Methods, devices, equipment, and storage media for controlling the feel of vehicle brake pedal

Abstract

This invention belongs to the field of automotive braking control technology for drive-by-wire (decoupled) braking systems. It discloses a method, device, equipment, and storage medium for controlling the feel of a vehicle's brake pedal. The method includes: when the vehicle is braking, acquiring the current travel of the brake pedal and the current friction coefficient of the friction pads; calculating the target vehicle deceleration corresponding to the current travel based on a pre-set correspondence between the brake pedal travel and the vehicle's target deceleration; and establishing a compensating braking pressure based on the current friction coefficient of the friction pads to meet the target vehicle deceleration corresponding to the current travel. The purpose of this invention is to solve the problem of poor braking feel during driving caused by fluctuations in the friction coefficient due to changes in friction pad temperature affecting the vehicle's deceleration.

Description

Technical Field

[0001] This invention belongs to the field of automotive braking control technology for drive-by-wire (decoupled) braking systems, specifically relating to a control method, device, equipment, and storage medium for the feel of a vehicle brake pedal. Background Technology

[0002] For the matching of the brake pedal feel in a drive-by-wire (decoupled) braking system, the first step is to match it using a brake pedal simulator to determine the relationship between pedal travel and pedal force. Then, by setting the relationship between brake pedal travel and braking pressure, the relationship between pedal travel and vehicle deceleration is determined. During braking, the brake pads absorb heat, causing their temperature to rise. The relationship between brake pad temperature and friction coefficient shows that the friction coefficient changes with temperature. If the friction coefficient changes, the vehicle's braking deceleration will fluctuate under the same braking pressure.

[0003] In current brake-by-wire systems, the calibration of brake pedal feel is based on adjusting the relationship between brake pedal travel and brake pressure, thereby determining the relationship between brake pedal travel and vehicle deceleration. Because the friction coefficient of the friction pads varies across different temperature ranges, the vehicle deceleration varies with the same brake pedal travel, resulting in a less than ideal braking experience during driving (e.g., continuous downhill braking, frequent high-speed braking, etc.). Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a method, device, equipment and storage medium for controlling the feel of the vehicle brake pedal. Its purpose is to solve the problem of poor braking feel during driving caused by the fluctuation of the friction coefficient due to the temperature change of the friction pads affecting the deceleration of the whole vehicle.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] According to a first aspect of the present invention, a method for controlling the feel of a vehicle brake pedal is provided, comprising:

[0007] When the vehicle is braking, the current travel of the brake pedal and the current friction coefficient of the friction pads are obtained;

[0008] Based on the pre-set correspondence between brake pedal travel and vehicle target deceleration, the vehicle target deceleration corresponding to the current travel is calculated.

[0009] Based on the current friction coefficient of the friction pads, a compensating braking pressure is established to meet the target vehicle deceleration corresponding to the current travel distance.

[0010] In one possible implementation of the first aspect, establishing a compensating braking pressure to satisfy the target vehicle deceleration corresponding to the current travel based on the current friction coefficient of the friction pad includes:

[0011] The actual required braking pressure is calculated based on the current friction coefficient of the friction pad and the target vehicle deceleration corresponding to the current travel distance.

[0012] Based on the pre-set correspondence between brake pedal travel and theoretical braking pressure, the theoretical braking pressure corresponding to the current travel is obtained;

[0013] A compensating braking pressure is established based on the actual required braking pressure and the theoretical braking pressure corresponding to the current stroke.

[0014] In one possible implementation of the first aspect, obtaining the current coefficient of friction of the friction plate includes:

[0015] Obtain the current temperature of the friction plate;

[0016] Based on the pre-defined relationship between the friction coefficient of the friction plate and temperature, the current friction coefficient of the friction plate at the current temperature is obtained.

[0017] In one possible implementation of the first aspect, obtaining the current temperature of the friction pad includes:

[0018] A temperature sensor is used to collect the current temperature of the friction pad;

[0019] The current temperature of the friction plate is obtained from the temperature sensor.

[0020] In one possible implementation of the first aspect, the temperature sensor is disposed on the friction pad.

[0021] In one possible implementation of the first aspect, obtaining the current travel of the brake pedal includes:

[0022] The current travel of the brake pedal is collected using a pedal travel sensor;

[0023] The current travel of the brake pedal is obtained from the pedal travel sensor.

