Vehicle control method, vehicle control device and vehicle

Abstract

The invention provides a vehicle control method, a vehicle control device and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that in the process that brake calipers in a vehicle execute a release action, the current opening value of an accelerator pedal in the vehicle is obtained; if the current opening value is larger than the preset opening value, the current clamping force between the brake caliper and a brake disc in the vehicle and the current driving torque of the vehicle are obtained; determining a target release speed of the brake caliper based on the current clamping force and the current driving torque; wherein the target release speed is greater than a first release speed determined by the current clamping force; and based on the target release speed, the current clamping force is reduced to the target clamping force, so that the brake calipers are completely released. Based on the scheme, when the brake calipers are released and the vehicle is driven, the vehicle can be prevented from being braked.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle control device and a vehicle in the field of vehicle technology. Background Art

[0002] When the driver releases the brake pedal, the brake caliper and brake disc in the vehicle's braking system can be released, so that there is a relative gap between the brake caliper and the brake disc, thereby avoiding brake drag on the vehicle.

[0003] However, during the release of the brake caliper, if the vehicle has a driving demand, that is, the driver steps on the accelerator pedal in the vehicle, it means that the brake caliper needs to be released quickly. However, since the brake caliper releases slowly and cannot be released quickly, it is easy to cause the vehicle to have brake stagnation, affecting the normal driving of the vehicle.

[0004] Therefore, how to prevent the vehicle from brake drag when the brake caliper is released and the vehicle is driven is a problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle control method, a vehicle control device and a vehicle, wherein the method can prevent the vehicle from brake drag when the brake caliper is released and the vehicle is driven.

[0006] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0007] During the process of the brake caliper in the vehicle performing a release action, the current opening value of the accelerator pedal in the vehicle is obtained; if the current opening value is greater than the preset opening value, the current clamping force between the brake caliper and the brake disc in the vehicle and the current driving torque of the vehicle are obtained; based on the current clamping force and the current driving torque, a target release speed of the brake caliper is determined; wherein the target release speed is greater than a first release speed determined by the current clamping force; based on the target release speed, the current clamping force is reduced to the target clamping force to completely release the brake caliper.

[0008] In the embodiment of the present application, during the release of the brake caliper in the vehicle, in order to avoid the problem of brake stagnation caused by the slow release speed of the brake caliper due to the driving demand of the vehicle at this time, the current opening value of the accelerator pedal in the vehicle can be obtained; and when the current opening value of the accelerator pedal is greater than the preset opening value, it can be determined that the vehicle has a driving demand at this time. Therefore, in order to make the release speed of the brake caliper meet the driving demand of the vehicle, the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle can be continuously obtained, and the target release speed of the brake caliper can be determined by the current clamping force and the current driving torque, and then the brake caliper is released by the target release speed of the brake caliper to reduce the clamping force between the brake caliper and the brake disc from the current clamping force to the target clamping force, so that the brake caliper is completely released. In the above technical solution, since the target release speed of the brake caliper is determined by the current clamping force and the current driving torque, and is greater than the release speed of the brake caliper determined only by the current clamping force, the release speed of the brake caliper is increased, so that the speed at which the brake caliper is released can meet the driving requirements of the vehicle, thereby increasing the release speed of the brake caliper and solving the problem of brake drag on the vehicle when the brake caliper is released and the vehicle is driven.

[0009] In combination with the first aspect, in certain implementations of the first aspect, determining the target release speed of the brake caliper based on the current clamping force and the current driving torque includes:

[0010] Based on the current clamping force, a first release speed is obtained; based on the current driving torque, a second release speed is obtained; based on the first release speed and the second release speed, a target release speed is obtained.

[0011] In an embodiment of the present application, a release speed corresponding to a current clamping force between the brake caliper and the brake disc (i.e., a first release speed) and a release speed corresponding to a current driving torque of the vehicle (i.e., a second release speed) are determined; and a target release speed is obtained by jointly using these two release speeds, so that the driving requirements of the vehicle can be met when the brake caliper is released, and further, brake drag of the vehicle can be avoided when the brake caliper is released and the vehicle is driven.

[0012] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0013] Obtain a preset time duration for the current clamping force to be reduced to a target clamping force, and a preset cycle duration for collecting a driving torque signal in the vehicle; obtaining a first release speed based on the current clamping force includes: obtaining a first release speed based on the current clamping force, the target clamping force and the preset time duration; obtaining a second release speed based on the current driving torque includes: obtaining a second release speed based on the current driving torque and the preset cycle duration.

[0014] In combination with the first aspect and the above implementations, in some implementations of the first aspect, obtaining the first release speed based on the current clamping force, the target clamping force and the preset duration includes:

[0015] The first difference is obtained by subtracting the current clamping force from the target clamping force; and the first release speed is obtained by dividing the first difference by the preset time length.

[0016] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0017] Obtain the first driving torque of the vehicle corresponding to the previous cycle of this cycle; obtain the second release speed based on the current driving torque and the preset cycle length, including: subtracting the current driving torque from the first driving torque to obtain the second difference; dividing the second difference by the preset cycle length to obtain the second release speed.

[0018] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0019] The second release speed is regularized to obtain a regularized second release speed; the target release speed is obtained based on the first release speed and the second release speed, including: obtaining the target release speed based on the first release speed and the regularized second release speed.

