Braking intervention method and device for an electric brake, electronic device and storage medium

Abstract

The application relates to a brake intervention method and device of an electronic brake, electronic equipment, a storage medium and a computer program product. The method comprises the following steps: collecting an angular acceleration signal generated based on motion information of a brake trigger on a target vehicle; collecting a wheel load signal, a vehicle speed signal and an acceleration signal of the target vehicle; determining a brake intensity when an electronic brake intervenes in braking based on the angular acceleration signal, the wheel load signal, the vehicle speed signal and the acceleration signal; controlling the electronic brake to intervene in braking of the target vehicle according to the brake intensity; and adjusting the brake intensity in real time based on running information of the target vehicle during braking, so that the electronic brake brakes according to the adjusted brake intensity. The method can accurately and effectively brake the target vehicle.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and in particular to a braking intervention method, device, electronic device, and storage medium for an electronic brake. Background Technology

[0002] With the continuous development of new energy technologies, new energy vehicles are becoming increasingly popular among users, especially lightweight and easy-to-use electric two-wheelers. For user safety and driving experience, the traditional solution mainly uses a combination of electronic and mechanical brakes for braking. During braking, the Hall signal generated when the brake lever is turned is transmitted to the controller. After processing the Hall signal, the electronic brake intervenes in the braking process, working together with the mechanical brake. However, the traditional solution cannot achieve precise and effective braking with the electronic brakes. Summary of the Invention

[0003] Therefore, it is necessary to provide a braking intervention method, device, electronic device, and storage medium for an electronic brake to address the aforementioned technical problems, which can accurately and effectively brake a target vehicle.

[0004] In a first aspect, this application provides a braking intervention method for an electronic brake, the method comprising:

[0005] Acquire angular acceleration signals based on motion information from the brake trigger on the target vehicle;

[0006] Collect wheel load signals, vehicle speed signals, and acceleration signals of the target vehicle;

[0007] Based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal, the braking intensity when the electronic brakes intervene is determined;

[0008] The electronic brake is controlled to intervene and brake the target vehicle according to the braking intensity;

[0009] During braking, the braking intensity is adjusted in real time based on the operating information of the target vehicle, so that the electronic brake can brake according to the adjusted braking intensity.

[0010] In one embodiment, the brake trigger includes a brake lever and a drive arm linked to the brake lever, and the motion information includes first angular velocity change information of the brake lever and second angular velocity change information of the drive arm; the acquisition of the angular acceleration signal generated based on the motion information of the brake trigger on the target vehicle includes:

[0011] The angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm are collected;

[0012] The angular acceleration signal of the brake lever is generated by the angular acceleration sensor based on the first angular velocity change information; the angular acceleration signal of the drive arm is generated by the angular acceleration sensor based on the second angular velocity change information.

[0013] In one embodiment, the method further includes:

[0014] The braking intention is determined based on the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; the braking intention is either emergency obstacle avoidance or normal braking.

[0015] The determination of the braking intensity when the electronic brakes intervene, based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal, includes:

[0016] When the braking intention is for emergency obstacle avoidance, the first braking intensity when the electronic brake intervenes is determined based on the wheel load signal, the vehicle speed signal and the acceleration signal;

[0017] When the braking intention is conventional braking, the second braking intensity when the electronic brake intervenes is determined based on the wheel load signal, the vehicle speed signal, and the acceleration signal.

[0018] Wherein, the first braking intensity is greater than the second braking intensity.

[0019] In one embodiment, the acquisition of the wheel load signal, vehicle speed signal, and acceleration signal of the target vehicle includes:

[0020] Collect wheel load signals generated by load sensors on the target vehicle; the wheel load signals include the front wheel load signals and rear wheel load signals of the target vehicle.

[0021] Collect the vehicle speed signal generated by the vehicle speed sensor on the target vehicle;

[0022] Acceleration signals generated by the acceleration sensors on the target vehicle are collected.

[0023] In one embodiment, the adjusted braking intensity includes a first braking intensity; the real-time adjustment of the braking intensity based on the operating information of the target vehicle, so that the electronic brake performs braking according to the adjusted braking intensity, includes:

[0024] The acceleration update signal, vehicle speed update signal, and wheel load update signal generated by the target vehicle during braking are collected.

[0025] The braking intensity is adjusted in real time based on at least one of the wheel load update signal, the speed update signal, and the acceleration update signal to obtain the first braking intensity;

[0026] The electronic brake is controlled to brake the target vehicle according to the first braking intensity.

[0027] In one embodiment, adjusting the braking intensity in real time based on the operating information of the target vehicle, so that the electronic brake performs braking according to the adjusted braking intensity, includes:

[0028] Detect the wheel slippage state of the target vehicle during braking;

[0029] When the wheel slip state meets the preset conditions, the braking intensity is adjusted in real time to obtain the second braking intensity;

[0030] The electronic brake is controlled to brake the target vehicle according to the second braking intensity.