[0024] In one possible implementation of the first aspect, the pedal travel sensor is located on the pedal.

[0025] According to a second aspect of the present invention, a vehicle brake pedal feel control device is provided, comprising:

[0026] The acquisition module is used to acquire the current travel of the brake pedal and the current friction coefficient of the friction pads when the vehicle is braking.

[0027] The vehicle target deceleration calculation module is used to calculate the vehicle target deceleration corresponding to the current travel distance based on the pre-set correspondence between the brake pedal travel and the vehicle target deceleration.

[0028] The compensating braking pressure establishment module is used to establish a compensating braking pressure based on the current friction coefficient of the friction pads until it meets the target vehicle deceleration corresponding to the current travel distance.

[0029] According to a third aspect of the present invention, an apparatus is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the vehicle brake pedal feel control method described above.

[0030] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle brake pedal feel control method described above.

[0031] Compared with the prior art, the present invention has at least the following beneficial effects:

[0032] This invention provides a vehicle brake pedal feel control method. When the vehicle is braking, it first acquires the current travel of the brake pedal and the current friction coefficient of the brake pads. Then, based on a pre-set correspondence between brake pedal travel and vehicle target deceleration, it obtains the vehicle target deceleration corresponding to the current travel. Finally, based on the current friction coefficient of the brake pads, it establishes a compensating braking pressure to meet the vehicle target deceleration corresponding to the current travel. This ensures that the vehicle's target deceleration remains unchanged under the same brake pedal travel and with different friction coefficients of the brake pads, providing the driver with a better braking feel. In other words, the brake pedal feel remains consistent across different temperature ranges, effectively solving the problem of poor braking feel caused by fluctuations in the friction coefficient due to brake pad temperature changes affecting vehicle deceleration.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a flowchart of a vehicle brake pedal feel control method according to the present invention;

[0036] Figure 2 This is a schematic diagram illustrating the principle of a vehicle brake pedal feel control method according to an embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1 As shown in the figure, this application provides a method for controlling the feel of a vehicle brake pedal, which specifically includes the following steps:

[0039] S101. When the vehicle is braking, obtain the current travel of the brake pedal and the current friction coefficient of the friction pads.

[0040] In other words, when the vehicle is braking, the current travel of the brake pedal and the current friction coefficient of the friction pads will be obtained in real time.

[0041] It should be noted that the current coefficient of friction of the friction plate refers to the coefficient of friction of the friction plate at the current temperature, and is simply referred to as the current coefficient of friction of the friction plate.

[0042] In one embodiment, the acquisition of the current travel of the brake pedal is specifically as follows:

[0043] ① The current travel of the brake pedal is collected using a pedal travel sensor.

[0044] ② Obtain the current travel of the brake pedal as collected by the pedal travel sensor.

[0045] In other words, a pedal travel sensor is used to obtain the current travel of the brake pedal. The pedal travel sensor can accurately detect minute displacements of the brake pedal and convert them into electrical signals for the system to analyze.

[0046] Preferably, these pedal travel sensors are mounted on an integrated braking system (One-box) to capture the movement of the brake pedal accurately in real time. This allows for real-time acquisition of the current travel of the brake pedal, providing fundamental data for subsequent calculations.

[0047] In one embodiment, obtaining the current coefficient of friction of the friction plate specifically includes:

[0048] a. Obtain the current temperature of the friction plate.

[0049] b. Based on the pre-defined relationship between the friction coefficient of the friction plate and temperature, obtain the current friction coefficient of the friction plate at the current temperature.

[0050] Preferably, the current temperature of the friction plate is obtained as follows:

[0051] ① Use a temperature sensor to collect the current temperature of the friction plate.

[0052] ② Obtain the current temperature of the friction plate as collected by the temperature sensor.

[0053] Specifically, to obtain the current friction coefficient of the friction plate, the current temperature of the friction plate is first collected using a temperature sensor. This temperature sensor is typically mounted directly on the friction plate to detect temperature changes in real time. Then, based on a pre-defined relationship between the friction coefficient and temperature, the current friction coefficient of the friction plate at the current temperature is obtained through methods such as table lookup or interpolation.

[0054] With the current travel of the brake pedal and the current friction coefficient of the friction pads, we can begin to calculate the compensating braking pressure.