[0020] In the embodiment of the present application, the obtained second release speed is regularized to obtain the regularized second release speed, and the target release speed of the brake caliper is obtained by using the regularized second release speed and the first release speed. Since the regularized second release speed is more stable, the problem of a sudden change in the target release speed of the brake caliper due to the second release speed before regularization being too large or too small can be avoided, thereby making the target release speed of the brake caliper more stable, ensuring the stability of the vehicle during the release of the brake caliper.

[0021] In combination with the first aspect and the above implementations, in some implementations of the first aspect, obtaining the target release rate based on the first release rate and the second release rate includes:

[0022] If the current clamping force is greater than the target clamping force and the current driving torque is greater than the preset driving torque, the target release speed is obtained by multiplying the first release speed by the second release speed.

[0023] In the embodiment of the present application, during the process of the brake caliper in the vehicle performing the release action, when the current opening value of the accelerator pedal is greater than the preset opening value, if the current clamping force between the brake caliper and the brake disc is greater than the target clamping force, and the current driving torque of the vehicle is greater than the preset driving torque, it means that the vehicle meets the condition of increasing the release speed of the brake caliper. Therefore, the product of the first release speed and the second release speed can be used as the target release speed of the brake caliper, avoiding the problem of increasing the release speed of the brake caliper when the vehicle does not meet the condition of increasing the release speed of the brake caliper, thereby affecting the normal braking of the vehicle, thereby ensuring the normal braking of the vehicle.

[0024] In combination with the first aspect and the above implementations, in some implementations of the first aspect, during the process in which the brake caliper in the vehicle performs a release action, the method further includes:

[0025] The slope value of the road on which the vehicle is located and the weight value of the vehicle are obtained; a preset driving torque is obtained by multiplying the slope value and the weight value; wherein the preset driving torque is positively correlated with the slope value and the weight value.

[0026] In the embodiment of the present application, the preset driving torque of the vehicle is determined by the road slope value on which the vehicle is located and the weight value of the vehicle, rather than determining the preset driving torque as a fixed value. This allows the determined preset driving torque to be more closely matched with the road on which the vehicle is located and its own mass, and to adapt to different driving environments of the vehicle, thereby ensuring normal driving of the vehicle.

[0027] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0028] A first acquisition module is used to acquire the current opening value of the accelerator pedal in the vehicle during the process of the brake caliper in the vehicle performing a release action;

[0029] A second acquisition module, for acquiring a current clamping force between the brake caliper and the brake disc in the vehicle and a current driving torque of the vehicle if the current opening value is greater than a preset opening value;

[0030] A determination module, configured to determine a target release speed of the brake caliper based on a current clamping force and a current driving torque; wherein the target release speed is greater than a first release speed determined by the current clamping force;

[0031] The processing module is configured to reduce the current clamping force to a target clamping force based on the target release speed so as to fully release the brake caliper.

[0032] In a third aspect, the present application provides a vehicle, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0033] In a fourth aspect, the present application provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0034] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0036] Figure 2 It is a flow chart of a vehicle control method provided in an embodiment of the present application.

[0037] Figure 3 It is a schematic diagram of slope change provided in an embodiment of the present application.

[0038] Figure 4 It is a flow chart of another vehicle control method provided in an embodiment of the present application.

[0039] Figure 5 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application.

[0040] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0042] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0043] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0044] For example, Figure 1 As shown in (a), Figure 1 (a) in the figure includes a vehicle 110, and the braking system of the vehicle 110 may be a wheel-side braking system, so that the vehicle 110 can brake. The wheel-side braking system may include but is not limited to a motor, a brake caliper, a brake disc, a speed loop, a current loop, and a displacement loop; the wheel-side braking system refers to a braking system that can directly act on the edges of each tire in the vehicle 110, usually referring to a brake installed near the tire, which slows down or stops the rotation of the tire through friction. The wheel-side braking system may include but is not limited to drum brakes and disc brakes. And, when the braking system of the vehicle 110 is a wheel-side braking system, the brake caliper corresponding to each tire is equipped with its own corresponding independent motor, so as to control the release speed and clamping speed between the brake caliper corresponding to each tire and the brake disc through the motor.

[0045] For example, when the driver steps on the brake pedal in the vehicle 110 to brake, the motor can push the brake caliper 111 forward until the friction pad in the brake caliper 111 is completely clamped with the brake disc 112. This process can be referred to as "clamping action of the brake caliper" (e.g. Figure 1 Also, when the driver releases the stepped brake pedal, the motor can drive the brake caliper 111 to move backward, so that the distance between the friction plate and the brake disc 112 is A (also referred to as "relative gap"), so that the friction plate is away from the brake disc 112 to avoid the vehicle from braking. This process can be referred to as "the release action of the brake caliper" (such as Figure 1 , as shown in (c) in the figure).

[0046] However, during the release of the brake caliper, if the vehicle has a driving demand, that is, the driver steps on the accelerator pedal in the vehicle, it means that the brake caliper needs to be released quickly. However, due to the slow release speed of the brake caliper, the brake caliper cannot be released quickly, which may easily cause the vehicle to have brake stagnation and affect the normal driving of the vehicle.