[0031] Secondly, this application also provides a braking intervention device for an electronic brake, the device comprising:

[0032] The first acquisition module is used to acquire angular acceleration signals generated based on the motion information of the brake trigger on the target vehicle.

[0033] The second acquisition module is used to acquire the wheel load signal, vehicle speed signal and acceleration signal of the target vehicle;

[0034] The determination module is used to determine the braking intensity when the electronic brakes intervene based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal.

[0035] The first braking module is used to control the electronic brake to intervene and brake the target vehicle according to the braking intensity;

[0036] The second braking module is used to adjust the braking intensity in real time based on the operating information of the target vehicle during braking, so that the electronic brake can brake according to the adjusted braking intensity.

[0037] In one embodiment, the brake trigger includes a brake lever and a drive arm linked to the brake lever, and the motion information includes first angular velocity change information of the brake lever and second angular velocity change information of the drive arm.

[0038] The first acquisition module is further configured to acquire the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; wherein the angular acceleration signal of the brake lever is generated by the angular acceleration sensor based on the first angular velocity change information; and the angular acceleration signal of the drive arm is generated by the angular acceleration sensor based on the second angular velocity change information.

[0039] In one embodiment, the determining module is further configured to determine a braking intention based on the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; the braking intention is either emergency obstacle avoidance or conventional braking; when the braking intention is emergency obstacle avoidance, a first braking intensity is determined based on the wheel load signal, the vehicle speed signal, and the acceleration signal; when the braking intention is conventional braking, a second braking intensity is determined based on the wheel load signal, the vehicle speed signal, and the acceleration signal; wherein the first braking intensity is greater than the second braking intensity.

[0040] In one embodiment, the second acquisition module is further configured to acquire wheel load signals generated by load sensors on the target vehicle; the wheel load signals include front wheel load signals and rear wheel load signals of the target vehicle; acquire vehicle speed signals generated by vehicle speed sensors on the target vehicle; and acquire acceleration signals generated by acceleration sensors on the target vehicle.

[0041] In one embodiment, the adjusted braking intensity includes a first braking intensity;

[0042] The second braking module is further configured to collect acceleration update signals, vehicle speed update signals, and wheel load update signals generated by the target vehicle during braking; adjust the braking intensity in real time based on at least one of the wheel load update signals, the speed update signals, and the acceleration update signals to obtain the first braking intensity; and control the electronic brake to brake the target vehicle according to the first braking intensity.

[0043] In one embodiment, the second braking module is further configured to detect the wheel slippage state of the target vehicle during braking; when the wheel slippage state meets a preset condition, the braking intensity is adjusted in real time to obtain the second braking intensity; and the electronic brake is controlled to brake the target vehicle according to the second braking intensity.

[0044] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, which, when executing the computer program, implements the steps of the braking intervention method for the electronic brake provided in the above aspects.

[0045] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the braking intervention method for the electronic brake provided in the above aspects.

[0046] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the braking intervention method for the electronic brake provided in the above aspects.

[0047] The technical solution provided in this application has the following advantages:

[0048] By collecting angular acceleration signals generated from the motion information of the brake trigger on the target vehicle, as well as wheel load signals, vehicle speed signals, and acceleration signals, and using these signals as comprehensive influencing factors, the braking intensity at which the electronic brake system intervenes can be accurately and effectively determined. Therefore, when using this braking intensity to intervene, the target vehicle can be braked precisely, improving the braking capability of the electronic brake system and helping to shorten the braking distance. Furthermore, during braking, the braking intensity is adjusted in real time based on the target vehicle's operating information, allowing the electronic brake system to brake according to the adjusted intensity, thereby further enhancing its braking capability, significantly shortening the braking distance, and improving user driving safety. Attached Figure Description

[0049] Figure 1 This is a control system structure diagram of the braking intervention method of an electronic brake in one embodiment;

[0050] Figure 2 This is a schematic flowchart of the braking intervention method of an electronic brake in one embodiment;

[0051] Figure 3 This is a schematic diagram of the brake lever structure in one embodiment;

[0052] Figure 4 This is a schematic diagram of the drive arm in one embodiment;

[0053] Figure 5 This is a schematic diagram of the brake lever structure in another embodiment;

[0054] Figure 6 This is a schematic diagram of the brake lever structure in another embodiment;

[0055] Figure 7 This is a schematic flowchart of the braking intervention method of an electronic brake in one embodiment;

[0056] Figure 8 This is a flowchart illustrating the steps for adjusting the braking intensity in one embodiment;

[0057] Figure 9 This is a flowchart illustrating the steps for adjusting the braking intensity in another embodiment;

[0058] Figure 10 A structural block diagram of the braking intervention device of an electronic brake in one embodiment;

[0059] Figure 11 This is a diagram of the internal structure of an electronic device in one embodiment;

[0060] Figure 12 This is a diagram of the internal structure of an electronic device in another embodiment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] The braking intervention method for electronic brakes provided in this application embodiment can be applied to, for example... Figure 1 The control system shown includes a control device 102, an angular acceleration sensor 104 for the brake trigger, an acceleration sensor 106, a vehicle speed sensor 108, a load sensor 110, and an electronic brake 112.

