements.

[0006] This invention provides a braking control method, comprising:

[0007] Obtain the vehicle's braking parameters, which include the pedal voltages and pedal switch signals of the two brake pedals;

[0008] Based on the braking parameters, the braking state of the two brake pedals is determined;

[0009] Based on the braking state, a corresponding braking strategy is adopted to control the braking of the vehicle.

[0010] The braking strategy includes at least the following: when the braking state is that both brake pedals are normal, braking control is performed on the vehicle based on the pedal opening of one of the two brake pedals that is pre-specified.

[0011] When the braking state is characterized by two brake pedal malfunctions and an abnormal pedal switch signal, braking control is applied to the vehicle based on a virtual brake pedal opening. The virtual brake pedal opening is determined based on the current road conditions and vehicle speed. When the pedal voltage is abnormal, the brake pedal is identified as malfunctioning. When the pedal switch signals of the two brake pedals are identical, the pedal switch signal is identified as abnormal.

[0012] According to the braking control method of the present invention, the method for determining the virtual brake pedal opening includes:

[0013] Determine the current road conditions for the vehicle, including the road surface gradient.

[0014] The virtual brake pedal opening is determined based on the road surface slope and / or the vehicle speed.

[0015] According to the braking control method of the present invention, the braking strategy further includes:

[0016] When the braking state is such that the pedal openings of the two brake pedals are inconsistent, braking control is performed on the vehicle based on the pedal opening of the target brake pedal among the two brake pedals. Specifically, when there is no sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the larger pedal opening among the two brake pedals. When there is a sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal whose pedal voltage has the smaller difference between its calibrated value and the pedal voltage corresponding to the current pedal opening.

[0017] According to the braking control method of the present invention, a method for determining that the pedal openings of the two brake pedals are inconsistent includes:

[0018] Determine whether the pedal voltages of the two brake pedals conform to a preset ratio.

[0019] When the pedal voltage does not conform to the preset ratio, it is determined that the pedal opening of the two brake pedals is inconsistent.

[0020] According to the braking control method of the present invention, the braking strategy further includes:

[0021] When the braking state is a failure of either of the brake pedals, the vehicle is braked based on the pedal opening of the other brake pedal among the two brake pedals.

[0022] The method for determining the brake pedal malfunction includes:

[0023] Determine whether the pedal voltage of the brake pedal is greater than a preset voltage upper limit, wherein the preset voltage upper limit is the sum of the calibrated maximum voltage of the brake pedal and a preset fluctuation value;

[0024] Determine whether the pedal voltage of the brake pedal is less than a preset voltage lower limit, wherein the preset voltage lower limit is the difference between the starting voltage of the brake pedal and the preset fluctuation value;

[0025] When the pedal voltage is greater than the preset upper voltage limit or less than the preset lower voltage limit, the brake pedal is determined to be faulty.

[0026] According to the braking control method of the present invention, the braking strategy further includes:

[0027] When the braking state is characterized by two brake pedal malfunctions but the pedal switch signal is normal, upon receiving a pedal switch signal generated by the brake pedal being pressed, the vehicle is braked based on a preset pedal opening.

[0028] According to the braking control method of the present invention, the pedal opening of the brake pedal is calculated based on the pedal voltage, the initial voltage and the calibrated maximum voltage of the brake pedal;

[0029] The starting voltage is the starting voltage value of the brake pedal that is continuously updated at a preset frequency.

[0030] The present invention also provides a braking control system, comprising:

[0031] The sensor module is used to collect the vehicle's braking parameters, which include the pedal voltage and pedal switch signals of the two brake pedals.

[0032] The control module is used to acquire the braking parameters; determine the braking state of the two brake pedals based on the braking parameters; and use a corresponding braking strategy to control the braking of the vehicle based on the braking state.

[0033] The braking strategy includes at least the following: when the braking state is that both brake pedals are normal, braking control is performed on the vehicle based on the pedal opening of one of the two brake pedals that is pre-specified.

[0034] When the braking state is characterized by two brake pedal malfunctions and an abnormal pedal switch signal, braking control is applied to the vehicle based on a virtual brake pedal opening. The virtual brake pedal opening is determined based on the current road conditions and vehicle speed. When the pedal voltage is abnormal, the brake pedal is identified as malfunctioning. When the pedal switch signals of the two brake pedals are identical, the pedal switch signal is identified as abnormal.

[0035] The present invention also provides a vehicle including the braking control system described above, or braking control performed using the braking control method described above.

[0036] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the braking control method described above.