[0047] It should be noted that, during the process of the brake caliper performing the clamping action, the clamping force between the friction plate and the brake disc can be collected in real time through the clamping force sensor in the vehicle. When the clamping force is greater than or equal to the pre-calibrated clamping force threshold, it can be said that the friction plate and the brake disc are fully clamped. Among them, the clamping force threshold is calibrated in advance when the vehicle is offline, and the embodiments of the present application are not limited to this.

[0048] Therefore, in order to solve the problem of brake drag on the vehicle when the brake caliper is released and the vehicle is driven, the present application proposes a vehicle control method, a vehicle control device and a vehicle.

[0049] Combine the following Figure 2 and Figure 4 The vehicle control method provided in the embodiment of the present application is described in detail.

[0050] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. The method can be Figure 1 The vehicle 110 in the vehicle 110 is executed, or the electronic control unit (ECU) in the vehicle 110 is executed.

[0051] For example, Figure 2 As shown, the method 200 includes the following implementation process:

[0052] S210, while the brake caliper in the vehicle is performing a release action, obtaining a current opening value of the accelerator pedal in the vehicle.

[0053] For example, when the driver steps on the brake pedal in the vehicle to control the vehicle to brake, the current execution action of the brake caliper in the vehicle can be obtained, and it is determined whether the execution action of the brake caliper is a release action.

[0054] Furthermore, when it is detected that the brake caliper is performing a release action, it means that the driver has released the brake pedal and has not stepped on the brake pedal. In order to ensure the normal driving of the vehicle, the brake caliper needs to be fully released, that is, the brake caliper is fully clamped (for example, Figure 1 (b)) to complete release (e.g., Figure 1 (c) in the figure.

[0055] The release action may refer to the process of the brake caliper being released from being fully clamped to being fully released, for example, Figure 1 (b) is gradually released to Figure 1 The process in (c).

[0056] Optionally, the motor controls the transmission device (e.g., a threaded mechanism or a gear mechanism) to move in the opposite direction by reverse rotation, so that the brake caliper moves backward, reducing the clamping force of the friction pad in the brake caliper on the brake disc. When the clamping force between the friction pad and the brake disc completely disappears, the tire can rotate, indicating that the brake caliper is completely released.

[0057] Optionally, the motor converts rotational motion into linear motion by controlling the thread mechanism or gear mechanism through forward rotation, pushing the brake caliper so that the friction pad presses the brake disc, providing braking force (also called "parking force") for the tire, preventing the tire from rotating, thereby preventing the vehicle from moving or slipping, which means that the brake caliper is fully clamped.

[0058] For example, when it is detected that the brake caliper performs a release action, if the driver has a driving demand for the vehicle, he can step on the accelerator pedal in the vehicle (for example, a large accelerator) to send an acceleration signal to move the vehicle forward. However, when the acceleration signal of the accelerator pedal is detected, if the release speed of the brake caliper is less than the increase speed of the vehicle's driving torque, that is, the release speed of the brake caliper is slow, the brake caliper cannot be released quickly, which may easily cause the vehicle to have a brake stagnation problem, affecting the normal driving of the vehicle. Therefore, in order to increase the release speed of the brake caliper, the current opening value of the accelerator pedal in the vehicle (for example, 30%) can be obtained.

[0059] S220: If the current opening value is greater than the preset opening value, obtain the current clamping force between the brake caliper and the brake disc in the vehicle and the current driving torque of the vehicle.

[0060] The preset opening value may represent an opening value corresponding to when the accelerator pedal is not stepped on by the driver, for example, 0%.

[0061] For example, when the current opening value of the accelerator pedal is obtained, it can be determined whether the current opening value is greater than a preset opening value (e.g., 0%). When the current opening value of the accelerator pedal is 30%>0%, it means that the accelerator pedal is stepped on by the driver and the vehicle needs to be driven. At this time, in order to quickly release the brake caliper, the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle can be obtained.

[0062] Alternatively, when the current opening value of the accelerator pedal = 0%, it means that the accelerator pedal is not stepped on by the driver and the vehicle does not need to be driven. Therefore, the brake caliper can be released at a normal release speed, and there is no need to increase the release speed of the brake caliper. That is, when the current opening value of the accelerator pedal is greater than 0%, the release speed of the brake caliper corresponding to the current opening value of the accelerator pedal is greater than the release speed of the brake caliper corresponding to the current opening value of the accelerator pedal = 0%.

[0063] S230 , determining a target release speed of the brake caliper based on the current clamping force and the current driving torque.

[0064] For example, when the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle are obtained, the release speed of the brake caliper (which may be referred to as a "target release speed") may be determined by the current clamping force and the current driving torque. The release speed of the brake caliper may also be referred to as a "slope".

[0065] In one possible implementation, determining the target release speed of the brake caliper based on the current clamping force and the current driving torque includes: obtaining a first release speed based on the current clamping force; obtaining a second release speed based on the current driving torque; and obtaining a target release speed based on the first release speed and the second release speed.

[0066] For example, when the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle are obtained, the release speed corresponding to the current clamping force (which may be called the "first release speed") can be obtained, and through the current driving torque, the release speed corresponding to the current driving torque (which may be called the "second release speed") can be obtained.