[0055] S102. Based on the pre-set correspondence between brake pedal travel and vehicle target deceleration, calculate the vehicle target deceleration corresponding to the current travel.

[0056] It should be noted that the correspondence between brake pedal travel and vehicle target deceleration is usually obtained through extensive experimental data calibration, reflecting the relationship between the driver's braking intention and vehicle deceleration.

[0057] S103. Based on the current friction coefficient of the friction pad, establish a compensating braking pressure to meet the target vehicle deceleration corresponding to the current travel distance.

[0058] In one embodiment, the specific operation method of step S103 is as follows:

[0059] a. Calculate the actual required braking pressure based on the current friction coefficient of the friction pad and the target vehicle deceleration corresponding to the current travel distance.

[0060] It should be noted that the purpose of this calculation is to ensure that the vehicle can achieve the expected deceleration under the current coefficient of friction and braking intention.

[0061] b. Based on the pre-set correspondence between brake pedal travel and theoretical braking pressure, obtain the theoretical braking pressure corresponding to the current travel.

[0062] It should also be understood that the correspondence between brake pedal travel and theoretical braking pressure is also obtained through experimental data calibration, which reflects the relationship between brake pedal travel and the theoretical braking pressure generated by the braking system.

[0063] c. Establish a compensating braking pressure based on the actual required braking pressure and the theoretical braking pressure corresponding to the current stroke.

[0064] Specifically, if the actual required braking pressure is greater than the theoretical braking pressure, then the braking pressure needs to be increased to ensure that the vehicle can achieve the expected deceleration; conversely, if the actual required braking pressure is less than the theoretical braking pressure, then the braking pressure needs to be reduced to avoid excessive vehicle deceleration, which could cause discomfort to the driver.

[0065] This method of controlling the feel of the vehicle's brake pedal allows for precise control over the brake pedal sensation, improving the driver's experience and providing a more stable and smooth braking feel. This control method is adaptive, automatically adjusting the braking pressure based on factors such as friction pad wear and temperature changes to ensure stable braking performance.

[0066] For example, in combination Figure 2 As shown, by obtaining braking information such as brake pad temperature, brake pedal travel, and brake switch signal from the driver's braking action, the drive-by-wire (decoupled) braking system, based on the previously set relationship between brake pedal travel and the vehicle's target deceleration (overall vehicle deceleration), and combined with a characteristic model of the friction coefficient and temperature of the brake pads, can automatically adjust the braking pressure according to the brake pad temperature, providing the driver with a good brake pedal feel. Specifically, during normal braking, the signal data for each braking action includes: signals collected by the thermocouple sensor (fixed to the brake pads), the braking signal, and signals collected by the brake pedal travel sensor. These signals are sent to the drive-by-wire braking ECU, which analyzes the signal data fed back by the driver and automatically builds up pressure to the required deceleration.

[0067] For example 1: When applying service braking in a cold state, the friction coefficient of the friction pads is usually low. If the braking is controlled according to the relationship between the brake pedal travel and the theoretical braking pressure set by the current brake-by-wire system, the vehicle deceleration generated by braking at this time is usually too low. Using the control method of this application, the system will automatically analyze and establish a suitable pressure by combining the characteristic model of the friction coefficient and temperature of the friction pads. When the vehicle deceleration is not within the target deceleration (±0.2m / s²), the system will achieve the desired deceleration. 2 Within the specified range, the brake-by-wire ECU will analyze the data and send commands to the motor to adjust and compensate for the braking pressure until the target requirements are met. It can also store the correspondence between braking pressure and deceleration and perform iterations.

[0068] For example 2: When driving on mountain roads or driving aggressively (frequent braking), the friction coefficient of the friction pads is usually low at high temperatures. If the brake pedal travel and theoretical braking pressure are controlled according to the current brake-by-wire system, the vehicle deceleration generated by braking in this situation is usually too low. Using the control method of this application, the system will automatically analyze and establish a suitable pressure by combining the characteristic model of the friction coefficient and temperature of the friction pads. When the vehicle deceleration is not at the target deceleration (±0.2m / s²), the system will achieve the desired deceleration. 2 Within the specified range, the brake-by-wire ECU will analyze the data and send commands to the motor to adjust and compensate for the braking pressure until the target requirements are met. It can also store the correspondence between braking pressure and deceleration and perform iterations.