[0037] This invention provides a braking control method, system, vehicle, and electronic device. It acquires braking parameters of the vehicle, including pedal voltages and pedal switch signals from two brake pedals; determines the braking state of the two brake pedals based on these parameters; and employs a corresponding braking strategy to control the vehicle's braking based on the braking state. The braking strategy includes at least: when both brake pedals are functioning normally, braking control is performed based on the pedal opening of a pre-specified brake pedal; and when both brake pedal voltages are abnormal and the brake pedal switch is faulty, braking control is performed based on a virtual brake pedal opening determined according to the current road conditions and vehicle speed. This achieves braking control using a braking strategy adapted to the vehicle's braking state. Furthermore, even when both brake pedal voltages are abnormal and the brake pedal switch is faulty, braking control can still be performed based on the virtual brake pedal opening determined by road conditions and vehicle speed, thus fully considering the impact of road conditions and vehicle speed on vehicle braking and making braking control safer. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic flowchart of a braking control method provided in an embodiment of the present invention;

[0040] Figure 2 This is an overall flowchart of the brake pedal signal arbitration using the brake control method provided in the embodiments of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of a braking control system provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] Understandably, vehicle safety has become a crucial part of automotive research, and braking devices, as an essential component of vehicles, play a role in slowing down and stopping, ensuring the safety of the vehicle and its driver.

[0045] With the increasing penetration rate of new energy vehicles, and considering that new energy passenger vehicles do not have engine-driven vacuum boosters, installing large and noisy brake vacuum pumps is not in line with the development trend of new energy vehicles. Considering the range of regenerative braking and the development of intelligent driving in new energy vehicles, the installation of brake-by-wire has become an inevitable trend. Therefore, it is extremely important to ensure the safe operation of the braking device and to formulate emergency strategies in case of problems with brake signal transmission.

[0046] It is known that in general electric vehicle control strategies, when the highest level of vehicle failure occurs, an emergency high-voltage strategy will be adopted to disable the motor and prevent further damage to the vehicle and driver. At the same time, the driver will immediately step on the brake pedal to stop the vehicle or drive the vehicle to the side of the road to park by relying on inertia.

[0047] However, when a malfunction occurs in the brake pedal, the driver cannot control the vehicle's coasting or stopping as intended, which can lead to danger. Therefore, the following braking control methods have emerged to address brake pedal malfunctions:

[0048] 1. When the vehicle experiences the highest level of fault and the brake signal fails, motor feedback is used to stop the vehicle. This involves outputting negative torque to convert the vehicle's kinetic energy into electrical energy. However, under normal circumstances, the high voltage of the motor is cut off when the highest level of fault occurs. Reversing the motor to generate electricity at this time would increase the heat generated by the motor, thereby further increasing the risk of other vehicle malfunctions.

[0049] 2. When a brake pedal malfunction occurs, the default value is used as the brake pedal opening. That is, when neither of the two signals of the vehicle's brake pedal opening is reliable, a fixed value is used as the opening output when the vehicle's brake pedal malfunctions. Although this braking control method is simple and easy to implement, it does not take into account the vehicle's driving conditions and subsequent driving trends, so it still cannot guarantee braking safety.

[0050] 3. When dealing with inconsistent brake pedal openings between two circuits, the circuit with the larger opening is used by default. This braking control method is simple and easy to implement, but it does not consider the cause of the imbalance between the two circuits. Therefore, the reliability of the output opening still cannot meet the increasing safety requirements.

[0051] Based on this, the braking control method provided in this embodiment of the invention improves braking safety by using a braking strategy that matches the braking state of the vehicle after determining the braking state based on braking parameters. Furthermore, the braking strategy includes braking control based on a virtual brake pedal opening determined according to the current road conditions and vehicle speed when the braking state is characterized by abnormal pedal voltage in both brake pedals and a brake pedal switch malfunction. This ensures that the braking control matches the current road conditions and vehicle speed, further enhancing braking safety.

[0052] The braking control method provided by this invention can be executed by the vehicle's controller, such as the vehicle control unit (VCU).

[0053] The following is combined Figures 1 to 4 The present invention describes a braking control method, system, vehicle, and electronic device.

[0054] This embodiment provides a braking control method, such as Figure 1 As shown, the main steps include the following:

[0055] 101. Obtain the vehicle's braking parameters.

[0056] The braking parameters include the pedal voltages of both brake pedals and the pedal switch signals.

[0057] Specifically, both the pedal voltage and the pedal switch signal can be obtained based on sensors installed on the vehicle.