[0067] Optionally, a preset time duration for the current clamping force to be reduced to a target clamping force and a preset cycle duration for collecting a driving torque signal in the vehicle are obtained; the above-mentioned obtaining a first release speed based on the current clamping force includes: obtaining a first release speed based on the current clamping force, the target clamping force and the preset time duration; obtaining a second release speed based on the current driving torque includes: obtaining a second release speed based on the current driving torque and the preset cycle duration.

[0068] For example, when the first release speed is obtained by the current clamping force between the brake caliper and the brake disc, the preset time required for the brake caliper to be reduced from the current clamping force to the clamping force corresponding to the complete release (which may be referred to as the "target clamping force", for example, 0N) can be obtained first. The preset time can be obtained by calibration when the vehicle is offline. For example, the time required for the brake caliper to reduce the clamping force from 10N to 0N is 5S, and the time required for the brake caliper to reduce the clamping force from 15N to 0N is 7S, which is not limited in the embodiment of the present application.

[0069] Optionally, the preset time length is positively correlated with the current clamping force, that is, the greater the current clamping force, the greater the corresponding preset time length; conversely, the smaller the current clamping force, the smaller the corresponding preset time length.

[0070] Further, when a preset time length (for example, 5 seconds) for the clamping force of the brake caliper to decrease from 10N to 0N is obtained, the first release speed may be determined by 10N, 0N and 5 seconds.

[0071] Optionally, obtaining the first release speed based on the current clamping force, the target clamping force and the preset time includes: obtaining a first difference by subtracting the current clamping force from the target clamping force; and obtaining the first release speed by dividing the first difference by the preset time.

[0072] For example, the difference between the current clamping force and the target clamping force between the brake caliper and the brake disc (which may be referred to as the "first difference") may be calculated first, and then the quotient of the first difference and the preset time length may be calculated, and the quotient may be determined as the first release speed.

[0073] Furthermore, when the second release speed is obtained by the current driving torque of the vehicle, the preset cycle time for collecting the driving torque signal in the vehicle can be obtained first. The preset cycle time can be calibrated when the vehicle is offline, for example, 1S, 0.2S or 3S, which is not limited in the embodiment of the present application.

[0074] Further, when a preset cycle time (eg, 1S) for collecting a driving torque signal in the vehicle is obtained, the second release speed may be determined by the current driving torque (eg, 20NM) and 1S.

[0075] Optionally, a first driving torque corresponding to the previous cycle of the vehicle in this cycle is obtained; a second difference is obtained by subtracting the current driving torque from the first driving torque; and a second release speed is obtained by dividing the second difference by a preset cycle duration.

[0076] Exemplarily, the first driving torque corresponding to the last cycle of the current cycle can be obtained first. For example, the driving torque collected by the vehicle in the current cycle (for example, the 5th S) is 20 NM, and the driving torque collected by the vehicle in the last cycle of the current cycle (for example, the 4th S) (which can be called the "first driving torque") is 15 NM. Among them, the previous cycle can be calculated by the difference between the current cycle and the preset cycle length, that is, the previous cycle = this cycle - preset cycle length = 5th S-1S = 4th S.

[0077] Furthermore, the difference between the current driving torque and the first driving torque (which may be referred to as the "second difference") is first calculated; then the quotient of the second difference and the preset cycle length is calculated, and the quotient is determined as the second release speed.

[0078] Further, when the first release speed and the second release speed are determined as described above, the target release speed of the brake caliper can be obtained by the first release speed and the second release speed.

[0079] In an embodiment of the present application, a release speed corresponding to a current clamping force between the brake caliper and the brake disc (i.e., a first release speed) and a release speed corresponding to a current driving torque of the vehicle (i.e., a second release speed) are determined; and a target release speed is obtained by jointly using these two release speeds, so that the driving requirements of the vehicle can be met when the brake caliper is released, and further, brake drag of the vehicle can be avoided when the brake caliper is released and the vehicle is driven.

[0080] In a possible implementation, the target release speed is obtained based on the first release speed and the second release speed, including: if the current clamping force is greater than the target clamping force and the current driving torque is greater than the preset driving torque, the target release speed is obtained by multiplying the first release speed by the second release speed.

[0081] For example, before obtaining the target release speed of the brake caliper through the first release speed and the second release speed, in order to determine whether the brake caliper performs the release action, it is possible to first determine whether the current clamping force between the brake caliper and the brake disc is greater than the target clamping force; and in order to determine whether the vehicle can currently be driven, it is possible to determine whether the current driving torque of the vehicle is greater than the preset driving torque.

[0082] Optionally, during the release action of the brake caliper in the vehicle, when the current opening value of the accelerator pedal is greater than 0%, if the current clamping force between the brake caliper and the brake disc is greater than 0N, and the current driving torque of the vehicle is greater than the preset driving torque, the target release speed of the brake caliper can be obtained through the first release speed and the second release speed.

[0083] Among them, the current driving torque of the vehicle is greater than the preset driving torque, which can indicate that the current driving torque of the vehicle is greater than the torque corresponding to the vehicle braking, so that the vehicle can be driven.

[0084] Furthermore, the first release speed may be multiplied by the second release speed, and the product of the first release speed and the second release speed may be determined as the target release speed, that is, the target release speed = the first release speed × the second release speed.