[0063] The control device 102 can be connected to the angular acceleration sensor 104, acceleration sensor 106, vehicle speed sensor 108, and load sensor 110 of the brake trigger via wired or wireless connection. The electronic brake 112 can be a software module or a hardware module for electronic braking.

[0064] The brake trigger includes a brake lever and a drive arm that is linked to the brake lever. Therefore, the angular acceleration sensor 104 of the brake trigger includes an angular acceleration sensor 1042 for the brake lever and an angular acceleration sensor 1044 for the drive arm.

[0065] The load sensor 110 includes a front wheel load sensor and a rear wheel load sensor for the target vehicle.

[0066] It should be noted that the aforementioned control device 102, the angular acceleration sensor 104 of the brake trigger, the acceleration sensor 106, the vehicle speed sensor 108, and the load sensor 110 are all components on the target vehicle.

[0067] In one embodiment, such as Figure 2 As shown, a braking intervention method for an electronic brake is provided, which is applied to... Figure 1 Taking the control device 102 as an example, the following steps are included:

[0068] S202, acquires angular acceleration signals generated based on motion information from the brake trigger on the target vehicle.

[0069] Here, a brake trigger can refer to a device used to trigger braking of a target vehicle. In practical applications, this brake trigger may include a brake lever, such as... Figure 3 As shown; or, the brake trigger also includes a brake lever and a drive arm linked to the brake lever, the drive arm being referenced. Figure 4 When the user applies force to the brake lever, the brake cable connected to the brake lever will pull the drive arm, causing the drive arm to rotate.

[0070] Motion information refers to the information about the rotation of the brake trigger under the action of an external force. Specifically, it can include the angular velocity change information of the brake lever (referred to as the first angular velocity change information), such as the angular velocity change information of the brake lever when it rotates under the action of an external force. In addition, motion information can also include the angular velocity change information of the drive arm (referred to as the second angular velocity change information), such as the drive arm starting to rotate when the brake lever rotates, thus obtaining the angular velocity change information of the drive arm. The first angular velocity change information can be used to indicate the speed of brake lever rotation; the second angular velocity change information can be used to indicate the speed of drive arm rotation when the brake lever rotates.

[0071] The target vehicle can be a vehicle that uses a brake lever to brake while driving. In practical applications, the target vehicle can specifically be an electric vehicle or other new energy vehicle, such as an electric motorcycle, bicycle, or scooter.

[0072] Angular acceleration signals can be electrical signals transmitted on transmission lines to represent the magnitude of angular acceleration, including angular acceleration signals from the brake lever and drive arm. The angular acceleration signal from the brake lever is generated by an angular acceleration sensor based on first angular velocity change information; the angular acceleration signal from the drive arm is generated by an angular acceleration sensor based on second angular velocity change information.

[0073] In one embodiment, an angular acceleration sensor detects motion information of a brake trigger, generates an angular acceleration signal based on the motion information, and then transmits the angular acceleration signal to a control device; the control device receives the angular acceleration signal transmitted by the angular acceleration sensor, thereby acquiring the angular acceleration signal generated based on the motion information of the brake trigger on the target vehicle.

[0074] Specifically, the angular acceleration sensor of the brake lever detects the first angular velocity change information of the brake lever and generates an angular acceleration signal of the brake lever based on the first angular velocity change information; the angular acceleration sensor of the drive arm detects the second angular velocity change information of the drive arm and generates an angular acceleration signal of the drive arm based on the second angular velocity change information.

[0075] S204 collects wheel load signals, vehicle speed signals, and acceleration signals of the target vehicle.

[0076] Among them, wheel load signal can refer to the electrical signal of the wheel load of the target vehicle, specifically including front wheel load signal and rear wheel load signal.

[0077] Vehicle speed signal can refer to the electrical signal that indicates the speed of a target vehicle during its movement.

[0078] Acceleration signal can refer to the electrical signal that indicates the change in vehicle speed during the driving process.

[0079] In one embodiment, the control device acquires front wheel load signals and rear wheel load signals generated by load sensors on the target vehicle; acquires vehicle speed signals generated by vehicle speed sensors on the target vehicle; and acquires acceleration signals generated by acceleration sensors on the target vehicle.