[0058] More specifically, for the braking parameters acquired by the vehicle's various sensors, before determining the braking state of the brake pedal based on the braking parameters, the braking parameters can be debouncing filtered at the signal hardware and software layers to determine the accuracy of the braking state and improve the accuracy and reliability of calculating the pedal opening based on the pedal voltage.

[0059] 102. Based on the braking parameters, determine the braking status of the two brake pedals.

[0060] In this embodiment, the braking state may include both brake pedals being normal; one brake pedal being normal while the other brake pedal is faulty; the pedal openings of the two brake pedals being inconsistent; and the pedal voltages of the two brake pedals being abnormal while the pedal switch signals are valid.

[0061] Specifically, the braking state of the brake pedal can be determined by analyzing the pedal voltage and pedal switch signal.

[0062] For example, the pedal switch signals of the two brake pedals can be cross-checked to determine whether the two pedal switch signals are simultaneously 1 or simultaneously 0. Since the two pedal switch signals are mutually exclusive under normal conditions, if they are simultaneously 1 or simultaneously 0, it indicates that the pedal switch signals of the brake pedal are abnormal.

[0063] 103. Based on the braking state, adopt the corresponding braking strategy to control the vehicle's braking.

[0064] The braking strategy includes at least the following: when both brake pedals are functioning normally, braking control is applied to the vehicle based on the pedal opening of a pre-specified brake pedal. Specifically, assuming the two brake pedals are a single brake pedal and a second brake pedal, and the pre-specified brake pedal is a single brake pedal, then when both brake pedals are functioning normally (i.e., no brake pedal malfunction), the pedal opening of the single brake pedal is used as the brake pedal opening output to control the vehicle's braking.

[0065] The braking strategy also includes: when the braking state is that both brake pedals are faulty and the pedal switch signal is abnormal, braking control is performed on the vehicle based on the virtual brake pedal opening, wherein the virtual brake pedal opening is determined based on the current road conditions and vehicle speed.

[0066] In this embodiment, the pedal voltage of the two brake pedals can be diagnosed to determine whether the pedal voltage is short-circuited or open-circuited. Whether it is short to ground or short to power supply, it is considered that the pedal voltage is abnormal, that is, the brake pedal is faulty.

[0067] Specifically, when the brake pedal malfunctions and the pedal switch signal is also abnormal, the driver cannot brake the vehicle by pressing the brake pedal, and the vehicle controller cannot calculate the appropriate pedal opening for braking based on the pedal voltage. In this case, the vehicle controller can control the vehicle's braking based on a virtual brake pedal opening determined according to the current road conditions and vehicle speed. This allows the braking of the vehicle to conform to the current operating conditions and future driving trends, thereby improving the safety and reliability of braking control.

[0068] Figure 2 This is an overall flowchart of an example of brake pedal signal arbitration using the brake control method provided in this embodiment of the invention. Figure 2 As can be seen, the braking control method provided in the embodiments of the present invention includes a variety of braking strategies and arbitration methods.

[0069] The method for determining the virtual brake pedal opening, based on the above embodiments, includes:

[0070] Determine the current road conditions for the vehicle, including the road surface gradient.

[0071] The virtual brake pedal opening is determined based on the road slope and / or vehicle speed.

[0072] Specifically, the road slope can be calculated by using a gyroscope to determine whether the vehicle is on a slope, or by detecting changes in motor torque to confirm whether the vehicle is driving on a slope. No specific restrictions are made here.

[0073] More specifically, the type of road the vehicle is traveling on can be determined based on vehicle speed and the cumulative time the vehicle has traveled at high speed, and then the virtual brake pedal opening can be determined based on road surface slope and / or road type.

[0074] It should be noted that, in addition to road slope and road type, signals such as the frequency of the driver pressing the brake pedal, the estimated value of the road surface adhesion coefficient, and the load factor of passenger and freight vehicles can also be used in combination with road slope and road type to determine the virtual brake pedal opening. This can further improve the matching degree between the determined virtual brake pedal opening and the vehicle's driving conditions, thereby improving braking safety and reliability.