[0085] Alternatively, the first release speed and the second release speed may be added together to determine the target release speed as the sum of the first release speed and the second release speed, that is, the target release speed = the first release speed + the second release speed.

[0086] For example, when the brake caliper is fully released, there is no clamping force between the brake caliper and the brake disc, that is, the clamping force between the brake caliper and the brake disc is 0 N. At this time, if the driver steps on the accelerator pedal, the acceleration signal corresponding to the accelerator pedal can be directly responded to, and the problem of brake stagnation of the vehicle will not occur.

[0087] Furthermore, when the current opening value of the accelerator pedal in the vehicle is 0%, it means that the accelerator pedal is not stepped on by the driver and the vehicle does not need to be driven. Therefore, the brake caliper can be released at a normal release speed without increasing the release speed of the brake caliper.

[0088] Furthermore, when the current driving torque of the vehicle is ≤ the preset driving torque, it can be said that the current driving torque of the vehicle is ≤ the torque corresponding to the vehicle braking, and the vehicle cannot be driven, that is, the vehicle is still in a braking state. Therefore, the brake caliper can be released at a normal release speed, and there is no need to increase the release speed of the brake caliper.

[0089] Optionally, when the current opening value of the accelerator pedal in the vehicle = 0%, and / or, and / or, the current driving torque of the vehicle ≤ the preset driving torque, there is no need to increase the release speed of the brake caliper, and the brake caliper can be released at a normal release speed.

[0090] Among them, since the driving torque is not involved in the determination process of the first release speed, it is only determined by the current clamping force between the brake caliper and the brake disc, the target clamping force and the calibrated preset time. Therefore, the first release speed can be determined as the normal release speed of the brake caliper.

[0091] In the embodiment of the present application, during the process of the brake caliper in the vehicle performing the release action, when the current opening value of the accelerator pedal is greater than the preset opening value, if the current clamping force between the brake caliper and the brake disc is greater than the target clamping force, and the current driving torque of the vehicle is greater than the preset driving torque, it means that the vehicle meets the condition of increasing the release speed of the brake caliper. Therefore, the product of the first release speed and the second release speed can be used as the target release speed of the brake caliper, avoiding the problem of increasing the release speed of the brake caliper when the vehicle does not meet the condition of increasing the release speed of the brake caliper, thereby affecting the normal braking of the vehicle, thereby ensuring the normal braking of the vehicle.

[0092] Optionally, the second release speed is regularized to obtain a regularized second release speed; obtaining the target release speed based on the first release speed and the second release speed includes: obtaining the target release speed based on the first release speed and the regularized second release speed.

[0093] Exemplarily, in order to facilitate adjustment of the release speed of the brake caliper, when the second release speed is calculated, the second release speed may be regularized to within a preset range (eg, [0.1, 0.9]), i.e., the regularized second release speed.

[0094] For example, the second release speed is 5, and 5 can be rounded to 0.5, that is, the second release speed after rounding is 0.5.

[0095] Optionally, since the process of the brake caliper performing the release action is the process of reducing the clamping force between the brake caliper and the brake disc, the upper limit value and the lower limit value of the preset range are negatively correlated with the adjusted second release speed, that is, the larger the upper limit value and the lower limit value, the smaller the corresponding adjusted second release speed; conversely, the smaller the upper limit value and the lower limit value, the larger the corresponding adjusted second release speed. In addition, the upper limit value of the preset range can represent the maximum value of the adjusted second release speed, and the lower limit value of the preset range can represent the minimum value of the adjusted second release speed.

[0096] It should be noted that the preset range can be obtained through calibration when the vehicle is offline, for example, [0.1, 0.9], [1, 3], and this embodiment of the present application is not limited to this.

[0097] Optionally, when the regularized second release speed is obtained, the regularized second release speed can be multiplied by the first release speed, and the product of the regularized second release speed and the first release speed can be determined as the target release speed, that is, the target release speed = first release speed × regularized second release speed.

[0098] Alternatively, the first release speed and the adjusted second release speed may be added to determine the target release speed as the sum of the first release speed and the adjusted second release speed, that is, the target release speed = the first release speed + the adjusted second release speed.

[0099] In the embodiment of the present application, the obtained second release speed is regularized to obtain the regularized second release speed, and the target release speed of the brake caliper is obtained by using the regularized second release speed and the first release speed. Since the regularized second release speed is more stable, the problem of a sudden change in the target release speed of the brake caliper due to the second release speed before regularization being too large or too small can be avoided, thereby making the target release speed of the brake caliper more stable, ensuring the stability of the vehicle during the release of the brake caliper.

[0100] Optionally, the slope value of the road on which the vehicle is located and the weight value of the vehicle are obtained; a preset driving torque is obtained by multiplying the slope value and the weight value; wherein the preset driving torque is positively correlated with the slope value and the weight value.

[0101] For example, when the brake caliper is detected to perform a release action, the slope value corresponding to the road where the vehicle is located (which may be referred to as the "road slope value") and the weight value of the vehicle may be obtained. The weight value of the vehicle may represent the initial weight value of the vehicle when it is offline, and the initial weight value does not include the user and some user items. This is because the mass of a general vehicle is at least 1,500 kilograms, so the influence of the user's mass and the mass of the user's items on the vehicle mass can be ignored.