[0080] The following describes the specific acquisition steps for the front and rear wheel load signals, vehicle speed signals, and acceleration signals:

[0081] (1) Acquisition of front and rear wheel load signals

[0082] In one embodiment, the acquisition process for the front wheel load signal and the rear wheel load signal is as follows: the front wheel load sensor detects the load on the front wheels of the target vehicle and generates a front wheel load signal based on the load on the front wheels; the rear wheel load sensor detects the load on the rear wheels of the target vehicle and generates a rear wheel load signal based on the load on the rear wheels; then the front wheel load signal and the rear wheel load signal are transmitted to the control device.

[0083] During braking, the load on the front wheels of the target vehicle increases, meaning the load on the front wheels during braking is greater than the load on the front wheels during normal driving. Moreover, the greater the braking intensity, the greater the load on the front wheels, meaning the load on the front wheels during high-intensity braking is greater than the load on the front wheels during low-intensity braking.

[0084] (2) Vehicle speed signal acquisition

[0085] In one embodiment, the specific process for acquiring vehicle speed signals is as follows: the vehicle speed sensor acquires the motor speed, final drive ratio, and tire rolling radius of the target vehicle; the vehicle speed of the target vehicle is calculated based on the motor speed, final drive ratio, and tire rolling radius; and the vehicle speed of the target vehicle is converted into a vehicle speed signal.

[0086] The formula for calculating vehicle speed is as follows:

[0087]

[0088] Where V is the speed of the target vehicle, and MCU rpm Let r be the motor speed of the target vehicle, and r be the rolling radius of the tire. a The main reduction ratio is k, and the calibration correction coefficient is k.

[0089] (3) Acquisition of acceleration signals

[0090] In one embodiment, the specific process for acquiring acceleration signals is as follows: the acceleration sensor periodically acquires the vehicle speed of the target vehicle at different times, and then calculates the acceleration based on the vehicle speed at different times and the time difference, converting the acceleration of the target vehicle into an acceleration signal.

[0091] For example, the accelerometer collects the vehicle speed at time t1 and records the vehicle speed collected at time t1 as v1. Then it continues to collect the vehicle speed at time t2 and records the vehicle speed collected at time t2 as v2. Then it calculates the time difference Δt = t2 - t1. Based on the vehicle speeds v1 and v2 and the time difference Δt, it calculates the acceleration of the target vehicle, that is, the acceleration a = (v2 - v1) / Δt.

[0092] S206 determines the braking intensity when the electronic brake intervenes, based on angular acceleration signals, wheel load signals, vehicle speed signals, and acceleration signals.

[0093] Braking intensity, also known as braking strength or braking force, generally means that the greater the braking intensity, the shorter the braking distance. For example, the greater the braking force, the shorter the time required for the target vehicle's speed to decrease from v to 0, and the shorter the braking distance.

[0094] In one embodiment, the control device can determine the braking intention based on the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; the braking intention is either emergency obstacle avoidance or normal braking. Therefore, depending on the different braking intentions, S206 is divided into the following two cases for description, as follows:

[0095] Scenario 1: Determine the braking intensity during emergency obstacle avoidance.

[0096] In one embodiment, S206 may specifically include: when the braking intention is emergency obstacle avoidance, determining the first braking intensity when the electronic brakes intervene based on wheel load signals, vehicle speed signals, and acceleration signals. It should be noted that during driving, if an emergency obstacle avoidance is needed, the user typically grips the brake lever tightly. At this time, the angular acceleration of the brake lever is very large, allowing the control device to determine that the user's braking intention is emergency obstacle avoidance. In this case, a larger braking intensity is required to reduce the target vehicle from its current speed to a lower speed or to zero within a short period of time.

[0097] Specifically, when the braking intention is for emergency obstacle avoidance, the control device can acquire a first braking coefficient matching the braking intention. Based on the first braking coefficient, wheel load signal, vehicle speed signal, and acceleration signal, it determines the first braking intensity when the electronic brakes intervene. After determining the first braking intensity, the control device generates a stronger braking signal (e.g., stronger than a preset intensity) based on the first braking intensity.

[0098] For example, such as Figure 5 As shown, when a user attempts to avoid an obstacle in an emergency, they will apply a large force to the brake lever, causing it to rotate rapidly from position 1 to position 2. The angular acceleration sensor detects the angular acceleration during this process, generating an angular acceleration signal, which is then transmitted to the controller via the brake cable.

[0099] Scenario 2: Determine the braking intensity during regular braking.

[0100] In one embodiment, S206 may specifically include: when the braking intention is conventional braking, determining a second braking intensity when the electronic brake intervenes based on wheel load signal, vehicle speed signal and acceleration signal; wherein the first braking intensity is greater than the second braking intensity.

[0101] It should be noted that when a user is driving, if there is a slow-moving vehicle or pedestrian a certain distance ahead (e.g., 50 meters), and regular braking is required, the user will lightly grip the brake lever, resulting in a smaller angular acceleration of the brake lever. This allows the control device to determine that the user's braking intention is regular braking. In this case, a smaller braking force should be used to ensure that the relative speeds of the two are the same before approaching the vehicle or pedestrian ahead, thereby ensuring safe driving.