[0075] In a preferred embodiment, the vehicle's current operating condition is initially determined by signals such as road slope, vehicle speed, and estimated road adhesion coefficient. Then, a corresponding virtual brake pedal opening is determined based on the vehicle speed and road slope: when driving on a slope, if the current direction is uphill, considering that the slope resistance will cause the vehicle to travel a short distance before stopping, a smaller brake pedal opening is output; when driving downhill, considering that the braking force needs to be increased to reduce the vehicle's braking distance in order to resist the driving force brought by gravity, a larger brake pedal opening is output; when driving on a highway, considering that an excessively large brake opening would cause a high-speed rear-end collision due to emergency braking at high speeds, and that the vehicle would not be able to pull over in time, causing highway congestion, a smaller brake opening is output to allow the vehicle sufficient sliding distance to the side of the road; when driving on urban roads, the corresponding brake pedal opening is determined by detecting the frequency of the driver pressing the brake pedal in the previous period. That is, if the braking frequency is high, it can be regarded as the current traffic congestion, and a larger brake pedal opening is output; if the braking frequency is low, a smaller pedal opening is output.

[0076] Furthermore, the virtual brake pedal opening can be determined based on road slope and / or vehicle speed, and can be obtained through subsequent test calibration.

[0077] It is known that, under ideal conditions, the brake pedal opening is inversely proportional to the vehicle speed when driving on flat ground:

[0078] BPS Err =-k v ·v+b v (1)

[0079] BPS Err =-k α ·α+b α (2)

[0080] Among them, BPS Err Brake pedal opening during a malfunction, in %; k v The proportionality coefficient is used; v is the current vehicle speed in km / h; b v Minimum brake pedal opening, in %; k α α is the slope ratio coefficient; α is the slope, in rad, and is negative when going downhill.

[0081] It should be noted that during actual vehicle operation, the virtual brake pedal opening is not necessarily a linear function of vehicle speed and road slope, nor is it necessarily related only to vehicle speed or road slope. Therefore, specific virtual brake pedal openings corresponding to different road slopes and vehicle speeds can be obtained through experimental calibration using a map. Then, the obtained virtual brake pedal openings can be tabulated with road slope and vehicle speed. In practical applications, the corresponding virtual brake pedal openings can be obtained directly from the table by looking up signals such as vehicle speed and road slope. Alternatively, specific related curve formulas or algorithm programs can be fitted through experimental calibration and calculated in real time within the controller.

[0082] Furthermore, the vehicle controller determines the virtual brake pedal opening when both brake pedals malfunction and the pedal switch signal is abnormal. It then controls the vehicle's braking system and retarder by enabling retarder braking assist and setting the corresponding retarder torque percentage.

[0083] Based on the content of the above embodiments, such as Figure 2 As shown, the braking strategy also includes:

[0084] When the pedal openings of the two brake pedals are inconsistent, braking control is performed on the vehicle based on the pedal opening of the target brake pedal among the two brake pedals. Specifically, when there is no sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the larger pedal opening. When there is a sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the smaller difference between its pedal voltage and the pedal voltage calibration value corresponding to the current pedal opening.

[0085] Specifically, when a fault occurs where the pedal openings of the two brake pedals are inconsistent, it is necessary to check whether there is a sudden change in the pedal voltage of the two brake pedals. For example, this can be determined by judging whether the absolute value of the slope of the pedal voltage change is greater than a preset sudden change calibration threshold. If it is determined that there is no sudden change in the pedal voltage, the pedal opening of the brake pedal with the larger opening, i.e., the pedal voltage with the larger value, is used as the brake pedal opening for vehicle braking control. If it is determined that there is a sudden change in the pedal voltage, the relationship between the current pedal voltage and pedal opening is compared with the pedal voltage calibration value, i.e., the pedal voltage-opening MAP calibrated at the factory.

[0086] V Diff =V Act1 -V CAL (3)

[0087] Among them, V Diff Voltage difference, unit: V; V Act1 The current pedal voltage for one brake pedal, in volts (V). CAL This is the pedal voltage calibration value corresponding to the current pedal opening of a brake pedal, i.e., the voltage value corresponding to this pedal opening at the factory, in V.

[0088] By comparing the difference between the two voltages, the brake pedal with the larger difference is considered unreliable, and the pedal opening of the brake pedal with the smaller difference is used as the brake pedal opening output.

[0089] More specifically, when there is no sudden change in pedal voltage, the pedal opening of the brake pedal with the larger pedal voltage among the two brake pedals can be used as the pedal opening output.

[0090] In one embodiment of the present invention, a method for determining the inconsistency of pedal openings of two brake pedals is specifically described, including:

[0091] Determine whether the pedal voltages of the two brake pedals conform to the preset ratio.

[0092] When the pedal voltage does not conform to the preset ratio, it is determined that the pedal opening of the two brake pedals is inconsistent.

[0093] Specifically, the pedal voltages of the two brake pedals are generally nearly twice that of each other. Therefore, the pedal openings of the two brake pedals can be determined by checking the ratio of their voltages.