[0102] Furthermore, when the road slope value and the vehicle weight value are obtained, the preset driving torque can be obtained by the road slope value and the vehicle weight value, that is, the preset driving torque changes dynamically and is not a fixed value.

[0103] For example, the product of the road gradient value and the vehicle weight value is determined as the preset driving torque, that is, the preset driving torque=road gradient value×weight value.

[0104] Among them, the preset driving torque is positively correlated with the road slope value and the vehicle weight value, that is, the larger the road slope value and the vehicle weight value, the larger the corresponding preset driving torque; conversely, the smaller the road slope value and the vehicle weight value, the smaller the corresponding preset driving torque.

[0105] In the embodiment of the present application, the preset driving torque of the vehicle is determined by the road slope value on which the vehicle is located and the weight value of the vehicle, rather than determining the preset driving torque as a fixed value. This allows the determined preset driving torque to be more closely matched with the road on which the vehicle is located and its own mass, and to adapt to different driving environments of the vehicle, thereby ensuring normal driving of the vehicle.

[0106] S240 , based on the target release speed, reducing the current clamping force to the target clamping force so that the brake caliper is fully released.

[0107] For example, when the target release speed of the brake caliper is obtained, the brake caliper can be controlled to release the current clamping force according to the target release speed, so as to release the current clamping force to 0N, so that the brake caliper is completely released.

[0108] Among them, since the vehicle has a driving demand, the brake caliper needs to be released quickly and completely, so the target release speed of the brake caliper should be greater than the normal release speed of the brake caliper (that is, the first release speed determined only by the current clamping force), so as to increase the release speed of the brake caliper and reduce the time required for the brake caliper to release, that is, the time required for the brake caliper to release according to the target release speed is less than the preset time corresponding to the current clamping force of the brake caliper. It can be understood that the release speed of the brake caliper is negatively correlated with the time required for release, that is, the greater the release speed, the shorter the corresponding release time; conversely, the smaller the release speed, the longer the corresponding release time.

[0109] Figure 3 It is a schematic diagram of slope change provided in an embodiment of the present application.

[0110] For example, Figure 3 As shown, Figure 3 A in the figure represents the current clamping force of the brake caliper, and 0 represents the target clamping force of the brake caliper. The slope of B represents the normal release speed of the brake caliper, and C represents the target release speed of the brake caliper.

[0111] from Figure 3 It can be seen that when the clamping force A of the brake caliper is reduced to 0 with a slope of B, the required time is D. And, when the clamping force A of the brake caliper is reduced to 0 with a slope of C, the required time is F. By comparison, it can be obtained that the time F < time D, which means that when the clamping force A of the brake caliper is reduced to 0 with a slope of C, the release speed of the brake caliper can be increased and the time required for the brake caliper to be released can be reduced.

[0112] Optionally, after the brake caliper is fully released, the vehicle's current driving torque can be adjusted to the driving torque corresponding to the current opening value of the accelerator pedal as quickly as possible so that the vehicle's current driving torque matches the current opening value of the accelerator pedal, thereby ensuring normal driving of the vehicle.

[0113] In such Figure 2In the method 200 shown, during the release action of the brake caliper in the vehicle, in order to avoid the problem of brake dragging of the vehicle due to the slow release speed of the brake caliper when the vehicle has a driving demand at this time, the current opening value of the accelerator pedal in the vehicle can be obtained; and when the current opening value of the accelerator pedal is greater than the preset opening value, it can be determined that the vehicle has a driving demand at this time. Therefore, in order to make the release speed of the brake caliper meet the driving demand of the vehicle, the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle can be continuously obtained, and the target release speed of the brake caliper can be determined by the current clamping force and the current driving torque, and then the brake caliper is released by the target release speed of the brake caliper to reduce the clamping force between the brake caliper and the brake disc from the current clamping force to the target clamping force, so that the brake caliper is completely released. In the above technical solution, since the target release speed of the brake caliper is determined by the current clamping force and the current driving torque, and is greater than the release speed of the brake caliper determined only by the current clamping force, the release speed of the brake caliper is increased, so that the speed at which the brake caliper is released can meet the driving requirements of the vehicle, thereby increasing the release speed of the brake caliper and solving the problem of brake drag on the vehicle when the brake caliper is released and the vehicle is driven.

[0114] Figure 4 It is a flow chart of another vehicle control method provided in an embodiment of the present application.

[0115] For example, Figure 4 As shown, the method 400 includes the following implementation process:

[0116] S401: If it is detected that the opening value of the brake pedal in the vehicle is reduced, the current execution action of the brake caliper is obtained.

[0117] For example, when the driver steps on the brake pedal in the vehicle to control the vehicle to brake, if it is detected that the opening value of the brake pedal decreases, the driver may release the brake pedal. In order to determine whether the release speed of the brake caliper needs to be increased, the current execution action of the brake caliper in the vehicle can be obtained.

[0118] Optionally, the execution action of the brake caliper may include but is not limited to a clamping action and a releasing action. The clamping action may refer to the process of the brake caliper from fully releasing the clamp to fully clamping. Figure 1 (c) in the figure is gradually clamped to Figure 1 The process in (b).

[0119] S402, determine whether the executed action is a release action. If yes, execute S403; if no, execute S401.