[0102] Specifically, when the braking intention is conventional braking, the control device can acquire a second braking coefficient matching this braking intention. Based on the second braking coefficient, wheel load signal, vehicle speed signal, and acceleration signal, it determines the second braking intensity when the electronic brakes intervene. After determining the second braking intensity, the control device generates a braking signal with a weak or moderate intensity (e.g., intensity within a preset range) based on the second braking intensity.

[0103] For example, such as Figure 6 As shown, when the user brakes normally, he applies a small or moderate force to the brake lever, causing the brake lever to slowly rotate from position 1 to position 2. The angular acceleration sensor detects the angular acceleration during the process of the brake lever rotating from position 1 to position 2, thereby generating an angular acceleration signal, which is then transmitted to the controller through the brake cable.

[0104] S208 controls the electronic brakes to intervene and brake the target vehicle based on the braking intensity.

[0105] In one embodiment, the control device can generate a braking signal based on the braking intensity and then transmit the braking signal to the electronic brake, so that the electronic brake intervenes to brake the target vehicle according to the braking intensity, for example, braking the rear wheels of the target vehicle. It should be noted that during the braking process of the electronic brake, the mechanical brake also simultaneously brakes the target vehicle, for example, braking the front wheels of the target vehicle.

[0106] The calculation of the braking intensity of the mechanical brake on the target vehicle involves the following process: the angular acceleration signal of the drive arm is transmitted to the mechanical brake, which then determines the braking intensity based on this signal. After calculating the braking intensity, the mechanical brake applies the braking force to the target vehicle.

[0107] S210, during braking, adjusts the braking intensity in real time based on the target vehicle's operating information, so that the electronic brakes apply the adjusted braking intensity.

[0108] The target vehicle's operating information includes at least one of the following: acceleration update signal, vehicle speed update signal, and wheel load update signal generated during braking; or, the target vehicle's operating information includes the wheel slippage state of the target vehicle during braking.

[0109] In one embodiment, the control device adjusts the braking intensity in real time based on at least one of the acceleration update signal, vehicle speed update signal, and wheel load update signal; or, the control device adjusts the braking intensity in real time based on the vehicle's slip state.

[0110] To gain a clearer understanding of the scheme in this application, this section combines... Figure 7 The details are as follows:

[0111] During driving, when the user applies the brakes (i.e., applies force to the brake lever), the angular acceleration sensor of the brake lever detects the rotation information of the brake lever and generates an angular acceleration signal a based on this motion information. Correspondingly, the drive arm also rotates with the rotation of the brake lever. At this time, the angular acceleration sensor of the drive arm detects the rotation information of the drive arm and generates an angular acceleration signal b based on this rotation information. The angular acceleration signals a and b are transmitted to the control device, so that the control device can collect the angular acceleration signals of the brake lever and the drive arm.

[0112] In addition, during the process of acquiring the angular acceleration signals of the brake lever and drive arm, the acceleration sensor, vehicle speed sensor and load sensor of the target vehicle obtain acceleration signals, vehicle speed signals and wheel load signals respectively, and then transmit the acceleration signals, vehicle speed signals and wheel load signals to the control equipment respectively.

[0113] The control device determines the user's braking intention based on the angular acceleration signal 'a' of the brake lever and the angular acceleration signal 'b' of the drive arm. For example, it determines whether the angular acceleration of the brake lever is greater than or equal to a first threshold and whether the angular acceleration of the drive arm is greater than or equal to a second threshold. Based on the determination results, the braking intention is finalized. If the braking intention is emergency braking, a first braking signal with a relatively high braking intensity is generated based on the acceleration signal, vehicle speed signal, and wheel load signal. This first braking signal is then sent to the electronic brake system, which intervenes to brake the target vehicle according to the braking intensity. If the braking intention is conventional braking, a second braking signal with a weaker or moderate braking intensity is generated based on the acceleration signal, vehicle speed signal, and wheel load signal. This second braking signal is then sent to the electronic brake system, which intervenes to brake the target vehicle according to the braking intensity.

[0114] During braking, the target vehicle's motion information (such as acceleration update signal, vehicle speed update signal, and wheel load update signal) is fed back to the control equipment in real time. The control equipment then continuously adjusts the braking intensity of the electronic brakes based on this information, thereby achieving a perfect combination of electronic and mechanical braking, greatly improving braking performance, shortening braking distance, and enhancing overall vehicle safety.

[0115] In the above embodiments, angular acceleration signals generated based on the motion information of the brake trigger on the target vehicle, as well as wheel load signals, vehicle speed signals, and acceleration signals of the target vehicle, are collected. These signals are used as comprehensive influencing factors to accurately and effectively determine the braking intensity when the electronic brakes intervene. Therefore, when braking is initiated using this intensity, the target vehicle can be braked precisely, improving the braking capability of the electronic brakes and shortening the braking distance. Furthermore, during braking, the braking intensity is adjusted in real time based on the target vehicle's operating information, allowing the electronic brakes to brake according to the adjusted intensity. This further enhances the braking capability of the electronic brakes, significantly shortens the braking distance, and improves user driving safety.