[0069] The implementation cost of this invention is relatively low. It can be achieved by using a friction pad with a temperature sensor and adding a strategy. There is no safety risk, and it can be implemented and developed.

[0070] This application provides a vehicle brake pedal feel control device for implementing the aforementioned vehicle brake pedal feel control method, specifically including:

[0071] The acquisition module is used to acquire the current travel of the brake pedal and the current friction coefficient of the friction pads when the vehicle is braking.

[0072] The vehicle target deceleration calculation module is used to calculate the vehicle target deceleration corresponding to the current travel distance based on the pre-set correspondence between the brake pedal travel and the vehicle target deceleration.

[0073] The compensating braking pressure establishment module is used to establish a compensating braking pressure based on the current friction coefficient of the friction pads until it meets the target vehicle deceleration corresponding to the current travel distance.

[0074] In one embodiment of the present invention, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to achieve a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used to implement the operation of a vehicle brake pedal feel control method.

[0075] In one embodiment of the present invention, a vehicle brake pedal feel control method, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data.

[0076] The computer storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs)), optical storage (e.g., CDs, DVDs, BDs, HVDs), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0077] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0079] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0081] In the description of this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0082] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the feel of a vehicle brake pedal, characterized in that, include: When the vehicle is braking, the current travel of the brake pedal and the current friction coefficient of the friction pads are obtained; To obtain the current coefficient of friction of the friction plate, including: Obtain the current temperature of the friction plate; Based on the pre-defined relationship between the friction coefficient of the friction plate and temperature, the current friction coefficient of the friction plate at the current temperature is obtained. Based on the pre-set correspondence between brake pedal travel and vehicle target deceleration, the vehicle target deceleration corresponding to the current travel is calculated. Based on the current friction coefficient of the friction pads, establish a compensating braking pressure to meet the target vehicle deceleration corresponding to the current travel distance, including: The actual required braking pressure is calculated based on the current friction coefficient of the friction pad and the target vehicle deceleration corresponding to the current travel distance. Based on the pre-set correspondence between brake pedal travel and theoretical braking pressure, the theoretical braking pressure corresponding to the current travel is obtained; A compensating braking pressure is established based on the actual required braking pressure and the theoretical braking pressure corresponding to the current stroke.

2. The vehicle brake pedal feel control method according to claim 1, characterized in that, The process of obtaining the current temperature of the friction plate includes: A temperature sensor is used to collect the current temperature of the friction pad; The current temperature of the friction plate is obtained from the temperature sensor.

3. The vehicle brake pedal feel control method according to claim 2, characterized in that, The temperature sensor is mounted on the friction plate.

4. The vehicle brake pedal feel control method according to claim 1, characterized in that, The process of obtaining the current travel of the brake pedal includes: The current travel of the brake pedal is collected using a pedal travel sensor; The current travel of the brake pedal is obtained from the pedal travel sensor.

5. The vehicle brake pedal feel control method according to claim 4, characterized in that, The pedal travel sensor is located on the pedal.

6. A vehicle brake pedal feel control device, characterized in that, include: The acquisition module is used to acquire the current travel of the brake pedal and the current friction coefficient of the friction pads when the vehicle is braking. To obtain the current coefficient of friction of the friction plate, including: Obtain the current temperature of the friction plate; Based on the pre-defined relationship between the friction coefficient of the friction plate and temperature, the current friction coefficient of the friction plate at the current temperature is obtained. The vehicle target deceleration calculation module is used to calculate the vehicle target deceleration corresponding to the current travel distance based on the pre-set correspondence between the brake pedal travel and the vehicle target deceleration. A compensating braking pressure establishment module is used to establish a compensating braking pressure based on the current friction coefficient of the friction pads to meet the target vehicle deceleration corresponding to the current travel distance, including: The actual required braking pressure is calculated based on the current friction coefficient of the friction pad and the target vehicle deceleration corresponding to the current travel distance. Based on the pre-set correspondence between brake pedal travel and theoretical braking pressure, the theoretical braking pressure corresponding to the current travel is obtained; A compensating braking pressure is established based on the actual required braking pressure and the theoretical braking pressure corresponding to the current stroke.

7. An apparatus 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 computer program, it implements the steps of a vehicle brake pedal feel control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of a vehicle brake pedal feel control method as described in any one of claims 1 to 5.

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