[0120] Exemplarily, when the current execution action of the brake caliper is acquired, it can be determined whether the execution action is a release action.

[0121] S403, obtaining the current opening value of the accelerator pedal in the vehicle.

[0122] For example, if it is determined through S402 that the current execution action of the brake caliper is a release action, the current opening value (for example, 30%) of the accelerator pedal in the vehicle may be acquired.

[0123] For example, if it is obtained through S402 that the current execution action of the brake caliper is the clamping action, S401 may be continued to be executed to obtain the current execution action of the brake caliper.

[0124] S404, determine whether the current opening value is greater than 0%. If yes, execute S405; if not, execute S403.

[0125] For example, when the current opening value of the accelerator pedal is obtained, it can be determined whether the current opening value is greater than 0%.

[0126] S405, obtaining a current clamping force between the brake caliper and the brake disc in the vehicle and a current driving torque of the vehicle.

[0127] For example, if the current opening value of the accelerator pedal obtained in S404 is greater than 0%, the current clamping force between the brake caliper and the brake disc and the current driving torque of the vehicle can be obtained.

[0128] For example, if the current opening value of the accelerator pedal obtained through S404 is equal to 0%, S403 may be continued to be executed to obtain the current opening value of the accelerator pedal in the vehicle.

[0129] S406: Divide the difference between the current clamping force and the target clamping force by the preset time length to obtain a release speed A.

[0130] For example, the difference between the current clamping force and the target clamping force (i.e., the first difference) can be calculated first, and the difference can be divided by the preset time required for the brake caliper to be reduced from the current clamping force to the corresponding clamping force when it is fully released (i.e., the target clamping force), to obtain the release speed A (i.e., the first release speed).

[0131] For example, the current clamping force is 10N, the target clamping force is 0N, and the preset duration is 5S.

[0132] S407: Divide the difference between the current driving torque and the driving torque of the previous cycle of the current cycle by the preset cycle duration to obtain the release speed B.

[0133] Exemplarily, the driving torque corresponding to the previous cycle of the vehicle in this cycle (i.e., the first driving torque mentioned above) can be first obtained. Then the difference between the current driving torque and the first driving torque (i.e., the second difference mentioned above) can be calculated. And the difference is divided by the preset cycle length to obtain the release speed B, i.e., the second release speed mentioned above).

[0134] For example, the current driving torque is 20NM, the first driving torque is 15NM, and the preset cycle duration is 1S.

[0135] It should be noted that S406 and S407 may be performed simultaneously or sequentially, as long as they are all performed before S408 is performed.

[0136] S408: The product of the release speed A and the release speed B is determined as the target release speed of the brake caliper.

[0137] For example, when the release speed A and the release speed B are determined, the product of the release speed A and the release speed B may be determined as the target release speed of the brake caliper.

[0138] Optionally, during the release action of the brake caliper in the vehicle, when the current opening value of the accelerator pedal is greater than 0%, if the current clamping force between the brake caliper and the brake disc is greater than 0N, and the current driving torque of the vehicle is greater than the preset driving torque, the product of the release speed A and the release speed B can be determined as the target release speed of the brake caliper.

[0139] The preset driving torque is the product of the road gradient value where the vehicle is located and the vehicle weight value, that is, the preset driving torque = road gradient value × weight value.

[0140] S409, controlling the brake caliper to release at a target release speed to reduce the current clamping force to the target clamping force, so that the brake caliper is completely released.

[0141] For example, when the target release speed of the brake caliper is obtained, the electromechanical brake system (EMB) in the vehicle can control the brake caliper to release the current clamping force according to the target release speed to release the current clamping force to 0N, so that the brake caliper is completely released and away from the brake disc in the vehicle.

[0142] It should be noted that Figure 4 All steps in Figure 2 The corresponding embodiments are described in detail in the embodiment, which will not be repeated here.

[0143] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0144] Combination of the above Figures 1 to 4 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0145] Figure 5 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application.

[0146] For example, Figure 5 As shown, the device 500 includes:

[0147] A first acquisition module 510 is used to acquire a current opening value of an accelerator pedal in the vehicle during a process in which a brake caliper in the vehicle performs a release action;

[0148] A second acquisition module 520, for acquiring a current clamping force between the brake caliper and the brake disc in the vehicle and a current driving torque of the vehicle if the current opening value is greater than a preset opening value;

[0149] A determination module 530, configured to determine a target release speed of the brake caliper based on the current clamping force and the current driving torque; wherein the target release speed is greater than a first release speed determined by the current clamping force;

[0150] The processing module 540 is configured to reduce the current clamping force to the target clamping force based on the target release speed, so as to completely release the brake caliper.

[0151] In a possible implementation, the determination module 530 is specifically used to: obtain a first release speed based on a current clamping force; obtain a second release speed based on a current driving torque; and obtain a target release speed based on the first release speed and the second release speed.

[0152] In a possible implementation, the first acquisition module 510 is further used to: acquire a preset time duration for the current clamping force to be reduced to the target clamping force and a preset cycle duration for collecting the driving torque signal in the vehicle;

[0153] In a possible implementation, the determination module 530 is specifically used to: obtain a first release speed based on a current clamping force, a target clamping force and a preset duration; and obtain a second release speed based on a current driving torque and a preset cycle duration.