[0116] In one embodiment, the adjusted braking intensity includes a first braking intensity; the control device can adjust the braking intensity based on the acceleration update signal, the vehicle speed update signal, and the wheel load update signal to obtain the first braking intensity. Figure 8 As shown, the above S210 may specifically include:

[0117] S802 collects the acceleration update signal, vehicle speed update signal, and wheel load update signal generated by the target vehicle during braking.

[0118] Among them, the acceleration update signal, vehicle speed update signal, and wheel load update signal refer to the acceleration signal, vehicle speed signal, and wheel load signal updated during braking, respectively. During braking, the vehicle speed and wheel load change; that is, the vehicle speed gradually decreases, the front wheel load increases, and the rear wheel load decreases.

[0119] For the acquisition of acceleration update signals, vehicle speed update signals, and wheel load update signals, please refer to... Figure 2 S204 in the embodiment will not be described again here.

[0120] S804, based on at least one of the wheel load update signal, speed update signal and acceleration update signal, adjusts the braking intensity in real time to obtain the first braking intensity.

[0121] In one embodiment, without changing the position of the brake lever, the braking intensity can be reduced based on at least one of the wheel load update signal, speed update signal, and acceleration update signal to obtain a first braking intensity.

[0122] For example, if the front wheel load of the target vehicle increases from 50 to 60 and the rear wheel load decreases from 50 to 40 based on the wheel load update signal, the braking intensity can be reduced since the weight of the target vehicle has not changed and the coefficient of friction has not changed.

[0123] In another embodiment, when the position of the brake lever changes due to the increased force applied to the brake lever, the braking intensity can be adjusted based on at least one of the wheel load update signal, speed update signal, and acceleration update signal to obtain a first braking intensity.

[0124] S806 controls the electronic brake to brake the target vehicle according to the first braking intensity.

[0125] In one embodiment, the control device may generate an updated braking signal based on the first braking intensity, and then transmit the updated braking signal to the electronic brake so that the electronic brake brake brakes the target vehicle according to the first braking intensity, for example, braking the rear wheels of the target vehicle; while the electronic brake brake is braking, the mechanical brake also brakes the target vehicle at the same time, for example, braking the front wheels of the target vehicle.

[0126] During braking, if the user turns the brake lever from the first position to the second position, the angular acceleration update signal of the drive arm is transmitted to the mechanical brake. The mechanical brake determines the updated braking intensity based on this update signal. After updating the braking intensity, the mechanical brake applies braking force to the target vehicle. In addition to adjusting the braking intensity of the electronic brake, the braking intensity of the mechanical brake can also be adjusted, thereby improving braking performance and enhancing driving comfort.

[0127] The second position can be the position after the user increases the force to make the brake lever continue to rotate, or the position after the user decreases the force to make the brake lever retract.

[0128] In the above embodiments, during braking, acceleration update signals, vehicle speed update signals, and wheel load update signals are collected in real time. Based on the wheel load update signals, speed update signals, and acceleration update signals, the braking intensity is adjusted in real time to continuously optimize the braking intensity. By using the optimized braking intensity, the braking capability of the electronic brake can be further improved, the braking distance can be greatly shortened, and the user's driving safety can be improved.

[0129] In one embodiment, the adjusted braking intensity includes a second braking intensity; the control device can adjust the braking intensity according to the wheel slippage state to obtain the second braking intensity. Figure 9 As shown, the above S210 may specifically include:

[0130] S902 detects the wheel slippage state of the target vehicle during braking.

[0131] Among them, wheel slip state can indicate whether the wheels of the target vehicle are slipping.

[0132] S904: When the wheel slip state meets the preset conditions, the braking intensity is adjusted in real time to obtain the second braking intensity.

[0133] Among them, the preset condition can refer to the wheel slip state as the target vehicle being in a slipping state.

[0134] When the wheels of a target vehicle lock up due to excessive braking intensity, thus affecting the braking effect of the target vehicle, the braking intensity can be reduced to obtain a second braking intensity.

[0135] S906 controls the electronic brakes to brake the target vehicle according to the second braking intensity.

[0136] In one embodiment, the control device may generate an updated braking signal based on the second braking intensity, and then transmit the updated braking signal to the electronic brake so that the electronic brake brake brakes the target vehicle according to the second braking intensity, for example, braking the rear wheels of the target vehicle; while the electronic brake brake is braking, the mechanical brake also brakes the target vehicle at the same time, for example, braking the front wheels of the target vehicle.