[0094] More specifically, considering that frequent fault triggering may occur if the pedal voltage fluctuates near the fault threshold, a fluctuation preset value can be added to the proportional relationship of 2 to avoid frequent fault triggering. That is, the proportional relationship threshold as shown in formula (4) can be used to determine whether the pedal opening of the two brake pedals is consistent:

[0095]

[0096] When the pedal voltages of the first brake pedal and the second brake pedal meet the proportional relationship of formula (4), it indicates that the pedal openings of the two brake pedals are consistent.

[0097] Based on the content of the above embodiments, such as Figure 2 As shown, the braking strategy also includes:

[0098] When either brake pedal fails, braking control is applied to the vehicle based on the pedal opening of the other brake pedal.

[0099] The methods for determining brake pedal malfunction include:

[0100] Determine whether the brake pedal voltage is greater than the preset voltage limit, which is the sum of the brake pedal's calibrated maximum voltage and the preset fluctuation value;

[0101] Determine whether the brake pedal voltage is less than a preset lower voltage limit, which is the difference between the brake pedal's initial voltage and a preset fluctuation value.

[0102] If the pedal voltage is greater than the preset upper voltage limit or less than the preset lower voltage limit, the brake pedal is identified as faulty.

[0103] Specifically, when one brake pedal fails, the pedal opening of the other brake pedal is used as the brake pedal opening output, which can ensure the reliability of braking.

[0104] More specifically, the presence or absence of abnormal pedal voltage can be used to determine if the brake pedal is faulty. Abnormal pedal voltage can be determined using the following formulas (5) and (6), i.e., whether the pedal voltage is short-circuited or open-circuited. Both shorting to ground and shorting to the power supply are considered abnormal pedal voltages.

[0105] V Act1 > V max1 +V Hysteresis (5)

[0106] V Act1 < V min1 -V Hysteresis (6)

[0107] Among them, V Act1The voltage across one brake pedal, in volts (V). max1 This refers to the maximum rated voltage of the brake pedal, which is the maximum voltage specified when the brake pedal leaves the factory, measured in volts (V), for example, 4.6V. min1 This is the starting voltage of the brake pedal, i.e., the minimum voltage value of the brake pedal. Its initial value is also specified at the factory, and the unit is V, for example, 0.6V; V Hysteresi This is a preset value for fluctuation, in units of V, for example, 0.5V.

[0108] Similarly, the maximum calibrated voltage of the two-way brake pedal can be 2.25V, and the starting voltage can be 0.25V.

[0109] When the situation is as described in formula (5) or (6), it is considered that one of the brake pedals has an abnormal pedal voltage, that is, the pedal voltage is greater than the sum of the calibrated maximum voltage and the fluctuation preset value, or less than the difference between the starting voltage of the brake pedal and the fluctuation preset value.

[0110] Based on the content of the above embodiments, such as Figure 2 As shown, the braking strategy also includes:

[0111] When both brake pedals are faulty while the pedal switch signal is normal, the vehicle is braked based on a preset pedal opening when a pedal switch signal generated by the brake pedal being pressed is received.

[0112] In this embodiment, when there is an abnormal pedal voltage in both brake pedals, i.e., a fault in both brake pedals, but the pedal switch signal of the brake pedal is normal, the vehicle can be braked based on a braking strategy that considers the brake pedal being depressed as 100% open and the pedal opening not being depressed as 0.

[0113] Based on the above embodiments, the pedal opening of the brake pedal is calculated based on the pedal voltage, the initial voltage, and the calibrated maximum voltage of the brake pedal;

[0114] The initial voltage is the initial voltage value of the brake pedal that is continuously updated according to a preset frequency.

[0115] Understandably, when there is no malfunction, the brake pedal opening needs to be calculated based on the brake pedal voltage, i.e.:

[0116]

[0117]

[0118] Wherein, BPS1 is the pedal opening of one brake pedal, in %; V Act1 The voltage across one brake pedal, in volts (V). max1The maximum calibrated voltage of one brake pedal, in volts (V). min1 BPS1 is the starting voltage of the brake pedal for the first circuit, in volts (V); BPS2 is the brake pedal opening for the second circuit, in percent (%). Act2 The voltage of the two brake pedals is expressed in volts (V). max2 The maximum calibrated voltage for the two-way brake pedal, in volts (V). min2 The starting voltage of the two brake pedals, in volts (V). max1 The example is 4.6V, V min1 0.6V; V max2 The example is 2.25V, V min2 It is 0.25V (the specific maximum and initial values ​​of the starting voltage can be found in the product manual of the corresponding brake pedal).