[0154] In a possible implementation, the determination module 530 is specifically configured to: obtain a first difference by subtracting the current clamping force from the target clamping force; and obtain a first release speed by dividing the first difference by a preset time length.

[0155] In one possible implementation, the first acquisition module 510 is also used to: obtain the first driving torque corresponding to the vehicle in the previous cycle of this cycle; the determination module 530 is specifically used to: obtain the second difference by subtracting the current driving torque from the first driving torque; and obtain the second release speed by dividing the second difference by the preset cycle duration.

[0156] In a possible implementation, the determination module 530 is further used to: regularize the second release speed to obtain the regularized second release speed; the determination module 530 is specifically used to: obtain the target release speed based on the first release speed and the regularized second release speed.

[0157] In a possible implementation, the determination module 530 is specifically configured to: if the current clamping force is greater than the target clamping force, and the current driving torque is greater than the preset driving torque, obtain the target release speed by multiplying the first release speed by the second release speed.

[0158] In one possible implementation, the determination module 530 is specifically used to: obtain the road slope value on which the vehicle is located and the weight value of the vehicle; obtain a preset driving torque by multiplying the slope value and the weight value; wherein the preset driving torque is positively correlated with the slope value and the weight value.

[0159] It should be noted that the above device 500 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0160] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0161] Therefore, the modules of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0162] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0163] For example, Figure 6 As shown, the vehicle 600 includes: a memory 610 and a processor 620, wherein the memory 610 stores an executable program code 6101, and the processor 620 is used to call and execute the executable program code 6101 to perform a vehicle control method.

[0164] The present application can divide the functional modules of the vehicle according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0165] In the case of dividing each functional module according to each function, the vehicle may include: a first acquisition module, a second acquisition module, a determination module, a processing module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0166] The vehicle provided in the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0167] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes and data.

[0168] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0169] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a micro drive and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0170] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0171] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0172] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0173] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0174] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0175] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: During the process of the brake caliper in the vehicle performing a release action, obtaining a current opening value of the accelerator pedal in the vehicle; If the current opening value is greater than a preset opening value, obtaining a current clamping force between the brake caliper and a brake disc in the vehicle and a current driving torque of the vehicle; Determining a target release speed of the brake caliper based on the current clamping force and the current driving torque; wherein the target release speed is greater than a first release speed determined by the current clamping force; Based on the target release speed, the current clamping force is reduced to a target clamping force to fully release the brake caliper.

2. The method according to claim 1, characterized in that The determining the target release speed of the brake caliper based on the current clamping force and the current driving torque includes: Based on the current clamping force, obtaining the first release speed; Based on the current driving torque, obtaining a second release speed; The target release speed is obtained based on the first release speed and the second release speed.

3. The method according to claim 2, characterized in that The method further comprises: Acquiring a preset time duration for reducing the current clamping force to the target clamping force and a preset cycle duration for collecting a driving torque signal in the vehicle; The obtaining of a first release speed based on the current clamping force comprises: Obtaining a first release speed based on the current clamping force, the target clamping force and the preset time length; The obtaining a second release speed based on the current driving torque comprises: A second release speed is obtained based on the current driving torque and the preset cycle duration.

4. The method according to claim 3, characterized in that The obtaining of a first release speed based on the current clamping force, the target clamping force and the preset time length includes: Obtaining a first difference by subtracting the current clamping force from the target clamping force; The first release speed is obtained by dividing the first difference by the preset time length.

5. The method according to claim 3, characterized in that: The method further comprises: Acquire a first driving torque corresponding to a previous cycle of the vehicle in the current cycle; The obtaining of the second release speed based on the current driving torque and the preset cycle duration includes: Obtaining a second difference by subtracting the current driving torque from the first driving torque; The second release speed is obtained by dividing the second difference by the preset cycle duration.

6. The method according to claim 5, characterized in that The method further comprises: Regularizing the second release rate to obtain a regularized second release rate; The obtaining the target release rate based on the first release rate and the second release rate includes: The target release rate is obtained based on the first release rate and the regularized second release rate.

7. The method according to any one of claims 2 to 5, characterized in that The obtaining the target release rate based on the first release rate and the second release rate includes: If the current clamping force is greater than the target clamping force, and the current driving torque is greater than the preset driving torque, the target release speed is obtained by multiplying the first release speed by the second release speed.

8. The method according to claim 7, characterized in that During the process of the brake caliper performing a release action in the vehicle, the method further comprises: Obtaining a road slope value on which the vehicle is located and a weight value of the vehicle; The preset driving torque is obtained by multiplying the slope value by the weight value; The preset driving torque is positively correlated with the slope value and the weight value.

9. A vehicle control device, characterized in that: The device comprises: A first acquisition module, used for acquiring a current opening value of an accelerator pedal in the vehicle during a process in which a brake caliper in the vehicle performs a release action; a second acquisition module, configured to acquire a current clamping force between the brake caliper and a brake disc in the vehicle and a current driving torque of the vehicle if the current opening value is greater than a preset opening value; a determination module, configured to determine a target release speed of the brake caliper based on the current clamping force and the current driving torque; wherein the target release speed is greater than a first release speed determined by the current clamping force; A processing module is configured to reduce the current clamping force to a target clamping force based on the target release speed, so as to fully release the brake caliper.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 8.

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