[0137] In the above embodiments, during braking, the wheel slip state of the target vehicle is collected in real time, and the braking intensity is adjusted in real time according to the wheel slip state. In the event of vehicle lock-up, the braking intensity can be reduced, thereby optimizing the braking intensity. By using the optimized braking intensity, the braking capability of the electronic brake can be further improved, the braking distance can be greatly shortened, and the driving safety of the user can be improved.

[0138] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0139] Based on the same inventive concept, this application also provides a braking intervention device for implementing the braking intervention method of the electronic brake described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the braking intervention device for electronic brakes provided below can be found in the limitations of the braking intervention method for electronic brakes described above, and will not be repeated here.

[0140] In one embodiment, such as Figure 10 As shown, a braking intervention device for an electronic brake is provided, comprising: a first acquisition module 1002, a second acquisition module 1004, a determination module 1006, a first braking module 1008, and a second braking module 1010, wherein:

[0141] The first acquisition module 1002 is used to acquire angular acceleration signals generated based on the motion information of the brake trigger on the target vehicle.

[0142] The second acquisition module 1004 is used to acquire the wheel load signal, vehicle speed signal and acceleration signal of the target vehicle;

[0143] The determination module 1006 is used to determine the braking intensity when the electronic brakes intervene based on the angular acceleration signal, wheel load signal, vehicle speed signal and acceleration signal.

[0144] The first braking module 1008 is used to control the electronic brake to intervene and brake the target vehicle according to the braking intensity.

[0145] The second braking module 1010 is used to adjust the braking intensity in real time based on the operating information of the target vehicle during braking, so that the electronic brake can brake according to the adjusted braking intensity.

[0146] In one embodiment, the brake trigger includes a brake lever and a drive arm linked to the brake lever, and the motion information includes first angular velocity change information of the brake lever and second angular velocity change information of the drive arm.

[0147] The first acquisition module 1002 is also used to acquire the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; wherein, the angular acceleration signal of the brake lever is generated by the angular acceleration sensor based on the first angular velocity change information; and the angular acceleration signal of the drive arm is generated by the angular acceleration sensor based on the second angular velocity change information.

[0148] In one embodiment, the determining module 1006 is further configured to determine the braking intention based on the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; the braking intention is either emergency obstacle avoidance or conventional braking; when the braking intention is emergency obstacle avoidance, a first braking intensity is determined based on the wheel load signal, vehicle speed signal, and acceleration signal; when the braking intention is conventional braking, a second braking intensity is determined based on the wheel load signal, vehicle speed signal, and acceleration signal; wherein the first braking intensity is greater than the second braking intensity.

[0149] In one embodiment, the second acquisition module 1004 is further configured to acquire wheel load signals generated by load sensors on the target vehicle; the wheel load signals include front wheel load signals and rear wheel load signals of the target vehicle; acquire vehicle speed signals generated by vehicle speed sensors on the target vehicle; and acquire acceleration signals generated by acceleration sensors on the target vehicle.

[0150] In the above embodiments, angular acceleration signals generated based on the motion information of the brake trigger on the target vehicle, as well as wheel load signals, vehicle speed signals, and acceleration signals of the target vehicle, are collected. These signals are used as comprehensive influencing factors to accurately and effectively determine the braking intensity when the electronic brakes intervene. Therefore, when braking is initiated using this intensity, the target vehicle can be braked precisely, improving the braking capability of the electronic brakes and shortening the braking distance. Furthermore, during braking, the braking intensity is adjusted in real time based on the target vehicle's operating information, allowing the electronic brakes to brake according to the adjusted intensity. This further enhances the braking capability of the electronic brakes, significantly shortens the braking distance, and improves user driving safety.

[0151] In one embodiment, the adjusted braking intensity includes a first braking intensity;

[0152] The second braking module 1010 is also used to collect acceleration update signals, vehicle speed update signals and wheel load update signals generated by the target vehicle during the braking process; adjust the braking intensity in real time based on at least one of the wheel load update signals, speed update signals and acceleration update signals to obtain a first braking intensity; and control the electronic brake to brake the target vehicle according to the first braking intensity.

[0153] In the above embodiments, during braking, acceleration update signals, vehicle speed update signals, and wheel load update signals are collected in real time. Based on the wheel load update signals, speed update signals, and acceleration update signals, the braking intensity is adjusted in real time to continuously optimize the braking intensity. By using the optimized braking intensity, the braking capability of the electronic brake can be further improved, the braking distance can be greatly shortened, and the user's driving safety can be improved.

[0154] In one embodiment, the second braking module 1010 is further configured to detect the wheel slippage state of the target vehicle during braking; when the wheel slippage state meets the preset conditions, the braking intensity is adjusted in real time to obtain a second braking intensity; and the electronic brake is controlled to brake the target vehicle according to the second braking intensity.