[0119] Specifically, during vehicle operation, brake pedal components may wear out or age, causing a shift in the initial voltage when the brake pedal is not depressed. This leads to an increase in the error of subsequent calculations of the brake pedal opening, resulting in an output signal that is inconsistent with the driver's intention. Therefore, the initial voltage of the brake pedal needs to be calibrated before calculating the brake pedal opening.

[0120] Based on this, in this embodiment, by detecting the current starting voltage of the brake pedal at a certain period or at a certain frequency and sending the brake pedal self-learning enable flag, the starting voltage can be updated, thereby improving the accuracy of calculating the pedal opening.

[0121] In one specific embodiment, the current starting voltage of the brake pedal can be detected at a certain period or at a certain frequency and stored in the controller's EEPROM (Electrically Erasable Programmable Read-Only Memory). This allows the starting voltage of the brake pedal to be read from the EEPROM during recalculation. At the same time, it can further determine whether the self-learning is successful. If successful, the self-learning is completed. If unsuccessful, the minimum voltage before the vehicle was powered off is stored as the starting voltage in the EEPROM, and the self-learning verification is performed again after the next power-on.

[0122] The braking control method provided in the above embodiments of the present invention improves the reliability and accuracy of the subsequently calculated brake pedal opening by using hardware and software layer signal debouncing filtering on the acquired braking parameters and employing a starting voltage correction strategy similar to accelerator pedal self-learning. When the pedal openings of two brake pedals are inconsistent, the more reliable signal is determined by comparing it with the factory setting. When both brake pedal voltages are abnormal but the pedal switch signal is valid, the vehicle braking is controlled by the pedal switch signal, enabling vehicle braking even when the brake pedal voltage signal fails. When both braking signals are invalid, the current vehicle driving condition is estimated using signals such as vehicle speed and road slope, and then a corresponding virtual brake pedal opening is output to control the safe braking process of the vehicle under the highest level of fault, ensuring safe control of the vehicle to a safe area even when the brake pedal fails.

[0123] Based on the same general inventive concept, this invention also protects a braking control system. The braking control system provided by this invention will be described below, and the braking control system described below can be referred to in correspondence with the braking control method described above.

[0124] The braking control system provided in the embodiments of the present invention, such as Figure 3 As shown, it includes: a sensor module 310 and a control module 320; wherein,

[0125] The sensor module 310 is used to collect the vehicle's braking parameters, which include the pedal voltage and pedal switch signals of the two brake pedals.

[0126] The control module 320 is used to acquire braking parameters; based on the braking parameters, determine the braking state of the two brake pedals; and based on the braking state, adopt corresponding braking strategies to control the vehicle's braking.

[0127] The braking strategy includes at least the following: when both brake pedals are in normal braking condition, braking control is performed on the vehicle based on the pedal opening of one of the two brake pedals that is pre-specified.

[0128] When both brake pedals are faulty and the pedal switch signals are abnormal, braking control is performed on the vehicle based on the virtual brake pedal opening. The virtual brake pedal opening is determined based on the current road conditions and vehicle speed. When the pedal voltage is abnormal, the brake pedal is determined to be faulty. When the pedal switch signals of both brake pedals are the same, the pedal switch signal is determined to be abnormal.

[0129] The braking control system provided in this invention acquires braking parameters of the vehicle, including pedal voltages and pedal switch signals of two brake pedals; determines the braking state of the two brake pedals based on the braking parameters; and uses a corresponding braking strategy to control the vehicle's braking based on the braking state. The braking strategy includes at least: when both brake pedals are normal, braking control is performed based on the pedal opening of a pre-specified brake pedal; and when both brake pedal voltages are abnormal and the brake pedal switch is faulty, braking control is performed based on a virtual brake pedal opening determined according to the current road conditions and vehicle speed. This achieves braking control of the vehicle using a braking strategy adapted to the vehicle's braking state. Furthermore, when both brake pedal voltages are abnormal and the brake pedal switch is also faulty, braking control can be performed based on a virtual brake pedal opening determined according to road conditions and vehicle speed, thus fully considering the impact of road conditions and vehicle speed on vehicle braking and making braking control safer.

[0130] Optionally, the control module 320 is also used for:

[0131] Determine the current road conditions for the vehicle, including the road surface slope; based on the road surface slope and / or vehicle speed, determine the virtual brake pedal opening.

[0132] Optionally, the control module 320 is also used for:

[0133] When the pedal openings of the two brake pedals are inconsistent, braking control is performed on the vehicle based on the pedal opening of the target brake pedal among the two brake pedals. Specifically, when there is no sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the larger pedal opening. When there is a sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the smaller difference between its pedal voltage and the pedal voltage calibration value corresponding to the current pedal opening.

[0134] Optionally, the control module 320 is also used for:

[0135] Determine whether the pedal voltages of the two brake pedals conform to a preset ratio; if the pedal voltages do not conform to the preset ratio, determine that the pedal openings of the two brake pedals are inconsistent.

[0136] Optionally, the control module 320 is also used for:

[0137] When either brake pedal fails during braking, the vehicle is braked based on the pedal opening of the other brake pedal. The system also determines whether the brake pedal voltage is greater than a preset upper voltage limit, which is the sum of the brake pedal's calibrated maximum voltage and a preset fluctuation value; whether the brake pedal voltage is less than a preset lower voltage limit, which is the difference between the brake pedal's initial voltage and a preset fluctuation value; and determines if the brake pedal failure occurs when the pedal voltage is greater than the preset upper voltage limit or less than the preset lower voltage limit.

[0138] Optionally, the control module 320 is also used for:

[0139] When both brake pedals are faulty while the pedal switch signal is normal, the vehicle is braked based on a preset pedal opening when a pedal switch signal generated by the brake pedal being pressed is received.

[0140] Optionally, the pedal opening of the brake pedal is calculated based on the pedal voltage, the initial voltage, and the calibrated maximum voltage of the brake pedal; wherein the initial voltage is the initial voltage value of the brake pedal that is continuously updated according to a preset frequency.

[0141] Based on the same general inventive concept, the present invention also protects a vehicle that includes a braking control system as provided in any of the above embodiments, or a braking control method as provided in any of the above embodiments for braking control.

[0142] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logic instructions in the memory 430 to execute a braking control method, which includes: acquiring braking parameters of the vehicle, including pedal voltages and pedal switch signals of two brake pedals; determining the braking state of the two brake pedals based on the braking parameters; and applying a corresponding braking strategy to brake the vehicle based on the braking state. The braking strategy includes at least: when both brake pedals are normal, braking control is performed based on the pedal opening of a pre-specified brake pedal; when both brake pedals are faulty and the pedal switch signals are abnormal, braking control is performed based on a virtual brake pedal opening, the virtual brake pedal opening being determined based on the current road conditions and vehicle speed; when the pedal voltage is abnormal, a brake pedal fault is determined; when the pedal switch signals of the two brake pedals are the same, an abnormal pedal switch signal is determined.

[0143] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a 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, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the braking control method provided by the above methods, the method comprising: acquiring braking parameters of a vehicle, the braking parameters including pedal voltages and pedal switch signals of two brake pedals; determining the braking state of the two brake pedals based on the braking parameters; and performing braking control on the vehicle using a corresponding braking strategy based on the braking state; wherein the braking strategy includes at least: when the braking state is that both brake pedals are normal, performing braking control on the vehicle based on the pedal opening of a pre-specified brake pedal; when the braking state is that both brake pedals are faulty and the pedal switch signal is abnormal, performing braking control on the vehicle based on a virtual brake pedal opening, the virtual brake pedal opening being determined based on the current road conditions and vehicle speed, determining a brake pedal fault when the pedal voltage is abnormal, and determining an abnormal pedal switch signal when the pedal switch signals of the two brake pedals are the same.

[0145] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the braking control method provided by the above-described methods. The method includes: acquiring braking parameters of a vehicle, the braking parameters including pedal voltages and pedal switch signals of two brake pedals; determining the braking state of the two brake pedals based on the braking parameters; and applying a corresponding braking strategy to brake the vehicle based on the braking state. The braking strategy includes at least: when the braking state is that both brake pedals are normal, braking control of the vehicle is performed based on the pedal opening of a pre-specified brake pedal; when the braking state is that both brake pedals are faulty and the pedal switch signal is abnormal, braking control of the vehicle is performed based on a virtual brake pedal opening, the virtual brake pedal opening being determined based on the current road conditions and vehicle speed; when the pedal voltage is abnormal, a brake pedal fault is determined; when the pedal switch signals of the two brake pedals are the same, an abnormal pedal switch signal is determined.