[0155] In the above embodiments, during braking, the wheel slip state of the target vehicle is collected in real time, and the braking intensity is adjusted in real time according to the wheel slip state. In the event of vehicle lock-up, the braking intensity can be reduced, thereby optimizing the braking intensity. By using the optimized braking intensity, the braking capability of the electronic brake can be further improved, the braking distance can be greatly shortened, and the driving safety of the user can be improved.

[0156] The various modules in the braking intervention device of the aforementioned electronic brake system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0157] In one embodiment, an electronic device is provided, which may be a control device, and its internal structure diagram may be as follows: Figure 11 As shown or as Figure 12 .like Figure 11As shown, the electronic device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores XX data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a braking intervention method for an electronic brake.

[0158] like Figure 12 As shown, the electronic device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a braking intervention method for an electronic brake system. The display unit of the electronic device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the electronic device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the electronic device, or external keyboards, touchpads, or mice, etc.

[0159] Those skilled in the art will understand that Figure 11 and Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0160] In one embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the braking intervention method of the above-described electronic brake.

[0161] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described electronic brake intervention method.

[0162] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the above-described electronic brake intervention method.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0164] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0165] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A braking intervention method for an electronic brake, characterized in that, The method includes: Acquire angular acceleration signals based on motion information from the brake trigger on the target vehicle; Collect wheel load signals, vehicle speed signals, and acceleration signals of the target vehicle; Based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal, the braking intensity when the electronic brakes intervene is determined; The electronic brake is controlled to intervene and brake the target vehicle according to the braking intensity. During braking, the braking intensity is adjusted in real time based on the operating information of the target vehicle, so that the electronic brake can brake according to the adjusted braking intensity.

2. The method according to claim 1, characterized in that, The brake trigger includes a brake lever and a drive arm linked to the brake lever, and the motion information includes a first angular velocity change information of the brake lever and a second angular velocity change information of the drive arm. The acquisition of angular acceleration signals generated based on motion information from the brake trigger on the target vehicle includes: The angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm are collected; The angular acceleration signal of the brake lever is generated by the angular acceleration sensor based on the first angular velocity change information; the angular acceleration signal of the drive arm is generated by the angular acceleration sensor based on the second angular velocity change information.

3. The method according to claim 2, characterized in that, The method further includes: The braking intention is determined based on the angular acceleration signal of the brake lever and the angular acceleration signal of the drive arm; the braking intention is either emergency obstacle avoidance or normal braking. The determination of the braking intensity when the electronic brakes intervene, based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal, includes: When the braking intention is for emergency obstacle avoidance, the first braking intensity when the electronic brake intervenes is determined based on the wheel load signal, the vehicle speed signal, and the acceleration signal. When the braking intention is conventional braking, the second braking intensity when the electronic brake intervenes is determined based on the wheel load signal, the vehicle speed signal, and the acceleration signal. Wherein, the first braking intensity is greater than the second braking intensity.

4. The method according to claim 1, characterized in that, The acquisition of the wheel load signal, vehicle speed signal, and acceleration signal of the target vehicle includes: Collect wheel load signals generated by load sensors on the target vehicle; the wheel load signals include the front wheel load signals and rear wheel load signals of the target vehicle. Collect the vehicle speed signal generated by the vehicle speed sensor on the target vehicle; Acceleration signals generated by the acceleration sensors on the target vehicle are collected.

5. The method according to claim 3, characterized in that, The adjusted braking intensity includes a first braking intensity; the real-time adjustment of the braking intensity based on the target vehicle's operating information, so that the electronic brakes apply braking according to the adjusted braking intensity, includes: The acceleration update signal, vehicle speed update signal, and wheel load update signal generated by the target vehicle during braking are collected. The braking intensity is adjusted in real time based on at least one of the wheel load update signal, the speed update signal, and the acceleration update signal to obtain the first braking intensity; The electronic brake is controlled to brake the target vehicle according to the first braking intensity.

6. The method according to claim 5, characterized in that, The step of adjusting the braking intensity in real time based on the operating information of the target vehicle, so that the electronic brakes brake according to the adjusted braking intensity, includes: Detect the wheel slippage state of the target vehicle during braking; When the wheel slip state meets the preset conditions, the braking intensity is adjusted in real time to obtain the second braking intensity; The electronic brake is controlled to brake the target vehicle according to the second braking intensity.

7. A braking intervention device for an electronic brake, characterized in that, The device includes: The first acquisition module is used to acquire angular acceleration signals generated based on the motion information of the brake trigger on the target vehicle. The second acquisition module is used to acquire the wheel load signal, vehicle speed signal and acceleration signal of the target vehicle; The determination module is used to determine the braking intensity when the electronic brakes intervene based on the angular acceleration signal, the wheel load signal, the vehicle speed signal, and the acceleration signal. The first braking module is used to control the electronic brake to intervene and brake the target vehicle according to the braking intensity; The second braking module is used to adjust the braking intensity in real time based on the operating information of the target vehicle during braking, so that the electronic brake can brake according to the adjusted braking intensity.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images