[0146] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A braking control method, characterized in that, include: Obtain the vehicle's braking parameters, which include the pedal voltages and pedal switch signals of the two brake pedals; Based on the braking parameters, the braking state of the two brake pedals is determined; Based on the braking state, a corresponding braking strategy is adopted to control the braking of the vehicle. The braking strategy includes at least the following: when the braking state is that both brake pedals are normal, braking control is performed on the vehicle based on the pedal opening of one of the two brake pedals that is pre-specified. When the braking state is that both brake pedals are faulty and the pedal switch signal is abnormal, braking control is performed on the vehicle based on the virtual brake pedal opening. The virtual brake pedal opening is determined based on the current road conditions and vehicle speed. When the pedal voltage is abnormal, the brake pedal is determined to be faulty. When the pedal switch signals of the two brake pedals are the same, the pedal switch signal is determined to be abnormal. The braking strategy also includes: When the braking state is such that the pedal openings of the two brake pedals are inconsistent, braking control is performed on the vehicle based on the pedal opening of the target brake pedal among the two brake pedals. Specifically, when there is no sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the larger pedal opening among the two brake pedals. When there is a sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal whose pedal voltage has the smaller difference between its calibrated value and the pedal voltage corresponding to the current pedal opening.

2. The braking control method according to claim 1, characterized in that, The method for determining the virtual brake pedal opening includes: Determine the current road conditions for the vehicle, including the road surface gradient. The virtual brake pedal opening is determined based on the road slope and / or the vehicle speed.

3. The braking control method according to claim 1, characterized in that, A method for determining that the pedal openings of the two brake pedals are inconsistent includes: Determine whether the pedal voltages of the two brake pedals conform to a preset ratio. When the pedal voltage does not conform to the preset ratio, it is determined that the pedal opening of the two brake pedals is inconsistent.

4. The braking control method according to claim 1, characterized in that, The braking strategy also includes: When the braking state is a failure of either of the brake pedals, the vehicle is braked based on the pedal opening of the other brake pedal among the two brake pedals. The method for determining the brake pedal malfunction includes: Determine whether the pedal voltage of the brake pedal is greater than a preset voltage upper limit, wherein the preset voltage upper limit is the sum of the calibrated maximum voltage of the brake pedal and a preset fluctuation value; Determine whether the pedal voltage of the brake pedal is less than a preset voltage lower limit, wherein the preset voltage lower limit is the difference between the starting voltage of the brake pedal and the preset fluctuation value; When the pedal voltage is greater than the preset upper voltage limit or less than the preset lower voltage limit, the brake pedal is determined to be faulty.

5. The braking control method according to claim 1, characterized in that, The braking strategy also includes: When the braking state is characterized by two brake pedal malfunctions but the pedal switch signal is normal, upon receiving a pedal switch signal generated by the brake pedal being pressed, the vehicle is braked based on a preset pedal opening.

6. The braking control method according to any one of claims 1 to 5, characterized in that, The pedal opening of the brake pedal is calculated based on the pedal voltage, the initial voltage, and the calibrated maximum voltage of the brake pedal. The starting voltage is the starting voltage value of the brake pedal that is continuously updated at a preset frequency.

7. A braking control system, characterized in that, include: The sensor module is used to collect the vehicle's braking parameters, which include the pedal voltage and pedal switch signals of the two brake pedals. A control module is used to acquire the braking parameters and, based on the braking parameters, determine the braking state of the two brake pedals. Based on the braking state, a corresponding braking strategy is adopted to control the braking of the vehicle. The braking strategy includes at least the following: when the braking state is that both brake pedals are normal, braking control is performed on the vehicle based on the pedal opening of one of the two brake pedals that is pre-specified. When the braking state is that both brake pedals are faulty and the pedal switch signal is abnormal, braking control is performed on the vehicle based on the virtual brake pedal opening. The virtual brake pedal opening is determined based on the current road conditions and vehicle speed. When the pedal voltage is abnormal, the brake pedal is determined to be faulty. When the pedal switch signals of the two brake pedals are the same, the pedal switch signal is determined to be abnormal. The control module is also used for: When the braking state is such that the pedal openings of the two brake pedals are inconsistent, braking control is performed on the vehicle based on the pedal opening of the target brake pedal among the two brake pedals. Specifically, when there is no sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal with the larger pedal opening among the two brake pedals. When there is a sudden change in the pedal voltage of the two brake pedals, the target brake pedal is the brake pedal whose pedal voltage has the smaller difference between its calibrated value and the pedal voltage corresponding to the current pedal opening.

8. A vehicle, characterized in that, The braking control system as described in claim 7, or the braking control method as described in any one of claims 1 to 6, is used for braking control.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the braking control method as described in any one of claims 1 to 6.

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